Humanoid robot

Abstract

The invention relates to the field of robots, in particular to a humanoid robot. The humanoid robot comprises a foot module and a leg module. The foot module comprises a foot support, a protective cover and a protective bottom plate; the protective bottom plate comprises a buffer layer and a wear-resistant layer, the buffer layer is connected with the bottom of the foot support, and the wear-resistant layer is connected with the bottom of the buffer layer; the protective cover is connected with the protective bottom plate, and the protective cover covers the top of the foot support; the protective cover is provided with an opening, and the leg module penetrates through the opening to be connected with the foot support. According to the humanoid robot provided by the invention, the buffer layer is arranged at the bottom of the foot bracket to absorb vibration, so that the degree of upwards transmitting the vibration to ankle joints, shanks and even hip joints is reduced; the wear-resistant layer arranged at the bottom of the buffer layer has good wear resistance, so that the buffer layer is prevented from being damaged too early; and a protective cover arranged at the top of the buffer layer can protect the top surface of the foot bracket.

Description

TECHNICAL FIELD

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

[0002] As a product of bionics and artificial intelligence technology, the design concept of humanoid robots is derived from the imitation of human form and movement mechanism. Such robots are usually composed of head, torso, arms and legs, and adopt multi-degree-of-freedom joint structure to realize human-like motion.

[0003] In order to adapt to complex and changeable working environment, humanoid robots need to have good motion stability and durability. In the prior art, the foot design of leg robots generally adopts metal footplate structure. Although this structure can provide sufficient support force, it has obvious shortcomings in actual use. When the robot moves on different ground conditions, the metal footplate will produce a larger impact and vibration when it contacts the ground. These vibrations will be transmitted to other joints and connecting parts of the robot through the leg structure, which may affect the stability of the overall structure in the long run. At the same time, the continuous friction between the metal footplate and the ground will cause the foot material to gradually wear out, especially when moving on rough or uneven ground, the wear problem is more serious, which will directly affect the service life and motion performance of the robot. SUMMARY

[0004] The purpose of the present application is to provide a humanoid robot for reducing the impact and vibration generated by the contact between the foot and the ground when the robot moves, thereby improving the stability of the overall structure.

[0005] The present application provides a humanoid robot, comprising a foot module and a leg module; The foot module comprises a foot support, a protective cover and a protective bottom plate; the protective bottom plate comprises a buffer layer and a wear-resistant layer, the buffer layer is connected with the bottom of the foot support, and the wear-resistant layer is connected with the bottom of the buffer layer; The protective cover is connected with the protective bottom plate, and the protective cover is arranged on the top of the foot support; the protective cover is provided with an opening, and the leg module penetrates through the opening to be connected with the foot support.

[0006] In the above technical solution, further, the foot module further comprises a fourth driving mechanism and a cross shaft; The cross shaft is installed between the leg module and the foot support, so that the foot support can swing relative to the leg module; The fourth driving mechanism is installed on the leg module to drive the foot support to swing relative to the leg module.

[0007] Further, the fourth driving mechanism comprises a fourth driving device, a second connecting piece and an ankle connecting rod; the fourth driving device is installed on the leg module; a driving end of the fourth driving device is connected with the second connecting piece; and the second connecting piece is connected with a movable end of the ankle connecting rod through a second connecting shaft, so as to drive the movable end of the ankle connecting rod to swing. A fixed end of the ankle connecting rod is installed on the leg module; and the fixed end of the ankle connecting rod is connected with the foot support, so as to drive the foot support to swing. The second connecting shaft comprises a limiting plate and a connecting rod; the connecting rod is arranged between the ankle connecting rod and the second connecting piece; the limiting plate is connected with the connecting rod; and the limiting plate is located on a side of the ankle connecting rod away from the second connecting piece.

[0008] Further, the leg module comprises a leg support and a third driving mechanism. The leg support comprises a thigh support, a shank support and a knee joint bearing; the thigh support is hingedly connected with the shank support; and the knee joint bearing is installed between the thigh support and the shank support. The third driving mechanism is installed on the thigh support, so as to drive the shank support to swing relative to the thigh support. The knee joint bearing is provided with a through hole; and a connecting line of the third driving mechanism is arranged in the through hole.

[0009] Further, the third driving mechanism comprises a third driving device, a first connecting piece and a knee connecting rod. The third driving device is installed on the thigh support; a driving end of the third driving device is connected with the first connecting piece; and the first connecting piece is connected with a movable end of the knee connecting rod through a first connecting shaft, so as to drive the movable end of the knee connecting rod to swing; and a centripetal joint bearing is arranged between the first connecting shaft and the movable end of the knee connecting rod. A fixed end of the knee connecting rod is installed on the thigh support through a bushing; and the fixed end of the knee connecting rod is connected with the shank support.

[0010] Further, the hip module is further provided. The hip module comprises a first driving device, a connecting assembly and a second driving mechanism; the connecting assembly comprises a connecting frame and a fastener; a driving end of the first driving device is connected with one side of the connecting frame, so as to drive the connecting frame to swing around a preset axis. The second driving mechanism is located on the other side of the connecting frame; a driving end of the second driving mechanism is connected with the leg module to drive the leg module to rotate around an axis thereof; the axis of the leg module is perpendicular to the preset axis; The connecting frame is provided with a first mounting hole, the second driving mechanism is correspondingly provided with a second mounting hole, and the fastener is arranged through the first mounting hole and the second mounting hole to connect the second driving mechanism and the connecting frame; the length direction of the fastener is arranged at an acute angle with the preset axis.

[0011] In the above technical solution, further, the connecting frame comprises a connecting disc and a first connecting block; The driving end of the first driving device is connected with one side of the connecting disc, and the first connecting block is connected with the other side of the connecting disc; the first connecting block is provided with the first mounting hole; The second driving mechanism comprises a second driving device and a second connecting block, the second driving device is connected with the second connecting block, and the second connecting block is provided with the second mounting hole.

[0012] In the above technical solution, further, the first connecting block is located at the middle part of the connecting disc, both ends in the length direction of the first connecting block are provided with the first mounting hole, and the first mounting holes located at both ends in the length direction of the first connecting block are symmetrically arranged; The second driving mechanism comprises two second connecting blocks, and the two second connecting blocks are arranged at both ends in the length direction of the first connecting block.

[0013] In the above technical solution, further, the first connecting block is provided with a fitting surface, and the profile of the second driving device located between the two second connecting blocks is matched with the fitting surface.

[0014] In the above technical solution, further, the angle between the length direction of the fastener and the preset axis is less than or equal to 60 degrees.

[0015] Compared with the prior art, the application has the following beneficial effects: The humanoid robot provided by the application reduces the degree of vibration transmission to the ankle joint, lower leg and even hip joint by arranging a buffer layer at the bottom of the foot support to absorb vibration; the wear-resistant layer arranged at the bottom of the buffer layer has good wear resistance to prevent the buffer layer from being damaged too early; and the protective cover arranged at the top of the buffer layer can protect the top surface of the foot support. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the specific embodiments or the prior art of the present application, the drawings needed to be used in the specific embodiments or the prior art description will be briefly introduced. Obviously, the drawings described below are some embodiments of the present application, and all other embodiments obtained by those skilled in the art without creative labor based on the embodiments in the present application shall fall within the scope of protection of the present application.

[0017] Figure 1 An exploded structural schematic diagram of the leg module and the foot module provided by the present application is shown in the figure. Figure 2 An exploded structural schematic diagram of the leg module provided by the present application is shown in the figure. Figure 3 An assembled structural schematic diagram of the hip module and the leg module provided by the present application is shown in the figure. Figure 4 An exploded structural schematic diagram of the hip module provided by the present application is shown in the figure. Figure 5 A structural schematic diagram of the connecting frame provided by the present application is shown in the figure. Figure 6 An assembled structural schematic diagram of the leg module and the foot module provided by the present application is shown in the figure.

[0018] In the figure: 101-first driving device; 102-connecting frame; 103-fastener; 104-preset axis; 105-axis of the leg module; 106-first mounting hole; 107-second mounting hole; 108-second driving device; 109-hip front gland; 110-hip connecting piece; 111-lumbar joint connecting piece; 112-connecting disc; 113-first connecting block; 114-fitting surface; 115-thigh support; 116-calf support; 117-knee joint bearing; 118-connecting line; 119-third driving device; 120-first connecting piece; 121-knee connecting rod; 122-centripetal joint bearing; 123-bushing; 124-foot support; 125-fourth driving device; 126-second connecting piece; 127-ankle connecting rod; 128-fixing piece; 129-cross shaft; 130-limiting plate; 131-connecting rod; 132-cushion layer; 133-wear-resistant layer; 134-protective cover; 135-opening. DETAILED DESCRIPTION

[0019] The technical solutions of the present application will be described clearly and completely below with reference to the drawings. Obviously, the described embodiments are some embodiments of the present application, and all other embodiments obtained by those skilled in the art without creative labor based on the embodiments in the present application shall fall within the scope of protection of the present application.

[0020] In the description of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0021] In the description of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0022] Example 1 See Figures 1 to 6 As shown, the humanoid robot provided in this application includes a foot module and a leg module; the foot module includes a foot support 124, a protective cover, and a protective base plate; the protective base plate includes a buffer layer 132 and a wear-resistant layer 133, the buffer layer 132 is connected to the bottom of the foot support 124, and the wear-resistant layer 133 is connected to the bottom of the buffer layer 132; the protective cover is connected to the protective base plate and is placed on top of the foot support 124; the protective cover has an opening 135, through which the leg module passes to connect with the foot support 124.

[0023] Specifically, the buffer layer 132 is located at the bottom of the foot support 124, providing protection and cushioning to reduce vibration during robot movement and increase stability. The buffer layer 132 is connected to the foot support 124 via screws and washers. The wear-resistant layer 133, specifically a rubber layer, is located at the bottom of the buffer layer 132, enhancing the wear resistance of the robot's foot module and extending its service life. Optionally, the wear-resistant layer 133 and the buffer layer 132 are detachably connected, allowing the wear-resistant layer 133 to be replaced when it shows significant wear.

[0024] like Figure 1 and Figure 6 As shown, the protective cover 134 is located on top of the buffer layer 132 and connected to the circumferential edge of the buffer layer 132. The protective cover 134 covers the upper surface of the foot support 124 to provide protection. The protective cover 134 is provided with an opening 135 through which the leg module can pass to connect with the foot support 124.

[0025] The humanoid robot provided in this application absorbs vibration by setting a buffer layer 132 at the bottom of the foot support 124, reducing the degree to which vibration is transmitted upward to the ankle joint, calf and even hip joint; the wear-resistant layer 133 set at the bottom of the buffer layer 132 has good wear resistance and prevents the buffer layer 132 from breaking prematurely; the protective cover 134 set at the top of the buffer layer 132 can protect the top surface of the foot support 124.

[0026] In the optional solutions of this embodiment, such as Figure 1 As shown, the foot module also includes a fourth drive mechanism and a cross shaft 129; the foot support 124 is provided with a fixing member 128, and the leg module is connected to the fixing member 128 through the cross shaft 129 so that the foot support 124 can swing relative to the leg module; the fourth drive mechanism is installed on the leg module to drive the foot support 124 to swing relative to the leg module.

[0027] In this embodiment, the structure introduces a cross shaft 129 as a mechanical connection hub, and works with a fourth drive mechanism to provide active driving torque, thereby achieving multi-directional swing control of the foot support 124 in space. The cross shaft 129 has two mutually perpendicular rotational degrees of freedom (typically corresponding to pitch and roll), allowing the foot support 124 to automatically adjust its posture according to the ground slope during walking.

[0028] In an optional embodiment, the fourth drive mechanism specifically includes a fourth drive device 125, a second connector 126, and an ankle link 127. The fourth drive device 125 is mounted on the leg module, and the drive end of the fourth drive device 125 is connected to the second connector 126. The second connector 126 is connected to the movable end of the ankle link 127 via a second connecting shaft to drive the movable end of the ankle link 127 to swing. The fixed end of the ankle link 127 is mounted on the leg module, and the fixed end of the ankle link 127 is connected to the foot support 124 to drive the foot support 124 to swing.

[0029] In other words, the power output of the fourth drive device 125 is transmitted to the movable end of the ankle link 127 via the second connector 126, causing the ankle link 127 to swing around its fixed end, thereby pulling the foot support 124 to complete the swinging action. This allows the posture of the foot support 124 to be adjusted according to the gait, thereby improving the overall motion performance and environmental adaptability of the walking device.

[0030] Furthermore, the second connecting shaft includes a limiting plate 130 and a connecting rod 131. The connecting rod 131 passes through the ankle link 127 and the second connecting member 126. The limiting plate 130 is connected to the connecting rod 131, and the limiting plate 130 is located on the side of the ankle link 127 away from the second connecting member 126. The limiting plate 130 forms a physical block on the ankle link 127 in the axial direction, preventing it from detaching or moving axially, thus avoiding the risk of module failure due to loose connection.

[0031] In the optional solutions of this embodiment, such as Figure 2 As shown, the leg module includes a leg support and a third drive mechanism; the leg support includes a thigh support 115, a calf support 116, and a knee joint bearing 117; the thigh support 115 and the calf support 116 are hinged together, and the knee joint bearing 117 is installed between the thigh support 115 and the calf support 116; the third drive mechanism is installed on the thigh support 115 to drive the calf support 116 to swing relative to the thigh support 115; the knee joint bearing 117 is provided with a through hole, and the connecting wire 118 of the third drive mechanism passes through the through hole.

[0032] In this embodiment, the knee joint bearing 117 is provided with a through hole, allowing the power supply line, signal line, or control cable of the third drive mechanism to pass from the thigh support 115 through the through hole into the lower leg support 116, achieving fully embedded wiring. This design effectively avoids the risk of wear, breakage, or short circuits caused by friction, pulling, and entanglement of exposed cables during repeated flexion and extension movements of the joint, significantly improving the stability and service life of the electrical connection.

[0033] In an optional embodiment, the third drive mechanism includes a third drive device 119, a first connector 120, and a knee link 121. The third drive device 119 is mounted on the thigh support 115. The drive end of the third drive device 119 is connected to the first connector 120, and the first connector 120 is connected to the movable end of the knee link 121 via a first connecting shaft to drive the movable end of the knee link 121 to swing. A radial joint bearing 122 is provided between the first connecting shaft and the movable end of the knee link 121. The fixed end of the knee link 121 is mounted on the thigh support 115 via a bushing 123, and the fixed end of the knee link 121 is connected to the calf support 116.

[0034] In this embodiment, the power output by the third drive device 119 is transmitted to the movable end of the knee link 121 via the first connector 120, causing the knee link 121 to swing around its fixed end, thereby pulling the lower leg support 116 to complete the flexion and extension movements. This structure forms a four-bar linkage module with the thigh support 115 as the frame, the knee link 121 as the transmission arm, and the lower leg support 116 as the output rod, which can convert the linear or small-angle rotational motion of the drive device into a large-range swing that conforms to the movement law of the human knee joint.

[0035] Furthermore, a radial joint bearing 122 (commonly known as a fisheye bearing) is provided between the first connector 120 and the movable end of the knee link 121. The radial joint bearing 122 is a spherical sliding bearing, which allows the two to generate micro-amplitude relative rotation in multiple degrees of freedom directions. It can compensate for the swing angle clearance and automatically adjust the misalignment of the knee link 121 caused by manufacturing tolerances, assembly deviations or dynamic deformation.

[0036] Example 2 The humanoid robot in this second embodiment is an improvement on the above embodiments. The technical content disclosed in the above embodiments will not be described again, and the content disclosed in the above embodiments also belongs to the content disclosed in this second embodiment.

[0037] See Figures 3 to 5 As shown, in an optional embodiment, the humanoid robot further includes a hip module; the hip module includes a first drive device 101, a connecting component, and a second drive mechanism; the connecting component includes a connecting frame 102 and a fastener 103; the drive end of the first drive device 101 is connected to one side of the connecting frame 102 to drive the connecting frame 102 to swing around a preset axis 104; the second drive mechanism is located on the other side of the connecting frame 102; the drive end of the second drive mechanism is connected to the leg module to drive the leg module to rotate around its own axis; the axis 105 of the leg module is perpendicular to the preset axis 104.

[0038] The connecting frame 102 is provided with a first mounting hole 106, and the second drive mechanism is provided with a corresponding second mounting hole 107. The fastener 103 passes through the first mounting hole 106 and the second mounting hole 107 to connect the second drive mechanism and the connecting frame 102. The length direction of the fastener 103 is set at an acute angle with the preset axis 104.

[0039] Specifically, the first drive device 101 is mounted on a hip fixation frame, which includes a hip anterior pressure plate 109, a hip connector 110, and a lumbar joint connector 111. The hip connector 110 is connected to the hip anterior pressure plate 109, and the lumbar joint connector 111 is installed between the hip connector 110 and the hip anterior pressure plate 109 to form a structurally stable frame structure. The first drive device 101 is mounted on the hip connector 110 and drives the connecting frame 102 to swing around a preset axis 104 (corresponding to the hip joint's Roll direction movement). The second drive mechanism is mounted on the other side of the connecting frame 102 and drives the leg module to rotate around its own axis (corresponding to Yaw direction movement). The two axes are perpendicular to each other. This application uses two drive units to respectively handle the Roll and Yaw degrees of freedom, realizing the control of the hip's dual-degree-of-freedom movement. The first drive device 101 is used to make the leg module swing towards the side of the body, and the second drive mechanism is used to make the leg module rotate around its axis, thereby enabling the leg module to achieve precise motion output.

[0040] Traditional straight-drive screws are prone to loosening, especially during dynamic robot movement, where the hip area is subjected to cyclic impact forces and torsional moments, easily leading to fretting wear at the connection point or screw fatigue fracture. This solution employs an oblique fastening connection method, allowing fastener 103 to not only bear tensile stress but also effectively participate in resisting shear and separation forces. Due to the oblique arrangement of fastener 103, the lateral component force generated during joint movement is partially converted into pressure along the screw axis, thereby enhancing the self-locking effect and significantly improving vibration resistance and anti-loosening performance.

[0041] Specifically, the fastener 103 is a screw, and the screw size is M5 or larger. The angle between the length direction of the fastener 103 and the preset axis 104 is ( Figure 5 Angle A shown in the figure is less than or equal to 60 degrees, which can achieve efficient and stable mechanical fixing and load transfer.

[0042] In an optional embodiment, the connecting frame 102 includes a connecting plate 112 and a first connecting block 113; the driving end of the first driving device 101 is connected to one side of the connecting plate 112, and the first connecting block 113 is connected to the other side of the connecting plate 112; the first connecting block 113 is provided with a first mounting hole 106; the second driving mechanism includes a second driving device 108 and a second connecting block, the second driving device 108 is connected to the second connecting block, and the second connecting block is provided with a second mounting hole 107.

[0043] In this embodiment, such as Figure 5 As shown, the connecting plate 112 has multiple through holes circumferentially for detachable connection with the drive end of the first drive device 101. The first connecting block 113 is located on the other side of the connecting plate 112 and is connected to the second connecting block mounted on the second drive device 108, thereby connecting the connecting frame 102 and the second drive device 108. The two drive systems form a mechanical linkage through the rigid connection of the connecting frame 102. The first connecting block 113 and the second connecting block are respectively provided with oblique first mounting holes 106 and second mounting holes 107, so that the length direction of the fastener 103 is set at an acute angle with the preset axis 104, thereby improving the stability of the connection between the various components of the hip.

[0044] In an optional embodiment, the first connecting block 113 is located in the middle of the connecting disk 112, and the first mounting holes 106 are provided at both ends of the length direction of the first connecting block 113, and the first mounting holes 106 at both ends of the length direction of the first connecting block 113 are symmetrically arranged; the second driving mechanism includes two second connecting blocks, which are spaced apart at both ends of the length direction of the first connecting block 113.

[0045] In this embodiment, the first connecting block 113 is located in the middle of the connecting plate 112, serving as the central hub for force transmission, allowing the load forces from both sides to be evenly transmitted to the connecting plate 112. Combined with the symmetrically arranged first mounting holes 106 at both ends, the two second connecting blocks are spatially mirror-distributed, thus forming a symmetrical torque cancellation mechanism during movement. This design effectively avoids torsional vibration or bearing wear problems caused by uneven loading, greatly improving the system's operational stability and reliability.

[0046] In an optional embodiment, the first connecting block 113 is provided with a mating surface 114, and the outline of the second driving device 108 located between the two second connecting blocks is adapted to the mating surface 114.

[0047] In this embodiment, the outer contour of the second drive device 108 matches and fits the mating surface 114 on the first connecting block 113, which can provide a certain support and limiting function, and the two form an "embedded installation" structure, which compresses the overall installation size of the components and realizes the miniaturization and high-density integration of the device, which is particularly suitable for robot joint parts with high requirements for structural compactness.

[0048] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and not to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application. In addition, those skilled in the art can understand that although some embodiments herein include certain features included in other embodiments but not other features, combinations of features from different embodiments are meant to be within the scope of this application and form different embodiments.

Claims

1. A humanoid robot, characterized in that, Includes foot and leg modules; The foot module includes a foot support, a protective cover, and a protective base plate; the protective base plate includes a buffer layer and a wear-resistant layer, the buffer layer is connected to the bottom of the foot support, and the wear-resistant layer is connected to the bottom of the buffer layer; The protective cover is connected to the protective base plate and is placed on top of the foot support; the protective cover has an opening through which the leg module passes to connect with the foot support.

2. The humanoid robot according to claim 1, characterized in that, The foot module also includes a fourth drive mechanism and a cross shaft; The cross shaft is installed between the leg module and the foot bracket so that the foot bracket can swing relative to the leg module; The fourth drive mechanism is mounted on the leg module to drive the foot support to swing relative to the leg module.

3. The humanoid robot according to claim 2, characterized in that, The fourth drive mechanism includes a fourth drive device, a second connector, and an ankle link; the fourth drive device is installed on the leg module, the drive end of the fourth drive device is connected to the second connector, and the second connector is connected to the movable end of the ankle link through a second connecting shaft, so as to drive the movable end of the ankle link to swing. The fixed end of the ankle link is installed on the leg module, and the fixed end of the ankle link is connected to the foot bracket to drive the foot bracket to swing. The second connecting shaft includes a limiting plate and a connecting rod. The connecting rod passes through the ankle link and the second connecting member. The limiting plate is connected to the connecting rod, and the limiting plate is located on the side of the ankle link away from the second connecting member.

4. The humanoid robot according to claim 1, characterized in that, The leg module includes a leg support and a third drive mechanism; The leg support includes a thigh support, a calf support, and a knee joint bearing; the thigh support is hinged to the calf support, and the knee joint bearing is installed between the thigh support and the calf support; The third drive mechanism is mounted on the thigh support to drive the lower leg support to swing relative to the thigh support; The knee joint bearing is provided with a through hole, and the connecting wire of the third drive mechanism passes through the through hole.

5. The humanoid robot according to claim 4, characterized in that, The third drive mechanism includes a third drive device, a first connector, and a knee link; The third drive device is installed on the thigh support. The drive end of the third drive device is connected to the first connector, and the first connector is connected to the movable end of the knee link through the first connecting shaft to drive the movable end of the knee link to swing. A radial joint bearing is provided between the first connecting shaft and the movable end of the knee link. The fixed end of the knee link is installed on the thigh support via a bushing, and the fixed end of the knee link is connected to the calf support.

6. The humanoid robot according to claim 1, characterized in that, It also includes a hip module; The hip module includes a first drive device, a connecting component, and a second drive mechanism; the connecting component includes a connecting frame and fasteners; the drive end of the first drive device is connected to one side of the connecting frame to drive the connecting frame to swing around a preset axis; The second drive mechanism is located on the other side of the connecting frame; the drive end of the second drive mechanism is connected to the leg module to drive the leg module to rotate around its own axis; the axis of the leg module is perpendicular to the preset axis; The connecting frame is provided with a first mounting hole, and the second drive mechanism is provided with a corresponding second mounting hole. The fastener passes through the first mounting hole and the second mounting hole to connect the second drive mechanism and the connecting frame. The length direction of the fastener is set at an acute angle to the preset axis.

7. The humanoid robot according to claim 6, characterized in that, The connecting frame includes a connecting plate and a first connecting block; The driving end of the first driving device is connected to one side of the connecting disk, and the first connecting block is connected to the other side of the connecting disk; the first connecting block is provided with the first mounting hole; The second driving mechanism includes a second driving device and a second connecting block. The second driving device is connected to the second connecting block, and the second connecting block is provided with the second mounting hole.

8. The humanoid robot according to claim 7, characterized in that, The first connecting block is located in the middle of the connecting disk. The first mounting holes are provided at both ends of the first connecting block in the length direction, and the first mounting holes at both ends of the first connecting block in the length direction are symmetrically arranged. The second drive mechanism includes two second connecting blocks, which are spaced apart at both ends of the first connecting block along its length.

9. The humanoid robot according to claim 8, characterized in that, The first connecting block is provided with a mating surface, and the outline of the second driving device located between the two second connecting blocks is adapted to the mating surface.

10. The humanoid robot according to claim 6, characterized in that, The angle between the length direction of the fastener and the preset axis is less than or equal to 60 degrees.

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