Leg structure for humanoid robot and humanoid robot

Abstract

The present application relates to the technical field of humanoid robots, and particularly relates to a leg structure for a humanoid robot and the humanoid robot. The leg structure comprises a thigh main body, a first driving member and a fastening member. The first liquid cooling channel is arranged in the thigh main body. The first driving member is provided with a first limiting portion. The fastening member tightly holds the first driving member with the thigh main body. The thigh main body and / or the fastening member are provided with a second limiting portion. The first limiting portion and the second limiting portion are in clamping cooperation. The second liquid cooling channel and the third liquid cooling channel are arranged in the fastening member. The water inlet is in communication with one end of the second liquid cooling channel. The water outlet is in communication with one end of the third liquid cooling channel. The second liquid cooling channel, the first liquid cooling channel and the third liquid cooling channel are in sequence communication to form a heat dissipation channel. The heat dissipation channel is arranged along the circumference of the first driving member. The first driving member is assembled by the holding and clamping mode, thereby improving the stability. The heat dissipation channel is used for heat dissipation and cooling of the first driving member, thereby improving the heat dissipation efficiency.

Description

Technical Field

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

[0002] With the rapid development of robotics technology, humanoid robots are increasingly being used in service, performance, and special operations. The leg structure, as a key component for the movement and weight-bearing of humanoid robots, directly affects the robot's motion performance and overall reliability, particularly the drive motors (used to drive the movement of the robot's feet) installed inside the thigh.

[0003] To meet the load, agility, and endurance requirements of humanoid robots, the drive motors often experience heat buildup under high-load conditions. The internal space of the leg structure is often extremely limited, severely restricting effective heat dissipation for the drive motors. This can easily lead to performance degradation or even damage due to overheating, seriously hindering the reliability and continuous working capability of the humanoid robot. Furthermore, the drive motors within the thigh structure are often directly bolted together, making them susceptible to loosening due to impact and vibration, affecting the normal operation of the humanoid robot. Summary of the Invention

[0004] The purpose of this invention is to provide a leg structure for a humanoid robot and a humanoid robot, so as to achieve rapid heat dissipation of the first drive component in the narrow internal space of the leg structure, improve heat dissipation efficiency, and at the same time improve the reliability and stability of the first drive component assembled inside the leg structure.

[0005] To achieve this objective, the technical solution adopted by the present invention is as follows: The leg structure used in humanoid robots includes: The thigh body has a first liquid cooling channel inside it; A first driving member, wherein a first limiting part is provided on the outer periphery of the first driving member; A fastening component is installed on the thigh body and hugs the first driving component tightly. The thigh body and / or the fastening component are provided with a second limiting part, and the first limiting part and the second limiting part are engaged. The fastening component is provided with a second liquid cooling channel, a third liquid cooling channel, a water inlet, and a water outlet. The water inlet is connected to one end of the second liquid cooling channel, and the water outlet is connected to one end of the third liquid cooling channel. The other ends of the second liquid cooling channel, the first liquid cooling channel, and the third liquid cooling channel are sequentially connected to form a heat dissipation channel. The heat dissipation channel is arranged along the circumference of the first driving component.

[0006] As an alternative solution for the leg structure of a humanoid robot, a first interface and a second interface are provided on the rear side of the thigh body along the front-back direction of the humanoid robot. Both the first interface and the second interface are fitted with rubber sleeves, and the two ends of the first liquid cooling channel are respectively connected to the corresponding rubber sleeves. The fastener is provided with a first quick plug and a second quick plug on the side facing the thigh body. The other end of the second liquid cooling channel is connected to the first quick plug, and the other end of the third liquid cooling channel is connected to the second quick plug. When the fastener is installed on the thigh body, the first quick plug and the second quick plug are respectively inserted and connected to the corresponding rubber sleeve.

[0007] As an alternative solution for the leg structure of a humanoid robot, the leg structure for the humanoid robot further includes: A side-swing bracket, wherein a second driving component is installed inside the side-swing bracket and located above the first driving component, the second driving component drives the thigh body to swing relative to the side-swing bracket along the width direction of the humanoid robot; An adapter is movably mounted on the side-swing bracket so that the adapter swings synchronously with the thigh body along the width direction of the humanoid robot. A water inlet pipe, the two ends of which are respectively connected to the water inlet and the adapter, so as to be connected to the circulating cooling system of the humanoid robot through the adapter; The return water pipe has its two ends connected to the water outlet and the adapter, respectively, so as to be connected to the circulating cooling system through the adapter.

[0008] As an optional solution for the leg structure of a humanoid robot, both the inlet pipe and the return pipe are flexible pipes.

[0009] As an alternative to the leg structure for a humanoid robot, the heat dissipation channel includes a vertical channel extending along the height direction of the humanoid robot and a horizontal channel extending along the width direction of the humanoid robot, with multiple vertical channels and multiple horizontal channels alternately connected to form an S-shaped channel.

[0010] As an alternative solution for the leg structure of a humanoid robot, the first limiting part is a first protrusion, and the first driving member is provided with the first protrusion on its outer periphery; The second limiting part is a second protrusion. The thigh body is provided with a first groove on the rear side along the front-rear direction of the humanoid robot. The fastener is provided with a corresponding second groove. When the fastener is installed on the thigh body, the first groove and the second groove hug the first driving member. At least two second protrusions are provided circumferentially at intervals on the inner sidewall of the first groove and / or the inner sidewall of the second groove. A limiting groove is formed between two adjacent second protrusions. The first protrusion is inserted into the limiting groove.

[0011] As an optional solution for the leg structure of a humanoid robot, the thigh body is provided with a first mounting hole, and the fastener is provided with a second mounting hole. The first mounting hole and the second mounting hole are connected by fasteners. One of the fastener and the thigh body is provided with a guide post, and the other is provided with a guide hole; when the fastener is installed on the thigh body, the guide post passes through the guide hole.

[0012] As an alternative solution for the leg structure of a humanoid robot, a wire hole is provided inside the thigh body, through which the wire harness of the first drive component passes and exits the thigh body.

[0013] As an alternative solution for the leg structure of a humanoid robot, a wire pressing block is provided on the rear side of the thigh body along the front-rear direction of the humanoid robot, and the wire pressing block is provided with wiring holes for the wire harness to pass through.

[0014] Humanoid robots, including the leg structures used in the aforementioned humanoid robots.

[0015] The beneficial effects of this invention are as follows: The leg structure for humanoid robots proposed in this invention uses a fastener to hold the first driving component tightly against the thigh body, while a first limiting part and a second limiting part engage. This allows the first driving component to be assembled inside the thigh structure through both holding and engaging methods, enhancing its resistance to impact and vibration and improving the reliability and stability of its assembly within the leg structure. When the fastener is installed on the thigh body, the second, first, and third liquid cooling channels sequentially connect to form a heat dissipation channel. Since this heat dissipation channel does not require additional space within the limited installation area of ​​the leg structure and is arranged circumferentially along the first driving component, it enables rapid heat dissipation of the first driving component within the confined internal space of the leg structure. This improves the heat dissipation efficiency of the first driving component, preventing performance degradation or even damage due to overheating, and enhancing the safety of the humanoid robot.

[0016] The humanoid robot proposed in this invention utilizes the aforementioned leg structure for humanoid robots. A first driving component is held tightly to the thigh body via a fastening component, while a first limiting part and a second limiting part engage. This allows the first driving component to be assembled within the thigh structure through both fastening and engagement, enhancing its resistance to impact and vibration and improving the reliability and stability of its assembly within the leg structure. When the fastening component is installed on the thigh body, the second, first, and third liquid cooling channels sequentially connect to form a heat dissipation channel. Since this heat dissipation channel does not require additional space within the limited installation area of ​​the leg structure and is arranged circumferentially around the first driving component, it enables rapid heat dissipation within the confined space of the leg structure. This improves the heat dissipation efficiency of the first driving component, preventing performance degradation or even damage due to overheating and enhancing the safety of the humanoid robot. Attached Figure Description

[0017] Figure 1 This is a partial structural schematic diagram of the humanoid robot provided in an embodiment of the present invention; Figure 2 This is a partial structural diagram of the thigh of the leg structure provided in an embodiment of the present invention; Figure 3 This is an exploded view of a portion of the thigh structure of the leg structure provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the fastening component provided in an embodiment of the present invention; Figure 5 This is a perspective view of the structure of the second and third liquid cooling channels within the fastening member provided in the embodiment of the present invention.

[0018] The component names and labels in the diagram are as follows: 100. Hip joint brace; 1. Thigh body; 11. Second limiting part; 12. Rubber sleeve; 13. First mounting hole; 14. Guide post; 15. Pressure block; 2. First driving component; 21. First limiting part; 3. Fastening component; 31. Second liquid cooling channel; 32. Third liquid cooling channel; 33. First quick plug; 34. Second quick plug; 35. Second mounting hole; 36. Guide hole; 37. Water inlet; 38. Water outlet; 4. Side swing bracket; 5. Second driving component; 6. Adapter; 7. Adapter bracket; 8. Water inlet pipe; 9. Water return pipe; 10. Flexible hose; 20. Fastener. Detailed Implementation

[0019] To make the technical problems solved by the present invention, the technical solutions adopted, and the technical effects achieved clearer, the technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely for explaining the present invention and are not intended to limit the present invention. Furthermore, it should be noted that, for ease of description, only the parts related to the present invention are shown in the accompanying drawings, not all of them.

[0020] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; 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; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0021] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0022] In the description of this embodiment, the terms "upper," "lower," "right," and "left," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, 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 the present invention. In addition, the terms "first" and "second" are used only for distinction in description and have no special meaning.

[0023] The technical solution of the present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0024] like Figure 1 As shown, this embodiment proposes a humanoid robot, which includes a torso, a hip joint support 100, and leg structures for the humanoid robot (hereinafter referred to as "leg structures"). The hip joint support 100 has leg structures installed on both the left and right sides along the width direction (left and right direction in the figure). A hip joint motor is installed inside the hip joint support 100 to drive the leg structures to swing in the forward and backward direction.

[0025] Specifically, the hip joint support 100, serving as the core load-bearing and transitional component, is stably connected at one end to the main body of the torso, forming a transitional support structure between the upper body and lower limbs of the humanoid robot. The other end is hinged to the leg structure via a joint axis system, providing a stable mounting reference and motion constraints for the leg structure. The leg structure extends downwards along the hip joint support 100 and mainly includes the thigh structure, lower leg structure, and foot actuator segment. These segments are sequentially connected via joints, achieving flexion, extension, and swinging movements under the drive mechanism. Since humanoid robots are existing technology, their composition will not be elaborated further.

[0026] Existing humanoid robots, in order to meet the requirements of load, agility, and endurance, often suffer from heat buildup in their drive motors under high-load conditions. The internal space of the leg structure is often extremely limited, severely restricting the effective heat dissipation of the drive motors. This can easily lead to performance degradation or even damage due to overheating, seriously hindering the reliability and continuous working capability of the humanoid robot. Furthermore, the drive motors within the thigh structure are often directly bolted together, making them susceptible to loosening due to impact and vibration, affecting the normal use of the humanoid robot.

[0027] To solve the above problems, such as Figure 1 and Figure 2 As shown, this embodiment also proposes a leg structure for a humanoid robot. The leg structure includes a thigh body 1, a first driving member 2, and a fastening member 3. A first liquid cooling channel is provided inside the thigh body 1. A first limiting part 21 is provided on the outer periphery of the first driving member 2. The fastening member 3 is installed on the thigh body 1 and hugs the first driving member 2 tightly. A second limiting part 11 is provided on the thigh body 1 and / or the fastening member 3, and the first limiting part 21 and the second limiting part 11 are engaged. A second liquid cooling channel 31, a third liquid cooling channel 32, a water inlet 37, and a water outlet 38 are provided inside the fastening member 3. The water inlet 37 is connected to one end of the second liquid cooling channel 31, and the water outlet 38 is connected to one end of the third liquid cooling channel 32. The other end of the second liquid cooling channel 31, the first liquid cooling channel, and the third liquid cooling channel 32 are sequentially connected to form a heat dissipation channel, which is arranged along the circumference of the first driving member 2.

[0028] The first drive component 2 is held tightly to the thigh body 1 by the fastening part 3, while the first limiting part 21 and the second limiting part 11 engage. This allows the first drive component 2 to be assembled inside the thigh structure through both fastening and engagement, enhancing its resistance to impact and vibration and improving the reliability and stability of its assembly within the leg structure. When the fastening part 3 is installed on the thigh body 1, the second liquid cooling channel 31, the first liquid cooling channel, and the third liquid cooling channel 32 are sequentially connected to form a heat dissipation channel. Since the heat dissipation channel does not require additional space within the limited installation area of ​​the leg structure and is arranged circumferentially along the first drive component 2, it enables rapid heat dissipation of the first drive component 2 within the narrow internal space of the leg structure. This improves the heat dissipation efficiency of the first drive component 2, preventing performance degradation or even damage due to overheating and enhancing the safety of the humanoid robot.

[0029] Specifically, the first drive unit 2 drives the foot actuator segment in the leg structure to achieve rotational movement. The leg structure also includes a side-swing bracket 4, within which a second drive unit 5 is installed and located above the first drive unit 2. The second drive unit 5 drives the thigh body 1 to swing relative to the side-swing bracket 4 along the width direction of the humanoid robot. Both the first drive unit 2 and the second drive unit 5 are motors. Motors have a simple structure, small size, and are easy to install in the narrow internal space of the leg structure.

[0030] like Figure 2 and Figure 3 As shown, the first limiting part 21 is a first protrusion, and the first driving member 2 has a first protrusion on its outer periphery. The second limiting part 11 is a second protrusion. The thigh body 1 has a first groove on its rear side along the front-rear direction of the humanoid robot, and the fastening member 3 has a corresponding second groove. When the fastening member 3 is installed on the thigh body 1, the first groove and the second groove hug the first driving member 2 tightly. At least two second protrusions are arranged circumferentially on the inner sidewall of the first groove and / or the inner sidewall of the second groove, forming a limiting groove between two adjacent second protrusions. The first protrusion is inserted into the limiting groove. By inserting the first protrusion into the limiting groove between two adjacent second protrusions, not only is the positioning and assembly of the first driving member 2 achieved, but also, while the thigh body 1 and the fastening member 3 hug the first driving member 2 tightly, the circumferential limitation of the first driving member 2 is further achieved, preventing the first driving member 2 from rotating circumferentially when subjected to impact and vibration, and further improving the stability of the first driving member 2.

[0031] Specifically, the outer periphery of the first driving member 2 is provided with a plurality of first protrusions spaced apart, the inner side of the first groove of the thigh body 1 is provided with two second protrusions, and the inner side of the second groove of the fastening member 3 is provided with two second protrusions spaced apart (e.g. Figure 4As shown in the figure, the first driving member 2 engages with the thigh body 1 and the fastening member 3 respectively, thereby improving the stability of the first driving member 2. In other embodiments, the second protrusion may be provided only in the first groove of the thigh body 1 or the second groove of the fastening member 3, and the number and position of the second protrusion can be adaptively adjusted according to the first protrusion, which is not specifically limited here.

[0032] like Figure 3 and Figure 4 As shown, the thigh body 1 is provided with a first mounting hole 13, and the fastener 3 is provided with a second mounting hole 35. The first mounting hole 13 and the second mounting hole 35 are connected by a fastener 20. One of the fastener 3 and the thigh body 1 is provided with a guide post 14, and the other with a guide hole 36. When the fastener 3 is installed on the thigh body 1, the guide post 14 passes through the guide hole 36. When the fastener 3 is assembled, the guide post 14 passes through the guide hole 36, allowing the thigh body 1 and the fastener 3 to quickly align, ensuring that the first mounting hole 13 and the second mounting hole 35 are aligned and connected. This eliminates the need for frequent adjustments to the mating position of the thigh body 1 and the fastener 3, improving assembly accuracy and efficiency.

[0033] Specifically, the fastener 20 is a bolt. The thigh body 1 has a first mounting hole 13 and a guide post 14 on its rear side along the front-rear direction. The first mounting hole 13 is a threaded hole. The fastening member 3 has a second mounting hole 35 and a guide hole 36 on its front side along the front-rear direction. Both the second mounting hole 35 and the guide hole 36 are smooth holes. After the first driving member 2 is engaged between the two second protrusions of the first groove, the fastening member 3 is fastened and installed on the rear side of the thigh body 1. The guide post 14 passes through the guide hole 36 of the fastening member 3 to achieve quick alignment of the fastening member 3. At this time, the first mounting hole 13 and the second mounting hole 35 are connected. The fastener 20 passes through the second mounting hole 35 and is screwed into the first mounting hole 13 to lock the thigh body 1 and the fastening member 3 together, so that the thigh body 1 and the fastening member 3 together hold the first driving member 2. In other embodiments, the thigh body 1 has a first mounting hole 13 and a guide hole 36 on its rear side along the front-rear direction. The fastener 3 has a second mounting hole 35 and a guide post 14 on its front side along the front-rear direction.

[0034] The following combination Figures 2-5 The heat dissipation components of the thigh structure will be explained in detail. For example... Figure 2As shown, the leg structure also includes an adapter 6, a water inlet pipe 8, and a water return pipe 9. The adapter 6 is movably mounted on the side-swing bracket 4 so that it swings synchronously with the thigh body 1 along the width direction of the humanoid robot. The two ends of the water inlet pipe 8 are connected to the water inlet 37 and the adapter 6, respectively, to connect with the humanoid robot's circulating cooling system via the adapter 6. The two ends of the water return pipe 9 are connected to the water outlet 38 and the adapter 6, respectively, to connect with the circulating cooling system via the adapter 6. By setting the adapter 6, when the second drive unit 5 drives the thigh body 1 and the fastener 3 to swing along the width direction, the adapter 6 drives the water inlet pipe 8 and the water return pipe 9 to swing synchronously with the thigh body 1 and the fastener 3, avoiding the problem of pipe entanglement or breakage between the water inlet pipe 8 and the water return pipe 9. This ensures that the externally mounted water inlet pipe 8 and water return pipe 9 do not interfere with the swinging motion of the thigh body 1 and the fastener 3, improving the reliability of the leg structure.

[0035] Furthermore, both the inlet pipe 8 and the return pipe 9 are flexible pipes, allowing them to bend or deform flexibly and effectively absorb vibrations generated during the movement of the leg structure, thus improving their safety and stability. Simultaneously, the flexible pipes can adapt to the layout requirements of the installation space of the leg structure, avoiding deformation that may occur with rigid pipes, reducing assembly difficulty, facilitating assembly, maintenance, and pipe replacement, and improving assembly efficiency. Optionally, both the inlet pipe 8 and the return pipe 9 can be made of rubber hoses.

[0036] like Figure 2 As shown, the leg structure also includes an adapter bracket 7, which is U-shaped and installed on the rear side of the second drive component 5. The adapter component 6 is rotatably mounted on the adapter bracket 7. It should be noted that the adapter component 6 has two independent channels and two hoses 10 installed inside. The inlet pipe 8, one of the independent channels, and one hose 10 are connected in sequence, and the return pipe 9, the other independent channel, and the other hose 10 are connected in sequence, so that both the inlet pipe 8 and the return pipe 9 are connected to the humanoid robot's circulating cooling system. This allows the cooling medium (which can be water) of the circulating cooling system to enter the second liquid cooling channel 31, the first liquid cooling channel, and the third liquid cooling channel 32 through the inlet pipe 8. After absorbing heat and heating up, the cooling medium flows back to the humanoid robot's circulating cooling system through the return pipe 9, thereby realizing the circulating cooling of the first drive component 2 through the heat dissipation channels and improving the temperature control accuracy of the first drive component 2.

[0037] like Figure 3 and Figure 4As shown, along the front-rear direction of the humanoid robot, a first interface and a second interface are provided on the rear side of the thigh body 1. Both the first and second interfaces are fitted with rubber sleeves 12, and the two ends of the first liquid cooling channel are respectively connected to the corresponding rubber sleeves 12. A first quick plug 33 and a second quick plug 34 are provided on the side of the fastening member 3 facing the thigh body 1. The other end of the second liquid cooling channel 31 is connected to the first quick plug 33, and the other end of the third liquid cooling channel 32 is connected to the second quick plug 34. When the fastening member 3 is installed on the thigh body 1, the first quick plug 33 and the second quick plug 34 are respectively inserted and connected to the corresponding rubber sleeves 12. By inserting the first quick plug 33 and the second quick plug 34 into the corresponding rubber sleeves 12, the second liquid cooling channel 31 is connected to one end of the first liquid cooling channel through the first quick plug 33, and the third liquid cooling channel 32 is connected to the other end of the first liquid cooling channel through the second quick plug 34. This not only improves the assembly efficiency of the heat dissipation channel but also improves the sealing performance of the heat dissipation channel, preventing leakage of the cooling medium.

[0038] It should be noted that the two rubber sleeves 12 are respectively embedded in the corresponding first and second interfaces to ensure that the outer circumferential surface of the rubber sleeve 12 fits and abuts against the inner surface of the corresponding interface, thereby achieving a sealed installation of the rubber sleeve 12 within the corresponding interface. When the first quick plug 33 and the second quick plug 34 are respectively inserted into the inner hole of the corresponding rubber sleeve 12 (the diameter of the inner hole is smaller than the outer circumferential size of the quick plug), the rubber sleeve 12 can hold the corresponding quick plug tightly to ensure a sealed insertion between the rubber sleeve 12 and the quick plug.

[0039] like Figure 5 As shown, the heat dissipation channel includes a vertical channel extending along the height direction (up and down direction in the figure) of the humanoid robot and a horizontal channel extending along the width direction of the humanoid robot. Multiple vertical channels and multiple horizontal channels are alternately connected to form an S-shaped channel. Through the above arrangement, the path length of the heat dissipation channel around the first driving component 2 is extended, increasing the contact area and contact time between the heat dissipation channel and the first driving component 2, thereby improving the heat dissipation efficiency.

[0040] Specifically, such as Figure 5 The channels shown by the dashed lines, specifically the second liquid cooling channel 31 and the third liquid cooling channel 32 within the fastener 3, are both S-shaped. The dashed lines with arrows inside the dashed channels indicate the flow path of the cooling medium. The layout of the first liquid cooling channel within the thigh body 1 is roughly the same as that of the second liquid cooling channel 31 or the third liquid cooling channel 32, and is also S-shaped, so it will not be described in detail here.

[0041] like Figure 3As shown, a wiring hole (not shown in the figure) is provided inside the thigh body 1. The wiring harness of the first drive component 2 passes through the wiring hole and exits the thigh body 1. Specifically, the power line and signal line of the first drive component 2 are arranged inside the thigh body 1 through the wiring hole, without occupying the limited installation space between the thigh body 1 and the fastener 3. This provides greater arrangement leeway for the installation of the first drive component 2, and makes the routing path of the power line and signal line neat and fixed, avoiding interference, friction or compression with the first drive component 2 or other components. This reduces the risk of damage to the insulation layer of the power line and signal line, short circuits and signal interference, and improves the reliability and service life of the electrical connection. In addition, by providing the wiring hole, the power line and signal line are physically isolated from the heat dissipation channel, preventing the leaked cooling medium from corroding the power line and signal line, further improving the safety of the power line and signal line.

[0042] In this embodiment, a protective sleeve can be installed inside the cable pass-through hole to prevent wear and tear on the power and signal lines within the hole, thus improving their protection. Along the vertical direction, the lowest point of the cable pass-through hole is higher than the highest point of the heat dissipation channel, ensuring that even if the cooling medium within the heat dissipation channel leaks (under gravity), it will not flow into the electrical area where the cable pass-through hole is located, further enhancing the safety of the power and signal lines.

[0043] Furthermore, a wire clamping block 15 is provided on the rear side of the thigh body 1 along the front-rear direction of the humanoid robot. The wire clamping block 15 is provided with wiring holes for the wire harness to pass through. The wire harness passing through the thigh body 1 is constrained by the wire clamping block 15, which further improves the regularity of the routing path of the power line and signal line and optimizes the routing layout of the power line and signal line.

[0044] The above embodiments merely illustrate the basic principles and characteristics of the present invention. The present invention is not limited to the above embodiments. Various changes and modifications can be made to the present invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A leg structure for a humanoid robot, characterized in that, include: Thigh body (1), the thigh body (1) is provided with a first liquid cooling channel inside; The first driving member (2) has a first limiting part (21) on its outer periphery. The fastening component (3) is installed on the thigh body (1) and hugs the first driving component (2) with the thigh body (1); the thigh body (1) and / or the fastening component (3) are provided with a second limiting part (11), and the first limiting part (21) is engaged with the second limiting part (11); the fastening component (3) is provided with a second liquid cooling channel (31), a third liquid cooling channel (32), an inlet (37) and an outlet (38), the inlet (37) is connected to one end of the second liquid cooling channel (31), the outlet (38) is connected to one end of the third liquid cooling channel (32), and the other end of the second liquid cooling channel (31), the first liquid cooling channel and the other end of the third liquid cooling channel (32) are connected in sequence to form a heat dissipation channel, and the heat dissipation channel is arranged along the circumference of the first driving component (2).

2. The leg structure for a humanoid robot according to claim 1, characterized in that, Along the front-back direction of the humanoid robot, a first interface and a second interface are provided on the rear side of the thigh body (1). Both the first interface and the second interface are fitted with rubber sleeves (12). The two ends of the first liquid cooling channel are respectively connected to the corresponding rubber sleeves (12). The fastener (3) is provided with a first quick plug (33) and a second quick plug (34) on the side facing the thigh body (1). The other end of the second liquid cooling channel (31) is connected to the first quick plug (33), and the other end of the third liquid cooling channel (32) is connected to the second quick plug (34). When the fastener (3) is installed on the thigh body (1), the first quick plug (33) and the second quick plug (34) are respectively inserted and connected to the corresponding rubber sleeve (12).

3. The leg structure for a humanoid robot according to claim 1, characterized in that, The leg structure used in the humanoid robot also includes: Side swing bracket (4), a second drive member (5) is installed inside the side swing bracket (4) and is located above the first drive member (2). The second drive member (5) drives the thigh body (1) to swing relative to the side swing bracket (4) along the width direction of the humanoid robot. The adapter (6) is movably mounted on the side swing bracket (4) so ​​that the adapter (6) swings synchronously with the thigh body (1) along the width direction of the humanoid robot. Water inlet pipe (8), the two ends of which are connected to the water inlet (37) and the adapter (6) respectively, so as to be connected to the circulating cooling system of the humanoid robot through the adapter (6); The return water pipe (9) has two ends connected to the outlet (38) and the adapter (6) respectively, so as to be connected to the circulating cooling system through the adapter (6).

4. The leg structure for a humanoid robot according to claim 3, characterized in that, Both the inlet pipe (8) and the return pipe (9) are flexible pipes.

5. The leg structure for a humanoid robot according to claim 1, characterized in that, The heat dissipation channel includes a vertical channel extending along the height direction of the humanoid robot and a horizontal channel extending along the width direction of the humanoid robot. The multiple vertical channels and the multiple horizontal channels are alternately connected to form an S-shaped channel.

6. The leg structure for a humanoid robot according to any one of claims 1-5, characterized in that, The first limiting part (21) is a first protrusion, and the first driving member (2) is provided with the first protrusion on its outer periphery; The second limiting part (11) is a second protrusion. The thigh body (1) is provided with a first groove on the rear side along the front-rear direction of the humanoid robot. The fastening member (3) is provided with a corresponding second groove. When the fastening member (3) is installed on the thigh body (1), the first groove and the second groove hug the first driving member (2). At least two second protrusions are provided circumferentially on the inner wall of the first groove and / or the inner wall of the second groove. A limiting groove is formed between two adjacent second protrusions. The first protrusion is inserted into the limiting groove.

7. The leg structure for a humanoid robot according to any one of claims 1-5, characterized in that, The thigh body (1) is provided with a first mounting hole (13), and the fastener (3) is provided with a second mounting hole (35). The first mounting hole (13) and the second mounting hole (35) are connected by a fastener (20). One of the fastener (3) and the thigh body (1) is provided with a guide post (14), and the other is provided with a guide hole (36); when the fastener (3) is installed on the thigh body (1), the guide post (14) passes through the guide hole (36).

8. The leg structure for a humanoid robot according to any one of claims 1-5, characterized in that, The thigh body (1) is provided with a wire hole, and the wire harness of the first drive member (2) passes through the wire hole and out of the thigh body (1).

9. The leg structure for a humanoid robot according to claim 8, characterized in that, The thigh body (1) is provided with a wire pressing block (15) on the rear side along the front-rear direction of the humanoid robot, and the wire pressing block (15) is provided with a wiring hole for the wire harness to pass through.

10. A humanoid robot, characterized in that, The leg structure for a humanoid robot as described in any one of claims 1-9.

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