Humanoid robot leg structure

Abstract

The invention relates to the technical field of humanoid robots, and discloses a humanoid robot leg structure which comprises a hip structure and further comprises a thigh structure which comprises a rotating part and an extending part, the rotating part is connected with the hip structure, and the extending part is connected with the rotating part; the rotating part and the extending part are respectively used for driving the thigh to rotate and adjusting the length of the thigh; the knee structure is mounted on the extension part, can rotate relative to the thigh structure and can swing back and forth along the thigh structure; the shank structure is mounted on the knee structure and used for adjusting the length of the shank; the foot structure comprises an autorotation part, an adjusting part and a foot plate, the autorotation part is connected with the shank structure, the adjusting part is connected with the autorotation part, and the foot plate is connected with the adjusting part; according to the robot, more movement automation degrees, variable limb lengths and better bionic characteristics can be realized while compact structure and accurate control are ensured, and the movement performance and adaptive capacity of the robot are improved.

Description

Technical Field

[0001] This invention relates to the field of humanoid robot technology, specifically to a humanoid robot leg structure. Background Technology

[0002] Humanoid robots represent an important development direction in the field of robotics. Their leg structure, as a core component for achieving stable walking and flexible movement, has always been a research hotspot and challenge. With the advancement of artificial intelligence, materials science, and control technology, the demand for humanoid robots in service, rescue, and medical assistance fields is increasing, placing higher requirements on their motion performance.

[0003] The legs of a humanoid robot are a sophisticated and complex system. The core objective is to simulate the stable walking and high mobility of the human lower limbs. The main components include the hip joint, knee joint, and ankle joint. The hip joint is used to realize the forward and backward swinging and internal and external rotation of the leg; the knee joint is mainly responsible for the flexion and extension of the lower leg; and the ankle joint is used to realize the vertical dorsiflexion and inversion of the foot.

[0004] Most current humanoid robot leg structures use simple serial joint structures with limited degrees of freedom. The ankle joint is usually a single-axis or dual-axis rotation, which cannot simultaneously achieve compound movements such as lifting / tiptoeing and inversion / exversion. This results in poor adaptability and a stiff and unnatural gait when walking on uneven ground. Moreover, existing robot legs are mostly designed with a fixed length, which cannot be dynamically adjusted according to task requirements or environmental changes. This limits the robot's adaptability to the workspace, makes it difficult to achieve optimal kinematic configuration, and also increases the complexity of the control algorithm. Summary of the Invention

[0005] This invention provides a humanoid robot leg structure that, through an adjustment section, can simultaneously achieve compound movements of foot lifting / tiptoeing and inward / outward turning, improving the robot's adaptability to walking on uneven ground. In addition, through the extension section and lower leg structure, it can be dynamically adjusted according to task requirements or environmental changes, enabling the robot to achieve optimal kinematic configuration in different scenarios, while simplifying the control algorithm and solving the problems of poor adaptability, limited workspace, and complex control algorithms mentioned in the background art.

[0006] This invention provides the following technical solution: A humanoid robot leg structure includes a hip structure, and further includes: a thigh structure comprising a rotating part and an extension part, the rotating part being connected to the hip structure, and the extension part being connected to the rotating part; the rotating part and the extension part are respectively used to drive the thigh to rotate and adjust the length of the thigh; a knee structure mounted on the extension part, capable of rotating relative to the thigh structure and swinging back and forth along the thigh structure; a lower leg structure mounted on the knee structure, used to adjust the length of the lower leg; and a foot structure comprising a self-rotating part, an adjusting part, and a foot plate, the self-rotating part being connected to the lower leg structure, the adjusting part being connected to the self-rotating part, and the foot plate being connected to the adjusting part; the self-rotating part is used to drive the foot to rotate, wherein the adjusting part has a first adjusting path and a second adjusting path; when the first adjusting path and the second adjusting path extend and retract synchronously, the foot plate performs lifting and tiptoeing movements; when the first adjusting path and the second adjusting path extend and retract asynchronously or in opposite directions, the foot plate performs inward or outward turning movements.

[0007] As a preferred embodiment of the present invention, the rotating part includes a third motor and a thigh mounting component. The output end of the third motor is connected to the hip structure, and the fixed end of the third motor is connected to the thigh mounting component. When the third motor rotates, the thigh mounting component is driven to rotate through the fixed end of the third motor.

[0008] As a preferred embodiment of the present invention, the extension includes a first telescopic tube, the fixed end of the first telescopic tube is connected to the thigh mounting component, a first electric cylinder is installed between the movable end of the first telescopic tube and the thigh mounting component, a first rack is installed at the drive end of the first electric cylinder, a first encoder is installed on the thigh mounting component, a first gear is installed at the shaft end of the first encoder, and the first gear meshes with the first rack.

[0009] As a preferred embodiment of the present invention, the knee structure includes a knee connector and a fourth motor. The knee connector is mounted on the movable end of the first telescopic tube, the fourth motor is mounted on the knee connector, a knee fixing component is mounted on the output end of the fourth motor, a steering gearbox is mounted on the knee fixing component, and knee movable components are mounted on both ends of the output shaft of the steering gearbox. The knee movable components are curved and match the shape of the human knee.

[0010] As a preferred embodiment of the present invention, the lower leg structure includes a second telescopic tube, the fixed end of the second telescopic tube is connected to the knee movable component, a second electric cylinder is installed between the movable end of the second telescopic tube and the knee movable component, a second rack is installed at the output end of the second electric cylinder, a second encoder is installed on the fixed end of the second telescopic tube, a second gear is installed on the shaft end of the second encoder, and the second gear meshes with the second rack.

[0011] As a preferred embodiment of the present invention, the self-rotating part includes a lower leg connector and a fifth motor. The lower leg connector is connected to the movable end of the second telescopic tube, and the fifth motor is mounted on the lower leg connector to drive the foot plate to rotate relative to the lower leg.

[0012] As a preferred embodiment of the present invention, the adjustment part includes an ankle fixation member, which is connected to a fifth motor. An electric cylinder connector is installed on the foot plate, and a cross shaft is provided between the electric cylinder connector and the ankle fixation member. The cross shaft includes two sets of symmetrical shaft ends, which are rotatably connected to the ankle fixation member and the electric cylinder connector, respectively.

[0013] As a preferred embodiment of the present invention, it further includes two third electric cylinders, which are symmetrically mounted on the ankle fixation component. A first spherical shaft is rotatably connected to the ankle fixation component, and a second spherical shaft is rotatably connected to the electric cylinder connector. A fixed ball bearing is mounted on the fixed end of each third electric cylinder, and a movable ball bearing is mounted on the movable end of each third electric cylinder. Wherein, one end of the first spherical shaft forms a first adjustment path with the fixed ball bearing, the third electric cylinder, the movable ball bearing, and the second spherical shaft, and the other end of the first spherical shaft forms a second adjustment path with the fixed ball bearing, the third electric cylinder, the movable ball bearing, and the second spherical shaft.

[0014] As a preferred embodiment of the present invention, the hip structure includes a hip connector, on which a first motor is symmetrically mounted. The output end of the first motor extends to the other side of the hip connector, and a leg-lifting connector is mounted on the output end of the first motor. The first motor drives the leg-lifting connector to perform inward and outward flipping movements.

[0015] As a preferred embodiment of the present invention, it further includes a second motor, which is mounted on the leg-raising connector. The output end of the second motor extends to the other side, and the output end of the second motor is mounted on the thigh connector. The output end of the third motor is connected to the thigh connector, and the thigh connector is driven by the second motor to perform the leg-raising action.

[0016] Compared with the prior art, the present invention provides a humanoid robot leg structure, which has the following beneficial effects: 1. In the leg structure of this humanoid robot, the first and second adjustment paths of the adjustment unit enable the robot to simultaneously perform compound movements of lifting / tiptoeing and inward / outward turning, improving the robot's adaptability when walking on uneven ground, making the gait more gentle and natural, and enhancing the humanoid robot's motion performance.

[0017] 2. In the leg structure of this humanoid robot, the extension and lower leg structure can be dynamically adjusted according to task requirements or environmental changes, expanding the adaptability of the robot's workspace and achieving optimal kinematic configuration in various scenarios. At the same time, it also reduces the complexity of the control algorithm and improves the robot's adaptability.

[0018] The parts of this device not covered herein are the same as or can be implemented using existing technologies. This invention can achieve greater degree of motion automation, variable limb length, and better biomimetic characteristics while ensuring a compact structure and precise control, thereby improving the robot's motion performance and adaptability. Attached Figure Description

[0019] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the accompanying drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. In all the drawings, the elements or parts are not necessarily drawn to actual scale.

[0020] Figure 1 This is a three-dimensional schematic diagram of the present invention; Figure 2 This is a three-dimensional schematic diagram of the hip structure in this invention; Figure 3 This is a three-dimensional schematic diagram of the thigh structure in this invention; Figure 4 This is a three-dimensional schematic diagram of the knee structure in this invention; Figure 5 This is a three-dimensional schematic diagram of the lower leg structure in this invention; Figure 6 This is a three-dimensional schematic diagram of the foot structure in this invention; Figure 7 This is a partial three-dimensional schematic diagram of the foot structure in this invention.

[0021] In the diagram: 100, hip structure; 101, hip connector; 102, first motor; 103, leg-lifting connector; 104, second motor; 105, thigh connector; 200. Thigh structure; 201. Third motor; 202. Thigh mounting component; 203. First telescopic tube; 204. First electric cylinder; 205. First rack; 206. First gear; 207. First encoder; 300. Knee structure; 301. Knee connector; 302. Fourth motor; 303. Knee fixation component; 304. Steering gearbox; 305. Knee movable component; 400. Lower leg structure; 401. Second telescopic tube; 402. Second electric cylinder; 403. Second rack; 404. Second gear; 405. Second encoder; 500. Foot structure; 501. Lower leg connector; 502. Fifth motor; 503. Ankle fixing component; 504. Cross shaft; 505. Electric cylinder connector; 506. Foot plate; 507. Third electric cylinder; 508. First spherical shaft; 509. Second spherical shaft; 510. Fixed ball bearing; 511. Movable ball bearing. Detailed Implementation

[0022] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] Reference Figures 1-7 A humanoid robot leg structure includes a hip structure 100, which includes a hip connector 101. A first motor 102 is symmetrically mounted on the hip connector 101. The output end of the first motor 102 extends to the other side of the hip connector 101, and a leg-lifting connector 103 is mounted on the output end of the first motor 102. The first motor 102 drives the leg-lifting connector 103 to perform inward and outward flipping movements. The structure also includes a second motor 104, which is mounted on the leg-lifting connector 103. The output end of the second motor 104 extends to the other side, and a thigh connector 105 is mounted on the output end of the second motor 104. The output end of a third motor 201 is connected to the thigh connector 105, and the second motor 104 drives the thigh connector 105 to perform leg-lifting movements.

[0024] The hip connector 101 serves as the base component of the entire hip structure 100, and is used to fix it to the robot's torso frame, providing stable installation support for subsequent drive components. The first motor 102 is arranged on the left and right sides of the hip connector 101, which is conducive to achieving coordinated movement of the robot's two legs and balanced distribution of structural weight. Inward rotation refers to the leg swinging towards the robot's central axis, while outward rotation refers to the leg swinging away from the central axis of the body, thereby realizing the inward and outward rotation of the hip joint in the coronal plane, which is crucial for the robot to achieve lateral center of gravity transfer and lateral walking.

[0025] The hip structure 100 also includes a second motor 104, which is mounted on the leg-lifting connector 103. This mounting method allows the second motor 104 to move together with the leg-lifting connector 103, forming a series joint arrangement. The housing of the second motor 104 is fixedly connected to the leg-lifting connector 103, and the axial direction of its output shaft is perpendicular to the axial direction of the output shaft of the first motor 102. This orthogonal arrangement is the basis for realizing three-dimensional spatial movement. The leg-raising motion refers to the forward and backward swinging of the thigh around the hip joint in the sagittal plane, that is, raising the leg forward or swinging the leg backward. When the second motor 104 rotates, the output end drives the thigh connector 105 to rotate around the axis of the second motor 104. Since the thigh connector 105 is connected to the subsequent thigh structure 200, the leg-raising motion of the thigh relative to the torso is realized. The inward and outward rotation and the leg-raising motion are independent of each other and orthogonal, together constituting the two basic rotational degrees of freedom of the hip joint, enabling the robot's leg to make flexible posture adjustments in three-dimensional space.

[0026] Reference Figure 3 The thigh structure 200 includes a rotating part and an extension part. The rotating part is connected to the hip structure 100, and the extension part is connected to the rotating part. The rotating part and the extension part are used to drive the thigh to rotate and adjust the length of the thigh, respectively. The rotating part includes a third motor 201 and a thigh mounting component 202. The output end of the third motor 201 is connected to the hip structure 100, and the fixed end of the third motor 201 is connected to the thigh mounting component 202. When the third motor 201 rotates, the thigh mounting component 202 is driven to rotate through the fixed end of the third motor 201. The extension part includes a first telescopic tube 203. The fixed end of the first telescopic tube 203 is connected to the thigh mounting component 202. A first electric cylinder 204 is installed between the movable end of the first telescopic tube 203 and the thigh mounting component 202. A first rack 205 is installed on the driving end of the first electric cylinder 204. A first encoder 207 is installed on the thigh mounting component 202. A first gear 206 is installed on the shaft end of the first encoder 207. The first gear 206 meshes with the first rack 205.

[0027] Thigh rotation is crucial for adjusting foot posture during robot walking, coordinating body movements during turns, and optimizing posture when adapting to different terrains. The adjustability of thigh length allows the robot to change its leg configuration according to task requirements. For example, it can lengthen its thigh when a large stride is needed, shorten its thigh when a compact posture is needed, or adjust its body tilt and height through differential extension and retraction of the two thighs. When the third motor 201 rotates, it drives the thigh mounting component 202 to rotate through the fixed end of the third motor 201. Since the output end of the third motor 201 is relatively fixed to the hip structure 100, when the rotor inside the third motor 201 rotates, according to the principle of action and reaction, the stator (i.e., the fixed end) of the third motor 201 will generate a reverse rotation tendency, thereby driving the thigh mounting component 202, which is fixed to it, to rotate together. The main structure of the third motor 201 can be arranged inside the thigh, making the leg structure more compact and reducing the mass at the distal end, which is beneficial to improving dynamic response performance. The first telescopic tube 203 can rotate together with the thigh mounting piece 202. The first electric cylinder 204 is a linear drive element for adjusting the thigh length. The first rack 205 converts the linear reciprocating motion of the first electric cylinder 204 into a specific displacement output. The first encoder 207 is a position and speed detection element used to monitor the extension length and speed of the thigh in real time, providing feedback signals for closed-loop control. It converts the linear motion of the first electric cylinder 204 into the rotational motion of the shaft end of the first encoder 207. Since the meshing of the first gear 206 and the first rack 205 has a definite transmission ratio, the rotation angle of the first encoder 207 can be detected. The linear displacement of the first electric cylinder 204 can be accurately calculated, thereby obtaining the actual length of the thigh. This avoids the need to place sensors on moving parts, improving the reliability and maintainability of the system. When the thigh length needs to be adjusted, the drive end of the first electric cylinder 204 extends or retracts, driving the first rack 205 to move linearly. The meshing of the first rack 205 with the first gear 206 causes the first gear 206 to rotate. The first encoder 207 detects the rotation signal and feeds it back to the control system. At the same time, the first electric cylinder 204 pushes or pulls the movable end of the first telescopic tube 203 to extend or retract relative to the fixed end, thereby realizing the adjustment of the overall thigh length.

[0028] Reference Figure 4 The knee structure 300 is mounted on the extension and can rotate relative to the thigh structure 200 and swing back and forth along the thigh structure 200. The knee structure 300 includes a knee connector 301 and a fourth motor 302. The knee connector 301 is mounted on the movable end of the first telescopic tube 203, and the fourth motor 302 is mounted on the knee connector 301. A knee fixing member 303 is mounted on the output end of the fourth motor 302. A steering gearbox 304 is mounted on the knee fixing member 303. Knee movable members 305 are mounted on both ends of the output shaft of the steering gearbox 304. The knee movable members 305 are curved and match the shape of the human knee.

[0029] The fourth motor 302 serves as the drive source for the rotation of the lower leg, enabling this rotation. Positioned along the extension of the thigh, the fourth motor 302 optimizes the spatial layout at the knee joint, avoiding the structural bulkiness caused by placing it directly on the side of the joint. The biomimetic design of the knee joint 305 not only resembles humans in appearance but also offers multiple functional advantages: the curved structure provides a smoother motion trajectory during knee flexion and extension, reducing impact and vibration; the curved shape provides better guidance when in contact with the external environment, reducing the risk of collision; simultaneously, the curved structure allows for a more rational arrangement of transmission mechanisms and cable channels, improving structural integration. The steering gearbox 304 serves as the drive source for knee flexion and extension, driving the knee joint 305 to swing, thereby achieving knee flexion and extension movements.

[0030] Reference Figure 5 The lower leg structure 400 is mounted on the knee structure 300 and is used to adjust the length of the lower leg. The lower leg structure 400 includes a second telescopic tube 401. The fixed end of the second telescopic tube 401 is connected to the knee movable member 305. A second electric cylinder 402 is installed between the movable end of the second telescopic tube 401 and the knee movable member 305. A second rack 403 is installed at the output end of the second electric cylinder 402. A second encoder 405 is installed on the fixed end of the second telescopic tube 401. A second gear 404 is installed on the shaft end of the second encoder 405. The second gear 404 meshes with the second rack 403.

[0031] The second encoder 405 is used to monitor the extension and retraction length and speed of the lower leg in real time. Similar to the method of measuring thigh length, the second encoder 405 converts the linear displacement of the second electric cylinder 402 into the rotation angle of the second encoder 405 through the meshing of the second gear 404 and the second rack 403, thereby achieving accurate detection of the lower leg length. When the lower leg length needs to be adjusted, the second electric cylinder 402 drives the second rack 403 to move linearly. The second rack 403 drives the second gear 404 and the second encoder 405 to rotate, while pushing or pulling the movable end of the second telescopic tube 401 to extend or retract relative to the fixed end, thereby adjusting the lower leg length. The independent adjustability of thigh and lower leg lengths allows the robot to optimize the leg configuration in real time according to different gait planning and terrain conditions. For example, the lower leg can be shortened when going uphill and lengthened when going downhill, or the body's pitch posture can be controlled by differential adjustment of the length of the two legs.

[0032] Reference Figures 6-7 The foot structure 500 includes a rotating part, an adjusting part, and a foot plate 506. The rotating part is connected to the lower leg structure 400, the adjusting part is connected to the rotating part, and the foot plate 506 is connected to the adjusting part. The rotating part is used to drive the foot to rotate. The adjusting part has a first adjusting path and a second adjusting path. When the first adjusting path and the second adjusting path extend and retract synchronously, the foot plate 506 performs foot lifting and tiptoeing actions. When the first adjusting path and the second adjusting path extend and retract asynchronously or in opposite directions, the foot plate 506 performs inward or outward turning actions.

[0033] The self-rotating part includes a lower leg connector 501 and a fifth motor 502. The lower leg connector 501 is connected to the movable end of the second telescopic tube 401. The fifth motor 502 is mounted on the lower leg connector 501 and is used to drive the foot plate 506 to rotate relative to the lower leg. The adjusting part includes an ankle fixing member 503, which is connected to the fifth motor 502. An electric cylinder connector 505 is mounted on the foot plate 506. A cross shaft 504 is provided between the electric cylinder connector 505 and the ankle fixing member 503. The cross shaft 504 includes two sets of symmetrical shaft ends, which are rotatably connected to the ankle fixing member 503 and the electric cylinder connector 505, respectively.

[0034] The axis of the fifth motor 502 is aligned with the length of the lower leg and is used to drive the foot plate 506 to rotate relative to the lower leg. When the fifth motor 502 rotates, the output end drives the subsequent adjustment part and the foot plate 506 to rotate together around the axis of the lower leg, thereby realizing the internal or external rotation of the foot. The cross shaft 504 has a coupling structure with two orthogonal rotating shafts, including two sets of symmetrical shaft ends, which are rotatably connected to the ankle fixation member 503 and the electric cylinder connector 505 respectively. This allows the ankle fixation member 503 and the electric cylinder connector 505 to achieve relative rotation in multiple directions while maintaining an axial connection. This enables the linear drive of the adjustment unit to be converted into the posture adjustment of the foot plate 506, while allowing the foot plate 506 to have a certain degree of conformity when in contact with the ground, thus playing a role in cushioning and protection.

[0035] It also includes two third electric cylinders 507, which are symmetrically mounted on the ankle fixation member 503. A first spherical shaft 508 is rotatably connected to the ankle fixation member 503, and a second spherical shaft 509 is rotatably connected to the electric cylinder connector 505. A fixed ball bearing 510 is installed at the fixed end of the third electric cylinder 507, and a movable ball bearing 511 is installed at the movable end of the third electric cylinder 507. One end of the first spherical shaft 508 forms a first adjustment path with the fixed ball bearing 510, the third electric cylinder 507, the movable ball bearing 511, and the second spherical shaft 509. The other end of the first spherical shaft 508 forms a second adjustment path with the fixed ball bearing 510, the third electric cylinder 507, the movable ball bearing 511, and the second spherical shaft 509.

[0036] The first and second adjustment paths allow the force of the two third electric cylinders 507 to be evenly transmitted to the footplate 506, while also contributing to the compactness and aesthetics of the structure. The ball end of the first spherical shaft 508 forms a ball joint connection with the ankle fixing member 503, and the ball end of the second spherical shaft 509 forms a ball joint connection with the electric cylinder connector 505, allowing free rotation within a certain range. Both the fixed ball bearing 510 and the movable ball bearing 511 are ball joint bearings, allowing swinging within a certain angle range. When the two third electric cylinders 507 extend and retract synchronously, the lengths of the first and second adjustment paths change synchronously, pushing the electric cylinder connector 505 and the footplate 506 around one axis of the cross shaft 504. The linear rotation enables the robot to lift or tiptoe. When the two third electric cylinders 507 extend and retract asynchronously, the length difference between the first and second adjustment paths causes the electric cylinder connector 505 and the foot plate 506 to tilt, achieving inward or outward turning. When the two third electric cylinders 507 extend and retract in opposite directions, one path lengthens and the other shortens, resulting in a larger turning angle. Through the coordinated control of the two third electric cylinders 507, the foot plate 506 can be continuously adjusted in both pitch and roll degrees of freedom. Combined with the rotational degree of freedom achieved by the fifth motor 502, this forms a bionic ankle joint with three rotational degrees of freedom, greatly improving the flexibility of the robot's foot movements and its adaptability to complex terrain.

[0037] Components not described in detail in this article are existing technologies.

[0038] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention 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 of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A humanoid robot leg structure, including a hip structure (100), characterized in that, Also includes: The thigh structure (200) includes a rotating part and an extension part, the rotating part being connected to the hip structure (100), and the extension part being connected to the rotating part; The rotating part and the extending part are respectively used to drive the thigh to rotate and adjust the length of the thigh; A knee structure (300) is mounted on the extension and is rotatable relative to the thigh structure (200) and swings back and forth along the thigh structure (200); The lower leg structure (400) is mounted on the knee structure (300) and is used to adjust the length of the lower leg; The foot structure (500) includes a rotating part, an adjusting part, and a foot plate (506). The rotating part is connected to the lower leg structure (400), the adjusting part is connected to the rotating part, and the foot plate (506) is connected to the adjusting part. The rotating part is used to drive the foot to rotate. The first adjustment path and the second adjustment path of the adjustment unit, when the first adjustment path and the second adjustment path extend and retract synchronously, the foot plate (506) performs the lifting and tiptoeing action, and when the first adjustment path and the second adjustment path extend and retract asynchronously or in opposite directions, the foot plate (506) performs the inward or outward turning action.

2. The humanoid robot leg structure according to claim 1, characterized in that, The rotating part includes a third motor (201) and a thigh mounting component (202). The output end of the third motor (201) is connected to the hip structure (100), and the fixed end of the third motor (201) is connected to the thigh mounting component (202). When the third motor (201) rotates, the thigh mounting component (202) is driven to rotate through the fixed end of the third motor (201).

3. The humanoid robot leg structure according to claim 2, characterized in that, The extension includes a first telescopic tube (203), the fixed end of which is connected to the thigh mounting piece (202), and a first electric cylinder (204) is installed between the movable end of the first telescopic tube (203) and the thigh mounting piece (202). A first rack (205) is installed on the drive end of the first electric cylinder (204). A first encoder (207) is installed on the thigh mounting piece (202), and a first gear (206) is installed on the shaft end of the first encoder (207). The first gear (206) meshes with the first rack (205).

4. The humanoid robot leg structure according to claim 3, characterized in that, The knee structure (300) includes a knee connector (301) and a fourth motor (302). The knee connector (301) is mounted on the movable end of the first telescopic tube (203). The fourth motor (302) is mounted on the knee connector (301). A knee fixation component (303) is mounted on the output end of the fourth motor (302). A steering gearbox (304) is mounted on the knee fixation component (303). Knee movable components (305) are mounted on both ends of the output shaft of the steering gearbox (304). The knee movable component (305) is curved and matches the shape of the human knee.

5. The humanoid robot leg structure according to claim 4, characterized in that, The lower leg structure (400) includes a second telescopic tube (401), the fixed end of which is connected to the knee movable part (305), a second electric cylinder (402) is installed between the movable end of the second telescopic tube (401) and the knee movable part (305), a second rack (403) is installed at the output end of the second electric cylinder (402), a second encoder (405) is installed on the fixed end of the second telescopic tube (401), a second gear (404) is installed on the shaft end of the second encoder (405), and the second gear (404) meshes with the second rack (403).

6. The humanoid robot leg structure according to claim 5, characterized in that, The self-rotating part includes a lower leg connector (501) and a fifth motor (502). The lower leg connector (501) is connected to the movable end of the second telescopic tube (401). The fifth motor (502) is mounted on the lower leg connector (501) and is used to drive the foot plate (506) to rotate relative to the lower leg.

7. The humanoid robot leg structure according to claim 6, characterized in that, The adjustment unit includes an ankle fixation member (503), which is connected to a fifth motor (502). An electric cylinder connector (505) is installed on the foot plate (506). A cross shaft (504) is provided between the electric cylinder connector (505) and the ankle fixation member (503). The cross shaft (504) includes two sets of symmetrical shaft ends, which are rotatably connected to the ankle fixation member (503) and the electric cylinder connector (505) respectively.

8. The humanoid robot leg structure according to claim 7, characterized in that, It also includes two third electric cylinders (507), which are symmetrically mounted on the ankle fixation member (503). A first spherical shaft (508) is rotatably connected to the ankle fixation member (503), and a second spherical shaft (509) is rotatably connected to the electric cylinder connector (505). A fixed ball bearing (510) is installed at the fixed end of the third electric cylinder (507), and a movable ball bearing (511) is installed at the movable end of the third electric cylinder (507). Wherein, one end of the first spherical shaft (508) forms a first adjustment path with the fixed ball bearing (510), the third electric cylinder (507), the movable ball bearing (511), and the second spherical shaft (509), and the other end of the first spherical shaft (508) forms a second adjustment path with the fixed ball bearing (510), the third electric cylinder (507), the movable ball bearing (511), and the second spherical shaft (509).

9. The humanoid robot leg structure according to claim 2, characterized in that, The hip structure (100) includes a hip connector (101), on which a first motor (102) is symmetrically mounted. The output end of the first motor (102) extends to the other side of the hip connector (101), and a leg-raising connector (103) is mounted on the output end of the first motor (102). The leg-raising connector (103) is driven by the first motor (102) to perform inward and outward flipping movements.

10. The humanoid robot leg structure according to claim 9, characterized in that, It also includes a second motor (104), which is mounted on the leg-raising connector (103). The output end of the second motor (104) extends to the other side, and the output end of the second motor (104) is mounted on the thigh connector (105). The output end of the third motor (201) is connected to the thigh connector (105), and the thigh connector (105) is driven by the second motor (104) to perform the leg-raising action.

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