Humanoid robot leg and humanoid robot

Abstract

The invention discloses a humanoid robot leg and a humanoid robot. The robot leg comprises a thigh mechanism, a shank mechanism and a foot mechanism which are rotationally connected in sequence. In the upright state, the thigh mechanism inclines forwards relative to the vertical shank mechanism to form an included angle and is supported and limited by the front side of the shank mechanism. A driving motor and a hinge seat are arranged at the joint of each joint, and a motor body of the driving motor is compactly connected with the gear box through the insertion matching of a radial boss and a connecting groove; the gear box serves as a rotating shaft of the hinge seat, an adapter transmits torque through a buffer pad, and abrasion of the periphery is reduced through a supporting pad. An ankle support of the foot mechanism is rotationally connected with the foot mechanism through an independent rotating shaft mechanism so as to transmit impact force and protect an ankle motor. A tiptoe assembly of the foot mechanism achieves passive buffering and treading assistance through a rotating pair and an elastic device. The invention further discloses a humanoid robot. The humanoid robot comprises the humanoid robot leg. According to the invention, the standing stability, the joint connection reliability and the exercise energy efficiency are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a humanoid robot leg and a humanoid robot. BACKGROUND

[0002] Humanoid robots are a cutting-edge research direction in the field of robotics. The humanoid robot leg, as a core component for support and movement, directly determines the motion stability, flexibility and energy consumption level of the robot. However, the existing design of the humanoid robot leg still has many defects in structure, driving and buffering, etc., and it is difficult to balance the stability, reliability and lightweight requirements.

[0003] Firstly, in terms of overall posture stability, the traditional humanoid robot is in a vertical alignment state when standing upright, which causes the center of gravity of the robot to be biased towards the back of the heel, easily leading to instability and poor standing stability. Especially when walking dynamically or the load changes, insufficient management of the center of gravity will significantly increase the control difficulty and the risk of falling.

[0004] Secondly, in terms of joint connection structure, the thigh mechanism and the lower leg mechanism are hinged, and the lower leg mechanism and the foot end are hinged. The hinge shafts are formed at the hinge between the thigh mechanism and the lower leg mechanism and at the hinge between the lower leg mechanism and the foot end. Taking the thigh mechanism and the lower leg mechanism as an example, the thigh mechanism and the lower leg mechanism can rotate relative to each other. During the operation of the humanoid robot, the lower leg mechanism not only needs to swing around the hinge shaft, but also needs to bear the pressure of the thigh mechanism. In the prior art, the lower leg mechanism only realizes the support of the thigh mechanism through the rotating cooperation of the hinge shaft and the shaft hole. However, the width of the shaft hole is small, and the pressure of the hinge shaft mainly acts on the bottom surface of the shaft hole. Therefore, the support area of the shaft hole for the hinge shaft is very small, and the unit area load of the shaft hole will be very large, which will cause the shaft hole to easily deform. Moreover, during the movement of the humanoid robot, the hinge shaft will also rotate relative to the shaft hole, and the hinge shaft will also generate additional force on the shaft hole, which will further exacerbate the deformation of the shaft hole and affect the normal operation of the leg mechanism.

[0005] In terms of driving motor, the robot joint usually adopts the combination of motor and gear box, and is connected through bolts. In order to ensure the connection strength, large-diameter and high-strength bolts and thick flange structures are often used, which leads to the increase of the radial and axial dimensions and the weight of the driving unit, which is contrary to the design goal of high power density and compactness of the robot joint. In addition, the rigid connection of the motor and the gear box is prone to looseness or damage when subjected to frequent impact load, which affects the overall reliability.

[0006] In the aspect of the foot mechanism, there are two main problems in the common robot ankle joint design: one is the direct motor drive type, the motor output shaft directly bears the ground impact force and bending moment, which requires high structural strength and bearing precision of the motor, resulting in heavy, high-cost and easily damaged motor; the second is the complex multi-joint buffer structure, such as split arch, cross shaft toe and multiple elastic components (for example, CN118928586A discloses a humanoid robot for a humanoid robot), although the terrain adaptability is improved, but it introduces many parts, complex structure, heavy weight, long force transmission path, increased control difficulty and other defects, low buffer efficiency and high maintenance cost.

[0007] Therefore, there is an urgent need in the art for an integrated solution that can fundamentally improve the overall stability, joint connection reliability, drive unit compactness and foot buffer efficiency of humanoid robot legs, thereby achieving high stability, high reliability, lightweight and low energy consumption of humanoid motion performance. SUMMARY

[0008] The purpose of the present application is to provide a humanoid robot leg and a humanoid robot, which can at least partially solve the defects of the prior art.

[0009] In order to solve the above technical problems, the present application is realized by the following technical scheme: A humanoid robot leg, comprising a thigh mechanism, a lower leg mechanism and a foot mechanism connected in turn from top to bottom, a joint connecting mechanism is arranged between each adjacent mechanism, the joint connecting mechanism comprises a driving motor arranged on the upper mechanism and a hinge seat arranged on the lower mechanism; When the humanoid robot leg is in an upright state, the lower leg mechanism remains vertical, the thigh mechanism is forward inclined relative to the lower leg mechanism and forms an acute angle with the lower leg mechanism, and the front side of the lower leg mechanism supports the driving motor; The driving motor comprises a motor body, a gear box and a connecting piece provided with a connecting groove, the motor body and the gear box are both provided with a connecting boss protruding radially outward along the motor shaft, and the two connecting bosses are jointly inserted into the connecting groove after cooperation, and the connecting piece is fixedly connected with the motor body and the gear box to limit the relative displacement of the motor body and the gear box in the butt joint direction; The gear box is rotationally connected with the hinge seat, the output end of the gear box is provided with a switching piece for transmitting the motor torque to the hinge seat, a buffer pad is arranged on the torque transmission path, the buffer pad filters the mutual impact between the switching piece and the hinge seat during torque transmission, and a support pad is arranged between the outer circumferential side of the gear box and the hinge seat, and the hinge seat forms sliding support for the gear box through the support pad; The foot mechanism includes a foot mechanism, an ankle support, and an ankle motor. The ankle support is fixedly connected to a corresponding hinge seat. The ankle support is also rotatably connected to the foot mechanism through a rotating shaft mechanism to transmit the impact force borne by the foot mechanism to the ankle support. The ankle motor drives the foot mechanism to rotate relative to the ankle support. The foot mechanism includes an instep assembly, a heel assembly, a toe assembly, and an elastic device. The toe assembly is connected to the front end of the instep assembly via a first revolute joint. The two ends of the elastic device are respectively connected to the rear of the toe assembly and between the instep assembly or the heel assembly. When the toe assembly rotates relative to the instep assembly, the elastic device is stretched or compressed to provide cushioning.

[0010] In the aforementioned humanoid robotic leg, the hinged base includes a base plate and a first side plate and a second side plate disposed on both sides of the base plate. The adapter is drivenly connected to the first side plate, and the second side plate is rotatably connected to the end of the gearbox away from the adapter. A support pad is fixed to the base plate and forms a sliding support for the outer surface of the gearbox. The upper surface of the support pad forms a support surface, and the outer surface of the gearbox and the support surface are arc surfaces centered on the rotation axis of the gearbox. The outer surface of the gearbox contacts and adheres to the support surface. The support pad is fixed to the base plate and forms a sliding support for the outer surface of the gearbox. The upper surface of the support pad forms a support surface, and the outer surface of the gearbox and the support surface are arc surfaces centered on the rotation axis of the gearbox. The outer surface of the gearbox contacts and adheres to the support surface. The sliding fit between the support pad and the outer surface of the gearbox effectively reduces friction between the gearbox and the support pad during movement. This sliding support method allows the gearbox to rotate more smoothly, reducing energy loss and improving the humanoid robot's motion efficiency, thus extending its endurance. It also reduces heat and wear caused by friction, contributing to a longer service life for the gearbox and hinge. Both the support surface and the outer surface of the gearbox are arc-shaped and closely fitted. The support pad guides the gearbox, ensuring it rotates at the predetermined position, reducing the possibility of deviation or jamming during movement, and making the rotation of the gearbox and hinge smoother. Furthermore, the close fit of the two arc-shaped surfaces effectively absorbs vibrations generated during gearbox rotation, helping to reduce noise during humanoid robot operation. Secondly, the tight fit between the gearbox and the support pad ensures that the load from the gearbox to the support pad is continuously and evenly transmitted. The support pad can better distribute the pressure exerted by the first limb on the second limb, reducing the possibility of damage to the gearbox or hinge due to localized stress concentration.

[0011] In the humanoid robot leg, the surface of the bottom plate is provided with a mounting groove, and a support pad is detachably mounted in the mounting groove, and the upper surface of the support pad protrudes from the surface of the bottom plate. Embedding the support pad in the mounting groove can reduce the assembly gap between the hinge seat and the gear box, making the assembly of the first limb and the second limb more compact. In addition, the detachable connection of the support pad and the mounting groove can facilitate the replacement of the support pad, so that the support pad can reliably and effectively support the gear box. In addition, the support pad supports the gear box, which can disperse the pressure received by the first side plate and the second side plate, making the rotation of the gear box relative to the first side plate and the second side plate more smooth, reducing the possibility of deformation of the first side plate and the second side plate due to excessive pressure, and helping to prolong the service life of the hinge seat. Secondly, the support pad protrudes from the surface of the bottom plate, ensuring that the gear box only contacts the support pad, avoiding sliding friction between the bottom plate and the gear box, reducing the possibility of damage to the bottom plate due to friction, and significantly prolonging the service life of the bottom plate.

[0012] In the humanoid robot leg, the bottom plate is provided with two limiting grooves distributed along the rotation direction, and the two limiting grooves are respectively located on both sides of the mounting groove. The two sides of the support pad are provided with outwardly protruding extension parts, and the extension parts are embedded in the limiting grooves after the support pad is installed in the mounting groove. The cooperation of the support pad and the limiting grooves through the extension parts can increase the contact area between the support pad and the hinge seat, reduce the possibility of shaking of the support pad, and help to improve the positioning stability of the support pad.

[0013] In the humanoid robot leg, the gear box is provided with a rotating groove at the end away from the adapter, the side wall of the rotating groove is annular and close to the edge of the gear box, the second side plate is provided with a protruding ring extending along the axial direction of the gear box, the protruding ring is embedded in the rotating groove and rotates with the rotating groove, and a shaft sleeve is assembled between the protruding ring and the rotating groove. The side wall of the rotating groove is close to the edge of the gear box, that is, the inner diameter of the rotating groove is close to the diameter of the gear box, so that the rotating groove has a larger inner diameter. The gear box is connected with the hinge seat through the cooperation of the rotating groove and the protruding ring, the rotating shaft formed by the gear box has a larger diameter, the larger the diameter of the rotating shaft, the smaller the force received by the gear box, so that the gear box can withstand larger external force, reducing the possibility of damage to the gear box, thereby improving the strength of the hinge joint of the first limb and the second limb.

[0014] In the above-mentioned humanoid robot leg, the first side plate and the bottom plate are in an integral structure, and the second side plate is detachably connected with the bottom plate. The adapter is fixedly connected with the first side plate, and the adapter directly transmits torque to the first side plate, so that the force received by the first side plate is larger. The integral structure of the first side plate and the bottom plate can enhance the strength of the first side plate, reduce the possibility of damage of the first side plate, and enable the first side plate to withstand greater torque. In addition, the detachable connection of the second side plate and the bottom plate can facilitate the assembly of the gear box and the hinged seat, help to improve the assembly efficiency of the gear box and the hinged seat, and make the assembly of the first side plate, the second side plate and the gear box more compact, thereby improving the assembly stability of the gear box and the hinged seat, and avoiding deformation or fracture of the first side plate and the second side plate due to forced installation of the gear box.

[0015] In the above-mentioned humanoid robot leg, the bottom plate is provided with an assembly groove on the side opposite to the first side plate, and the second side plate is detachably installed in the assembly groove, and the bottom wall of the assembly groove supports the second side plate. The assembly groove supports the second side plate, which can improve the bearing performance of the second side plate, thereby increasing the connection stability of the hinged seat and the gear box.

[0016] In the above-mentioned humanoid robot leg, one of the adapter and the hinged seat is provided with a plurality of outwardly protruding protrusions, the protrusions are circumferentially spaced apart, the other is provided with a positioning groove for embedding the protrusions, the adapter and the hinged seat are rotationally connected through the concave-convex cooperation of the protrusions and the positioning groove, and a buffer pad is filled between the side walls of the protrusions and the positioning groove. In the process of rotation of the adapter, the hinged seat is driven to rotate through the abutting cooperation of the protrusions and the side walls of the positioning groove. By using the cooperation of the protrusions and the positioning groove, the contact area between the adapter and the hinged seat can be increased, thereby dispersing the acting force between the adapter and the hinged seat, making the stress of the adapter and the hinged seat more uniform, and reducing the possibility of damage caused by stress concentration. In addition, the adapter and the hinged seat mainly transmit power through the protrusions and the positioning groove, so that the buffer pad is filled between the side walls of the protrusions and the positioning groove, which can effectively reduce the impact force received by the protrusions and the positioning groove, reduce the possibility of damage of the protrusions and the positioning groove, and significantly prolong the service life of the adapter and the hinged seat.

[0017] In the humanoid robot leg, the buffer pad comprises a plurality of buffer blocks, and the two sides of the protruding block are fixed with buffer blocks in the rotating direction of the adapter. After the adapter is embedded in the positioning groove, the buffer blocks are limited between the protruding block and the side wall of the positioning groove. The torque transmission of the adapter and the hinge seat is mainly between the side wall of the protruding block and the side wall of the positioning groove. The buffer pad is arranged between the side wall of the protruding block and the side wall of the positioning groove, which can effectively absorb the impact force transmitted between the adapter and the hinge seat, significantly improve the utilization rate of the buffer pad, and improve the buffering effect of the buffer pad. In addition, the distance between the protruding block and the positioning groove in the axial direction can be reduced, the assembly between the adapter and the hinge seat is more compact, and the assembly stability of the adapter and the hinge seat is improved.

[0018] In the humanoid robot leg, the buffer pad further comprises a connecting ring, the connecting ring is coaxially arranged with the adapter, the buffer blocks are circumferentially spaced apart on the outer periphery of the connecting ring, and the connecting ring and the buffer blocks are in an integral structure. The connecting ring and the buffer blocks are in an integral structure, so that the entire buffer pad is a whole, the assembly difficulty of the buffer pad can be reduced, the assembly efficiency of the buffer pad can be improved, and the buffering performance of the buffer pad can be improved.

[0019] In the humanoid robot leg, the gear box is provided with a rotating shaft, the rotating shaft is in transmission connection with the output end of the motor body through a bevel gear, one end of the rotating shaft is in transmission connection with an inertia disc through a speed reduction mechanism, and the adapter is coaxially arranged with and fixedly connected with the inertia disc.

[0020] In the humanoid robot leg, along the abutting direction of the motor body and the gear box, the two ends of the connecting groove are respectively provided with connecting ears, and the connecting ears are detachably connected with the motor body and the gear box through bolts. The connecting ears serve as an extension of the connecting piece, providing an ideal mounting position for the bolts. The fastening force of the bolts not only fixes the connecting piece, but also further presses the two connecting bosses in the connecting groove, eliminates the potential gap, and forms a pre-tightened and more rigid whole.

[0021] In the humanoid robot leg, a first fixing groove is opened on the end face of the motor body, a second fixing groove is opened on the end face of the gear box, the driving motor further comprises a connecting piece, the connecting piece is inserted into the first fixing groove and the second fixing groove, and a threaded hole matched with the bolt is opened on the connecting piece. The connecting piece spans the abutting surface of the motor body and the gear box, and the bolt applies pressure through the hole on the connecting piece. The connecting piece converts this concentrated pressure into uniform surface pressure on the entire fixing groove. The stress area is greatly increased, and the unit area load is significantly reduced, effectively protecting the housings of the motor and the gear box.

[0022] In the humanoid robot leg, the side wall of the motor body and the side wall of the gear box are respectively provided with avoiding grooves, and the connecting ears of the connecting member are accommodated in the corresponding avoiding grooves. The side wall of the motor body and the gear box is specially provided with avoiding grooves, and the connecting ears of the connecting member are accommodated in the grooves. This design makes the connecting ears and the bolts thereon not exceed the original outer contour of the motor shell after installation. The radial size of the motor is reduced, and the external contour of the motor is a continuous and regular cylindrical surface, which greatly facilitates the integration of the motor and other components, reduces the interference risk that needs to be considered during design and assembly, and provides higher freedom for the overall layout of the robot joint.

[0023] In the humanoid robot leg, the two connecting bosses are respectively a first boss and a second boss, the connecting groove has a first groove wall and a second groove wall oppositely arranged along the butt joint direction, the first groove wall abuts against the end face of the first boss away from the second boss, and the second groove wall abuts against the end face of the second boss away from the first boss. Through the double-groove wall design of the connecting groove, the axial tension between the motor body and the gear box is directly converted into the surface contact pressure between the connecting member and the bosses, achieving extremely high axial stiffness and impact resistance, while effectively protecting the bolts for fixation.

[0024] In the humanoid robot leg, the first groove wall abuts against the end face of the first boss away from the second boss, and the second groove wall abuts against the end face of the second boss away from the first boss. Surface contact uniformly distributes tension on the entire contact surface, minimizing the stress per unit area. This is the most effective way to prevent material fatigue and structural failure, especially for robot motors that need to withstand impact loads for a long time and repeatedly, which is the fundamental guarantee to ensure their long life and high reliability.

[0025] In the humanoid robot leg, the end face of the first boss away from the second boss is a first inclined surface, and the end face of the second boss away from the first boss is a second inclined surface, so that the thickness of the first boss and the second boss after butt joint gradually decreases away from the center of the driving motor; the first groove wall is a third inclined surface matched with the first inclined surface, and the second groove wall is a fourth inclined surface matched with the second inclined surface, so that the connecting groove has an open large and inner small structure. When installing the connecting member, no accurate alignment is needed, and the inclined surface will automatically guide the connecting member to slide into the correct position. Under the action of the bolt pre-tightening force, the inclined surface cooperation can naturally pull the motor body and the gear box to the closest state, simplifying the assembly process and ensuring the uniformity of pre-tightening.

[0026] In the above-mentioned humanoid robot leg, a front side of a gear box of a driving motor in a joint connecting mechanism of a thigh mechanism and a lower leg mechanism is provided with a baffle plate, and the baffle plate abuts against a hinge seat to limit the forward inclination angle of the thigh mechanism. The abutting of the baffle plate against the hinge seat forms an abutting position of the thigh mechanism and the lower leg mechanism, and when the humanoid robot leg is in an upright state, the lower leg mechanism can limit the thigh mechanism from continuing to rotate forward, and can also reliably support the thigh mechanism, thereby dispersing the pressure on the hinge position of the hinge seat and the gear box, reducing the possibility of damage to the hinge position of the hinge seat and the gear box, ensuring that the thigh mechanism and the lower leg mechanism can smoothly rotate, and prolonging the service life of the humanoid robot leg. In addition, the abutting of the baffle plate against the hinge seat can reduce the degree of wear of the hinge seat on the gear box, and can protect the gear box to some extent, thereby helping to prolong the service life of the gear box.

[0027] In the above-mentioned humanoid robot leg, the gear box comprises a box body and a connecting portion fixed to a top end of the box body, the box body is in a cylindrical shape, the connecting portion is in abutment with a bottom end of a motor body, a bottom end of the baffle plate extends to a front side of the box body, and a top end of the baffle plate extends to an edge of the connecting portion. The baffle plate is located at the front side of the box body, and can shield the box body to reduce the possibility of the box body directly entering the field of view of a human body, thereby helping to improve the aesthetic appearance of the humanoid robot leg. In addition, the bottom end of the baffle plate is connected with the box body, and the top end of the baffle plate is connected with the connecting portion, and the baffle plate, the box body and the connecting portion form a triangular structure, thereby significantly improving the stability of the baffle plate, enabling the baffle plate to withstand greater force, and enabling the baffle plate and the hinge seat to form a more stable support point, thereby significantly improving the positioning stability of the thigh mechanism and the lower leg mechanism. In addition, the connecting portion is in abutment with the bottom end of the motor body, and the bottom end of the baffle plate extends to the edge of the connecting portion, thereby enabling the front side of the connecting portion and the front side of the motor body to have better integrity, thereby helping to improve the aesthetic appearance.

[0028] In the above-mentioned humanoid robot leg, the hinge seat comprises a bottom plate and first and second side plates arranged on both sides of the bottom plate, one end of the gear box is connected with the first side plate through an adapter, the other end is rotationally connected with the second side plate, and a front end of the bottom plate abuts against the baffle plate to limit the forward inclination angle of the thigh mechanism. The first and second side plates are used to bear the torque output when the thigh mechanism and the lower leg mechanism rotate relative to each other, and the bottom plate is used to bear the weight of the thigh mechanism when the humanoid robot leg stands, thereby enabling the overall force on the hinge seat to be more uniform, avoiding the possibility of the hinge seat breaking due to stress concentration, improving the connection stability of the thigh mechanism and the lower leg mechanism, and prolonging the service life of the hinge seat.

[0029] In the above-mentioned humanoid robot leg, the bottom plate is in a circular arc shape, the horizontal distance between the front and rear ends of the bottom plate is less than the diameter of the gear box, and the distance between the front end of the bottom plate and the rotation axis of the gear box is greater than the distance between the rear end of the bottom plate and the rotation axis of the gear box. Since the front end of the bottom plate supports the baffle, the pressure of the thigh mechanism on the lower leg mechanism mainly acts on the front end of the bottom plate, thereby reducing the arc length of the bottom plate, allowing the thigh mechanism and the lower leg mechanism to have a larger rotation angle, and reducing the weight of the lower leg mechanism. In addition, the distance between the front end of the bottom plate and the rotation axis of the gear box is greater, so that the front end of the bottom plate is higher in the height direction, allowing the lower leg mechanism to provide stronger support to the bottom plate, thereby improving the load bearing capacity of the front end of the bottom plate, and the bottom plate can bear more weight, which helps to improve the support performance of the lower leg mechanism.

[0030] In the above-mentioned humanoid robot leg, the angle between the thigh mechanism and the lower leg mechanism is A, and 10°≤A≤20°. This can make the center of gravity of the humanoid robot more reasonable, and help to improve the stability of the humanoid robot leg standing; when A<10°, the forward inclination angle of the thigh is small, the center of gravity of the humanoid robot is relatively rear, and there is still a possibility of falling backward; when A>20°, the forward inclination angle of the thigh is too large, and the pressure on the lower leg mechanism is more concentrated at the abutting portion of the thigh mechanism and the lower leg mechanism, thereby causing the lower leg mechanism to be easily damaged due to stress concentration, and the humanoid robot is also prone to fall forward due to the center of gravity being too far forward, which also has the defect of unstable standing.

[0031] In the above-mentioned humanoid robot leg, the thigh mechanism includes a thigh body, the top end of the thigh body has a hinge end hinged to the hip of the humanoid robot, the thigh body is connected to the top end of the driving motor and forms the thigh mechanism with the driving motor, and the hinge end and the driving motor form an included angle. When the humanoid robot leg is in an upright state, the hinge end is parallel to the lower leg mechanism. The hinge end is parallel to the lower leg mechanism, which can ensure that the upper torso of the thigh mechanism remains vertical when the humanoid robot leg is in an upright state, thereby preventing the center of gravity of the humanoid robot from being too far forward, and allowing the humanoid robot to have a more stable and aesthetic standing posture.

[0032] In the above-mentioned humanoid robot leg, the thigh body further includes a bent portion formed at the bottom of the thigh body, and the bottom end of the bent portion is connected to the top end of the motor. The hinge end forms an included angle with the driving motor through the bent portion.

[0033] In the above-mentioned humanoid robot leg, the foot mechanism is provided with an upwardly open placement cavity for accommodating the ankle motor, and the ankle bracket covers the opening of the placement cavity to jointly enclose a containing space for accommodating and protecting the ankle motor. The placement cavity maximally utilizes the space on the foot mechanism, improves the space utilization, makes the overall foot mechanism more compact in the vertical and front-back directions, helps to reduce the center of gravity of the robot, and improves the compactness and aesthetics of the overall structure. Moreover, the placement cavity can effectively prevent accidental collisions and bumps from the side and below, and provides basic mechanical protection for the motor. By covering the opening of the placement cavity from above, the ankle bracket provides a key physical barrier for the ankle motor, effectively preventing accidental falling objects, bumps, or debris raised by the robot during walking from directly impacting the motor. At the same time, the ankle bracket itself is a main load-bearing member. When it covers the opening of the placement cavity and is connected to the foot mechanism through a rotating shaft mechanism, the two form a stable composite structure similar to an L shape or a door frame. This structure greatly enhances the bending and torsional stiffness of the ankle joint connection area when subjected to impact force and bending moment, reduces local deformation, and thus improves the structural stability and motion accuracy of the overall foot mechanism.

[0034] In the above-mentioned humanoid robot leg, the placement cavity is arranged between the instep assembly and the heel assembly. After impact force is transmitted from the toe or heel, it can be directly and smoothly transmitted to the ankle bracket above through the solid structure of the instep and heel assemblies, without additional bending moment or torsional force due to the motor being fixed in a relatively weak or biased position. This greatly enhances the overall structural stiffness and stability of the foot. Moreover, arranging the placement cavity at this position makes the center of gravity of the entire foot closer to the arch center, which is very similar to the physiological structure of human feet. The robot is more labor-saving and agile when lifting and swinging, improves gait efficiency, and the projection of the center of gravity is more easily within the support surface formed by the foot during standing and walking, improving static and dynamic stability.

[0035] In the above-mentioned humanoid robot leg, the rear end of the instep assembly is connected to the front end of the heel assembly through a second rotating pair; the heel assembly is provided with a first limiting portion, and the instep assembly is provided with a second limiting portion, the second limiting portion abuts against the first limiting portion to limit the upward rotation amplitude of the instep assembly relative to the heel assembly. The cooperation of the first limiting portion and the second limiting portion ensures that the foot will not collapse and lose stability when the robot exerts force or stands, providing a reliable support structure for the entire leg.

[0036] In the above-mentioned humanoid robot leg, the rotating shaft mechanism comprises at least one first connecting part arranged on the foot mechanism and at least one second connecting part arranged on the ankle support and rotatingly matched with the first connecting part. The rotating matching of the first connecting part and the second connecting part forms a short and efficient impact force transmission path, directly transmitting the impact borne by the foot mechanism to the ankle support, completely avoiding the ankle motor.

[0037] In the above-mentioned humanoid robot leg, the first connecting part and the second connecting part are both two, and are both arranged in a spaced manner along the rotating axis direction of the foot mechanism relative to the ankle support. The two spaced connecting parts constitute a stable double-axis support structure, which can effectively resist the overturning moment generated by the foot mechanism when subjected to force, preventing it from being stuck or slightly misaligned relative to the ankle support. Compared with single-axis support, the double-axis support structure greatly enhances the bending stiffness and torsional stiffness of the ankle joint around its rotating axis, ensuring the accuracy and stability of joint movement when subjected to complex ground reaction force, thereby improving the dynamic balance ability of the robot.

[0038] In the above-mentioned humanoid robot leg, one of the first connecting part and the second connecting part is a connecting shaft, and the other is a connecting hole matched with the connecting shaft; the connecting shaft is coaxially connected with the output shaft of the ankle motor. The rotating movement of the motor output shaft is directly transmitted to the connecting shaft as a force-bearing part, thereby driving the joint to rotate. It completely eliminates any intermediate transmission links such as gears, belts, connecting rods, etc., achieving direct driving effect, which not only eliminates transmission backlash, ensuring high motion control accuracy, but also avoids energy loss caused by intermediate transmission, improving transmission efficiency.

[0039] In the above-mentioned humanoid robot leg, the foot mechanism is provided with a first connecting piece extending upward, and the first connecting part is arranged on the first connecting piece; the ankle support is provided with a second connecting piece extending downward, and the second connecting part is arranged on the second connecting piece; the first connecting piece and the second connecting piece are arranged side by side along the axis direction of the ankle motor output shaft. By arranging the connecting pieces extending towards each other side by side, a high-stiffness force frame is constructed in a limited space to resist bending moment under complex working conditions.

[0040] In the above-mentioned humanoid robot leg, the rotating axes of the lower leg mechanism and the foot mechanism are spatially perpendicular to the rotating axis between the foot mechanism and the ankle support. This enables the robot's foot to simulate the complex movement of human ankle, not only up and down swing to adapt to the slope, but also left and right tilt to keep the foot bottom conforming on uneven or inclined ground, significantly enhancing the motion flexibility and terrain adaptability of the robot, which is a key step for the robot to realize stable and human-like walking.

[0041] In the above-mentioned humanoid robot leg, a third limiting part is arranged on the foot mechanism on both sides of the rotation axis of the foot mechanism and the ankle support, and a fourth limiting part is arranged on the ankle support; the rotation angle of the foot mechanism relative to the ankle support around the rotation axis is limited by the abutment of the third limiting part and the fourth limiting part. When the rotation angle reaches the limit, the limiting part transmits a large force through the hard contact between the metal components, physically preventing further rotation, thereby effectively protecting the motor from stalling and burning, the transmission components from overloading and damaging, and the joint structure itself from plastic deformation. This ensures that the posture of the robot's foot is strictly limited within the safe range allowed by the mechanical design, preventing motion instability caused by abnormal joint angles.

[0042] In the above-mentioned humanoid robot leg, the second end of the elastic device is connected to the connection between the instep assembly and the heel assembly. By using the existing connection between the instep and the heel as the mounting point, there is no need to design and manufacture additional mounting brackets or complex connection structures for the elastic device, which reduces the number of parts, reduces the overall weight and complexity of the foot, and perfectly meets the lightweight and low-cost goals of robot design.

[0043] In the above-mentioned humanoid robot leg, the first rotation pair is arranged in the middle of the instep assembly and the toe assembly. The center of rotation is located in the middle, so that the force arm from the force point of the elastic device (at the rear of the toe assembly) to the center of rotation is relatively balanced with the force arm from the ground reaction force point (at the front of the toe assembly) to the center of rotation. This balanced moment relationship allows the elastic device to generate sufficient torque to drive the toe rotation with smaller deformation, resulting in higher energy conversion efficiency and less effort.

[0044] In the above-mentioned humanoid robot leg, the first rotation pair includes a conversion slot arranged on the toe assembly and a conversion part arranged on the instep assembly and extending into the conversion slot, and the conversion part and the slot wall of the conversion slot are connected by a rotation shaft. The slot opening of the conversion slot is configured to be small inside and large outside to limit the movement range of the conversion part in the slot, thereby limiting the rotation amplitude of the toe assembly relative to the instep assembly.

[0045] In the above-mentioned humanoid robot leg, the elastic device is suspended below the instep assembly, and the horizontal height of the elastic device is higher than the landing plane of the toe assembly and the heel assembly to avoid contact with the ground. Placing the elastic device at a position higher than the landing plane reduces the likelihood of the robot being hit, hooked or squeezed by obstacles such as the ground, stones, gaps, etc. during walking, turning or climbing stairs, effectively preventing performance degradation or breakage of the elastic device due to wear and tear, significantly extending its service life and reducing maintenance requirements.

[0046] Also disclosed is a humanoid robot comprising the humanoid robot leg according to any of the above.

[0047] Compared with the prior art, the present application has the following advantages: 1. In terms of system stability and compactness: by designing the thigh mechanism to be forward-leaning, the center of gravity of the robot is moved forward when it is in an upright state, fundamentally solving the core problem of traditional humanoid robots that are prone to backward instability. By using the driving motor itself as a part of the limb and the pivot of the joint, the present application realizes a high degree of integration of structural load bearing and driving function, discards the external and bulky connecting rod transmission mechanism, greatly shortens the force flow path, and reduces the size and weight.

[0048] 2. Multiple reliability enhancement of joint connections: the connection between the motor body and the gear box is changed from the traditional bolt shear-resistant mode to a mechanical interlocking mode in which the boss end face directly bears pressure / tension. This makes the connection bolts only serve the purpose of pre-tightening, allowing smaller specifications to be used, thereby realizing the thinning of the connection flange structure, solving the contradiction between connection strength and structural size, and achieving the minimization of the size and the lightest weight of the driving unit under the premise of ensuring ultra-high reliability. A support pad is arranged between the gear box and the hinge seat, converting sliding friction into a sliding pair with controllable wear, significantly improving the durability and stability of the joint during long-term operation.

[0049] 3. In terms of power transmission and impact resistance: the adapter is driven by the hinge seat through a buffer pad, realizing the soft transmission of torque, which can absorb high-frequency impact and reduce wear, and also avoids the destructive stress caused by rigid connection. In the foot, the load bearing path and the driving path are decoupled creatively, the ground impact force is directly transmitted to the ankle support and the upper structure through an independent and solid pivot mechanism, and the main load bearing path is constructed. The ankle motor only provides driving torque and is isolated from the impact force path, thereby being effectively protected. The elastic device at the tip of the foot realizes passive and efficient heel-toe cushioning and ground-pushing assistance, simulates human gait, and has low energy consumption and natural response. BRIEF DESCRIPTION OF DRAWINGS

[0050] Figure 1 Fig. 1 is a schematic view of the connection structure of the thigh mechanism and the calf mechanism in the humanoid robot leg of the present application; Figure 2 Fig. 2 is an exploded view of the connection of the thigh mechanism and the calf mechanism in the present application; Figure 3 Fig. 3 is a schematic view of the structure of the hinge seat in the present application; Figure 4 Fig. 4 is an exploded view of the hinge seat in the present application; Figure 5 Fig. 5 is a schematic view of the structure of the support pad in the present application; Figure 6 Structure diagram of the gear box in the present application; Figure 7 Structure diagram of the thigh mechanism in the present application Figure 1 ; Figure 8 Structure diagram of the cushion in the present application; Figure 9 Perspective view of the driving motor in the present application; Figure 10 Exploded view of the driving motor in the present application Figure 1 ; Figure 11 Exploded view of the driving motor in the present application Figure 2 ; Figure 12 Top view of the driving motor in the present application; Figure 13 is Figure 12 A-A sectional view in the present application; Figure 14 Exploded view of the driving motor in the present application Figure 3 ; Figure 15 Perspective view of the humanoid robot leg in the present application; Figure 16 Front view of the humanoid robot leg in the present application; Figure 17 Rear view of the connection between the thigh mechanism and the calf mechanism in the present application; Figure 18 Structure diagram of the thigh mechanism in the present application Figure 2 ; Figure 19 Perspective view of the foot mechanism in the present application; Figure 20 Exploded view of the foot mechanism in the present application; Figure 21 Perspective view of the foot mechanism in the present application; Figure 22 Front view of the foot mechanism in the present application; Figure 23 Exploded view of the foot mechanism in the present application; Figure 24 Structure diagram of the toe assembly in the present application; Figure 25 Structure diagram of the instep assembly in the present application; Figure 26 Structure diagram of the heel assembly in the present application; Figure 27 Structure diagram of the connection between the calf mechanism and the foot mechanism in the present application; Figure 28A perspective view of a humanoid robot according to the present application. DETAILED DESCRIPTION

[0051] Embodiments of the present application are described in detail below with reference to examples illustrated in the accompanying drawings. The embodiments described below by way of example are intended to be illustrative, and not to be construed as limiting the present application.

[0052] A humanoid robot leg comprises a thigh mechanism 1, a lower leg mechanism 300 and a foot mechanism 3 connected in sequence from top to bottom, and a joint connecting mechanism is arranged between each adjacent mechanism, the joint connecting mechanism comprising a driving motor 10 arranged on the mechanism above and a hinge seat 20 arranged on the mechanism below; When the humanoid robot leg is in an upright state, the lower leg mechanism 300 remains vertical, the thigh mechanism 1 is inclined forward relative to the lower leg mechanism 300 and forms an acute angle with the lower leg mechanism 300, and the front side of the lower leg mechanism 300 supports the driving motor 10; The driving motor 10 comprises a motor body 110, a gear box 120 and a connecting piece 130 provided with a connecting groove 131, the motor body 110 and the gear box 120 are each provided with a connecting boss protruding radially outward from the motor shaft, and the two connecting bosses are inserted into the connecting groove 131 after being matched, and the connecting piece 130 is fixedly connected with the motor body 110 and the gear box 120 to limit the relative displacement of the motor body 110 and the gear box 120 in the butt joint direction; The gear box 120 is rotationally connected with the hinge seat 20, the output end of the gear box 120 is provided with a transfer piece 103 for transmitting the motor torque to the hinge seat 20, a buffer pad 104 is arranged on the torque transmission path, the buffer pad 104 filters the mutual impact between the transfer piece 103 and the hinge seat 20 during torque transmission, a support pad 22 is arranged between the outer periphery of the gear box 120 and the hinge seat 20, and the hinge seat 20 forms a sliding support for the gear box 120 through the support pad 22; The foot mechanism 3 comprises a foot mechanism, an ankle support 400 and an ankle motor 410, the ankle support 400 is fixedly connected with the corresponding hinge seat, and the ankle support 400 is further rotationally connected with the foot mechanism through a rotating shaft mechanism to transmit the impact force borne by the foot mechanism to the ankle support 400 through the rotating shaft mechanism, and the ankle motor 410 drives the foot mechanism to rotate relative to the ankle support 400; The foot mechanism comprises a instep assembly 210, a heel assembly 220, a toe assembly 230 and a elastic device 250, the toe assembly 230 is connected to the front end of the instep assembly 210 through a first rotating pair 240, and the two ends of the elastic device 250 are connected between the rear part of the toe assembly 230 and the instep assembly 210 or the heel assembly 220, respectively; when the toe assembly 230 rotates relative to the instep assembly 210, the elastic device 250 is stretched or compressed to provide cushioning.

[0053] This invention mainly improves the humanoid robotic legs in the following aspects: 1. The gearbox 120 of the drive motor 10 is rotatably connected to the hinge seat 20 and serves as the rotating shaft of the hinge seat 20; 2. A buffer pad 104 is provided between the adapter of the drive motor 10 and the hinge seat 20; 3. The motor body 110 of the drive motor 10 is connected to the gearbox 120 by a connector 130; 4. When the humanoid robotic leg is in an upright position, the thigh mechanism 1 is tilted forward relative to the lower leg mechanism 300 and forms an acute angle with the lower leg mechanism 300. 5. The ankle support and foot mechanism are rotatably connected to form a force-bearing path, and the ankle motor is only responsible for driving the foot mechanism to swing. 6. An elastic device is installed in the foot mechanism to simulate the tendons of the human foot.

[0054] The following will provide examples to illustrate the improvements mentioned above. Example 1:

[0055] like Figures 1 to 7 As shown in the embodiment for the first improvement, a humanoid robotic leg includes a thigh mechanism 1, a lower leg mechanism 300, and a foot mechanism 3, which are rotatably connected from top to bottom. Joint connection mechanisms are provided between the thigh mechanism 1 and the lower leg mechanism 300, and between the lower leg mechanism 300 and the foot mechanism 3. The joint connection structure includes a drive motor 10 mounted on the upper mechanism and a hinge seat 20 mounted on the lower mechanism. Specifically, the joint connection mechanism connecting the thigh mechanism 1 and the lower leg mechanism 300 has a drive motor 10 mounted on the thigh mechanism 1 and a hinge seat mounted on the lower leg mechanism 300; the joint connection mechanism connecting the lower leg mechanism 300 and the foot mechanism 3 also has a drive motor 10 mounted on the lower leg mechanism 300 and a hinge seat mounted on the foot mechanism 3.

[0056] Since this improvement focuses on the connection between the drive motor and the hinge base, for ease of explanation, the upper mechanism will be named the first limb 11 and the lower mechanism will be named the second limb 21.

[0057] The first limb 11 is fixed with a driving motor 10, one end of the second limb 21 is provided with a hinge seat 20, the driving motor 10 is rotationally connected with the hinge seat 20, the hinge connection of the first limb 11 and the second limb 21 is realized, the driving motor 10 comprises a motor body 110 and a gear box 120, the gear box 120 comprises a box body, a rotating shaft and a speed reduction mechanism are arranged in the box body, the box body is coaxially arranged with the rotating shaft, one end of the box body is coaxially provided with a rotating connector 103 for outputting torque, the rotating shaft is drivingly connected with the rotating connector 103 through the speed reduction mechanism, the rotating shaft rotates to drive the rotating connector 103 to rotate, the rotating connector 103 can rotate relative to the box body to realize the torque output of the rotating connector 103, the rotating connector 103 is fixedly connected with the hinge seat 20, the hinge seat 20 rotates synchronously with the rotating connector 103, the box body of the gear box 120 is rotationally connected with the hinge seat 20, the gear box 120 serves as a rotating shaft of the hinge seat 20, when the motor body 110 drives the rotating connector 103 to rotate, the rotating connector 103 drives the hinge seat 20 to rotate around the gear box 120, in addition, a support pad 22 is arranged between the outer circumferential side of the gear box 120 and the hinge seat 20, the hinge seat 20 forms sliding support to the gear box 120 through the support pad 22, the support pad 22 separates the outer side of the gear box 120 from the hinge seat 20, direct contact between the outer side of the gear box 120 and the hinge seat 20 is avoided.

[0058] The support pad 22 is arranged between the outer periphery of the gear box 120 and the hinge seat 20, and the hinge seat 20 forms sliding support for the gear box 120 through the support pad 22. The support pad 22 can increase the contact area between the hinge seat 20 and the gear box 120, and effectively disperse the pressure received by the hinge joint of the hinge seat 20 and the gear box 120. The support pad 22 is used as a main load-bearing component to bear most of the weight of the first limb 11, greatly reduces the pressure received by the hinge joint, and the hinge joint mainly bears the rotating cooperation between the gear box 120 and the hinge seat 20, so that the stress of the hinge joint is more uniform, reduces the possibility of damage to the hinge joint of the hinge seat 20 and the gear box 120, ensures that the first limb 11 and the second limb 21 can keep smooth rotation, and prolongs the service life of the humanoid robot. In addition, the support pad 22 can simulate the meniscus at the knee joint of the human body, and also has the functions of shock absorption, joint stabilization and lubrication, so that the humanoid robot has higher simulation degree, so that the humanoid robot can simulate more human functions. In addition, the support pad 22 can also avoid the sliding friction between the gear box 120 and the hinge seat 20, reduce the possibility of wear of the gear box 120 and the hinge seat 20 due to sliding, and further prolong the service life of the gear box 120 and the hinge seat 20. Furthermore, the torque output by the adapter 103 can be directly transmitted to the second limb, without the need to set a transmission structure such as a connecting rod, which can greatly shorten the transmission distance of the torque and reduce the energy loss in the power transmission process, providing a strong basis for high-speed and high-frequency operation of the second limb 21. In addition, the transmission structure can be omitted, the space occupied by the transmission structure can be saved, the overall size of the first limb 11 can be reduced, the appearance of the first limb 11 is more aesthetic, and the weight of the first limb 11 can be reduced, the energy consumed by the humanoid robot during operation can be reduced, the endurance of the robot can be improved, and the assembly precision and assembly difficulty can be reduced.

[0059] The specific structure of the first limb 11 and the second limb 21 is as follows: Figure 1 and Figure 2As shown, the first limb 11 is a thigh mechanism 1 of a humanoid robot, and the second limb 21 is a lower leg mechanism 2 of the humanoid robot, which comprises a thigh body and a driving motor 10, the driving motor 10 is fixed to the bottom end of the thigh body, the overall size of the driving motor 10 is similar to the size of the thigh body, the driving motor 10 is an extension segment of the thigh body, that is, the thigh body and the driving motor 10 are connected to form the thigh mechanism 1, the thigh mechanism 1 is rotatably connected to the top end of the lower leg mechanism 2 through a gear box 120 of the driving motor 10, the lower leg mechanism 2 has a similar structure to the thigh mechanism 1, and the lower leg mechanism 2 also comprises a lower leg body and a driving motor 10, the top end of the lower leg body forms a hinged seat 20 rotatably connected to the gear box 120, the driving motor 10 of the lower leg mechanism 2 is fixed to the bottom end of the lower leg body, and the driving motor 10 of the lower leg mechanism 2 is also an extension segment of the lower leg body, and the thigh mechanism 1 and the lower leg mechanism 2 adopt the same driving motor 10.

[0060] Of course, it can be understood that in other embodiments, the first limb 11 can also be a lower leg mechanism 2 of a humanoid robot, and the second limb 21 can be a foot mechanism 3 of the humanoid robot; or the first limb 11 can also be a crotch 41 of a humanoid robot, and the second limb 21 can be a thigh mechanism 1 of the humanoid robot; or the first limb 11 can also be a torso 4 of a humanoid robot, and the second limb 21 can be an upper arm of the humanoid robot; or the first limb 11 can also be an upper arm of a humanoid robot, and the second limb 21 can be a forearm of the humanoid robot.

[0061] Specifically, in the embodiment, the gear box 120 is fixed to the bottom end of the motor body 110, the overall structure of the gear box 120 is cylindrical, the output end of the motor body 110 extends into the gear box 120 and is in transmission connection with a rotating shaft, the axial direction of the rotating shaft is perpendicular to the axial direction of the output end of the motor body 110, the output end is in transmission connection with the rotating shaft through a bevel gear, the rotating shaft is connected with an inertia disc through a speed reduction mechanism, a connecting piece 103 is fixedly connected with the inertia disc, the connecting piece 103 rotates synchronously with the inertia disc, one end of the gear box 120 is rotatably connected with one side of the hinged seat 20 through the connecting piece 103, and the other end is directly rotatably connected with the hinged seat 20.

[0062] Specifically, the upper surface of the support pad 22 forms a support surface in the embodiment, the outer surface of the gear box 120 is a circular arc surface with the gear box 120 rotating shaft as the center, the outer surface of the gear box 120 is in contact with the support surface and fits, the support pad 22 is in sliding fit with the outer surface of the gear box 120, effectively reducing the friction between the gear box 120 and the support pad 22 during movement, the sliding support mode enables the gear box 120 to rotate more smoothly, reduces energy loss, improves the movement efficiency of the humanoid robot, helps to prolong the endurance of the humanoid robot, and also reduces the heat and wear caused by friction, which helps to prolong the service life of the gear box 120 and the articulated seat 20; in addition, the support surface and the outer surface of the gear box 120 are both circular arc surfaces and fit, the support pad 22 can guide the gear box 120, ensuring that the gear box 120 rotates at the predetermined position, reducing the possibility of deviation or jamming of the gear box 120 during movement, making the rotation of the gear box 120 and the articulated seat 22 more smooth and smooth; in addition, the fit of the two circular arc surfaces can effectively absorb the vibration generated during the rotation of the gear box 120, which helps to reduce the noise of the humanoid robot during operation; secondly, the gear box 120 and the support pad 22 can keep close fit, ensuring that the load of the gear box 120 on the support pad 22 can be continuously and uniformly transmitted, and the support pad 22 can better disperse the pressure generated by the first limb 11 on the second limb 21, reducing the possibility of damage to the gear box 120 or the articulated seat 22 caused by local stress concentration.

[0063] Specifically, the central angle of the support surface in the embodiment is not less than the maximum rotation angle of the first limb 11 and the second limb 21, which enables the support surface to cover the entire rotation range of the gear box 120, ensuring that the gear box 120 is always in contact with the support surface during rotation, and the support pad 22 can form a stable and reliable sliding support for the gear box 120.

[0064] Specifically, as shown in Figure 3 the articulated seat 20 includes a bottom plate 201 and first and second side plates 202 and 203 arranged on opposite sides of the bottom plate 201, and the gear box 120 is rotatably installed between the first and second side plates 202 and 203 when the first and second limbs 11 and 21 are assembled, wherein the adapter 103 at one end of the gear box 120 is fixedly connected to the first side plate 202, and the other end of the gear box 120 is rotatably connected to the second side plate 203, when the drive motor 10 is started, the adapter 103 rotates relative to the gear box 120 under the drive of the drive motor 10, the adapter 103 drives the entire articulated seat 20 to rotate around the gear box 120, thereby realizing the swinging of the second limb 21 relative to the first limb 11.

[0065] In addition, the upper surface of the bottom plate 201 is provided with a mounting groove 2011, and the support pad 22 is detachably mounted in the mounting groove 2011 through bolts or screws. The upper surface of the support pad 22 is a circular arc surface and is matched with the outer surface of the gear box 120, so that the support pad 22 can be better matched with the gear box 120, thereby increasing the contact area between the support pad 22 and the gear box 120, improving the supporting effect of the support pad 22 on the gear box 120, and then dispersing the pressure on the first side plate 202 and the second side plate 203, making the rotation of the gear box 120 relative to the first side plate 202 and the second side plate 203 more smooth, reducing the possibility of deformation of the first side plate 202 and the second side plate 203 due to excessive pressure, and helping to prolong the service life of the hinged seat 20. In addition, the upper surface of the bottom plate 201 is also a circular arc surface. When the support pad 22 is assembled into the mounting groove 2011, the upper surface of the support pad 22 is flush with or slightly higher than the upper surface of the bottom plate 201, thereby reducing the assembly gap between the hinged seat 20 and the gear box 120, and making the assembly of the first limb 11 and the second limb 21 more compact. In addition, the support pad 22 is detachably connected with the mounting groove 2011, so that the support pad 22 can be easily replaced, thereby keeping the support pad 22 reliably and effectively slidingly supporting the gear box 120. In addition, the upper surfaces of the support pad 22 and the bottom plate 201 are both circular arc surfaces and have similar heights, so that the support pad 22 and the bottom plate 201 are more complete, which helps to improve the appearance of the hinged seat 20. In addition, the support pad 22 is higher than the surface of the bottom plate 201, so that the gear box 120 only contacts with the support pad 22, avoiding the sliding friction between the bottom plate 201 and the gear box 120, reducing the possibility of damage of the bottom plate 201 due to friction, and significantly prolonging the service life of the bottom plate 201. It should be noted that the support pad 22 in the embodiment is made of alloy steel or copper alloy or aluminum alloy or titanium alloy, which has higher hardness and wear resistance and can withstand high load and frequent friction, thereby prolonging the service life of the support pad 22 and significantly reducing the replacement frequency of the support pad 22.

[0066] Of course, it can be understood that in other embodiments, the support pad 22 can also be fixed to the outer surface of the gear box 120.

[0067] Of course, it can be understood that in other embodiments, the upper surface of the bottom plate 201 can also be arc or inclined surface or other structures. Since the support pad 22 will form sliding support on the gear box 120, the structure of the bottom plate 201 does not interfere with the rotation of the gear box 120, and is not limited to a circular arc surface.

[0068] Specifically, as shown in FIG. 6, the support pad 22 is provided with a plurality of mounting holes 221, and the mounting groove 2011 is provided with a plurality of mounting holes 2012 corresponding to the mounting holes 221. The mounting holes 221 and the mounting holes 2012 are matched with each other, and the support pad 22 is mounted in the mounting groove 2011 through bolts or screws. Figure 4 and Figure 5As shown, the bottom plate 201 in the embodiment is also provided with two limiting grooves 2012, the length direction of the limiting grooves 2012 is distributed along the rotating direction of the gear box 120, the two limiting grooves 2012 are respectively located at the two sides of the mounting groove 2011, the depth of the limiting groove 2012 is greater than the depth of the mounting groove 2011, the two sides of the supporting pad 22 are provided with the outwardly protruding extension 221, the extension 221 is embedded into the limiting groove 2012 after the supporting pad 22 is installed into the mounting groove 2011, the supporting pad 22 can increase the contact area between the supporting pad 22 and the hinge seat 20 through the cooperation between the extension 221 and the limiting groove 2012, which can reduce the possibility of shaking of the supporting pad 22 and help to improve the positioning stability of the supporting pad 22; the mounting groove 2011 is provided with a threaded hole, a bolt or a screw is threadedly connected with the threaded hole in the mounting groove 2011 through the supporting pad 22, thereby realizing the detachable connection between the supporting pad 22 and the mounting groove 2011, the cooperation between the limiting groove 2012 and the extension 221 can reduce the number of bolts or screws, so that the fixing of the supporting pad 22 and the bottom plate 201 is more simple and convenient.

[0069] As shown in the specific structure of the adapter 103 and the first side plate 202, Figure 2 and Figure 3 As shown, the side of the adapter 103 away from the gear box 120 in the embodiment is provided with a plurality of outwardly protruding protrusions 1031, the protrusions 1031 are distributed in the circumferential direction, the side of the first side plate 202 facing the second side plate 203 is provided with a mounting groove 2011, the mounting groove 2011 is matched with the protrusions 1031, the protrusions 1031 are embedded into the mounting groove 2011 after the one end of the gear box 120 is butted against the first side plate 202, the protrusions 1031 are provided with connecting holes 1032, fasteners are threadedly connected with the connecting holes 1032 through the first side plate 202, thereby realizing the fixed connection between the adapter 103 and the first side plate 202, the fasteners can improve the connection stability of the adapter 103 and the first side plate 202, reduce the possibility of relative shaking of the adapter 103 and the first side plate 202, make the connection between the adapter 103 and the first side plate 202 more stable, and the torque transmission more accurate and reliable; in addition, the fasteners connect the protrusions 1031 and the first side plate 202 in the axial direction, and the adapter 103 drives the first side plate 202 to rotate through circumferential rotation, so that the torque received by the fasteners is smaller in the torque transmission process, reducing the possibility of damage of the fasteners; secondly, the connecting holes 1032 are arranged on the protrusions 1031, and the protrusions 1031 have better strength due to the larger thickness, so that the protrusions 1031 can provide reliable support for the fasteners, reducing the possibility of damage of the connecting holes 1032, so that the adapter 103 and the first side plate 202 can form reliable connection.

[0070] As shown in the specific structure of the gear box 120 and the second side plate 203, Figure 4And Figure 6 As shown in the drawings, the gear box 120 in the embodiment is provided with a rotating groove 1021 at one end away from the adapter 103, the side wall of the rotating groove 1021 is annular and close to the edge of the gear box 120, the second side plate 203 is provided with a convex ring 2031 on the side facing the first side plate 202, the convex ring 2031 extends along the axial direction of the gear box 120, after the gear box 120 is assembled with the hinged seat 20, the convex ring 2031 extends into the rotating groove 1021 and forms a rotating fit with the rotating groove 1021 through the shaft sleeve, the side wall of the rotating groove 1021 is close to the edge of the gear box 120, that is, the inner diameter of the rotating groove 1021 is close to the diameter of the gear box 120, so that the rotating groove 1021 has a larger inner diameter, the gear box 120 is rotatably connected with the hinged seat 20 through the cooperation of the rotating groove 1021 and the convex ring 2031, the rotating shaft formed by the gear box 120 has a larger diameter, the larger the diameter of the rotating shaft, the smaller the force acting on the gear box 120, so that the gear box 120 can withstand a larger external force, reducing the possibility of damage to the gear box 120, thereby improving the strength of the hinged joint between the first limb 11 and the second limb 21.

[0071] Specifically, as Figure 4As shown, in this embodiment, the first side plate 202 and the bottom plate 201 are an integral structure. The bottom plate 201 has an assembly groove 2013 on the side facing away from the first side plate 202. The second side plate 203 is detachably connected to the assembly groove 2013 by bolts. After the second side plate 203 is installed into the assembly groove 2013, the bottom wall of the assembly groove 2013 provides support for the second side plate 203. During the assembly process of the gearbox 120 and the hinge seat 20, the second side plate 203 is first disassembled so that one end of the gearbox 120 is fixedly connected to the first side plate 202 through the adapter 103. Then, the second side plate 203 is installed into the assembly groove 2013 so that the convex ring 2031 of the second side plate 203 forms a rotational engagement with the rotation groove 1021 of the gearbox 120. Since the adapter 103 directly transmits the torque to the first side plate 202, the force on the first side plate 202 is relatively large. The first side plate 202 and the base plate 201 are integrated, which enhances the strength of the first side plate 202, reduces the possibility of damage to the first side plate 202, and enables the first side plate 202 to withstand greater torque. In addition, the second side plate 203 is detachably connected to the base plate 201, which facilitates the assembly of the gearbox 120 and the hinge seat 20, helps to improve the assembly efficiency of the gearbox 120 and the hinge seat 20, and also makes the assembly of the first side plate 202, the second side plate 203 and the gearbox 120 more compact, thereby improving the assembly stability of the gearbox 120 and the hinge seat 20, and also preventing the first side plate 202 and the second side plate 203 from deforming or breaking due to the forced installation of the gearbox 120. Secondly, the assembly groove 2013 provides support for the second side plate 203, which can improve the load-bearing capacity of the second side plate 203, thereby increasing the connection stability between the hinge seat 20 and the gearbox 120. Example 2:

[0072] like Figures 2 to 4 , Figures 6 to 8 As shown in the embodiment for the second improvement, in this embodiment, the upper mechanism is still named the first limb 11 and the lower mechanism is named the second limb 21.

[0073] The driving mechanism comprises a driving motor 10 fixed to the first limb 11 and a hinged seat 20 arranged at the end of the second limb 21, the driving motor 10 is rotationally connected with the hinged seat 20, thereby realizing the hinging of the first limb 11 and the second limb 21, the output end of the driving motor 10 is provided with a torque adapter 103 for outputting torque, the torque adapter 103 has a torque output end, the hinged seat 20 has a torque input end, the torque adapter 103 transmits the torque of the driving motor 10 to the hinged seat 20 through the concave-convex matching of the torque output end and the torque input end, the driving motor 10 drives the rotation of the torque adapter 103 after starting, so as to realize the torque output of the torque adapter 103, a buffer pad 104 is arranged on the torque transmission path between the torque output end and the torque input end, the buffer pad 104 filters the mutual impact between the torque adapter 103 and the hinged seat 20 in the torque transmission process, when the motor body 110 drives the rotation of the torque adapter 103, the torque adapter 103 outputs torque and drives the rotation of the hinged seat 20 through the buffer pad 104, in the process of driving the rotation of the buffer pad 104 by the torque adapter 103, the buffer pad 104 is extruded between the torque adapter 103 and the hinged seat 20.

[0074] The torque adapter 103 has a torque output end, the hinged seat 20 has a torque input end, and a buffer pad 104 is arranged on the torque transmission path between the torque output end and the torque input end, the buffer pad 104 can reduce the impact force between the torque adapter 103 and the hinged seat 20, reduce the degree of wear of the torque adapter 103 and the hinged seat 20 caused by the impact force, thereby significantly prolonging the service life of the torque adapter 103 and the hinged seat 20, and making the humanoid robot have better running performance; in addition, the buffer pad 104 is arranged between the torque output end of the torque adapter 103 and the torque input end of the hinged seat 20, the buffer pad 104 can absorb the impact force generated between the torque adapter 103 and the hinged seat 20 due to torque transmission, thereby enabling the connection between the first limb 11 and the second limb 21 to withstand greater impact force, significantly improving the impact resistance of the humanoid robot, providing a basis for high-frequency and high-speed operation of the humanoid robot, and thereby comprehensively improving the performance of the humanoid robot; secondly, the torque adapter 103 directly transmits torque to the hinged seat 20, without the need to arrange a connecting rod or other transmission structure, which can greatly shorten the transmission distance of torque, reduce energy loss in the power transmission process, make the transmission of torque more accurate and reliable, help to improve the control performance of the driving motor 10 on the second limb 21, and make the movement of the second limb 21 more flexible and accurate.

[0075] The first limb 11 and the second limb 21 are respectively a thigh mechanism 1 and a lower leg mechanism 2 of a humanoid robot. The thigh mechanism 1 includes a thigh body and a driving motor 10. The driving motor 10 is fixed to the bottom end of the thigh body. The driving motor 10 has a size similar to that of the thigh body. The driving motor 10 is an extension of the thigh body. The thigh mechanism 1 is rotatably connected to the top end of the lower leg mechanism 2 through a gear box 120 of the driving motor 10. The lower leg mechanism 2 has a structure similar to that of the thigh mechanism 1. The lower leg mechanism 2 also includes a lower leg body and a driving motor 10. The top end of the lower leg body forms a hinge seat 20 rotatably connected to the gear box 120. The driving motor 10 of the lower leg mechanism 2 is fixed to the bottom end of the lower leg body. The driving motor 10 of the lower leg mechanism 2 is also an extension of the lower leg body. The thigh mechanism 1 and the lower leg mechanism 2 use the same driving motor 10.

[0076] It should be noted that the driving mechanism is arranged at the connection between the thigh mechanism 1 and the lower leg mechanism 2 in the embodiment. It can be understood that the driving mechanism can also be arranged at the connection between other components and the driving motor 10 in other embodiments. For example, the driving mechanism can be arranged at the connection between the crotch 41 of the humanoid robot and the thigh mechanism 1. In this embodiment, the first limb 11 is the crotch 41 of the humanoid robot, and the second limb 21 is the thigh mechanism 1 of the humanoid robot. Alternatively, the driving mechanism can be arranged at the connection between the lower leg mechanism 2 of the humanoid robot and the foot mechanism 3. In this embodiment, the first limb 11 is the lower leg mechanism 2 of the humanoid robot, and the second limb 21 is the foot mechanism 3 of the humanoid robot. Alternatively, the driving mechanism can be arranged at the connection between the torso 4 of the humanoid robot and the upper arm. In this embodiment, the first limb 11 is the torso 4 of the humanoid robot, and the second limb 21 is the upper arm of the humanoid robot. Alternatively, the driving mechanism can be arranged at the connection between the upper arm and the forearm of the humanoid robot. In this embodiment, the first limb 11 is the upper arm of the humanoid robot, and the second limb 21 is the forearm of the humanoid robot.

[0077] Specifically, the driving motor 10 in the embodiment includes a motor body 110 and a gear box 120. The gear box 120 includes a box body, a rotating shaft and a speed reduction mechanism arranged in the box body, the box body is coaxially arranged with the rotating shaft, one end of the box body is coaxially arranged with a rotating adapter 103 for outputting torque, the rotating shaft is in driving connection with the rotating adapter 103 through the speed reduction mechanism, the rotating shaft drives the rotating adapter 103 to rotate, so that the rotating adapter 103 can rotate relative to the box body to realize the torque output of the rotating adapter 103. The gear box 120 is fixed to the bottom end of the motor body 110, the overall structure of the box body is in a cylindrical shape, the output end of the motor body 110 extends into the gear box 120 and is in driving connection with the rotating shaft, the axial direction of the rotating shaft is perpendicular to the axial direction of the output end of the motor body 110, the output end is in driving connection with the rotating shaft through a bevel gear, the rotating shaft is connected with an inertia disc through the speed reduction mechanism, the rotating adapter 103 is fixedly connected with the inertia disc, the rotating adapter 103 rotates synchronously with the inertia disc, one end of the gear box 120 is in rotary connection with one side of the hinged seat 20 through the rotating adapter 103, and the other end is directly in rotary connection with the hinged seat 20.

[0078] Specifically, the hinged seat 20 in the embodiment includes a bottom plate 201 and first and second side plates 202 and 203 arranged on both sides of the bottom plate 201. When the first and second limbs 11 and 21 are assembled, the box body of the gear box 120 is rotatably mounted between the first and second side plates 202 and 203. The rotating adapter 103 at one end of the gear box 120 is fixedly connected with the first side plate 202, and the other end of the gear box 120 is in rotary connection with the second side plate 203. When the driving motor 10 is started, the rotating adapter 103 rotates relative to the box body under the drive of the driving motor 10, the rotating adapter 103 drives the whole hinged seat 20 to rotate around the gear box 120 through the first side plate 202, thereby realizing the swinging of the second limb 21 relative to the first limb 11.

[0079] Specifically, the adapter 103 in the embodiment is provided with a plurality of outward convex protrusions 1031 on the side away from the gearbox 120, the protrusions 1031 being torque output ends, the protrusions 1031 being distributed in a circumferential direction at intervals, the first side plate 202 being provided with a positioning groove 2021 on the side facing the second side plate 203, the positioning groove 2021 being a torque input end, the size of the protrusion 1031 being smaller than the size of the positioning groove 2021, the protrusion 1031 being embedded in the positioning groove 2021, a gap being formed between the protrusion 1031 and the side wall of the positioning groove 2021, the buffer pad 104 being filled between the protrusion 1031 and the side wall of the positioning groove 2021, the protrusion 1031 and the buffer pad 104 in combination with the positioning groove 2021 achieving a concave-convex fit, so that the adapter 103 and the first side plate 202 form a rotation-stopping fit, in the process of rotation of the adapter 103, the hinge seat 20 is driven to rotate through the cooperation of the protrusion 1031 and the side wall of the positioning groove 2021, the cooperation of the protrusion 1031 and the positioning groove 2021 can increase the contact area between the adapter 103 and the hinge seat 20, thereby dispersing the force between the adapter 103 and the hinge seat 20, making the force on the adapter 103 and the hinge seat 20 more uniform, reducing the possibility of damage to the adapter 103 and the hinge seat 20 due to stress concentration; in addition, the adapter 103 and the hinge seat 20 mainly transmit power through the protrusion 1031 and the positioning groove 2021, therefore, filling the buffer pad 104 between the protrusion 1031 and the side wall of the positioning groove 2021 can effectively reduce the impact force on the protrusion 1031 and the positioning groove 2021, reducing the possibility of damage to the protrusion 1031 and the positioning groove 2021, and significantly prolonging the service life of the adapter 103 and the hinge seat 20.

[0080] It should be noted that the buffer pad 104 in the embodiment is made of rubber, polyurethane or silicone with elasticity.

[0081] Of course, it can be understood that in other embodiments, the protrusion 1031 can also be arranged on the end face of the hinge seat 20 facing the adapter 103, and the corresponding positioning groove 2021 is arranged on the end face of the adapter 103 facing the hinge seat 20.

[0082] Specifically, the buffer pad 104 in the embodiment includes a plurality of buffer blocks 1041, both sides of the protrusion 1031 are fixed with the buffer blocks 1041 in the rotating direction of the adapter 103, the buffer blocks 1041 are limited between the protrusion 1031 and the side wall of the positioning groove 2021 after the adapter 103 is embedded in the positioning groove 2021, that is, there are two buffer blocks 1041 in the same positioning groove 2021, and the two buffer blocks 1041 are respectively on both sides of the protrusion 1031 and abut against the two side walls of the positioning groove 2021, the torque transmission between the adapter 103 and the hinged seat 20 is mainly generated between the side wall of the protrusion 1031 and the side wall of the positioning groove 2021, the buffer pad 104 is arranged between the protrusion 1031 and the side wall of the positioning groove 2021, which can effectively absorb the impact force transmitted between the adapter 103 and the hinged seat 20, can significantly improve the utilization rate of the buffer pad 104, and improve the buffering effect of the buffer pad 104; in addition, the distance between the protrusion 1031 and the positioning groove 2021 in the axial direction can be reduced, the assembly between the adapter 103 and the hinged seat 20 is more compact, and the assembly stability of the adapter 103 and the hinged seat 20 is improved.

[0083] Regarding the specific structure of the buffer pad 104, as shown in Figure 8 the buffer pad 104 in the embodiment includes a connecting ring 1042 and a buffer block 1041, the buffer blocks 1041 are distributed on the outer circumferential side of the connecting ring 1042 in the circumferential direction of the connecting ring 1042, and the buffer blocks 1041 and the connecting ring 1042 are in an integral structure, the buffer pad 104 as a whole has a plum blossom structure, when the buffer pad 104 is installed on the adapter 103, the connecting ring 1042 is coaxially arranged with the adapter 103, the connecting ring 1042 and the buffer block 1041 are in an integral structure, so that the entire buffer pad 104 is a whole, which can reduce the assembly difficulty of the buffer pad 104 and help to improve the assembly efficiency of the buffer pad 104; in addition, all the buffer blocks 1041 are connected with the connecting ring 1042, the connecting ring 1042 can disperse the force acting on the buffer blocks 1041, so that the stress of all the buffer blocks 1041 is more uniform, avoiding damage of one of the buffer blocks 1041 due to excessive stress, and helping to improve the buffering performance of the buffer pad 104.

[0084] Of course, it can be understood that in other embodiments, the buffer pad 104 can also be wrapped on the outer surface of the protrusion 1031, the buffer pad 104 is in contact with the groove wall of the positioning groove 2021 after the protrusion 1031 is embedded in the positioning groove 2021, the buffer pad 104 wraps the protrusion 1031, which can avoid direct contact between the protrusion 1031 and the positioning groove 2021, thereby effectively reducing the wear degree of the protrusion 1031 and the positioning groove 2021, and further improving the service life of the protrusion 1031 and the positioning groove 2021.

[0085] In order to improve the connection stability of the adapter 103 and the first side plate 202, the protrusion 1031 is provided with a connecting hole 1032 in the axial direction of the adapter 103 in the embodiment, the protrusion 1031 is connected with the hinge seat 20 through a fastener, the fastener can improve the connection stability of the adapter 103 and the first side plate 202, reduce the possibility of relative shaking of the adapter 103 and the first side plate 202, make the connection of the adapter 103 and the first side plate 202 more stable, and the torque transmission is more accurate and reliable; in addition, the fastener connects the protrusion 1031 and the first side plate 202 in the axial direction, and the adapter 103 drives the first side plate 202 to rotate through circumferential rotation, so that the torque received by the fastener is smaller in the torque transmission process, reducing the possibility of damage to the fastener; secondly, the connecting hole 1032 is arranged on the protrusion 1031, and the protrusion 1031 has better strength due to its larger thickness, so that the protrusion 1031 can provide reliable support for the fastener, reducing the possibility of damage to the connecting hole 1032, so that the adapter 103 and the first side plate 202 can form a reliable connection.

[0086] Specifically, the gear box 120 away from one end of the adapter 103 is provided with a groove, the side wall of the groove is annular and close to the edge of the gear box 120, the second side plate 203 is provided with a convex ring 2031 on the side facing the first side plate 202, the convex ring 2031 extends along the axial direction of the gear box 120, after the gear box 120 is assembled with the hinge seat 20, the convex ring 2031 extends into the groove, and the groove and the convex ring 2031 form a rotating fit through the shaft sleeve, the side wall of the groove close to the edge of the gear box 120, that is, the inner diameter of the groove is close to the diameter of the gear box 120, so that the groove has a larger inner diameter, the gear box 120 is connected with the hinge seat 20 through the cooperation of the groove and the convex ring 2031, the shaft formed by the gear box 120 has a larger diameter, the larger the diameter of the shaft, the smaller the force received by the gear box 120, so that the gear box 120 can withstand a larger external force, reducing the possibility of damage to the gear box 120, thereby improving the strength of the hinge between the first limb 11 and the second limb 21.

[0087] Specifically, in this embodiment, the first side plate 202 and the bottom plate 201 are an integral structure. The bottom plate 201 has an assembly groove 2013 on the side facing away from the first side plate 202. The second side plate 203 is detachably connected to the assembly groove 2013 by bolts. After the second side plate 203 is installed into the assembly groove 2013, the bottom wall of the assembly groove 2013 provides support for the second side plate 203. During the assembly process of the gearbox 120 and the hinge seat 20, the second side plate 203 is first disassembled so that one end of the gearbox 120 is fixedly connected to the first side plate 202 through the adapter 103. Then, the second side plate 203 is installed into the assembly groove 2013 so that the convex ring 2031 of the second side plate 203 forms a rotational engagement with the groove of the gearbox 120. Since the adapter 103 directly transmits the torque to the first side plate 202, the force on the first side plate 202 is relatively large. The first side plate 202 is integrally formed with the base plate 201, which enhances its strength, reduces the possibility of damage, and allows it to withstand greater torque. Furthermore, the second side plate 203 is detachably connected to the base plate 201, facilitating the assembly of the gearbox 120 and the hinge seat 20. This improves assembly efficiency and makes the assembly of the first side plate 202, second side plate 203, and gearbox 120 more compact, thus enhancing assembly stability and preventing deformation or breakage due to forced installation of the gearbox 120. Additionally, the assembly groove 2013 supports the second side plate 203, improving its load-bearing capacity and further increasing the connection stability between the hinge seat 20 and gearbox 120. Example 3:

[0088] like Figures 9 to 14 As shown in the embodiment for the third improvement, the drive motor includes a motor body 110 and a gearbox 120. The motor body 110 has a motor shaft 113 extending toward the gearbox 120. After the motor shaft 113 extends into the gearbox 120, it connects with the drive gear inside the gearbox 120. Power is output to the output shaft of the gearbox 120 through the meshing gear set inside the gearbox 120. To facilitate the connection between the motor body 110 and the gearbox 120, the connection end face of both the motor body 110 and the gearbox 120 is generally made into a plane.

[0089] The first boss 111 protrudes radially outward along the motor shaft 113, and the second boss 121 protrudes radially outward along the motor shaft 113. The first boss 111 is in abutment with the second boss 121.

[0090] In the conventional installation mode, bolt holes are formed in the first boss 111 and the second boss 121, and the motor body 110 and the gear box 120 are connected together by bolts 150 passing through the bolt holes along the motor shaft 113. In this case, the first boss 111 and the second boss 121 need to protrude outward by a sufficient length to ensure that the first boss 111 and the second boss 121 have sufficient strength after the bolt holes are formed. Such a design increases the length of the first boss 111 and the second boss 121 protruding outward, resulting in an increase in the diameter of the entire motor.

[0091] In the embodiment, the driving motor further comprises a connecting piece 130, the connecting piece 130 is provided with a connecting groove 131, the first boss 111 and the second boss 121 are inserted into the connecting groove 131, the groove wall of the connecting groove 131 cooperates with the first boss 111 and the second boss 121 to limit the relative displacement of the motor body 110 and the gear box 120 in the abutment direction, and the connecting piece 130 is connected with the motor body 110 and the gear box 120. In the embodiment, the motor body 110 is defined as being above, and the gear box 120 is defined as being below. After the first boss 111 and the second boss 121 are in abutment and are inserted into the connecting groove 131, the upward face of the first boss 111 is in abutment with the top face of the connecting groove 131, and the downward face of the second boss 121 is in abutment with the bottom face of the connecting groove 131. The connecting piece 130 limits the motor body 110 and the gear box 120 from being separated in the vertical direction.

[0092] When the motor is subjected to an axial impact force, the axial impact force is borne and transmitted by the end faces of the first boss 111 and the second boss 121 in direct abutment. When the motor is subjected to an axial tensile force, the axial tensile force is transmitted by the groove wall of the connecting piece 130 in abutment with the first boss 111 and the second boss 121. In this way, as long as the connecting piece 130 and the bosses have sufficient strength, the length of the bosses extending radially along the motor shaft 113 can be greatly reduced, thereby reducing the radial dimension of the entire motor, as compared with the case where the bosses are provided with bolt holes and connected by bolts. The connecting points of the connecting piece 130 with the motor body 110 or the gear box 120 only need to ensure the relative positions of the connecting piece 130 with the motor body 110 or the gear box 120, and do not need to bear the impact force or the tensile force of the motor.

[0093] Further, along the direction of the abutment of the motor body 110 and the gear box 120, that is, along the vertical direction, both ends of the connecting groove 131 are respectively provided with connecting ears 132, which are detachably connected with the corresponding motor body 110 and gear box 120 through bolts 150. The width of the connecting ears 132 can be the same as that of the connecting groove 131, and the length of the connecting ears 132 is determined according to the strength of the connecting piece 130 to ensure that the connecting ears 132 will not deform after the bolts 150 are passed through. The connecting ears 132, as an extension of the connecting piece 130, provide an ideal mounting position for the bolts 150, and the fastening force of the bolts 150 not only fixes the connecting piece 130, but also further enables the connecting piece 130 to exert a radial inward abutting force on the first boss 111 and the second boss 121, thereby pressing the first boss 111 and the second boss 121 tightly in the connecting groove 131 from multiple directions, eliminating potential gaps, and forming a pre-tightened and more rigid whole. During assembly, the motor body 110 and the gear box 120 can be initially positioned through the bosses and the connecting groove 131, at which time the relative positions of the two have been determined, and then the bolts 150 on the connecting ears 132 can be tightened to complete the final fixation.

[0094] Still further, the end surface of the motor body 110 is provided with a first fixing groove 112, the end surface of the gear box 120 is provided with a second fixing groove 122, and the motor further comprises a connecting piece 140 inserted into the first fixing groove 112 and the second fixing groove 122, and the connecting piece 140 is provided with a threaded hole 141 adapted to the bolts 150. That is, the length of the connecting piece 140 is equal to the depth of the first fixing groove 112 and the second fixing groove 122, so that the end surface of the motor body 110 and the end surface of the gear box 120 can be completely fitted. Directly tapping and screwing the bolts 150 into the thin-walled shell of the motor body 110 or the gear box 120 will highly concentrate the pre-tightening force and working load of the bolts 150 around the threaded hole 141, which is likely to cause the shell material to be crushed or cracked, especially on light metal materials such as aluminum alloy. The connecting piece 140 spans the abutment surface of the motor body 110 and the gear box 120, and the bolts 150 exert pressure through the threaded hole 141 on the connecting piece 140. The connecting piece 140 converts this pressure into uniform surface pressure on the groove walls of the first fixing groove 112 and the second fixing groove 122, greatly increases the stress area, and significantly reduces the unit area load, effectively protecting the shells of the motor and the gear box 120. In addition, the connecting piece 140 actually plays the role of an internal flange, and the connecting piece 140 is arranged in the fixing groove, so that the motor body 110 and the gear box 120 do not need to be designed as thick flange surfaces to provide support for the threads, thereby achieving a higher strength connection while still maintaining a compact and lightweight overall appearance.

[0095] In the above embodiment, two bolts 150 are arranged on each connecting lug 132, and the corresponding first fixing groove 112, second fixing groove 122 and connecting plate 140 are also provided with two, that is, two threaded holes 141 are arranged on each connecting plate 140, one threaded hole 141 is connected with the bolt 150 passing through the motor body 110, and the other threaded hole 141 is connected with the bolt 150 passing through the gear box 120. By adopting the double-bolt 150 design on each connecting lug 132, the high redundancy of the connecting structure and the balanced distribution of the load are realized, thereby greatly improving the anti-failure capability, stability and safety of the entire connecting system. By arranging two bolts 150 on a single connecting lug 132, a double insurance is formed, and even in an extreme case, if one of the bolts 150 fails due to fatigue or accident, the other bolt 150 can still continue to bear the load, preventing the connecting structure from collapsing instantaneously. This provides valuable safety redundancy for the robot when performing critical tasks, avoiding disastrous consequences. In addition, a single bolt 150 will cause the load to concentrate and may cause the connecting lug 132 to produce a slight warping due to the moment effect. The symmetrical arrangement of the double bolts 150 can evenly distribute the load on the connecting lug 132 and the connecting plate 140. This balanced load distribution effectively suppresses the warping deformation of the connecting lug 132, ensures that the connecting groove 131 and the boss always maintain close surface contact, thereby maintaining the high rigidity and stability of the entire connecting structure, and further prolonging the fatigue life of the system.

[0096] In addition, after being connected by the bolts 150, the heads of the bolts 150 are likely to protrude from the motor body 110 or the gear box 120, which may affect the size of the motor or interfere with other components. Therefore, an avoidance groove 160 is formed on the side wall of the motor body 110 and the side wall of the gear box 120, and the connecting lug 132 of the connecting piece 130 is accommodated in the corresponding avoidance groove 160. By providing the avoidance groove 160 on the housing, the completely concealed installation of the connecting piece 130 is realized, thereby minimizing the impact of the connecting structure on the overall size of the motor, and finally achieving an extremely compact design.

[0097] The connecting bolts 150, nuts or connecting lugs 132 and other components are inevitably protruded from the motor body, which increases the occupied space of the equipment and may interfere with other parts in a narrow space. The avoidance grooves 160 are specially formed on the side walls of the motor body 110 and the gear box 120, and the connecting lugs 132 of the connecting pieces 130 are hidden in these grooves. This design makes the connecting lugs 132 and the bolts 150 thereon not exceed the original outer contour of the motor housing after installation. This greatly facilitates the integration of the motor with other components, reduces the interference risk that needs to be considered during design and assembly, and provides higher freedom for the overall layout of the robot joint.

[0098] On the basis of the above embodiment, the first boss 111, the second boss and the connecting piece 130 form a connecting structure, and the connecting structure is multiple and uniformly distributed around the circumference of the motor shaft 113. In this embodiment, four groups of connecting structures are actually provided, and by arranging multiple uniformly distributed connecting structures in the circumferential direction, the load is symmetrically and uniformly distributed, thereby significantly improving the coaxiality of the connection, the overall rigidity and the torsional capacity. In the traditional connection mode, a few bolts 150 are used for connection, and the eccentricity of the motor body 110 and the gear box 120 axis is prone to occur due to uneven stress or machining error, which affects the transmission accuracy and bearing life. Now, through the multiple connecting structures, the motor body 110 and the gear box 120 are clamped and positioned from multiple directions around the circumference of the motor shaft 113 line. This multi-point and symmetrical constraint mode can automatically average the machining and assembly errors and force the motor body 110 and the gear box 120 to maintain a high degree of coaxiality. In addition, the torque output by the above-mentioned structure motor and the torque of the external load reaction are borne by all the connecting structures, which greatly increases the torsional section modulus of the entire connecting system and can transmit much larger torque than single-point or few-point connection. For the robot joint motor which needs to be frequently started and stopped and reversed, this is a crucial performance indicator.

[0099] In addition, in this embodiment, the end surface of the motor body 110 is provided with a positioning boss 114 extending towards the gear box 120, and the end surface of the gear box 120 is provided with a positioning groove 123 matched with the positioning boss 114. The positioning boss 114 and the first boss 111 can be arranged at intervals around the circumference of the motor shaft 113 axis, and the positioning groove 123 and the second boss 121 can also be arranged at intervals. Through the cooperation of the positioning boss 114 and the positioning groove 123, the motor body 110 and the gear box 120 are further positioned around the circumference of the motor shaft 113 axis, avoiding relative rotation of the two in the circumferential direction. When the motor body 110 and the gear box 120 are assembled, the positioning boss 114 is inserted into the positioning groove 123, and the high-precision centering of the motor body 110 and the gear box 120 can be completed instantly, which ensures that all subsequent connecting structures can be perfectly aligned from the source, laying a solid foundation for achieving high coaxiality.

[0100] On the basis of the above embodiment, the connecting groove 131 has a first groove wall 1311 and a second groove wall 1312 arranged opposite to each other in the butt joint direction, the first groove wall 1311 abuts against the end surface of the first boss 111 away from the second boss 121, and the second groove wall 1312 abuts against the end surface of the second boss 121 away from the first boss 111. Through the double-groove-wall design of the connecting groove 131, the axial tension between the motor body 110 and the gear box 120 is directly converted into the contact pressure between the connecting piece 130 and the boss, achieving extremely high axial stiffness and impact resistance, and effectively protecting the bolts 150 used for fixation.

[0101] Further, the first groove wall 1311 is in surface contact with the end face of the first boss 111 facing away from the second boss 121, and the second groove wall 1312 is in surface contact with the end face of the second boss 121 facing away from the first boss 111, maximizing the contact area of the connecting surface, thereby achieving optimal dispersion of stress and significantly improving the fatigue resistance and long-term reliability of the connecting structure. Surface contact evenly distributes tension on the entire contact surface, minimizing the stress per unit area. This is the most effective way to prevent material fatigue and avoid structural failure, especially for robot motors that need to withstand impact loads for a long time. It is the fundamental guarantee to ensure long service life and high reliability.

[0102] Further, the end face of the first boss 111 facing away from the second boss 121 is a first inclined surface 1111, and the end face of the second boss 121 facing away from the first boss 111 is a second inclined surface 1211, so that the thickness of the first boss 111 and the second boss 121 after abutting gradually decreases in a direction away from the center of the drive motor; the first groove wall 1311 is a third inclined surface adapted to the first inclined surface 1111, and the second groove wall 1312 is a fourth inclined surface adapted to the second inclined surface 1211, so that the connecting groove 131 has an open large and narrow structure. When installing the connecting piece 130, no accurate alignment is required, and the inclined surface will automatically guide the connecting piece 130 to slide into the correct position. Under the action of the pre-tightening force of the bolt 150, the inclined surface cooperation can naturally pull the motor body 110 and the gear box 120 to the closest state, simplifying the assembly process and ensuring the uniformity of pre-tightening.

[0103] In the installation, the motor body 110 and the gear box 120 are assembled up and down, the connecting piece 140 is inserted into the second fixing groove 122, the output shaft of the motor body 110 is aligned with the connecting hole of the gear box 120, at the same time, the positioning boss 114 of the bottom surface of the motor body 110 is aligned with the positioning groove 123 of the top surface of the gear box 120, the positioning boss 114 is inserted into the positioning groove 123, at the same time, the connecting piece 140 is also inserted into the first fixing groove 112, after the preliminary butt joint of the motor body 110 and the gear box 120 is completed, at the same time, the bottom surface of the first boss 111 is tightly attached to the top surface of the second boss 121. Then, the connecting groove 131 of the connecting piece 130 is pushed to the first boss 111 and the second boss 121 along the radial direction, so that the first boss 111 and the second boss 121 are inserted into the connecting groove 131, when being inserted, since the groove walls of the first boss 111, the second boss 121 and the connecting groove 131 are all inclined surfaces, the outer ends of the first boss 111 and the second boss 121 can be inserted into the connecting groove 131 without accurate alignment, with the pushing of the connecting piece 130 along the radial direction towards the motor center, the alignment of the connecting groove 131 can be automatically completed by using the inclined surface, after the connecting groove 131 is pushed to the bottom, the fixing connection of the connecting piece 130 with the motor body 110 and the gear box 120 is realized through the cooperation connection of the connecting lug 132 of the connecting piece 130 and the threaded groove of the connecting piece 140 by the bolt 150, and the assembly of the motor is completed.

[0104] The driving motor of the application solves the inherent contradiction between strength, size and reliability of the traditional motor connection scheme by a set of highly coordinated innovative design. It abandons the thick flange and the through bolt 150, and instead adopts a compact external connection structure, directly bears the axial load by the structural member through surface contact, realizes the high-strength connection with zero radial increment. The uniform distribution of multiple connection points in the circumferential direction, combined with independent high-precision positioning reference, ensures the excellent coaxiality, overall rigidity and torsional capacity between the motor and the gear box 120. At the same time, through the detail optimization of the connecting piece 140, the double bolt 150 and the avoiding groove 160, this scheme realizes high reliability and easy maintenance while protecting the thin-walled shell and avoiding stress concentration, finally builds an integrated connection system considering extreme compactness, ultra-high strength, dynamic self-locking and long-term reliability, perfectly meets the application requirements of high power density and high dynamic response of robots and the like. Embodiment four:

[0105] As Figures 15 to 18As shown, for the embodiment of the fourth improvement point, the humanoid robot leg comprises a thigh mechanism 1, a lower leg mechanism 2 and a foot mechanism 3, wherein the thigh mechanism 1 comprises a thigh body and a driving motor 10, the top end of the thigh body is hinged with the crotch 41 of the humanoid robot, the driving motor 10 is fixed at the bottom end of the thigh body, the bottom of the driving motor 10 is provided with a rotating adapter 103 for outputting torque, the lower leg mechanism 2 comprises a lower leg body and a driving motor 10, the top end of the lower leg mechanism 2 forms a hinged seat 20, the driving motor 10 of the lower leg body is fixed at the bottom end of the lower leg body; after assembly, the driving motor 10 of the thigh mechanism 1 is rotationally connected with the hinged seat 20 of the lower leg mechanism 2, and the rotating adapter 103 outputs torque to the hinged seat 20, so that the lower leg mechanism 2 can rotate relative to the thigh mechanism 1, the driving motor 10 of the lower leg mechanism 2 is rotationally connected with the foot mechanism 3, and the driving motor 10 of the lower leg mechanism 2 outputs torque to the foot mechanism 3, so that the foot mechanism 3 can swing relative to the lower leg mechanism 2; when the humanoid robot leg is in an upright state, the lower leg mechanism 2 remains vertical, the thigh mechanism 1 is forward inclined relative to the lower leg mechanism 2 and forms an angle with the lower leg mechanism 2, and the front side of the lower leg mechanism 2 supports the driving motor 10 to limit the thigh mechanism 1 from continuously rotating forward relative to the lower leg mechanism 2, so that the thigh mechanism 1 and the lower leg mechanism 2 form reliable positioning.

[0106] When the humanoid robot leg in the embodiment is in an upright state, the lower leg mechanism 2 is in an upright state, and the thigh mechanism 1 is forward inclined relative to the lower leg mechanism 2, so that the top end of the thigh mechanism 1 is on the front side of the lower leg mechanism 2, and the torso 4 of the humanoid robot is arranged directly above the top end of the thigh mechanism 1, so that the center of gravity of the whole humanoid robot is closer to the front side of the foot mechanism 3 of the humanoid robot, the center of gravity of the humanoid robot is moved forward, the humanoid robot leg can provide more reliable support for the torso 4, reduce the possibility of the humanoid robot lying backward, and help to improve the stability of the humanoid robot when standing; in addition, when the thigh mechanism 1 and the lower leg mechanism 2 form an angle, the hinged part of the thigh mechanism 1 and the lower leg mechanism 2 abuts to limit the thigh mechanism 1 from continuously rotating forward relative to the lower leg mechanism 2, so that the thigh mechanism 1 and the lower leg mechanism 2 can form positioning, and in the upright state, the abutting part of the thigh mechanism 1 and the lower leg mechanism 2 can provide reliable support for the thigh mechanism 1, so as to reduce the stress of the hinged part of the thigh mechanism 1 and the lower leg mechanism 2, reduce the possibility of damage of the hinged part due to stress concentration, make the connection of the thigh mechanism 1 and the lower leg mechanism 2 more stable and reliable, and significantly improve the service life of the humanoid robot leg; secondly, the abutting part does not bear the rotating action of the thigh mechanism 1 and the lower leg mechanism 2, so the abutting part has better support performance and can bear greater weight, which helps to reduce the requirement limit on the weight of the torso 4, so that the torso 4 can be assembled with more components, thereby improving the functional type of the humanoid robot; or the torso 4 can also be installed with a larger battery module, thereby improving the endurance of the humanoid robot.

[0107] As shown in Figs. 1 and 2, the thigh mechanism 1 and the lower leg mechanism 2 are connected to each other through a hinge seat 20, and the hinge seat 20 is connected to the driving motor 10 of the thigh mechanism 1 and the driving motor 10 of the lower leg mechanism 2. Figure 1 Figure 2 As shown in Figs. 1 and 2, the thigh mechanism 1 and the lower leg mechanism 2 are connected to each other through a hinge seat 20, and the hinge seat 20 is connected to the driving motor 10 of the thigh mechanism 1 and the driving motor 10 of the lower leg mechanism 2.

[0108] Specifically, the driving motor 10 in the embodiment includes a driving motor 10 body and a gear box 120. One end of the gear box 120 is coaxially provided with a transfer piece 103 for outputting torque. The top end of the lower leg body forms the hinge seat 20. The gear box 120 is rotationally connected to the hinge seat 20. The transfer piece 103 is fixedly connected to the hinge seat 20. The transfer piece can rotate relative to the gear box 120. When the driving motor 10 body is started, the driving motor 10 body transmits torque to the transfer piece 103, so that the transfer piece 103 rotates. The rotation of the transfer piece 103 drives the hinge seat 20 to rotate, thereby realizing the relative rotation of the thigh mechanism 1 and the lower leg mechanism 2. In addition, the front side of the gear box 120 is provided with a baffle 1024. The baffle 1024 abuts against the front side of the hinge seat 20 to limit the forward rotation angle of the thigh mechanism 1. The abutment of the baffle 1024 and the hinge seat 20 forms the abutting position of the thigh mechanism 1 and the lower leg mechanism 2. When the humanoid robot leg is in the upright state, the lower leg mechanism 2 can limit the continuous forward rotation of the thigh mechanism 1 and also provide reliable support to the thigh mechanism 1, thereby dispersing the pressure on the hinge position of the hinge seat 20 and the gear box 120, reducing the possibility of damage to the hinge position of the hinge seat 20 and the gear box 120, ensuring smooth rotation of the thigh mechanism 1 and the lower leg mechanism 2, and prolonging the service life of the humanoid robot leg. In addition, the abutment of the baffle 1024 and the hinge seat 20 can reduce the wear degree of the hinge seat 20 on the gear box 120, protect the gear box 120 to a certain extent, and help prolong the service life of the gear box 120.

[0109] ​Regarding the specific structure of the drive motor 10, in this embodiment, the gearbox 120 is provided with a rotating shaft and a reduction mechanism. The rotating shaft and the adapter 103 are coaxially arranged. The output end of the drive motor 10 extends into the gearbox 120. The axial direction of the output end of the drive motor 10 is perpendicular to the axial direction of the rotating shaft. The output end of the drive motor 10 extends into the gearbox 120 and is connected to the rotating shaft through a bevel gear. The output end of the reduction mechanism is provided with an inertia disk. The adapter 103 is fixed to the inertia disk. The rotating shaft transmits torque to the adapter 103 through the reduction mechanism.

[0110] Specifically, in this embodiment, the gearbox 120 includes a housing 1022 and a connecting portion 1023 fixed to the top of the housing 1022. The overall structure of the housing 1022 is cylindrical. The connecting portion 1023 is connected to the bottom end of the motor body 110. After the connecting portion 1023 is connected to the main body of the drive motor 10, the peripheral side surface of the connecting portion 1023 is flush with the peripheral side surface of the main body of the drive motor 10. The bottom end of the baffle 1024 extends to the front side of the housing 1022, and the top end of the baffle 1024 extends to the edge of the connecting portion 1023. The baffle 1024 is located on the front side of the housing 1022 and can shield the housing 1022, reducing the possibility of the housing 1022 directly entering the human's field of vision, which helps to improve the humanoid robot. The aesthetics of the legs are improved; in addition, the bottom end of the baffle 1024 is connected to the housing 1022, and the top end is connected to the connecting part 1023. The baffle 1024, housing 1022 and connecting part 1023 form a triangular structure, which can significantly improve the stability of the baffle 1024 and enable the baffle 1024 to withstand greater forces. The baffle 1024 and the hinge seat 20 can form a more stable support point, which can significantly improve the positioning stability of the thigh mechanism 1 and the lower leg mechanism 2. In addition, the connecting part 1023 is connected to the bottom end of the motor body 110. The bottom end of the baffle 1024 extends to the edge of the connecting part 1023, which can make the front side of the connecting part 1023 and the front side of the motor body 110 have better integrity, which helps to improve the aesthetics.

[0111] Specifically, such as Figure 16 As shown, in this embodiment, the included angle between the thigh mechanism 1 and the lower leg mechanism 2 is A, and 10°≤A≤20°, which makes the center of gravity distribution of the humanoid robot more reasonable and helps to improve the stability of the humanoid robot's legs when standing. When A<10°, the forward tilt angle of the thigh is small, and the center of gravity distribution of the humanoid robot is relatively far back, and there is still a possibility of falling backward. When A>20°, the forward tilt angle of the thigh is too large, and the pressure on the lower leg mechanism 2 will be more concentrated at the contact point between the thigh mechanism 1 and the lower leg mechanism 2, which will make the lower leg mechanism 2 prone to damage due to stress concentration. The humanoid robot is also prone to falling forward due to the center of gravity being too far back and forth, which also has the defect of being unstable when standing.

[0112] Specifically, the top end of the thigh body forms a hinged end hinged with the hip part 41 of the humanoid robot, the bottom end of the thigh body forms a bending part 112 connected with the driving motor 10, the bottom end of the bending part 112 is connected with the top end of the driving motor 10, the hinged end 111 forms an included angle with the driving motor 10 through the bending part 112, when the humanoid robot leg is in an upright state, the hinged end 111 is parallel to the calf mechanism 2, the hinged end 111 is parallel to the calf mechanism 2, when the humanoid robot leg is in an upright state, the upper torso 4 of the thigh mechanism 1 can be kept vertical, thereby preventing the center of gravity of the humanoid robot from being too forward, and making the humanoid robot have a more stable and beautiful standing posture.

[0113] Specifically, the hinged seat 20 in the embodiment includes a bottom plate 201 and first and second side plates 202 and 203 arranged on both sides of the bottom plate 201, when the thigh mechanism 1 and the calf mechanism 2 are assembled, the box body 1022 of the gear box 120 is rotatably installed between the first and second side plates 202 and 203, wherein the adapter 103 at one end of the gear box 120 is fixedly connected with the first side plate 202, and the other end of the gear box 120 is rotatably connected with the second side plate 203, when the driving motor 10 is started, the adapter 103 rotates relative to the box body 1022 under the driving of the driving motor 10, the adapter 103 drives the whole hinged seat 20 to rotate around the gear box 120 through the first side plate 202, thereby realizing the swing of the calf mechanism 2 relative to the thigh mechanism 1, the front end of the bottom plate 201 abuts against the baffle 1024 to limit the forward inclination angle of the thigh mechanism 1, the first and second side plates 202 and 203 are used to bear the torque output when the thigh mechanism 1 and the calf mechanism 2 rotate relative to each other, and the bottom plate 201 is used to bear the weight of the thigh mechanism 1 when the humanoid robot leg stands, thereby making the stress of the whole hinged seat 20 more uniform, avoiding the possibility of fracture of the hinged seat 20 due to stress concentration, improving the connection stability of the thigh mechanism 1 and the calf mechanism 2, and prolonging the service life of the hinged seat 20.

[0114] Specifically, as shown in FIG. 6, the adapter 103 is provided with a plurality of teeth 1031, the box body 1022 is provided with a plurality of teeth 1021, and the teeth 1031 of the adapter 103 are engaged with the teeth 1021 of the box body 1022. Figure 17As shown, the bottom plate 201 in this embodiment is in the shape of a circular arc, the distance between the rear end of the bottom plate 201 and the rotation axis of the gear box 120 is d1, the distance between the front end of the bottom plate 201 and the rotation axis of the gear box 120 is d2, and d2>d1; the horizontal distance between the front and rear ends of the bottom plate 201 is less than the diameter of the gear box 120, denoted as D, so d1+d2<D. Since the front end of the bottom plate 201 supports the baffle 1024, the pressure of the thigh mechanism 1 on the lower leg mechanism 2 mainly acts on the front end of the bottom plate 201, thereby reducing the arc length of the bottom plate 201, allowing the thigh mechanism 1 and the lower leg mechanism 2 to have a larger rotation angle, and at the same time, reducing the weight of the lower leg mechanism 2. In addition, the distance between the front end of the bottom plate 201 and the rotation axis of the gear box 120 is larger, allowing the front end of the bottom plate 201 to be higher in the height direction, so that the lower leg mechanism 2 can provide stronger support to the bottom plate 201, thereby improving the load bearing capacity of the front end of the bottom plate 201, allowing the bottom plate 201 to bear more weight, and helping to improve the support performance of the lower leg mechanism 2.

[0115] Specifically, in this embodiment, the gear box 120 away from the adapter 103 one end is provided with a rotating groove 1021, the side wall of the rotating groove 1021 is annular and close to the edge of the gear box 120, the second side plate 203 side toward the first side plate 202 is provided with a convex ring 2031, the convex ring 2031 extends along the axial direction of the gear box 120, after the gear box 120 and the hinge seat 20 are assembled, the convex ring 2031 extends into the rotating groove 1021, and the rotating groove 1021 and the convex ring 2031 form a rotating fit through the shaft sleeve. The side wall of the rotating groove 1021 is close to the edge of the gear box 120, that is, the inner diameter of the rotating groove 1021 is close to the diameter of the gear box 120, so that the rotating groove 1021 has a larger inner diameter. The gear box 120 is connected with the hinge seat 20 in rotation through the cooperation of the rotating groove 1021 and the convex ring 2031. The rotating shaft formed by the gear box 120 has a larger diameter. The larger the diameter of the rotating shaft, the smaller the force acting on the gear box 120, so that the gear box 120 can bear a larger external force, reducing the possibility of damage to the gear box 120, thereby improving the strength of the hinge between the thigh mechanism 1 and the lower leg mechanism 2. Embodiment five:

[0116] Referring to Figures 19 to 27 For the embodiments of the 5th and 6th improvements, the foot mechanism includes a foot mechanism, an ankle support 400 and an ankle motor 410. The ankle support is fixedly connected with the corresponding hinge seat. The foot mechanism is mainly used for contacting with the ground, equivalent to the feet of the human body, while the ankle support 400 is responsible for connecting the foot mechanism and the lower leg, and the ankle motor 410 is responsible for driving the foot mechanism to swing left and right relative to the ankle support 400 in the forward direction, realizing the eversion and inversion actions of the foot mechanism.

[0117] The ankle support 400 is generally located above the foot mechanism, and the ankle support 400 is rotatably connected to the foot mechanism through the rotating mechanism, so that the impact force borne by the foot mechanism is transmitted to the ankle support 400 through the rotating shaft mechanism 420, that is, the impact force generated when the foot mechanism contacts the ground is transmitted to the rotating shaft mechanism 420, and then transmitted to the ankle support 400 in an upward direction, forming a force bearing path.

[0118] The shell 411 of the ankle motor 410 is fixed to the adhesive mechanism or the ankle support 400, and the output shaft 412 of the ankle motor 410 is connected to the other, so that when the ankle motor 410 works, the foot mechanism can be driven to rotate relative to the ankle support 400, realizing the action of ankle eversion and inversion. In this embodiment, the ankle motor 410 provides driving torque purely by the way of fixing the shell 411 and connecting the output shaft 412, and is isolated from the main impact force transmission path. In this way, the strength requirement of the ankle motor 410 is reduced, and the ankle motor 410 can be made as small as possible, and the weight can also be made as light as possible.

[0119] The foot mechanism includes a instep assembly 210, a heel assembly 220, a toe assembly 230, and an elastic device 250. The heel assembly 220 is connected to the rear end of the instep assembly 210, and the toe assembly 230 is connected to the front end of the instep assembly 210 through a first rotating pair 240. The heel assembly 220 and the toe assembly 230 serve as front and rear contact points with the ground, and the instep assembly 210 is like a bridge erected between the heel assembly 220 and the toe assembly 230. Therefore, in this embodiment, the bottom surface of the rear end of the instep assembly 210 is connected to the top surface of the front end of the heel assembly 220, and the bottom surface of the front end of the instep assembly 210 is rotatably connected to the top surface of the toe assembly 230.

[0120] The first connecting end of the elastic device 250 is connected to the rear part of the toe assembly 230, and the second connecting end of the elastic device 250 is connected to the instep assembly 210 or the heel assembly 220. Since the toe assembly 230 is connected to the instep assembly 210 through the first rotating pair 240, the toe assembly 230 can rotate relative to the instep assembly 210, so that the toe assembly 230 has a toe-like effect. When the toe assembly 230 rotates relative to the instep assembly 210, the elastic device 250 is stretched or compressed to provide cushioning. That is, the elastic device 250 has a function similar to that of the plantar fascia. The elastic device 250 can be an element that has elastic deformation and can generate restoring force, such as a compression spring, a tension spring, or a rubber belt. In this embodiment, for the convenience of description, the elastic device 250 will be taken as a tension spring as an example, and the elastic device 250 is stretched to provide cushioning when the toe assembly 230 rotates relative to the instep assembly 210.

[0121] When the foot device contacts the ground, the toe assembly 230 rotates upward around the first revolute pair 240 due to the ground reaction force, and the elastic device 250 is stretched. This process absorbs the impact energy and stores elastic potential energy at the same time. When entering the toe-off phase, the elastic device 250 releases the stored energy to assist the toe to rotate downward, forming a natural toe-off action. This passive and elastic-driven rotation perfectly reproduces the essence of human walking.

[0122] Further, the foot mechanism is provided with a placement cavity 270 for accommodating the ankle motor 410. Since the foot mechanism also mainly serves as a force-bearing mechanism, it can be designed as a hollow design according to the mechanical performance requirements. Therefore, the placement cavity 270 can be provided without affecting the mechanical performance of the foot mechanism, and the ankle motor 410 is arranged in the placement cavity 270, so that the ankle motor 410 is changed from the original external installation to being embedded in the foot mechanism. The foot mechanism is closer to the structure of the human foot, maximizes the utilization of the space inside the foot mechanism, and improves the space utilization.

[0123] In addition, the placement cavity 270 serves as a cavity, and the cavity wall can also protect the ankle motor 410 from side and / or downward collisions and bumps, thereby providing basic mechanical protection for the motor. In addition, by arranging the ankle motor 410 in the accommodation cavity, the power supply line and signal line of the ankle motor 410 can be planned along the direction of the placement cavity 270, thereby realizing neat cable management and avoiding cable disorder, entanglement or being pulled.

[0124] The placement cavity 270 is open upward, that is, toward the ankle support 400, and the ankle support 400 covers the opening of the placement cavity 270. The ankle support 400 and the foot mechanism jointly enclose a containing space for accommodating and protecting the ankle motor 410, that is, the ankle support 400 serves as a cover plate of the placement cavity 270. The foot mechanism protects the bottom and side of the ankle motor 410, and the ankle support 400 can at least protect the top of the ankle motor 410. Of course, according to the structure of the ankle support 400, the side of the ankle motor 410 can also be protected. By covering the opening of the placement cavity 270 from above, the ankle support 400 provides a key physical barrier for the ankle motor 410, effectively preventing accidental falling objects, bumps from above, or debris directly impacting the motor when the robot is walking. At the same time, the ankle support 400 itself is a main force-bearing component. When it covers the opening of the placement cavity 270 and is connected to the foot mechanism through the shaft mechanism 420, the two form a stable composite structure similar to an L shape or a door frame. This structure greatly enhances the bending and torsional stiffness of the ankle joint connection area when bearing impact force and bending moment, reduces local deformation, and thus improves the structural stability and motion accuracy of the entire foot mechanism.

[0125] Specifically, the placement cavity 270 is arranged between the instep assembly 210 and the heel assembly 220. The placement cavity 270 is arranged according to the general idea, and the opening thereof is generally fixed. If the size of the placement cavity 270 is close to that of the ankle motor 410, the installation will be very inconvenient. In order to facilitate the installation, the size of the placement cavity 270 is increased, which will cause the size of the foot mechanism to be large.

[0126] In the embodiment, the instep assembly 210 and the heel assembly 220 are designed to be relatively rotatable, and the instep assembly 210 and the heel assembly 220 are connected through the second rotating pair 260, that is, there is a rotating shaft connecting the instep assembly 210 and the heel assembly 220. Therefore, the second end of the elastic device 250 can be directly hung on the rotating shaft to realize the fixation of the second end of the elastic device 250. That is, the second end of the elastic device 250 is connected to the connection position of the instep assembly 210 and the heel assembly 220. In the humanoid foot mechanism, the instep assembly 210 is generally a structure erected above the heel assembly 220 and the toe assembly 230. The connection position of the instep assembly 210 and the heel assembly 220 is naturally higher than the ground plane of the toe assembly 230 and the heel assembly 220 in the vertical direction. Connecting the upper end of the elastic device 250 to this position means that the starting point thereof is set at a higher position. This ensures that the elastic device 250 can maintain a sufficient safety distance from the ground in the natural state. By using the existing connection position of the instep assembly 210 and the heel assembly 220 as the mounting point, it is not necessary to separately design and manufacture additional mounting brackets or complex connection structures for the elastic device 250, which reduces the number of parts and the overall weight and complexity of the foot, perfectly meeting the lightweight and low-cost goals in robot design. If the second rotating pair 260 is not arranged to connect the instep assembly 210 and the heel assembly 220, the second end of the elastic device 250 can be fixed to the connection position of the instep assembly 210 and the heel assembly 220 by welding or bonding.

[0127] In the embodiment, the rotation axis of the second rotation pair 260 is arranged along the left-right direction, which is perpendicular to the direction in which the output shaft 412 of the ankle motor 410 is usually arranged front-to-back. When the instep assembly 210 and the heel assembly 220 are relatively rotated, more space is left in the direction of the axis of the output shaft 412 of the ankle motor 410, facilitating the entry of the output shaft 412 of the ankle motor 410 into the placement cavity 270 to be rotationally connected with the foot mechanism or the ankle support 400. When the ankle motor 410 is placed into the placement cavity 270, the relative rotation of the instep assembly 210 and the heel assembly 220 can make the opening of the placement cavity 270 larger, thereby significantly increasing the actual operation opening of the placement cavity 270. This provides sufficient operation space and visual access for the placement of the ankle motor 410 and its wiring harness into the cavity, positioning and fastening operations, greatly simplifies the process, reduces the assembly difficulty and time cost, and is also convenient for subsequent detection and maintenance.

[0128] Since the rear end bottom of the instep assembly 210 and the front end top of the heel assembly 220 are connected by the second rotation pair 260, it is necessary to prevent the collapse of the arch when the robot stands, that is, the instep assembly 210 and the heel assembly 220 need to maintain a certain relative position support when the robot stands. Therefore, the first limiting portion 221 is arranged on the heel assembly 220, and the second limiting portion 211 is arranged on the instep assembly 210, and the second limiting portion 211 abuts against the first limiting portion 221 to limit the upward rotation amplitude of the instep assembly 210 relative to the heel assembly 220. In the embodiment, the first limiting portion 221 is located at the front end top of the heel assembly 220 beside the second rotation pair 260, and the second limiting portion 211 is located at the rear end bottom surface of the instep assembly 210 beside the second rotation pair 260, that is, the rear end bottom surface of the instep assembly 210 extends a little towards the heel assembly 220 to form the second limiting portion 211, which abuts against the front end top surface of the heel assembly 220 to limit the upward rotation amplitude of the instep assembly 210. The cooperation of the first limiting portion 221 and the second limiting portion 211 ensures that the foot will not be unstable due to collapse when the robot exerts force or stands, and provides a reliable support structure for the entire leg. When the instep has a backward tilting tendency, the limiting portion immediately comes into contact to provide rigid support and directly transmit the moment to the heel and the ground, which ensures that the foot mechanism can provide a stable and reliable platform to bear weight in the support phase, which is the basis for realizing a stable gait (especially static standing).

[0129] On the basis of the above-mentioned embodiments, the first rotary pair 240 is arranged at the middle part of the instep assembly 210 and the toe assembly 230, that is, the front end of the foot assembly and the middle part of the toe assembly 230 are rotationally connected. When the toe touches the ground, the ground reaction force acts on the front end of the toe, and this force generates a torque around the first rotary pair 240 (fulcrum) to make the toe rotate upward. At the same time, the elastic device 250 is connected to the rear part of the toe to generate a tensile torque to resist rotation. If the hinge point is too close to the front end of the toe, the force arm is very short, and a very large ground impact force is needed to drive the toe to rotate. The response of the buffer is slow, and the deformation of the elastic device 250 will be small, which results in poor buffer effect. If the hinge point is too close to the instep, the force arm is very long, and the toe rotates too sensitively, which may result in poor stability. In addition, the deformation of the elastic device 250 will be too large, which may exceed its normal working range. The hinge point at the middle part makes the length of the force arm from the force point (the front end of the toe) to the fulcrum (the first rotary pair 240) and from the fulcrum to the force point (the connection point of the elastic device 250 at the toe) balanced. A small ground impact can effectively start the toe rotation and the deformation of the elastic device 250, and the response is fast. The impact kinetic energy can be more fully and smoothly absorbed by the elastic device 250 (stored as potential energy), and effectively released (rebound) in the stage of kicking off, which helps walking and improves energy efficiency.

[0130] Further, the first rotary pair 240 includes a rotary adapter groove 231 arranged on the toe assembly 230 and a rotary adapter 212 arranged on the instep assembly 210 and extending into the interior of the rotary adapter groove 231. The rotary adapter 212 is rotationally connected to the groove wall of the rotary adapter groove 231 through a rotary shaft, so that the rotation of the toe assembly 230 relative to the instep assembly 210 can be realized. The slot cross section of the rotary adapter groove 231 is configured to be small inside and large outside, so as to limit the movement range of the rotary adapter 212 in the groove, thereby limiting the rotation amplitude of the toe assembly 230 relative to the instep assembly 210. The rotary adapter groove 231 is not only a bearing seat constituting a rotary pair, but also a limiting mechanism. When the toe rotates to a preset angle, the rotary adapter 212 will contact the inner wall of the slot of the rotary adapter groove 231, and the movement is immediately stopped, thereby limiting the rotation of the toe assembly 230 relative to the instep assembly 210 within the preset angle. The present scheme adopts a purely mechanical and passive limiting mode to control the rotation of the toe assembly 230 relative to the instep assembly 210, and utilizes the shape of the slot to limit the rotation angle of the toe with high precision, which ensures that each step of movement is within the designed safe range and improves the consistency and predictability of gait.

[0131] Further, the first rotary pair 240 has two groups and is arranged at intervals, for example, two groups of first rotary pairs 240 are respectively located on the left and right sides of the width direction of the toe assembly 230, and the rotation axes of the two groups of first rotary pairs 240 coincide. If there is only one adapter 212 (single-side support), when the toes are stressed, the rotating shaft and the entire hinge structure are like a cantilever beam, the root (support point) bears a huge bending moment, and deformation, wear and even failure are easily caused. The two-axis coinciding adapter 212 forms a double support point, which changes the working mode of the rotating shaft from a cantilever beam to a simply supported beam, and the load is evenly distributed on the two support points, greatly improving the bending stiffness, torsional stiffness and overall stability of the rotary pair, which is crucial for the robot foot that needs to bear complex ground impact forces.

[0132] On the basis of the above-mentioned embodiments, the elastic device 250 is suspended below the instep assembly 210, and the horizontal height of the elastic device 250 is higher than the landing plane of the toe assembly 230 and the heel assembly 220, so as to avoid the contact between the elastic device 250 and the ground. The first end of the elastic device 250 can be connected to a position above the tail of the toe assembly 230, so that the side close to the toe assembly 230 of the elastic device 250 is higher than the ground. The second end of the elastic device 250 is connected to the position where the instep assembly 210 intersects with the heel assembly 220, and the horizontal height of the instep assembly 210 at this position is higher than that of the heel assembly 220, that is, the second end is connected to a position above the front end of the heel assembly 220, so that the side close to the heel assembly 220 of the elastic device 250 is also higher than the ground. Placing the elastic device 250 at a position higher than the landing plane reduces the possibility of collision, entanglement or extrusion of the robot by obstacles such as the ground, stones and gaps when walking, turning or climbing stairs, effectively prevents performance degradation or rupture of the elastic device 250 due to wear and tear, significantly prolongs its service life, and reduces maintenance requirements.

[0133] The instep assembly 210, the toe assembly 230 and the heel assembly 220 of the entire foot mechanism can all adopt a hollow structure to reduce the overall weight. The specific hollow position and size can be generated by a topological optimization method to achieve the shape of imitating biological skeletons, and the material is cleverly distributed on the path that needs to bear the force most, so that the strength and stiffness of the structure in the key direction are reserved or even optimized while the weight is greatly reduced, achieving lightness and strength.

[0134] On the basis of the above-mentioned embodiments, the rotating shaft mechanism 420 includes at least one first connecting part 421 arranged on the foot mechanism, and at least one second connecting part 422 arranged on the ankle support 400 and rotationally matched with the first connecting part 421.

[0135] Specifically, the instep assembly 210 is provided with a first connecting piece 290 extending upward, the heel assembly 220 is also provided with a first connecting piece 290 extending upward, and the two first connecting pieces 290 are arranged in front and back intervals, and each first connecting piece 290 is provided with a first connecting part 421; the ankle support 400 is provided with a second connecting piece 450 extending downward, and a second connecting part 422 is arranged on the second connecting piece 450. The first connecting piece 290 and the corresponding second connecting piece 450 are arranged side by side in the axial direction of the output shaft 412 of the ankle motor 410, avoiding interference when the ankle support 400 and the foot mechanism are installed, and can also reduce the gap between the first connecting part 421 and the second connecting part 422 in the axial direction of the output shaft 412 of the ankle motor 410.

[0136] The traditional design usually uses a centralized connecting point (such as a single bearing seat) to connect the ankle support 400. However, the present scheme creates two upwardly extending connecting parts on the foot mechanism, which are arranged in front and back intervals, and after being connected with the ankle support 400, a two-point supported ankle structure is formed. When the robot walks or turns on uneven ground, the foot will be subjected to a huge torsional load, and the single-point connected ankle needs to rely on a single connecting structure to resist all torsion, which is easy to become a weak point of rigidity. The two-point supported structure of the present scheme forms a stable couple through the front and back interval arrangement, which can effectively resist the torsional moment and significantly improve the rigidity of the ankle and even the entire leg. This architecture allows the instep assembly 210 and the heel assembly 220 to be relatively independent mechanically, and they are connected together through the common ankle support 400, but can also move around the pivot mechanism 420.

[0137] One of the first connecting part 421 and the second connecting part 422 is a connecting shaft, and the other is a connecting hole matched with the connecting shaft; the cylindrical connecting shaft and the connecting hole are in surface contact or line contact, and the contact area is large. When the foot mechanism bears a huge vertical impact force and bending moment, this matching mode can uniformly disperse the load on the entire contact surface of the shaft and the hole, thereby providing excellent compression and bending strength. This is a crucial feature for a robot foot that needs to withstand repeated impacts, ensuring the durability of the pivot mechanism 420 itself.

[0138] In this embodiment, the first connecting part 421 is a connecting shaft, and the second connecting part 422 is a connecting hole. The connecting shaft is coaxially connected with the output shaft 412 of the ankle motor 410. The rotating motion of the motor output shaft 412 is directly transmitted to the connecting shaft as a force-bearing component, thereby driving the joint to rotate. It completely eliminates any intermediate transmission links such as gears, belts, connecting rods, etc. This not only eliminates the transmission backlash, ensures extremely high motion control accuracy, but also avoids energy loss caused by intermediate transmission, and improves transmission efficiency. The ankle motor 410 can be very compactly arranged on one side of the connecting shaft or directly sleeved on the connecting shaft, minimizing the volume of the entire drive unit. At the same time, this structure ensures that the action line of the driving force accurately passes through the rotation center of the joint, avoids additional load caused by eccentric torque, and ensures the stability of the motion and the long service life of the components.

[0139] On the basis of the above-mentioned rotating shaft mechanism 420, in this embodiment, there are two groups of first connecting parts 421 and second connecting parts 422, and the first connecting parts 421 and the second connecting parts 422 are both arranged in the direction of the rotation axis of the foot mechanism relative to the ankle support 400. That is, the two groups of first connecting parts 421 and second connecting parts 422 are arranged in front and back. The impact force is transmitted through the two spaced connecting parts, which is equivalent to dispersing the load to two force points, avoiding stress concentration, significantly reducing the load borne by a single connecting part, thereby reducing the risk of wear and fatigue damage. This makes the entire rotating shaft mechanism 420 have a longer service life and higher reliability when subjected to repeated impact, and is particularly suitable for robot application scenarios that require high durability.

[0140] The spacing of the two groups of first connecting parts 421 and second connecting parts 422 in the direction of the rotation axis naturally defines a boxed central space between the foot mechanism and the ankle support 400. This space is exactly the accommodation space for accommodating the ankle motor 410, not only saving space and making the structure very compact, but also the motor is located between two solid support points, which is equivalent to being protected by a structural door frame, further enhancing its safety.

[0141] Since the ankle motor 410 controls the swing of the foot mechanism relative to the ankle support 400, if the foot mechanism is suddenly subjected to excessive force, the swing amplitude will exceed the control limit of the ankle motor 410, causing damage to the ankle motor 410. Therefore, third limit portions 280 are arranged on both sides of the foot mechanism along the rotation axis of the foot mechanism and the ankle support 400, and fourth limit portions 440 are arranged on the ankle support 400. The third limit portions 280 and the fourth limit portions 440 abut to limit the swing angle of the foot mechanism relative to the ankle support 400 around the rotation axis. The third limit portions 280 and the fourth limit portions 440 on both sides form an absolutely reliable hardware safety barrier that does not depend on the control system. In abnormal situations such as program errors, sensor failures, or external sudden force impacts (such as landing after a missed step), when the rotation angle reaches the limit, the limit portions abut through hard contact between metal components to transmit a large force, physically preventing further rotation, thereby effectively protecting the motor from stalling and burning out, the transmission components from overloading and damaging, and the joint structure itself from plastic deformation.

[0142] During assembly, the foot back assembly 210 and the foot heel assembly 220 are rotated relative to each other to open the opening of the placement cavity 270, the ankle motor 410 is placed into the placement cavity 270, the ankle support 400 is lowered to the assembly position, the foot back assembly 210 and the foot heel assembly 220 are reset, the second limit portion 211 abuts against the first limit portion 221, the foot mechanism returns to the state during use, the connecting shaft on the foot mechanism is matched with the connecting hole on the ankle support 400, the output shaft 412 of the ankle motor 410 is assembled with the connecting shaft, the shell 411 of the ankle motor 410 is fixed on the ankle support 400, the ankle support 400 is connected with the robot calf mechanism 300, and the entire assembly is completed. During robot movement, the impact force on the foot mechanism is transmitted to the ankle support 400 through the rotating shaft mechanism 420, and then transmitted upward through the ankle support 400, while the ankle motor 410 mainly controls the swing of the foot mechanism to the left and right, realizing the inversion and eversion of the foot mechanism. Embodiment six:

[0143] As Figure 28 shown, a humanoid robot is also disclosed, which adopts the humanoid robot leg of any of the above-mentioned solutions, and through integration of the high-performance humanoid robot leg, the humanoid robot obtains unprecedented overall motion performance, stability, and energy efficiency, and realizes qualitative change from local component innovation to overall system performance breakthrough.

[0144] The humanoid robot can achieve faster walking speed, more flexible turning, higher jumping height and longer jumping distance, and the motion posture is more natural and smooth, and is closer to human. The most fragile and expensive drive unit is protected by multiple measures, and overload damage is avoided by a solid mechanical structure and hard limit. This enables the robot to withstand long-term and high-intensity task tests, significantly reduces the failure rate and maintenance cost, and improves the attendance rate and task success rate. Moreover, the robot can achieve a human-like metatarsophalangeal gait, the walking energy consumption is significantly reduced, the posture is more natural and smooth, and the passive buffer of the foot enables the robot to maintain better balance and stability when facing uneven ground.

[0145] The above merely describes specific embodiments of the present application, but the technical features of the present application are not limited thereto, and any changes or modifications made by those skilled in the art within the scope of the present application are encompassed within the patent scope of the present application.

Claims

1. A humanoid robotic leg, comprising a thigh mechanism, a lower leg mechanism, and a foot mechanism rotatably connected from top to bottom, characterized in that: Each adjacent mechanism is provided with a joint connection mechanism, which includes a drive motor located on the upper mechanism and a hinge seat located on the lower mechanism. When the humanoid robotic leg is in an upright position, the lower leg mechanism remains vertical, the thigh mechanism leans forward relative to the lower leg mechanism and forms an acute angle with the lower leg mechanism, and the front side of the lower leg mechanism supports the drive motor. The drive motor includes a motor body, a gearbox, and a connector with a connecting groove. Both the motor body and the gearbox are provided with connecting bosses that protrude radially outward along the motor shaft. After the two connecting bosses are engaged, they are inserted into the connecting groove together. The connector is fixedly connected to the motor body and the gearbox to limit the relative displacement of the motor body and the gearbox in the mating direction. The gearbox is rotatably connected to the hinge seat. The output end of the gearbox is equipped with an adapter for transmitting motor torque to the hinge seat. A buffer pad is provided on the torque transmission path. The buffer pad filters the mutual impact between the adapter and the hinge seat during the torque transmission process. A support pad is provided between the outer periphery of the gearbox and the hinge seat. The hinge seat forms a sliding support for the gearbox through the support pad. The foot mechanism includes a foot mechanism, an ankle support, and an ankle motor. The ankle support is fixedly connected to a corresponding hinge seat. The ankle support is also rotatably connected to the foot mechanism through a rotating shaft mechanism to transmit the impact force borne by the foot mechanism to the ankle support. The ankle motor drives the foot mechanism to rotate relative to the ankle support. The foot mechanism includes an instep assembly, a heel assembly, a toe assembly, and an elastic device. The toe assembly is connected to the front end of the instep assembly via a first revolute joint. The two ends of the elastic device are respectively connected to the rear of the toe assembly and between the instep assembly or the heel assembly. When the toe assembly rotates relative to the instep assembly, the elastic device is stretched or compressed to provide cushioning.

2. The humanoid robotic leg as described in claim 1, characterized in that, The hinge base includes a base plate and a first side plate and a second side plate disposed on opposite sides of the base plate. The adapter is connected to the first side plate in a transmission manner, and the second side plate is rotatably connected to the end of the gearbox away from the adapter. The support pad is fixed on the base plate and forms a sliding support for the outer surface of the gearbox. The upper surface of the support pad forms a support surface, and the outer surface of the gearbox and the support surface are arc surfaces with the rotation axis of the gearbox as the center. The outer surface of the gearbox contacts and fits against the support surface.

3. The humanoid robotic leg as described in claim 2, characterized in that, The base plate has an installation groove on its surface. The support pad can be detachably installed in the installation groove. The upper surface of the support pad protrudes from the surface of the base plate. The base plate has two limiting grooves distributed along the rotation direction. The two limiting grooves are located on both sides of the installation groove. The support pad has outwardly protruding extensions on both sides. After the support pad is installed into the installation groove, the extensions are embedded in the limiting grooves.

4. The humanoid robotic leg as described in claim 1, characterized in that, The gearbox has a rotating groove at the end away from the adapter. The sidewall of the rotating groove is annular and close to the edge of the gearbox. The second side plate has a convex ring extending along the axial direction of the gearbox. The convex ring is embedded in the rotating groove and rotates with the rotating groove. A bushing is assembled between the convex ring and the rotating groove.

5. The humanoid robotic leg as described in claim 2, characterized in that, The first side plate and the bottom plate are an integral structure, and the second side plate and the bottom plate are detachably connected. The bottom plate has an assembly groove on the side facing away from the first side plate, and the second side plate is detachably installed in the assembly groove. The bottom wall of the assembly groove supports the second side plate.

6. The humanoid robotic leg as described in claim 1, characterized in that, One of the adapter and the hinge seat is provided with several protruding protrusions, which are circumferentially spaced. The other is provided with a positioning groove for the protrusions to be inserted. The adapter and the hinge seat achieve anti-rotation fit through the convex-concave fit between the protrusions and the positioning groove. The buffer pad is filled between the sidewalls of the protrusions and the positioning groove.

7. A humanoid robotic leg as described in claim 6, characterized in that, The buffer pad includes several buffer blocks. In the rotation direction of the adapter, buffer blocks are fixed on both sides of the protrusion. After the protrusion is embedded in the positioning groove, the buffer blocks are restricted between the protrusion and the side wall of the positioning groove. The buffer pad also includes a connecting ring. The connecting ring is coaxially arranged with the adapter. The buffer blocks are circumferentially distributed on the outer periphery of the connecting ring. The connecting ring and the buffer blocks are an integral structure.

8. The humanoid robotic leg as described in claim 1, characterized in that, The gearbox is equipped with a rotating shaft, which is connected to the output end of the motor body via a bevel gear transmission. One end of the rotating shaft is connected to an inertia disk via a reduction mechanism. The adapter is coaxially arranged with the inertia disk and fixedly connected.

9. A humanoid robotic leg as described in claim 1, characterized in that, Along the docking direction between the motor body and the gearbox, each end of the connecting groove is provided with a connecting lug, which is detachably connected to the corresponding motor body and gearbox by bolts.

10. A humanoid robotic leg as described in claim 9, characterized in that, The motor body has a first fixing groove on its end face, the gearbox has a second fixing groove on its end face, the drive motor also includes a connecting piece, the connecting piece is inserted into the first fixing groove and the second fixing groove, and the connecting piece has a threaded hole that matches the bolt.

11. A humanoid robotic leg as described in claim 9, characterized in that, The side wall of the motor body and the side wall of the gearbox are respectively provided with clearance grooves, and the connecting lug of the connector is placed in the corresponding clearance groove.

12. The humanoid robotic leg as described in claim 1, characterized in that, The two connecting bosses are a first boss and a second boss, and the connecting groove has a first groove wall and a second groove wall that are arranged opposite to each other along the docking direction. The first groove wall abuts against the end face of the first boss away from the second boss, and the second groove wall abuts against the end face of the second boss away from the first boss.

13. A humanoid robotic leg as described in claim 12, characterized in that, The first groove wall and the end face of the first boss away from the second boss are in surface contact, and the second groove wall and the end face of the second boss away from the first boss are in surface contact.

14. A humanoid robotic leg as described in claim 12, characterized in that, The end face of the first boss away from the second boss is a first inclined surface, and the end face of the second boss away from the first boss is a second inclined surface, so that the thickness of the first boss and the second boss after docking gradually decreases in the direction away from the center of the drive motor; the first groove wall is a third inclined surface adapted to the first inclined surface, and the second groove wall is a fourth inclined surface adapted to the second inclined surface, so that the connecting groove has a structure with a large opening and a small interior.

15. A humanoid robotic leg as described in claim 1, characterized in that, In the joint connection mechanism between the thigh mechanism and the lower leg mechanism, a baffle is provided on the front side of the gearbox of the drive motor. The baffle abuts against the hinge seat to limit the forward tilt angle of the thigh mechanism.

16. A humanoid robotic leg as described in claim 15, characterized in that, The gearbox includes a housing and a connecting part fixed to the top of the housing. The housing is cylindrical, and the connecting part is connected to the bottom of the motor body. The bottom of the baffle extends to the front side of the housing, and the top of the baffle extends to the edge of the connecting part.

17. A humanoid robotic leg as described in claim 15, characterized in that, The hinge seat includes a base plate and a first side plate and a second side plate disposed on opposite sides of the base plate. One end of the gearbox is connected to the first side plate via an adapter, and the other end is rotatably connected to the second side plate. The front end of the base plate abuts against a baffle to limit the forward tilt angle of the thigh mechanism. The base plate is arc-shaped. The horizontal distance between the front and rear ends of the base plate is less than the diameter of the gearbox. The distance between the front end of the base plate and the rotation axis of the gearbox is greater than the distance between the rear end of the base plate and the rotation axis of the gearbox.

18. A humanoid robotic leg as described in claim 1, characterized in that, The thigh mechanism includes a thigh body, the top of which has a hinge end that is hinged to the hip of the humanoid robot. The thigh body is connected to the top of a drive motor and forms the thigh mechanism with the drive motor. An angle is formed between the hinge end and the drive motor. When the humanoid robot leg is in an upright state, the hinge end is parallel to the lower leg mechanism. The thigh body also includes a bending part, which is formed at the bottom of the thigh body. The bottom end of the bending part is connected to the top of the motor. The hinge end forms an angle with the drive motor through the bending part.

19. A humanoid robotic leg as described in claim 1, characterized in that, The foot mechanism has an upward-facing cavity for accommodating the ankle motor. The ankle support covers the opening of the cavity and together with the foot mechanism, forms a space for accommodating and protecting the ankle motor. The cavity is located between the instep assembly and the heel assembly.

20. A humanoid robotic leg as described in claim 1 or 19, characterized in that, The rear bottom of the instep assembly is connected to the front top of the heel assembly via a second rotating joint; the heel assembly is provided with a first limiting part, and the instep assembly is provided with a second limiting part, the second limiting part abutting against the first limiting part to limit the upward rotation of the instep assembly relative to the heel assembly.

21. A humanoid robotic leg as described in claim 1, characterized in that, The pivot mechanism includes at least one first connecting part disposed on the foot mechanism, and at least one second connecting part disposed on the ankle support and rotatably engaging with the first connecting part.

22. The humanoid robotic leg as described in claim 21, characterized in that, There are two of each of the first and second connecting parts, and they are spaced apart along the rotation axis of the foot mechanism relative to the ankle support.

23. A humanoid robotic leg as described in claim 21 or 22, characterized in that, One of the first connecting part and the second connecting part is a connecting shaft, and the other is a connecting hole adapted to the connecting shaft; the connecting shaft is coaxially connected to the output shaft of the ankle motor.

24. A humanoid robotic leg as described in claim 21, characterized in that, The foot mechanism is provided with an upwardly extending first connector, and the first connecting part is disposed on the first connector; the ankle support is provided with a downwardly extending second connector, and the second connecting part is disposed on the second connector; the first connector and the second connector are arranged side by side along the axial direction of the ankle motor output shaft.

25. A humanoid robotic leg as described in claim 1, characterized in that, Along both sides of the rotation axis of the foot mechanism and the ankle support, the foot mechanism is provided with a third limiting part, and the ankle support is provided with a fourth limiting part; the abutment of the third limiting part and the fourth limiting part restricts the left and right rotation angle of the foot mechanism relative to the ankle support around the rotation axis.

26. The humanoid robotic leg as described in claim 1, characterized in that, The first rotating joint is disposed in the middle of the instep assembly and the toe assembly. The first rotating joint includes a connecting groove disposed on the toe assembly and a connecting part disposed on the instep assembly and extending into the connecting groove. The connecting part and the groove wall of the connecting groove are rotatably connected by a rotating shaft. The cross-section of the groove opening is constructed to be smaller inside and larger outside to limit the range of motion of the connecting part in the groove, thereby limiting the rotation amplitude of the toe assembly relative to the instep assembly.

27. A humanoid robotic leg as described in claim 1, characterized in that, The elastic device is suspended below the instep assembly, and its horizontal height is higher than the ground contact plane of the toe assembly and heel assembly to avoid contact between the elastic device and the ground.

28. A humanoid robot, characterized in that, Includes the humanoid robotic legs as described in any one of claims 1 to 27.

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