High-speed humanoid lower limb split module structure and combined humanoid robot thereof

Abstract

This invention relates to a high-speed humanoid lower limb modular structure, comprising a hip joint merging module (1), a thigh joint merging module (2), and a lower leg joint merging module (3) that cooperate with each other. The hip joint merging module (1) is connected to the thigh joint merging module (2) via a first drive-end reducer module (22), and the thigh joint merging module (2) is connected to the lower leg joint merging module (3) via a pin shaft end cap assembly (4). The thigh joint merging module (2) is provided with a second drive-end reducer module (23) and a multi-link transmission assembly (24), and the lower leg joint merging module (3) is provided with a third drive-end reducer module (32) and a multi-link shock-absorbing transmission assembly (33). The advantages of this invention are that it improves the collaborative working ability between the components, enhances the robot's motion flexibility, multi-terrain adaptability, and gait shock absorption capability, reduces maintenance costs, shortens maintenance time, and increases the robot's service life.

Description

Technical Field

[0001] This invention relates to the field of humanoid robot technology, and in particular to a high-speed humanoid lower limb modular structure and its combined humanoid robot. Background Technology

[0002] Currently, most humanoid robots adopt a monolithic structural design. While this design ensures overall structural strength and stability to a certain extent, it lacks flexibility when dealing with complex and ever-changing movement requirements. When rapid turning or obstacle crossing is needed, monolithic lower limb modules often struggle to make quick and precise movement responses. If a component malfunctions, the entire robot usually needs to be replaced, resulting in high maintenance costs and long repair cycles, impacting the robot's efficiency and lifespan. Furthermore, the lack of standardized and modular design in existing humanoid robot lower limb modules makes it difficult to interchange and use lower limbs from different models and brands, limiting the widespread application and rapid development of humanoid robots.

[0003] Furthermore, the material selection and structural design of the humanoid robot's lower limb module do not adequately consider the impact and vibration buffering during high-speed movement. This leads to component damage or instability during high-speed motion, limiting the application of humanoid robots in high-speed scenarios. Existing lower limbs typically connect various motors through an internal skeletal framework before being covered by an outer shell. This results in complex assembly procedures, repeated testing, adjustment, and replacement, and increased costs. It also hinders rapid application replacement, continuous iteration and development, and further standardization and universalization in multi-application scenarios.

[0004] Meanwhile, the overall structural design lacks flexibility, making it difficult to quickly adjust and optimize according to different application scenarios and task requirements, thus limiting the humanoid robot's adaptability in diverse environments. Secondly, the lower limb module's integration is insufficient, resulting in low efficiency in the collaborative work between components. This leads to incoordination and lack of smoothness during movement, affecting the humanoid robot's motion performance and stability. Furthermore, the existing lower limb structure design has deficiencies in energy utilization efficiency, resulting in significant energy loss and limiting the robot's endurance, making it unable to meet the requirements of long-term continuous work. In addition, existing technologies are insufficient in the lightweight design of the lower limb structure. An excessively heavy structure not only increases the robot's energy consumption but also negatively impacts its mobility and load-bearing capacity. This is particularly evident in its adaptability to various terrains and its gait shock absorption capabilities. When facing complex terrains such as rugged mountain roads and soft sand, it is difficult to maintain a stable walking posture, making it prone to falls. During walking, the lack of an effective buffering mechanism for the impact force from the ground causes the robot's overall structure to bear significant stress, easily leading to component damage over long-term use and reducing the robot's lifespan.

[0005] Furthermore, the existing humanoid robot lower limb structures are not well-designed in terms of modularity, and the interfaces between various modules are not standardized. This not only increases the cost of production and maintenance, but also hinders subsequent upgrades and improvements, making it difficult to quickly replace and repair parts, thus limiting the further development and application of humanoid robot technology.

[0006] The hardware-based gait damping plays a crucial role in the lifespan of humanoid robots. Due to deficiencies in the hardware gait damping design of existing humanoid robots, the lower limb structure cannot effectively absorb and disperse the impact force from the ground during walking. This impact force is directly transmitted to critical components such as joints and links. Prolonged exposure to this high-stress working condition easily leads to fatigue damage in critical components, such as gear wear at joints, deformation or breakage of links, resulting in decreased motion accuracy, jerky movements, or even inability to walk normally, significantly shortening the robot's lifespan. Furthermore, component damage caused by poor gait damping increases the frequency and cost of robot maintenance, reducing its economic efficiency and reliability. Simultaneously, because the gait mechanism's lifespan is reduced, replacement will significantly impact the gait calculations of existing algorithms, requiring readjustment and adaptation, further increasing operating and time costs.

[0007] Finally, existing humanoid robot lower limb structures have significant shortcomings in stability control during high-speed movement. When the robot walks or runs at high speeds, the mismatch in dynamic responses between the various modules of the lower limbs can easily lead to phenomena such as center of gravity shift and loss of posture control. This not only affects the robot's movement efficiency but also increases the risk of falls, limiting the application of humanoid robots in high-speed movement scenarios. Furthermore, the energy management strategies of existing technologies under high-speed movement are not optimized enough, failing to adjust energy distribution in real time according to the movement status, resulting in significant energy waste and further reducing the robot's endurance.

[0008] Chinese patent CN119348737A discloses a robot leg structure and robot with variable rotation speed ratio. The overall design of this lower limb focuses on overall strength and basic motor capabilities, maintaining good stability when dealing with conventional terrain. However, this structure lacks flexibility when facing complex and varied movement requirements. For example, when rapid turning or obstacle crossing is needed, the lower limb module's motion response is not quick and precise enough, making it difficult to achieve the efficient and flexible movement transitions as designed. Moreover, its overall structure is cumbersome to repair and replace parts, requiring disassembly of a large area, resulting in high maintenance costs and long repair times. This affects the robot's efficiency and lifespan. In high-speed movement scenarios, the buffering of impact and vibration is insufficient, easily leading to component damage or unstable movement, limiting its application in high-speed motion. Furthermore, in terms of modular design, the standardization of interfaces between modules needs improvement, hindering subsequent upgrades, improvements, and rapid repair and replacement.

[0009] For example, Chinese patent CN120552995A discloses a humanoid robot and its lower leg structure. This lower limb structure design lacks flexibility and adaptability; it is difficult to quickly adjust and optimize according to different application scenarios and task requirements, limiting its adaptability in diverse environments. Regarding energy management strategies, the design is not optimized enough, failing to adjust energy distribution in real time according to movement status, resulting in significant energy waste and further reducing endurance. Furthermore, its hardware gait shock absorption design has flaws; during walking, the lower limb structure cannot effectively absorb and disperse the impact force from the ground, thus affecting the lifespan of key robot components. Summary of the Invention

[0010] The purpose of this invention is to solve the problems of low lower limb flexibility and stability, insufficient shock absorption, high maintenance costs, and long construction periods in existing humanoid robots. It provides a high-speed humanoid lower limb modular structure, which improves the collaborative working ability between various components, significantly enhances the humanoid robot's movement flexibility and load capacity, and achieves significant improvements in multi-terrain adaptability and gait shock absorption. It effectively absorbs ground impact, greatly reduces maintenance costs, shortens maintenance time, and effectively improves the robot's efficiency and service life.

[0011] To achieve the above objectives, the present invention adopts the following technical solution: A high-speed humanoid lower limb modular structure includes a hip joint merging module, a thigh joint merging module, and a lower leg joint merging module that cooperate with each other.

[0012] The hip joint merging module is connected to the thigh joint merging module through the first drive end reducer module, the thigh joint merging module is connected to the calf joint merging module through the pin shaft end cap assembly, and the thigh joint merging module is provided with a second drive end reducer module and a multi-link transmission assembly, while the calf joint merging module is provided with a third drive end reducer module and a multi-link damping transmission assembly.

[0013] The lower leg joint merging module includes a lower leg main structure. The third drive end reducer module is located in the middle of the lower leg main structure, and its output end is connected to the multi-link damping transmission assembly. The multi-link damping transmission assembly includes a lower leg crank, a first link, a second link, a third link, and a connecting block. One end of the lower leg crank is hinged to the output end of the third drive end reducer module, and the other end is hinged to the end of the first link. The first link is then hinged to the end of the second link, and the other end of the second link is hinged to the lower leg main structure. The lower leg main structure, the third drive end reducer module, the lower leg crank, the first connecting rod and the second connecting rod are connected at the bearing end to form the parallelogram multi-link transmission system of the lower leg. The middle of the second link is hinged to the third link, and the other end of the third link is hinged to the connecting block. The bottom of the main structure of the lower leg is also connected to the connecting block. The two ends of the connecting block are connected to the foot plate through ball bearings to form an all-terrain adaptive device, thereby improving the ground grip of the robot during fast walking. The lower leg main structure, the second link, the third link, and the connecting block are connected at the bearing end to form a multi-link shock absorption system for the lower leg. A hydraulic buffer device is diagonally stretched between the connecting block and the second link to accommodate the buffering and smoothing characteristics required at high frequencies.

[0014] Furthermore, the hip joint merging module includes a hip body located in the middle, with the sacroiliac joint, hip joint and pubic joint connected sequentially from top to bottom on both sides of the hip body. The aforementioned joints are distributed in a mirror-symmetrical manner with the axis of the hip body as the center line.

[0015] Furthermore, the sacroiliac joint is provided with three drive-end reducer modules, and the pubic joint is provided with one drive-end reducer module. The drive-end reducer modules enable the joint parts to rotate relative to each other at multiple angles. The pubic joint is connected to the main thigh structure through the first drive-end reducer module on the corresponding side. The first drive-end reducer module drives the pubic joint and the main thigh structure to rotate relative to each other on the horizontal plane.

[0016] Furthermore, the thigh joint merging module includes a thigh main body structure, a first drive end reducer module located on the upper part of the thigh main body structure, a second drive end reducer module located in the middle part of the thigh main body structure, and its output end connected to the upper part of the lower leg joint merging module through a multi-link transmission assembly.

[0017] Furthermore, the multi-link transmission assembly includes a thigh crank and an arc-shaped connecting rod. One end of the thigh crank is connected to the output end of the second drive end reducer module, and the other end is hinged to the arc-shaped connecting rod. The other end of the arc-shaped connecting rod is hinged to a bearing hole in the upper part of the lower leg main body structure. The thigh main body structure, thigh crank, arc-shaped connecting rod, pin shaft end cap assembly, and second drive end reducer module constitute a multi-link transmission system for the thigh.

[0018] Furthermore, a U-shaped groove is provided at the lower part of the thigh main body structure, and through holes are provided on both sides of the U-shaped groove. A locking platform is provided at the upper part of the lower leg main body structure, and a pin shaft is provided on the locking platform. When the thigh main body structure is connected to the lower leg main body structure, the locking platform is perfectly embedded in the U-shaped groove, and the pin shaft end cap assembly extends into the through hole and is correspondingly engaged with the pin shaft to realize the pin end installation connection of the thigh and lower leg.

[0019] Furthermore, the lower part of the lower leg main body structure is provided with a U-shaped ear, and the second link and the third link are respectively set as a pair. Each pair of second links is parallel to each other, one end of which is connected to both sides of the first link through an end shaft, and the other end is connected to the inner side of the U-shaped ear. A horizontal connecting shaft is also connected between the two second links. The two ends of the connecting shaft are respectively connected to the ends of the third link on the corresponding side. Each pair of third links is also parallel to each other.

[0020] Furthermore, the connecting block has a ring-shaped structure with a hollow interior. A horizontal axis is connected to the forefoot side of the connecting block near the sole of the foot. A U-shaped block is connected to the connecting shaft of the second connecting rod. One end of the hydraulic buffer device is connected to the horizontal axis and the other end is connected to the U-shaped block. The hydraulic buffer device has a built-in pressure stabilizing device for pressure adjustment.

[0021] The present invention also provides a modular combined humanoid robot comprising the above-described high-speed humanoid lower limb split module structure.

[0022] Compared with the prior art, the advantages of the technical solution of the present invention are as follows: (1) This invention enables each lower limb module to move independently and cooperate with each other through a modular split and multi-link shock-absorbing transmission system to cope with complex and ever-changing motion requirements. When facing scenarios that require rapid turning or crossing obstacles, each module can quickly make a precise action response, realize efficient and flexible motion conversion, and greatly improve the mobility and adaptability of the humanoid robot. (2) The modular structure of the present invention is extremely convenient for maintenance and replacement of parts. Only the faulty module needs to be operated, without disassembling the entire lower limb structure, which greatly reduces maintenance costs, shortens maintenance time, and effectively improves the robot's efficiency and service life. (3) In high-speed motion scenarios, the structural assembly and modular combination humanoid robot of the present invention have taken into full consideration the impact force and vibration buffer. By adopting advanced buffer materials and unique structural design, it can effectively absorb and disperse the impact force fed back from the ground, avoid fatigue damage to components due to long-term high stress, such as wear of gears at joints, deformation or breakage of connecting rods, etc., ensure the stability and reliability of the robot in high-speed motion, and broaden the application range of humanoid robots in high-speed motion scenarios; (4) In terms of modular design, the interfaces between the various modules of the present invention have a high degree of standardization. This not only enables the interchangeability and universality of robot lower limb modules of different models and brands, reducing production and maintenance costs, but also greatly facilitates subsequent upgrades and improvements. When a module needs to be replaced or upgraded, the operation can be completed quickly and conveniently, enabling rapid replacement and repair of parts, which provides strong support for the further development and application of robot technology. (5) In terms of energy management strategy, the robot of the present invention can adjust energy distribution in real time according to different motion states; when the robot walks at a low speed or is stationary, it can rationally allocate energy and reduce energy consumption; while when moving at high speed, it can concentrate more energy to supply key motion modules to ensure that the robot can operate in the best state, reduce energy waste, effectively improve the robot's endurance, and meet the requirements of long-term continuous work. (6) The present invention also has excellent performance in hardware gait shock absorption design. During walking, the lower limb structure can efficiently absorb and disperse the impact force fed back from the ground, avoiding the impact force from being directly transmitted to the robot's joints, links and other key components, thereby extending the service life of key components, reducing the robot's maintenance frequency and cost, and improving its economic efficiency and reliability. At the same time, due to the improvement of gait shock absorption performance, even if the components are replaced, the impact on the gait calculation of the original related algorithms is minimal, and there is no need for large-scale re-debugging and adaptation, further reducing the cost of use and time. (7) In terms of stability control during high-speed movement, the robot of the present invention performs well. By optimizing the dynamic response matching between the modules of the lower limbs, it can effectively avoid the occurrence of phenomena such as center of gravity shift and posture loss of control, ensuring that the robot maintains a stable posture when walking or running at high speed, improving movement efficiency, reducing the risk of falling, and providing reliable protection for applications in high-speed movement scenarios. Attached Figure Description

[0023] Figure 1 This is a front view of the high-speed humanoid lower limb split module structure of the present invention; Figure 2 This is a side view of the high-speed humanoid lower limb split module structure of the present invention; Figure 3 This is a perspective view of the high-speed humanoid lower limb split module structure of the present invention; Figure 4 This is a schematic diagram of the assembly of the hip, thigh and calf joint combined module of the present invention. Figure 5 This is a schematic diagram of the assembly and installation of the thigh joint merging module of the present invention; Figure 6 This is a three-dimensional structural diagram of the lower leg joint merging module of the present invention; Figure 7 This is a side view of the lower leg joint merging module structure of the present invention; Figure 8 This is a side view of the skeleton structure in the lower leg joint merging module of the present invention; Figure 9 This is a schematic diagram of the assembly of the thigh and calf joint merging module of the present invention; Figure 10 This is a schematic diagram of the internal connection of the thigh and calf joint merging module of the present invention; Figure 11 This is a schematic diagram of the multi-link damping system of the present invention. Figure 1 ; Figure 12 This is a schematic diagram of the multi-link damping system of the present invention. Figure 2 ; Figure 13 This is a schematic diagram of the multi-link damping system of the present invention. Figure 3 ; Figure 14 This is a schematic diagram of the multi-link damping system of the present invention. Figure 4 ; Figure 15 This is a schematic diagram of the U-shaped block connection structure of the present invention. Detailed Implementation

[0024] Example

[0025] To make the present invention clearer, the following description, in conjunction with the accompanying drawings, further illustrates a high-speed humanoid lower limb modular structure and its combined humanoid robot. The specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the invention.

[0026] In this embodiment, the core technology of a high-speed humanoid lower limb modular structure is: modular design and multi-link shock absorption transmission system.

[0027] The modular design divides the lower limb structure into multiple independent yet collaborative modules, including a hip joint merging module 1, a thigh joint merging module 2, and a lower leg joint merging module 3. Each module possesses independent motion control capabilities and can be precisely adjusted according to specific movement requirements. High-precision mechanical and electrical interfaces are used for connections between modules to ensure stable power and signal transmission. The standardized mechanical interface design boasts high strength and precision, capable of withstanding high loads and impacts to ensure a robust connection. The electrical interface employs a quick-plug design for easy module replacement and maintenance, while also featuring anti-misplugging and short-circuit protection functions to ensure safe and reliable electrical connections.

[0028] The multi-link shock-absorbing transmission system comprises a multi-link drive system and a multi-link damping system. The thigh section incorporates the multi-link drive system, while the lower leg section incorporates both. Essentially, this means the vertical movement is driven by a multi-link mechanism, which also features overload relief. Furthermore, the high-frequency hydraulic buffering and smoothing characteristics allow the lower limbs to move smoothly along a predetermined trajectory, effectively reducing vibrations caused by uneven ground or impacts. The overload relief function automatically adjusts the force distribution when the robot encounters a large external impact, dispersing or dissipating excessive force to prevent damage to critical components due to sudden excessive stress, thus protecting the overall structural safety of the robot. The high-frequency hydraulic buffering and smoothing characteristics further enhance the performance of the multi-link shock-absorbing transmission system. When a robot moves at high speed or frequently jumps and lands, the hydraulic buffer device can respond quickly, absorb and disperse the impact energy, making the robot's movement smoother and gentler, and reducing component wear and energy loss caused by impact.

[0029] See Figure 1 A high-speed humanoid lower limb modular structure, comprising a hip joint merging module 1, a thigh joint merging module 2, and a lower leg joint merging module 3, characterized in that: See Figures 1-3 The hip joint merging module 1 includes a hip body 11 located in the middle. The two sides of the hip body 11 are connected from top to bottom to the sacroiliac joint 12, the hip joint 13 and the pubic joint 14. The above joints are distributed in a mirror-symmetrical manner with the axis of the hip body 11 as the center line. In this embodiment, the sacroiliac joint 12 is provided with three drive-end reducer modules, and the pubic joint 14 is provided with one drive-end reducer module. The drive-end reducer modules enable the joint parts to rotate relative to each other at multiple angles. The pubic joint 14 is connected to the thigh main structure 21 through the first drive-end reducer module 22 on the corresponding side. The first drive-end reducer module 22 drives the pubic joint 14 and the thigh main structure 21 to rotate relative to each other on the horizontal plane.

[0030] See Figure 3 , Figure 4 and Figure 5 The hip joint merging module 1 is connected to the thigh joint merging module 2 via the first drive end reducer module 22. The thigh joint merging module 2 is connected to the calf joint merging module 3 via the pin shaft end cap assembly 4. The thigh joint merging module 2 is provided with a second drive end reducer module 23 and a multi-link transmission assembly 24. The calf joint merging module 3 is provided with a third drive end reducer module 32 and a multi-link damping transmission assembly 33.

[0031] See Figure 9 and Figure 10 The thigh joint merging module 2 includes a thigh main structure 21, a first drive end reducer module 22 located on the upper part of the thigh main structure 21, a second drive end reducer module 23 located in the middle part of the thigh main structure 21, and its output end connected to the upper part of the lower leg joint merging module 3 through a multi-link transmission assembly 24. The multi-link transmission assembly 24 includes a thigh crank 241 and an arc-shaped connecting rod 242. One end of the thigh crank 241 is connected to the output end of the second drive end reducer module 23, and the other end is hinged to the arc-shaped connecting rod 242. The other end of the arc-shaped connecting rod 242 is hinged to the bearing hole 3a on the upper part of the lower leg body structure 31. The thigh body structure 21, thigh crank 241, arc-shaped connecting rod 242, pin shaft end cap assembly 4, and second drive end reducer module 23 constitute a multi-link transmission system for the thigh. See Figure 5 and Figure 6The lower part of the thigh main body structure 21 has a U-shaped groove 2a, and the two sides of the U-shaped groove 2a have through holes 2b respectively. The upper part of the lower leg main body structure 31 has a locking platform 3b, and the locking platform 3b has a pin shaft 41. When the thigh main body structure 21 is connected to the lower leg main body structure 31, the locking platform 3b is perfectly embedded in the U-shaped groove 2a, and the pin shaft end cap assembly 4 extends into the through hole 2b and is correspondingly engaged with the pin shaft 41 to realize the pin end installation connection of the thigh and the lower leg.

[0032] See Figure 6 , Figure 7 and Figure 8 The lower leg joint merging module 3 includes a lower leg main body structure 31, and a third drive end reducer module 32 is located in the middle of the lower leg main body structure 31. Its output end is connected to the multi-link shock absorption transmission assembly 33. The multi-link shock absorption transmission assembly 33 includes a lower leg crank 331, a first link 332, a second link 333, a third link 334, and a connecting block 335. See Figures 11-15 One end of the lower leg crank 331 is hinged to the output end of the third drive end reducer module 32, and the other end is hinged to the end of the first connecting rod 332. The first connecting rod 332 is then hinged to the second connecting rods 333 on both sides through the end shaft 336. The two second connecting rods 333 are parallel to each other, and their other ends are hinged to the inside of the U-shaped ear 31a at the lower part of the lower leg main body structure 31. The lower leg main body structure 31, the third drive end reducer module 32, the lower leg crank 331, the first connecting rod 332 and the second connecting rod 333 are connected at the bearing end to form a parallelogram multi-link transmission system for the lower leg. See Figures 11-15 A horizontal connecting shaft 337 is also connected between the two second connecting rods 333. The two ends of the connecting shaft 337 are respectively connected to the ends of the third connecting rods 334 on the corresponding sides. Each pair of third connecting rods 334 are also parallel to each other. The other end of the third connecting rod 334 is hinged to the connecting block 335. The bottom of the U-shaped ear 31a of the lower leg main body structure 31 is also connected to the connecting block 335. The lower leg main body structure 31, the second connecting rods 333, the third connecting rods 334 and the connecting block 335 are connected at the bearing end to form a multi-link shock absorption system for the lower leg. In addition, since the high-frequency end needs to consider the characteristics of buffering and adjustment, a hydraulic buffer device 34 is obliquely pulled between the connecting block 335 and the second connecting rod 333. The connecting block 335 has a ring structure with hollow inside. The forefoot side of the connecting block 335 near the sole plate is connected to a horizontal shaft 338. A U-shaped block 339 is connected to the connecting shaft 337 of the second connecting rod 333. One end of the hydraulic buffer device 34 is connected to the horizontal shaft 338 and the other end is connected to the U-shaped block 339. The hydraulic buffer device 34 is equipped with a pressure regulating device 341 for adjusting the pressure. The two ends of the connecting block 335 are connected to the foot plate 5 through the ball bearing 3310. The foot plate 5 is wrapped with the foot plate shell 51 to form an all-terrain adaptive device, thereby improving the ground grip of the robot during fast walking.

[0033] In this invention, the advantages of the multi-link damping system are mainly reflected in: (1) Multi-link structure can provide more precise and stable motion control. With the coordinated operation of multiple links, the motion trajectory can be accurately controlled, reducing unnecessary jumping and shaking. When the robot is walking or running, the legs need to bear various complex forces and movements. The multi-link shock absorption structure can ensure that the legs can maintain a stable motion state in various postures, avoiding imbalance or falls caused by vibration or shaking, and greatly improving the robot's motion stability and reliability; (2) Multi-link shock absorption technology has excellent shock absorption performance. When the robot walks on complex terrain, its legs will be subjected to impact forces from different directions on the ground. The multi-link shock absorption structure can effectively absorb these impact forces, protect the internal electrical hardware and key components of the robot from damage, and extend the service life of the robot; (3) Multi-link shock absorption technology also has good adaptability and adjustability. Different models of robots may have different leg structures and motion requirements. The multi-link shock absorption structure can be customized according to the specific needs of the robot. By adjusting the link parameters, the shock absorption effect can be optimized to ensure that the robot can perform at its best in various application scenarios. (4) Multi-link shock absorption technology also has the advantages of compact structure and light weight. It is compact and efficient, and can achieve excellent shock absorption performance in a limited space, reduce the volume and weight of the leg structure, and improve the robot's mobility and flexibility; at the same time, the lightweight design also helps to reduce the robot's energy consumption, improve its endurance, and enable the robot to work continuously for a longer period of time; (5) The impact of the multi-link shock-absorbing transmission system of the robot on the motor life is mainly reflected in: Firstly, the multi-link damping transmission system, with its unique mechanical design and damping mechanism, effectively reduces the impact and vibration experienced by the motor during operation. When a robot walks or performs tasks, uneven ground or external impacts often generate significant reaction forces on the motor. These forces not only affect the normal operation of the motor but may also accelerate its wear and aging. The multi-link damping transmission system can absorb and disperse these impact forces, providing the motor with a more stable and safer working environment, thereby extending the motor's service life.

[0034] Secondly, the multi-link damping transmission system can also optimize the motor's load characteristics. During robot movement, the motor needs to constantly adjust its output torque and speed to adapt to different motion requirements. However, unreasonable load characteristics often lead to motor overheating, low efficiency, or even damage. Through its optimized transmission ratio and structural design, the multi-link damping transmission system enables the motor to operate under more stable and efficient loads, reducing reactive power losses, improving overall motor efficiency and reliability, and ultimately extending the motor's lifespan.

[0035] Furthermore, the multi-link damping transmission system also boasts excellent heat dissipation performance. Motors often generate a significant amount of heat during prolonged high-load operation. If this heat cannot be dissipated promptly, the motor temperature will rise, impacting its performance and lifespan. The multi-link damping transmission system is designed with heat dissipation in mind. Through a rational structural layout and material selection, it effectively conducts the heat generated by the motor, maintaining its normal operating temperature and extending its lifespan.

[0036] Furthermore, the modular design of the multi-link vibration damping transmission system facilitates motor maintenance and replacement. During long-term robot use, motors may malfunction or require upgrades. The modular design of the multi-link vibration damping transmission system makes motor disassembly and installation simpler and faster, eliminating the need for large-scale disassembly and reassembly of the entire transmission system. This significantly reduces maintenance and time costs, while also providing strong support for timely motor replacement and upgrades.

[0037] In this invention, the advantages of the modular lower limb assembly are mainly reflected in: (1) The modular lower limb assembly significantly improves the robot's adaptability and flexibility in various application scenarios through its unique design. Compared with existing technologies, this design not only simplifies the assembly process and reduces repeated operations of testing, adjustment, and replacement, thereby reducing the overall cost, but also enables quick application replacement and collaborative growth iteration in multiple application scenarios. Specifically, its deskeletalized lightweight design, combined with the internal skeleton and outer shell structure, makes the overall structure both robust and lightweight, effectively improving the robot's mobility. The externalization of non-core components facilitates daily maintenance and replacement, further shortening the maintenance cycle and reducing maintenance costs; (2) The simplified composite component design of complex components reduces the number of parts and improves the reliability and ease of use of the system. The standardized modular interface design ensures that the modules can be quickly and accurately connected and disassembled, which greatly improves the assembly efficiency. The iterable independent module sealing design allows each module to be upgraded and improved independently without affecting the normal operation of other modules, providing strong support for the continuous iteration and common growth of humanoid robots; (3) The modular lower limb assembly also performs well in terms of technical parameters. Customized design based on actual needs, such as the rotation range of the joint module and the output torque of the drive module, can meet the performance requirements of different application scenarios. This highly customized design enables the robot to better adapt to various complex environments and achieve optimal performance; (4) In practical applications, the advantages of modular lower limb assemblies have been fully demonstrated. For example, in industrial environments where application scenarios need to be changed frequently, robots can adapt to different work tasks by quickly replacing different functional modules, such as drive modules or joint modules, without having to reassemble or adjust the entire lower limb. This not only greatly improves work efficiency but also reduces the additional costs incurred due to changing scenarios; (5) In complex terrain environments such as rescue or exploration, the modular lower limb assembly's multi-terrain adaptability and gait shock absorption capabilities play a crucial role. The robot can walk stably on uneven ground, effectively absorbing ground impacts, protecting internal electrical hardware from damage, and extending the service life of components. This enables the robot to maintain its working capacity for extended periods even in harsh environments, providing strong support for rescue or exploration missions; (6) The standardized and universal design of modular lower limb assemblies has also laid the foundation for the widespread application and rapid development of humanoid robots. Lower limbs of different robot models can be interchanged and universally used through standardized modules, reducing R&D and production costs and improving production efficiency.

[0038] When implementing the modular lower limb assembly of this invention, firstly, suitable lightweight materials are selected to manufacture the main body of each module according to design requirements, ensuring that the overall structure is both lightweight and has sufficient strength. Subsequently, the independent functional modules such as the drive module, support module, and joint module are assembled according to a standardized interface design, and the modules are securely connected with high-strength connectors to form a complete lower limb assembly structure.

[0039] During assembly, special attention was paid to adjusting key technical parameters such as the rotation range of the joint module and the output torque of the drive module to ensure they meet the performance requirements of different application scenarios. Meanwhile, non-core components were externalized, facilitating subsequent routine maintenance and replacement, further reducing repair costs and timelines.

[0040] For complex components, a simplified composite design integrates multiple parts into one, reducing the number of components and improving the system's reliability and ease of use. Furthermore, the iterative, independent module encapsulation design allows each module to be upgraded and improved independently without affecting other modules, thus enabling continuous iteration and collaborative growth of the humanoid robot's lower limbs.

[0041] During implementation, the modular lower limb assembly can be customized according to actual needs, such as adjusting the rotation angle of the joint modules or changing the output power of the drive modules, to adapt to the special requirements of different application scenarios. This highly flexible and customizable design makes the modular lower limb assembly a promising candidate for application in the field of modular humanoid robots.

[0042] In addition to the embodiments described above, the present invention may have other implementations. All technical solutions formed by equivalent substitution or equivalent transformation fall within the protection scope claimed by the present invention.

Claims

1. A high-speed humanoid lower limb modular structure, comprising a hip joint merging module (1), a thigh joint merging module (2), and a lower leg joint merging module (3) that cooperate with each other, characterized in that: The hip joint merging module (1) is connected to the thigh joint merging module (2) through the first drive end reducer module (22). The thigh joint merging module (2) is connected to the calf joint merging module (3) through the pin shaft end cap assembly (4). The thigh joint merging module (2) is provided with a second drive end reducer module (23) and a multi-link transmission assembly (24). The calf joint merging module (3) is provided with a third drive end reducer module (32) and a multi-link damping transmission assembly (33). The lower leg joint merging module (3) includes a lower leg main body structure (31), a third drive end reducer module (32) located in the middle of the lower leg main body structure (31), and its output end connected to the multi-link damping transmission assembly (33). The multi-link damping transmission assembly (33) includes a lower leg crank (331), a first link (332), a second link (333), a third link (334), and a connecting block (335). One end of the lower leg crank (331) is hinged to the output end of the third drive end reducer module (32), and the other end is hinged to the end of the first link (332). The first link (332) is then hinged to the end of the second link (333), and the other end of the second link (333) is hinged to the lower leg main body structure (31). The lower leg main structure (31), the third drive end reducer module (32), the lower leg crank (331), the first connecting rod (332) and the second connecting rod (333) are connected at the bearing end to form a parallelogram multi-link transmission system for the lower leg. The middle part of the second link (333) is hinged to the third link (334), and the other end of the third link (334) is hinged to the connecting block (335). The bottom of the lower leg main structure (31) is also connected to the connecting block (335). The two ends of the connecting block (335) are connected to the foot plate (5) through the joint ball bearing (3310). The lower leg main structure (31), the second link (333), the third link (334) and the connecting block (335) are connected at the bearing end to form a multi-link shock absorption system for the lower leg. A hydraulic buffer device (34) is obliquely pulled between the connecting block (335) and the second link (333). The thigh joint merging module (2) also includes a thigh main body structure (21), a first drive end reducer module (22) located on the upper part of the thigh main body structure (21), a second drive end reducer module (23) located in the middle part of the thigh main body structure (21), and its output end connected to the upper part of the calf joint merging module (3) through a multi-link transmission assembly (24). The multi-link transmission assembly (24) includes a thigh crank (241) and an arc-shaped connecting rod (242). One end of the thigh crank (241) is connected to the output end of the second drive end reducer module (23), and the other end is hinged to the arc-shaped connecting rod (242). The other end of the arc-shaped connecting rod (242) is hinged in the bearing hole (3a) on the upper part of the lower leg main body structure (31). The thigh main body structure (21), thigh crank (241), arc-shaped connecting rod (242), pin shaft end cap assembly (4), and second drive end reducer module (23) constitute the multi-link transmission system of the thigh.

2. The high-speed humanoid lower limb modular structure according to claim 1, characterized in that: The hip joint merging module (1) includes a hip body (11) located in the middle. The two sides of the hip body (11) are connected to the sacroiliac joint (12), hip joint (13) and pubic joint (14) from top to bottom. The joints are distributed in a mirror-symmetrical manner with the axis of the hip body (11) as the center line.

3. The high-speed humanoid lower limb modular structure according to claim 2, characterized in that: The sacroiliac joint (12) is provided with three drive end reducer modules, and the pubic joint (14) is provided with one drive end reducer module. The drive end reducer modules enable the joint parts to rotate relative to each other at multiple angles. The pubic joint (14) is connected to the thigh joint merging module (2) through the first drive end reducer module (22) on the corresponding side. The first drive end reducer module (22) drives the pubic joint (14) and the thigh joint merging module (2) to rotate relative to each other on the horizontal plane.

4. The high-speed humanoid lower limb modular structure according to any one of claims 1 to 3, characterized in that: The lower part of the thigh main structure (21) has a U-shaped groove (2a) and perforations (2b) on both sides of the U-shaped groove (2a). The upper part of the calf main structure (31) has a locking platform (3b) and a pin shaft (41) on the locking platform (3b). When the thigh main structure (21) is connected to the calf main structure (31), the locking platform (3b) is embedded in the U-shaped groove (2a), and the pin shaft end cap assembly (4) extends into the perforation (2b) and is correspondingly connected to the pin shaft (41).

5. The high-speed humanoid lower limb modular structure according to any one of claims 1 to 3, characterized in that: The lower part of the lower leg main structure (31) is provided with a U-shaped ear (31a). The second link (333) and the third link (334) are respectively set as a pair. Each pair of second links (333) are parallel to each other. One end of each link is connected to both sides of the first link (332) through the end shaft (336), and the other end is connected to the inner side of the U-shaped ear (31a). A horizontal connecting shaft (337) is also connected between the two second links (333). The two ends of the connecting shaft (337) are respectively connected to the end of the third link (334) on the corresponding side. Each pair of third links (334) are also parallel to each other.

6. The high-speed humanoid lower limb modular structure according to any one of claims 1 to 3, characterized in that: The connecting block (335) is a ring structure with a hollow interior. The connecting block (335) is connected to a horizontal axis (338) on the forefoot side near the foot plate (5). A U-shaped block (339) is connected to the connecting shaft (337) of the second connecting rod (333). One end of the hydraulic buffer device (34) is connected to the horizontal axis (338) and the other end is connected to the U-shaped block (339). The hydraulic buffer device (34) is equipped with a pressure stabilizing device (341).

7. A composite humanoid robot, characterized in that: It includes the high-speed humanoid lower limb split module structure as described in claim 1.

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