Ankle joint bionic linkage humanoid robot flexible mechanical leg structure

Abstract

The invention discloses an ankle joint bionic linkage humanoid robot flexible mechanical leg structure, which comprises an upper platform, a lower platform, a lower platform, a lower platform, a lower platform, a lower platform, a lower platform, an upper connecting rod, a lower connecting rod and a lower connecting rod, and is characterized in that the upper platform is used for connecting crus parts and is of a disc structure; the lower platform is used for connecting sole parts, the lower platform is disc-shaped, a lower pit part is arranged on the top surface of the lower platform, a lower through hole is formed in the center of the top surface of the lower platform, and the lower through hole is located in the lower pit part; the ball head is used for bearing the upper platform and the lower platform and comprises a ball part and an inserting part arranged on the peripheral face of the ball part, and an oil collecting groove is formed in the face, away from the inserting part, of the peripheral face of the ball head. The at least two groups of driving assemblies are arranged on the peripheries of the upper platform and the lower platform and are hinged to the upper platform and the lower platform respectively at the two ends of the driving assemblies; by means of the composite flexible universal joint structure composed of the ball head, the elastic body shaped like the Chinese character'mi ', the upper buffering sleeve and the lower buffering sleeve, the multi-dimensional passive flexibility and impact resistance of the ankle joint are achieved.

Description

Technical Field

[0001] This invention relates to the field of bionic joints and motion control technology for robots, and more specifically, to a flexible mechanical leg structure for humanoid robots with bionic linkage of the ankle joint. Background Technology

[0002] The ankle joint of a humanoid robot is a key component for achieving dynamic balance, adapting to complex terrain, and walking efficiently. Existing robotic ankle joint technologies suffer from the following main shortcomings: First, most employ a simple rigid hinge directly connected to an actuator, lacking a biomimetic linkage mechanism similar to the human foot arch, resulting in unnatural movement, low energy efficiency, and poor cushioning performance.

[0003] Secondly, the joints lack passive compliance, making them prone to transmitting peak forces to the body when subjected to ground impacts, which can damage precision actuators and lead to instability.

[0004] Furthermore, traditional servo control does not take into account the impact of battery voltage fluctuations on motor output performance during actual robot operation. Under low battery conditions, the torque output and response characteristics of the joints will decrease, resulting in a decrease in the accuracy of the preset motion trajectory tracking and affecting the stability and consistency of the overall motion. Summary of the Invention

[0005] The purpose of this invention is to provide a flexible mechanical leg structure for humanoid robots with biomimetic linkage of the ankle joint, in order to solve the problems in the prior art.

[0006] The above-mentioned technical objective of this invention is achieved through the following technical solution: a humanoid robot flexible mechanical leg structure with ankle joint bionic linkage, comprising:

[0007] The upper platform is used for connecting the lower leg part. The upper platform has a disc structure and an upper pit is provided on its bottom surface.

[0008] The lower platform is used for connecting the ball of the foot. The lower platform is disc-shaped and has a lower pit on its top surface. A lower through hole is provided at the center of the top surface of the lower platform and is located inside the lower pit.

[0009] A ball head is used to support an upper platform and a lower platform. The ball head includes a ball and a plug portion disposed on its outer peripheral surface. An oil collection groove is provided on the side of the outer peripheral surface of the ball head away from the plug portion.

[0010] A drive assembly, at least two sets of the drive assemblies are disposed on the outer periphery of the upper platform and the lower platform and are hinged to the upper platform and the lower platform respectively at both ends of the drive assembly.

[0011] The present invention is further configured such that a cross-shaped elastic body is fitted on the outer peripheral surface of the ball part of the ball head.

[0012] The present invention is further configured such that the cross-shaped elastomer can at least cover the outer surface of the sphere.

[0013] The present invention is further configured such that: an upper buffer sleeve is provided between the ball head and the upper platform, the upper buffer sleeve being able to completely cover the surface of the upper pit; and a lower buffer sleeve is provided between the ball head and the lower platform, the lower buffer sleeve being able to at least cover the surface of the lower pit.

[0014] The present invention is further configured such that: the upper buffer sleeve and the lower buffer sleeve are spaced apart, and at least one pair of corresponding compression blocks are provided on the opposite side of the upper buffer sleeve and the lower buffer sleeve, wherein the hardness of the compression blocks is higher than that of the upper buffer sleeve and the lower buffer sleeve.

[0015] The present invention is further configured such that: an upper through hole is provided on the upper platform, and a wire harness channel is provided in the axial direction of the ball head; the upper through hole, the wire harness channel, and the lower through hole correspond to each other; the cross-section of the upper through hole and the wire harness channel is circular; and the cross-section of the lower through hole corresponds to the cross-section of the insertion part.

[0016] The present invention is further configured with: a sensing module, used to acquire real-time angle data of the ankle joint and real-time battery voltage data of the robot system;

[0017] The data processing module is used to receive preset operation commands and output corresponding preset ankle joint angle data; compare the real-time ankle joint angle data with the preset ankle joint angle data, and determine whether the relative difference between the two exceeds a preset safety threshold.

[0018] If the relative difference exceeds the safety threshold, a dynamic correction compensation coefficient is calculated based on the ratio of the real-time battery voltage data to a preset reference voltage data.

[0019] Based on the dynamic correction compensation coefficient, the real-time ankle joint angle data or the preset ankle joint angle data are compensated to generate corrected ankle joint control data.

[0020] The drive module is used to drive the servo actuator connected to the ankle joint according to the corrected ankle joint control data, so as to adjust the actual movement posture of the ankle joint.

[0021] In summary, the present invention has the following beneficial effects: through the composite flexible universal joint structure composed of a ball head, a star-shaped elastomer, and upper and lower buffer sleeves, multidimensional passive compliance and impact resistance of the ankle joint are achieved.

[0022] In particular, the star-shaped elastomer and compression block provide non-linear progressive stiffness characteristics, which softly filter vibrations under small impacts and harden to provide support under large impacts, effectively suppressing inward / outward rollover.

[0023] The ball head and the lower platform are connected to the lower through hole through the irregular cross section plug to ensure efficient torque transmission. At the same time, the wire harness channel that runs through the upper, middle and lower sections facilitates internal wiring and improves the integration and reliability of the structure.

[0024] The closed-loop control system, composed of sensing, data processing, and drive modules, innovatively introduces a dynamic compensation mechanism based on real-time battery voltage. This mechanism can sense changes in power status and automatically correct drive commands, ensuring that the output torque, response speed, and motion tracking accuracy of the joints remain consistent throughout the entire process from full charge to low charge, significantly improving the robot's motion stability and reliability throughout the entire work cycle.

[0025] This invention deeply integrates an innovative passive flexible mechanical structure with an active voltage adaptive control algorithm, fundamentally solving the problem of electromechanical performance mismatch caused by voltage drops, and providing a solid hardware foundation and intelligent guarantee for the long endurance and high dynamic movement of high-performance humanoid robots. Attached Figure Description

[0026] Figure 1 This is a perspective view of Embodiment 1 of the present invention;

[0027] Figure 2 This is the first exploded view in Embodiment 1 of the present invention;

[0028] Figure 3 This is the second exploded view in Embodiment 1 of the present invention;

[0029] Figure 4 This is a bottom view in Embodiment 1 of the present invention;

[0030] Figure 5 This is the first sectional view in Embodiment 1 of the present invention;

[0031] Figure 6 This is a perspective view of Embodiment 1 of the present invention;

[0032] Figure 7 This is the second sectional view in Embodiment 1 of the present invention; Figure 8 This is a flowchart from embodiment 2 of the present invention.

[0033] In the picture:

[0034] 1. Upper platform; 11. Upper through hole; 12. Oil return port; 13. First capillary oil tube; 14. Upper pit; 15. Oil storage chamber;

[0035] 2. Drive components; 21. Servo actuators; 22. Wiring harness channels;

[0036] 3. Ball head; 31. Ball part; 32. Insertion part; 33. Cross-shaped elastomer; 34. Oil collection groove; 35. Oil collection pipe; 36. Fourth capillary oil pipe; 37. Second capillary oil pipe;

[0037] 4. Lower platform; 41. Lower through hole; 42. Oil outlet; 43. Third capillary oil tube; 44. Lower pit; 45. Oil collection chamber;

[0038] 5. Upper buffer sleeve; 51. First capillary oil groove;

[0039] 6. Lower buffer sleeve; 61. Second capillary oil groove. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0041] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0042] It should be noted that, unless otherwise specified, the embodiments and features described in this invention can be combined with each other.

[0043] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0044] In the description of this invention, 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, or the orientation or positional relationship commonly used when the product of this invention is in use, or the orientation or positional relationship commonly understood by those skilled in the art. They are only used for the convenience of describing this invention 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, and therefore should not be construed as a limitation of this invention. In addition, the terms "first," "second," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0045] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" 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 of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0046] The following is in conjunction with the appendix Figure 1-4 The present invention will be described in further detail below, but the scope of protection of the present invention is not limited to the following description.

[0047] Example 1

[0048] This embodiment provides a humanoid robot flexible mechanical leg structure with ankle joint bionic linkage, including: upper platform 1, lower platform 4, ball head 3 and drive component 2;

[0049] The upper platform 1 is used for connecting the lower leg part. The upper platform 1 has a disc structure and an upper pit 14 is provided on its bottom surface. Mounting ears are evenly spaced on the outer circumference of the upper platform 1.

[0050] The lower platform 4 is used for connecting the foot part. The lower platform 4 is disc-shaped. Its top surface is provided with a lower pit 44. A lower through hole 41 is provided at the center of the top surface of the lower platform 4. The lower through hole 41 is located in the lower pit 44. The outer circumference of the lower platform 4 is provided with mounting ears corresponding to the upper platform 1.

[0051] The ball head 3 is used to support the upper platform 1 and the lower platform 4. The ball head 3 includes a ball part 31 and an insertion part 32 disposed on its outer peripheral surface. An oil collection groove 34 is provided on the side of the outer peripheral surface of the ball head 3 away from the insertion part 32.

[0052] In this embodiment, a preferred method is provided, along the outer peripheral surface of the ball head 3, at the top position of the ball head 3, there are a plurality of concentric and evenly spaced oil collecting grooves 34 with gradually increasing diameters, but the inner diameter of the oil collecting grooves 34 is the same.

[0053] At least two sets of drive components 2 are disposed on the outer periphery of the upper platform 1 and the lower platform 4 and are hinged to the two ends of the drive components 2 on the upper platform 1 and the lower platform 4 respectively.

[0054] A cross-shaped elastic body 33 is fitted on the outer circumferential surface of the ball part 31 of the ball head 3.

[0055] The cross-shaped elastomer 33 can at least cover the outer surface of the spherical part 31.

[0056] In this embodiment, a preferred embodiment is provided, wherein the star-shaped elastomer 33 is a high-elasticity silicone-based composite elastomer, which can achieve a certain degree of support. The structure of the star-shaped elastomer 33 can be as follows: Figure 2 The elastic body shown is a radiating cross-shaped skeleton along the spherical part 31;

[0057] Preferably, the cross-shaped elastomer 33 can also be a mesh structure with uniform intervals along the outer surface of the ball portion 31, avoiding the passing portion;

[0058] Preferably, the cross section of a single piece of the cross-shaped elastic body 33 is a flat, regular cross section, such as an ellipse, a rectangular trapezoid, etc.

[0059] An upper buffer sleeve 5 is provided between the ball head 3 and the upper platform 1. The upper buffer sleeve 5 can at least completely cover the surface of the upper pit 14. A lower buffer sleeve 6 is provided between the ball head 3 and the lower platform 4. The lower buffer sleeve 6 can at least cover the surface of the lower pit 44.

[0060] like Figure 1 As shown, the upper buffer sleeve 5 and the lower buffer sleeve 6 are spaced apart, and at least one pair of corresponding compression blocks are provided on the opposite side of the upper buffer sleeve 5 and the lower buffer sleeve 6. The hardness of the compression blocks is higher than that of the upper buffer sleeve 5 and the lower buffer sleeve 6.

[0061] In this embodiment, a pair of corresponding compression blocks are set on the outer ankle side of the ankle joint. When the robot experiences foot eversion or outward twisting due to overload, accidental overload, or insufficient power, it can provide timely support. Furthermore, a trigger wire is set inside the compression block, and a signal is emitted when both compression blocks are triggered.

[0062] In another preferred embodiment, several sets of at least two sets of corresponding compression blocks are provided on the upper buffer sleeve 5 and the lower buffer sleeve 6. The upper buffer sleeve 5 and the lower buffer sleeve 6 are irregular rotating structures. On the upper buffer sleeve 5 and the lower buffer sleeve 6, a first elliptical opening is provided on the part of the ankle corresponding to the arch of the foot, and a second elliptical opening is provided on the part of the ankle corresponding to the heel. The first elliptical opening and the second elliptical opening are divided into two parts and respectively provided at the corresponding positions of the upper buffer sleeve 5 and the lower buffer sleeve 6.

[0063] The upper platform 1 has an upper through hole 11, and the ball head 3 has a wire harness channel 22 in the axial direction. The upper through hole 11, the wire harness channel 22 and the lower through hole 41 correspond to each other. The cross-section of the upper through hole 11 and the wire harness channel 22 is circular, and the cross-section of the lower through hole 41 corresponds to the cross-section of the insertion part 32.

[0064] In this embodiment, a preferred embodiment is provided, wherein the cross-section of the plug-in portion 32 is a centrally controlled rectangular cross-section structure.

[0065] The execution unit of the drive component 2 is a servo actuator 21. At least two sets of servo actuators 21 are provided on each ankle joint. In this embodiment, three sets of servo actuators 21 are selected and are evenly spaced apart. The origin is located at the heel position and the auxiliary points are located on both sides of the arch. In this embodiment, the drive component 2 is installed on the upper platform 1 and the mounting ears of the upper platform 1 by means of a ball joint.

[0066] In a preferred embodiment, the upper platform 1 is provided with an annular oil storage chamber 15. The top surface of the upper platform 1 is provided with at least one oil return port 12 communicating with the oil storage chamber 15. The surface of the upper pit 14 of the upper platform 1 is provided with a plurality of first capillary oil tubes 13 communicating with the oil storage chamber 15. The first capillary oil tubes are evenly spaced along the circumference of the upper platform 1. The first capillary oil tubes 13 correspond to the oil collection groove 34. When the ankle joint is in the zero state, it corresponds to the oil collection groove 34 at the center. When the ankle joint moves, when the cross-shaped elastic body 33 sweeps across the corresponding oil collection groove 34, the pressure in the oil collection groove 34 and the first capillary oil tube 13 increases instantaneously, air is discharged, and the pressure decreases instantaneously. The negative pressure of the oil is drawn in to form a self-lubricating effect.

[0067] In this embodiment, a second preferred method is provided. In order to achieve more durable lubrication, the inner surface of the upper buffer sleeve 5 is provided with a plurality of first capillary oil grooves 51 that are evenly spaced from each other along the top surface to the center. The first capillary oil grooves 51 can collect excess lubricating oil to a certain extent and coat it onto the circumferential surface of the ball part 31.

[0068] In the third preferred embodiment provided in this example, in order to better form circulating lubrication, an annular oil collecting pipe 35 is provided inside the ball head 3 along its axial direction. Each oil collecting groove 34 is connected to the top of the oil collecting pipe 35 through several second capillary oil pipes 37. A fourth capillary oil pipe 36 is also provided at the bottom of the oil collecting pipe 35. The fourth capillary oil pipe 36 is inclined and its top end is connected to the bottom of the oil collecting pipe 35. The bottom of the fourth capillary oil pipe 36 is located at the bottom of the ball part 31 near the insertion part 32.

[0069] In the fourth preferred embodiment, the bottom of the fourth capillary tube 36 is located at the junction of the ball portion 31 and the insertion portion 32.

[0070] In the fifth preferred embodiment, the inner surface of the lower buffer sleeve 6 is provided with a plurality of second capillary oil grooves 61 that are evenly spaced from each other along the bottom surface to the center. The function of the second capillary oil grooves 61 is the same as that of the first capillary oil grooves 51.

[0071] In the sixth preferred embodiment provided in this example, in order to better collect lubricating oil, an oil collecting chamber 45 with an annular cavity is provided inside the lower platform 4, and a third capillary oil tube 43 is provided on the surface of the lower pit 44 of the lower platform 4. The third capillary oil tube 43 extends at least partially from one end located on the lower pit surface to the top of the lower platform 4 to form a collection slot. An oil outlet 42 communicating with the oil collecting chamber 45 is provided on the bottom surface of the lower platform 4. The oil outlet 42 and the oil return port 12 are connected to a micro oil pump through a hose to form a circulation.

[0072] In this invention, the first capillary oil tube 13, the second capillary oil tube 37, the third capillary oil tube 43, the first capillary oil groove 51, the fourth capillary oil tube 36 and the second capillary oil groove 61 are all evenly spaced along the axial direction of the ball head 3 or the upper platform 1 or the lower platform 4. In this scheme, at least six of the above-mentioned capillary oil tubes are provided.

[0073] Example 2

[0074] The present invention also provides a humanoid robot flexible mechanical leg device with ankle joint bionic linkage: a sensing module, a data processing module and a driving module.

[0075] Step 1: Synchronous Acquisition of Multi-Source Data

[0076] The sensing module synchronously collects the following data:

[0077] Angle data: Real-time angles are obtained from the motor encoder and the joint output encoder. Errors caused by the deformation of the flexible body are eliminated by calculation to obtain the true tilt angle of the ankle joint.

[0078] Inertial data: Angular velocity and linear acceleration of the foot and lower leg are obtained from the IMU.

[0079] Voltage data: Real-time DC bus voltage is obtained from the power management unit.

[0080] Step 2: Data Processing and State Fusion

[0081] The data processing module uses a running state observer (such as an extended Kalman filter) to fuse angle encoder data and IMU angular velocity data for optimal estimation, obtaining a more accurate and noise-resistant actual angular velocity of the ankle joint at the current moment. Simultaneously, the observer can indirectly estimate the equivalent torque of external disturbances using a dynamic model and the deviation between actual motion and commands, without requiring direct force measurement.

[0082] Step 3: Trajectory Generation and Desired State Acquisition

[0083] Based on the preset operation commands issued by the upper-level planner, the trajectory generator interpolates and calculates the desired angle and desired angular velocity for the current control cycle.

[0084] Step 4: Safety Assessment and Compensation Decision

[0085] Calculate the angle tracking error; compare e with a preset safety threshold.

[0086] If e ≤ safety threshold: the tracking is deemed good, and the process switches to standard PID or impedance control to generate basic drive instructions.

[0087] If e > safety threshold: the tracking deviation is determined to be too large, possibly due to insufficient driving force caused by voltage drop or sudden external interference. The voltage adaptive compensation process is immediately triggered.

[0088] Step 5: Voltage Adaptive Compensation Calculation and Execution

[0089] Get the current filtered result.

[0090] Based on the model calibrated in the first step, the compensation coefficients under the current voltage can be obtained by querying or calculating.

[0091] Application compensation:

[0092] Torque command feedforward compensation: Multiply all feedforward torque commands to offset the decrease in torque constant caused by voltage reduction.

[0093] Online adjustment of controller parameters (gain scheduling): The proportional gain Kp and derivative gain of the feedback controller are adjusted to and respectively to compensate for the decrease in system bandwidth and maintain the closed-loop response speed.

[0094] Command limiting protection: Sets the limiting value of the final drive command to the maximum output torque calibrated under the current voltage to prevent command saturation failure.

[0095] Step 6: Driver instruction synthesis and output

[0096] The feedforward and feedback commands, after voltage compensation adjustment, are combined to obtain the final joint space torque command. The drive module sends this command to the servo driver, which drives the servo actuator 21 to execute the command through field-oriented control (FOC), thereby precisely adjusting the actual movement posture of the ankle joint.

[0097] Step 3: Security Monitoring and Fault Handling

[0098] Security monitoring is performed in parallel within each cycle:

[0099] If voltage compensation is triggered for multiple consecutive cycles and the error still does not decrease, it may be determined that the power system is abnormal, triggering an early warning.

[0100] If the instantaneous value of the equivalent disturbance torque indirectly estimated by the state observer exceeds a set threshold, it is determined that a strong disturbance has occurred, and a transition to a safer conservative control mode can be triggered.

[0101] In summary, the present invention has the following beneficial effects: the composite flexible universal joint structure composed of ball head 3, cross-shaped elastomer and upper and lower buffer sleeves 6 realizes multidimensional passive compliance and impact resistance of the ankle joint.

[0102] In particular, the star-shaped elastomer and compression block provide non-linear progressive stiffness characteristics, which softly filter vibrations under small impacts and harden to provide support under large impacts, effectively suppressing inward / outward rollover.

[0103] The ball head 3 and the lower platform 4 are connected to the lower through hole 41 through the irregular cross section plug part 32 to ensure efficient torque transmission. At the same time, the upper, middle and lower through wire harness channel 22 facilitates internal wiring and improves the integration and reliability of the structure.

[0104] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A flexible mechanical leg structure for a humanoid robot with ankle joint bionic linkage, characterized in that... ,include: The upper platform (1) is used for connecting the lower leg part. The upper platform (1) has a disc structure and an upper pit (14) is provided on its bottom surface. The lower platform (4) is used for connecting the foot part. The lower platform (4) is disc-shaped and has a lower pit (44) on its top surface. A lower through hole (41) is provided at the center of the top surface of the lower platform (4). The lower through hole (41) is located inside the lower pit (44). Ball head (3) is used to support the upper platform (1) and the lower platform (4). The ball head (3) includes a ball part (31) and a plug part (32) disposed on its outer peripheral surface. An oil collection groove (34) is provided on the side of the outer peripheral surface of the ball head (3) away from the plug part (32). A drive assembly (2), at least two sets of the drive assembly (2) are disposed on the outer periphery of the upper platform (1) and the lower platform (4) and are hinged to the upper platform (1) and the lower platform (4) at both ends of the drive assembly (2) respectively.

2. The humanoid robot flexible mechanical leg structure with ankle joint bionic linkage according to claim 1, characterized in that: The ball head (3) has a cross-shaped elastic body (33) fitted on the outer circumferential surface of the ball part (31).

3. The humanoid robot flexible mechanical leg structure with ankle joint bionic linkage according to claim 2, characterized in that: The cross-shaped elastomer (33) can at least cover the outer surface of the ball (31).

4. The humanoid robot flexible mechanical leg structure with ankle joint bionic linkage according to claim 1, characterized in that: An upper buffer sleeve (5) is provided between the ball head (3) and the upper platform (1), and the upper buffer sleeve (5) can at least completely cover the surface of the upper pit (14). A lower buffer sleeve (6) is provided between the ball head (3) and the lower platform (4), and the lower buffer sleeve (6) can at least cover the surface of the lower pit (44).

5. The humanoid robot flexible mechanical leg structure with ankle joint bionic linkage according to claim 4, characterized in that: The upper buffer sleeve (5) and the lower buffer sleeve (6) are spaced apart. At least one pair of corresponding compression blocks are provided on the opposite side of the upper buffer sleeve (5) and the lower buffer sleeve (6). The hardness of the compression blocks is higher than that of the upper buffer sleeve (5) and the lower buffer sleeve (6).

6. The humanoid robot flexible mechanical leg structure with ankle joint bionic linkage according to claim 1, characterized in that: The upper platform (1) is provided with an upper through hole (11), and the ball head (3) is provided with a wire harness channel (22) along its axial direction. The upper through hole (11), the wire harness channel (22) and the lower through hole (41) correspond to each other. The cross-section of the upper through hole (11) and the wire harness channel (22) is circular, and the cross-section of the lower through hole (41) corresponds to the cross-section of the plug-in part (32).

7. A humanoid robot flexible mechanical leg device with ankle joint bionic linkage, characterized in that: The sensing module is used to acquire real-time angle data of the ankle joint and real-time battery voltage data of the robot system. The data processing module is used to receive preset operation commands and output corresponding preset ankle joint angle data; The real-time ankle joint angle data is compared with the preset ankle joint angle data to determine whether the relative difference between the two exceeds the preset safety threshold. If the relative difference exceeds the safety threshold, a dynamic correction compensation coefficient is calculated based on the ratio of the real-time battery voltage data to a preset reference voltage data. Based on the dynamic correction compensation coefficient, the real-time ankle joint angle data or the preset ankle joint angle data are compensated to generate corrected ankle joint control data. The drive module is used to drive the servo actuator (21) connected to the ankle joint according to the corrected ankle joint control data, so as to adjust the actual movement posture of the ankle joint.

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