Leg structure of humanoid robot and humanoid robot

Abstract

The application discloses a leg structure of a humanoid robot and the humanoid robot. The leg structure comprises a thigh structure member, a lower leg structure member, a first lower leg assembly member, a second lower leg assembly member, a bearing, a knee joint module, a first gland, a second gland and a lower leg shell. The first lower leg assembly member is fixedly connected with an output flange of the knee joint module, and the second lower leg assembly member is rotatably supported on a bearing mounting portion of the knee joint module through the bearing, thereby forming support for the lower leg structure member on both sides of the knee joint module. The lower leg shell is made of a flexible material capable of elastic deformation, so as to absorb and buffer at least part of collision energy through elastic deformation. The first shell connecting portion and the second shell connecting portion are clamped and fixed on the flange connecting portion and the bearing connecting portion respectively through the first gland and the second gland, and holes for fasteners are not needed to be arranged on the main appearance surface of the lower leg shell, so that the integrity of the main appearance surface is maintained.

Description

Technical Field

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

[0002] The limb shell of a humanoid robot is a crucial component that determines its appearance. However, existing assembly methods for the lower leg shells typically involve directly fixing the shell to the lower leg structure, which has two shortcomings: first, the shell design is monotonous and lacks variation in shape; second, the use of multiple exposed fasteners such as screws for fixing disrupts the integrity of the appearance and reduces the visual quality of the product.

[0003] Furthermore, during walking, the lower legs of humanoid robots exhibit the greatest range of motion and are most susceptible to collisions with external objects. The existing rigid connection between the shell and the lower leg structure lacks cushioning protection. In the event of a collision, not only is damage to the shell itself or the object being impacted easily caused, but the impact may also be transmitted to the internal structure, affecting the overall operational reliability of the robot. Summary of the Invention

[0004] This application aims to provide a leg structure for a humanoid robot and a humanoid robot in order to solve the technical problem in the prior art of humanoid robots that, while ensuring reliable fixation of the shell, simultaneously achieve a complete and aesthetically pleasing appearance and cushioning protection during collisions.

[0005] In a first aspect, embodiments of this application provide a leg structure for a humanoid robot, including a thigh, a lower leg structural component, a first lower leg assembly, a second lower leg assembly, a bearing, a knee joint module, a first pressure cover, a second pressure cover, and a lower leg shell; The thigh is provided with a joint mounting part at one end near the lower leg structure, and the knee joint module is fixedly mounted on the joint mounting part. The knee joint module has an output flange and a bearing mounting part located on the side opposite to the output flange. The first lower leg assembly includes a flange connection and a first lower leg connection that are connected to each other; the second lower leg assembly includes a bearing connection and a second lower leg connection that are connected to each other. The flange connection is fixedly connected to the output flange, the bearing connection is rotatably supported on the bearing mounting part by the bearing, and the first calf connection and the second calf connection are respectively fixedly connected to both sides of the upper end of the calf structure, so that the calf structure can rotate relative to the thigh under the drive of the knee joint module; The lower leg shell is made of a flexible material capable of elastic deformation and is covered on the outside of the lower leg structure. The lower leg shell has a first shell connecting part and a second shell connecting part arranged opposite to each other on the side near the thigh. The first pressure cap is connected to the flange connection portion, and the first housing connection portion is clamped between the first pressure cap and the flange connection portion; the second pressure cap is connected to the bearing connection portion, and the second housing connection portion is clamped between the second pressure cap and the bearing connection portion.

[0006] Secondly, embodiments of this application provide a humanoid robot, including the leg structure of the humanoid robot described in any of the above claims.

[0007] This application provides a humanoid robot's leg structure that is fixedly connected to the output flange of a knee joint module via a first lower leg assembly, and a second lower leg assembly is rotatably supported on the bearing mounting part of the knee joint module via a bearing. This forms supports for the lower leg structure on both sides of the knee joint module. The weight and motion impact load of the lower leg structure are shared by both sides, and the output flange no longer bears the entire cantilever bending moment alone. This reduces the off-center load, swaying, and fatigue of the connecting parts caused by unilateral cantilever support, which is beneficial to improving the stability and force balance of the lower leg structure during rotation.

[0008] Meanwhile, the calf shell is made of a flexible material capable of elastic deformation. The first and second shell connecting parts at their upper ends are clamped and fixed to the flange connecting part and the bearing connecting part, respectively, by a first and a second pressure cap. Driven by the knee joint module, the output flange drives the calf shell and the calf structural component to rotate together relative to the thigh, achieving simultaneous rotation of the calf shell and the calf structural component. Therefore, there is no need to directly set a through-type fixing structure on the main surface of the calf shell, and no holes for fasteners to pass through are required on the main surface of the shell. This helps reduce the exposure of fasteners on the surface, maintains the integrity of the calf shell's appearance, and provides greater freedom in the design of the calf shell's shape.

[0009] When the lower leg shell collides with an external object, the flexible lower leg shell can absorb and buffer at least part of the collision energy through elastic deformation, thereby reducing the transmission of the collision impact to the lower leg structure and its internal components. This reduces the possibility of damage to the lower leg shell, the collision object, and the robot's internal structure, improving the protective performance and operational reliability of the robot's leg structure and achieving the protective function of the lower leg structure. Furthermore, the first and second shell connecting parts adopt a clamping installation method with opposite arrangements, which can improve the stability of the lower leg shell installation and facilitate the assembly, disassembly, and replacement of the lower leg shell. Attached Figure Description

[0010] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0011] Figure 1 This is a three-dimensional structural diagram of the humanoid robot provided in the embodiments of this application; Figure 2 This is a three-dimensional structural diagram of the leg structure of the humanoid robot provided in the embodiments of this application; Figure 3 This is an exploded view of the leg structure of the humanoid robot provided in the embodiments of this application in one direction; Figure 4 This is an exploded view of the leg structure of the humanoid robot provided in the embodiments of this application from another direction; Figure 5 This is an assembly diagram of the leg structure of the humanoid robot provided in the embodiments of this application; Figure 6 This is a partial cross-sectional view of the leg structure of the humanoid robot provided in the embodiments of this application; Figure 7 This is a schematic diagram of the lower leg shell provided in one direction in an embodiment of this application; Figure 8 This is a schematic diagram of the lower leg shell provided in the embodiments of this application from another direction; Figure 9 This is a radial cross-sectional view of the lower leg shell provided in the embodiments of this application; Figure 10 This is a cross-sectional view of the lower leg shell provided in the embodiments of this application in the axial direction; Figure 11 This is a schematic diagram of the structure of the first lower leg assembly and the second lower leg assembly provided in the embodiments of this application in one direction; Figure 12 This is a schematic diagram of the first lower leg assembly and the second lower leg assembly provided in the embodiments of this application from another direction; Figure 13 This is an exploded view of the thigh and knee joint module provided in the embodiments of this application in one direction; Figure 14 This is an exploded view of the thigh and knee joint module provided in the embodiments of this application from another direction. Detailed Implementation

[0012] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application. Furthermore, in the description of the embodiments of this application, the terms "first," "second," etc., are used only for distinguishing descriptions and should not be construed as indicating or implying relative importance. Therefore, features defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0013] To better understand the leg structure of a humanoid robot provided in this application embodiment, the application environment applicable to this application embodiment is described below.

[0014] Please refer to Figures 1 to 14 In the various embodiments of this application, for ease of description of the leg structure in each embodiment, the directions involved are defined as follows: For example... Figure 1 and 2 As shown, the first direction X is defined as the front side of the lower leg, that is, the side of the lower leg facing forward when the robot walks; the second direction Y is defined as the direction of the left and right legs side by side, that is, the direction of the line connecting the two legs when the robot stands naturally with its legs together, and this direction is consistent with the rotation axis of the knee joint module; the third direction Z is defined as the robot's standing direction, that is, the vertical direction, pointing from the ground to the top of the robot. The first direction X, the second direction Y, and the third direction Z are all perpendicular to each other.

[0015] Please refer to Figures 1 to 14 In one aspect, embodiments of this application provide a leg structure for a humanoid robot, including a thigh 10, a lower leg structure 20, a first lower leg assembly 30, a second lower leg assembly 40, a bearing 50, a knee joint module 60, a first pressure cover 70, a second pressure cover 80, and a lower leg shell 90. The thigh 10 is provided with a joint mounting part 12 at one end near the lower leg structure 20. The knee joint module 60 is fixedly mounted on the joint mounting part 12. The knee joint module 60 has an output flange 62 and a bearing mounting part 64 located on the side opposite to the output flange 62. The first lower leg assembly 30 includes a flange connection part 32 and a first lower leg connection part 34 that are connected to each other; the second lower leg assembly 40 includes a bearing connection part 42 and a second lower leg connection part 44 that are connected to each other. The flange connection 32 is fixedly connected to the output flange 62, the bearing connection 42 is rotatably supported on the bearing mounting part 64 by the bearing 50, and the first lower leg connection 34 and the second lower leg connection 44 are respectively fixedly connected to the two sides of the upper end of the lower leg structure 20 so that the lower leg structure 20 can rotate relative to the thigh 10 under the drive of the knee joint module 60. The lower leg shell 90 is made of a flexible material that can undergo elastic deformation and is covered on the outside of the lower leg structure 20. The lower leg shell 90 has a first shell connecting part 92 and a second shell connecting part 94 arranged opposite to each other on the side near the thigh 10. The first pressure cap 70 is connected to the flange connection part 32, and the first housing connection part 92 is clamped between the first pressure cap 70 and the flange connection part 32; the second pressure cap 80 is connected to the bearing connection part 42, and the second housing connection part 94 is clamped between the second pressure cap 80 and the bearing connection part 42.

[0016] The leg structure of a humanoid robot provided in this application embodiment is fixedly connected to the output flange 62 of the knee joint module 60 via a first lower leg assembly 30, and a second lower leg assembly 40 is rotatably supported on the bearing mounting part 64 of the knee joint module 60 via a bearing 50. This forms support for the lower leg structure 20 on both sides of the knee joint module 60. The gravity and motion impact load of the lower leg structure 20 are shared by both sides, and the output flange 62 no longer bears the entire cantilever bending moment alone. This reduces the off-center load, swaying and fatigue of the connecting parts caused by unilateral cantilever support, which is beneficial to improving the stability and force balance of the lower leg structure 20 during rotation.

[0017] Meanwhile, the calf shell 90 is made of a flexible material capable of elastic deformation. The first shell connecting portion 92 and the second shell connecting portion 94 at their upper ends are clamped and fixed to the flange connecting portion 32 and the bearing connecting portion 42 respectively by the first pressure cap 70 and the second pressure cap 80. Driven by the knee joint module 60, the calf shell 90 and the calf structural component 20 rotate together relative to the thigh 10 via the output flange 62, achieving simultaneous rotation of the calf shell 90 and the calf structural component 20. Therefore, there is no need to create holes for fasteners to pass through on the main surface of the calf shell 90, which helps reduce the exposure of fasteners on the surface, maintains the integrity and visual quality of the calf shell 90's appearance, and provides greater freedom in the design of the calf shell 90.

[0018] When the lower leg shell 90 collides with an external object, the flexible lower leg shell 90 can absorb and buffer at least part of the collision energy through elastic deformation, thereby reducing the transmission of the collision impact to the lower leg structure 20 and its internal components. This reduces the possibility of damage to the lower leg shell 90, the colliding object, and the robot's internal structure, improving the protective performance and operational reliability of the robot's leg structure and achieving the protective function of the lower leg structure 20. Furthermore, the first shell connecting part 92 and the second shell connecting part 94 adopt a relatively arranged clamping installation method, which can improve the installation stability of the lower leg shell 90 and facilitate the assembly, disassembly, and replacement of the lower leg shell 90.

[0019] In the leg structure of the humanoid robot provided in this application embodiment, the lower leg shell 90 is made of flexible material and is connected to the first lower leg assembly 30 and the second lower leg assembly 40 through the first pressure cover 70 and the second pressure cover 80 respectively. While fixing the lower leg shell 90, the connection structure between the lower leg assembly and the knee joint module 60 is also utilized, so that the shell installation and the joint transmission structure are integrated into one, the structure is compact and the assembly is convenient.

[0020] In some embodiments, the lower leg shell 90 may be injection molded from thermoplastic polyurethane elastomer (TPU), injection molded from thermoplastic elastomer (TPE, also known as thermoplastic rubber TPR), made of silicone rubber, or made of synthetic rubber such as natural rubber or styrene-butadiene rubber, but not limited thereto, so that the lower leg shell 90 can undergo elastic deformation when subjected to a collision, buffer at least part of the collision impact, and reduce the possibility of damage to the internal lower leg structure 20 and knee joint module 60.

[0021] In some embodiments, the lower leg housing 90 is formed using a two-material injection molding process. The first housing connecting part 92 and the second housing connecting part 94 are made of high-hardness TPU material (Shore hardness 90A to 95A) or hard plastic (such as ABS, PC) as inserts to ensure the connection strength with the gland; the main body of the housing sleeve 96 is made of low-hardness TPE material (Shore hardness 70A to 80A) to achieve good cushioning performance. The two materials form a chemical bond or mechanical interlocking structure during the injection molding process to ensure reliable bonding between different hardness areas.

[0022] In some embodiments, the surface of the flexible material used in the lower leg housing 90 may be textured or coated with an abrasion-resistant coating to further improve the abrasion resistance and appearance durability of the lower leg housing 90. For example, a polyurethane abrasion-resistant coating with a thickness of 0.1 mm to 0.3 mm may be sprayed onto the outer surface of the lower leg housing 90 made of TPU to enhance the surface's scratch resistance.

[0023] Please refer to Figures 1 to 10In some embodiments, the lower leg housing 90 includes a housing sleeve 96 and a first housing connecting portion 92 and a second housing connecting portion 94 integrally formed with the housing sleeve 96. The outer surface of the housing sleeve 96, the outer surface of the first housing connecting portion 92, and the outer surface of the second housing connecting portion 94 form a continuous appearance surface.

[0024] In the leg structure provided in this application embodiment, the shell sleeve 96 is integrally formed with the shell connecting parts on both sides, which can reduce the splicing gaps and step differences between the segmented shells and help maintain the continuity of the appearance surface of the lower leg shell 90.

[0025] Please refer to Figures 1 to 10 In some embodiments, the housing sleeve 96 is a cylindrical structure extending along the length of the lower leg, with a generally elliptical or near-elliptical cross-sectional profile to fit the shape of the lower leg structure 20. The inner wall profile of the housing sleeve 96 conforms to the outer profile of the lower leg structure 20, but a uniform gap is left between them, which provides elastic deformation space for the housing sleeve 96 when subjected to impact.

[0026] In some embodiments, the connection area between the first housing connection portion 92 and the second housing connection portion 94 and the housing sleeve 96 is connected by an arc transition surface. This arc transition makes the appearance surface continuous and smooth in this area, and helps to reduce stress concentration in the connection area and reduce the risk of tearing or breaking in the connection area.

[0027] Please refer to Figure 9 In some embodiments, the shell sleeve 96 includes a first shell wall 960 in the circumferential direction corresponding to the front side of the lower leg, and second shell walls 962 located on both sides of the first shell wall 960 in the circumferential direction. The wall thickness of the first shell wall 960 is greater than the wall thickness of the second shell wall 962. During the walking process of the humanoid robot, the front side of the lower leg is most likely to collide with external objects. Therefore, setting the first shell wall 960 corresponding to the front side of the lower leg to a thicker structure can provide stronger structural strength and better cushioning protection. The thinner wall thickness of the second shell walls 962 on both sides helps to reduce the overall weight of the lower leg, while ensuring that the shell has a certain elastic deformation capacity, and can also provide a certain degree of cushioning when subjected to lateral collisions.

[0028] In some embodiments, the lower leg housing 90 is designed with a single material but a gradually varying wall thickness. The wall thickness of the first housing connecting portion 92 and the second housing connecting portion 94 is 3mm to 5mm to ensure reliable clamping and fixing; the wall thickness of the first housing wall 960 of the main body of the housing sleeve 96 is 2mm to 4mm, and the wall thickness of the second housing wall 962 is 1mm to 2.5mm, with the wall thickness of the first housing wall 960 being greater than that of the second housing wall 962. This lower leg housing 90 achieves a stiffness distribution in different areas through the difference in wall thickness, making the connecting area sufficiently robust while the main body area has appropriate elastic deformation capacity.

[0029] In some embodiments, the wall thickness of the first shell wall 960 is greater than that of the second shell wall 962, resulting in differentiated structural strength and elastic deformation capabilities of the shell sleeve 96 in different orientations. The outer surface of the first shell wall 960 is the appearance surface of the front side of the lower leg, which can be designed as a slightly convex arc surface to simulate the muscle contour of the front side of the human lower leg, enhancing the biomimetic appearance of the humanoid robot. The outer surface of the second shell wall 962 smoothly transitions to the rear side of the shell sleeve 96, forming a smooth side profile.

[0030] Please refer to Figures 2 to 10 In some embodiments, a gap is left between the inner wall of the lower leg housing 90 and the lower leg structural member 20, allowing the lower leg housing 90 to elastically deform toward the gap upon impact. This gap provides deformation space for the lower leg housing 90, which helps to buffer at least part of the impact and reduces the possibility of damage to the lower leg housing 90, the impact object, and the internal structure.

[0031] Please refer to Figures 2 to 10 In some embodiments, the lower leg housing 90 further includes a first shielding portion 964 and a second shielding portion 965 extending along the first shielding portion 964 toward the thigh 10. The first shielding portion 964 is connected between the first housing connecting portion 92 and the second housing connecting portion 94. The second shielding portion 965 is a convex arc transition surface. The first shielding portion 964, together with the first housing connecting portion 92 and the second housing connecting portion 94, encircles the knee joint module 60. The first shielding portion 964, in conjunction with the second shielding portion 965, shields the gap between the knee joint module 60 and the lower leg structural member 20. Thus, through the design of the first shielding portion 964 and the second shielding portion 965, the gap between the knee joint module 60 and the lower leg structural member 20 is effectively shielded, making the leg appearance neater and more aesthetically pleasing. At the same time, the second shielding portion 965, with its convex arc transition surface, helps to reduce the risk of snagging with external objects.

[0032] Please refer to Figures 2 to 10 In some embodiments, the lower leg housing 90 is provided with a lower through portion on the side away from the thigh 10. The lower through portion has a first notch 968 and a second notch 969. The first notch 968 faces the front side of the lower leg housing 90, and the second notch 969 faces the rear side of the lower leg housing 90. Both the first notch 968 and the second notch 969 are arc-shaped openings facing the thigh 10. The opening size of the first notch 968 is larger than the opening size of the second notch 969.

[0033] In the leg structure provided in this application embodiment, by providing a lower through-part on the lower leg shell 90, space is provided for other components (such as the ankle joint structure) at the lower end of the lower leg structure 20, so that the movement or connection of the lower end of the lower leg structure 20 is not interfered with by the shell. Specifically, the first notch 968 faces the front side (first direction X) of the lower leg shell 90, and its opening size is relatively large. It mainly makes way for the ankle joint pitch drive module, the ankle full-side linkage transmission mechanism, the foot sensor cable bundle, and the connecting bracket in the instep direction at the lower end of the lower leg structure 20. Moreover, these components occupy a large space in the front and upper side when the ankle joint dorsiflexes. The second notch 969 faces the rear side (opposite direction X) of the lower leg shell 90, and its opening size is relatively small. It mainly makes way for the rear ankle joint connecting structure, the Achilles tendon simulated spring or passive energy storage link, the rear cable, and the support connector in the heel direction, etc. These components swing backward and downward when the ankle joint plantarflexes, and their envelope range is relatively small. In order to enable the lower through section to provide a clearance space that matches the motion envelope of different clearance objects on the front and rear sides, the opening size of the first notch 968 on the front side is set to be larger than the opening size of the second notch 969 on the rear side. This avoids the movement interference of the lower leg shell 90 on the ankle joint structure and ensures the structural integrity of the lower leg shell 90 at the lower end of the third side.

[0034] Please refer to Figures 3 to 6 as well as Figure 11 and Figure 12 In some embodiments, the first lower leg assembly 30 further includes a fixed bracket body 36 fixedly connected to the lower leg structure 20, and the first lower leg connecting part 34 is located between the fixed bracket body 36 and the flange connecting part 32. The fixed bracket body 36 has a first fixed side 360 ​​and a second fixed side 362 located on both sides of the lower leg structure 20. The first lower leg connecting part 34 extends along the first fixed side 360 ​​and is connected to the flange connecting part 32. The second lower leg connecting part 44 is fixedly installed on the second fixed side 362 by fasteners so that the first lower leg assembly 30 and the second lower leg assembly 40 are fixed to each other to form an integral frame. The flange connecting part 32 and the bearing connecting part 42 are arranged opposite to each other on both sides of the fixed bracket body 36.

[0035] The leg structure provided in this embodiment connects the first lower leg assembly 30 and the second lower leg assembly 40 into an integral frame structure through the fixed bracket body 36, which significantly improves the overall strength and rigidity of the upper connection part of the lower leg structure 20, so that the driving force output by the knee joint module 60 can be stably transmitted to the lower leg structure 20 through the integral frame, and at the same time provides a solid support foundation for the installation of the lower leg shell 90.

[0036] In some embodiments, the first lower leg connecting portion 34 and / or the second lower leg connecting portion 44 are integrally formed with the fixed bracket body 36 to improve the integrity of the connection between the first lower leg connecting portion 34 and / or the second lower leg connecting portion 44 and the fixed bracket body 36; or, the first lower leg connecting portion 34 is fixedly installed on the first fixed side 360 ​​of the fixed bracket body 36 by fasteners, and the second lower leg connecting portion 44 is fixedly installed on the second fixed side 362 of the fixed bracket body 36 by fasteners, which facilitates manufacturing and helps to reduce manufacturing costs.

[0037] Please refer to Figures 3 to 6 as well as Figure 13 and Figure 14 In some embodiments, the thigh 10 includes a thigh housing portion 14 and a mounting sleeve 16. The mounting sleeve 16 is integrally disposed with the thigh housing portion 14. The mounting sleeve 16 has a first opening 162 facing the first pressure cover 70, a second opening 164 facing the second pressure cover 80, and a receiving cavity 160 passing through the first opening 162 and the second opening 164. The joint mounting portion 12 is disposed on one side of the first opening 162. The knee joint module 60 is housed in the receiving cavity 160. The knee joint module 60 includes a module body and a fixed plate connected to the module body on the side facing the first opening 162. The output flange 62 is rotatably mounted on the module body, and the output flange 62 and the fixed plate are arranged side by side along the rotation axis of the knee joint module 60. The fixed plate is fixedly mounted on the joint mounting part 12. The output flange 62 is fixedly connected to the flange connecting part 32 through the first opening 162. The bearing mounting part 64 is connected to the bearing connecting part 42 through the second opening 164. The flange connection part 32 is provided with a flange connection boss 320 on the side facing the output flange 62. The output flange 62 and the flange connection boss 320 are connected to each other by positioning pins and positioning holes and fasteners. The bearing connection portion 42 has a first bearing fixing position 420 facing the bearing mounting portion 64, and the bearing mounting portion 64 has a second bearing fixing position 640 facing one side of the bearing connection portion 42. The inner wall of the first bearing fixing position 420, the outer surface of the bearing connection portion 42 facing the bearing mounting portion 64, the outer wall of the second bearing fixing position 640, and the outer surface of the bearing mounting portion 64 facing the bearing connection portion 42 form an accommodating space 52 with a roughly square cross section. The bearing 50 is disposed in the accommodating space 52. The outer ring of the bearing 50 abuts against the inner wall of the first bearing fixing position 420, and the inner ring of the bearing 50 abuts against the outer wall of the second bearing fixing position 640. The two end faces of the bearing 50 along the axial direction from the inside to the outside abut against the opposing surfaces of the bearing mounting portion 64 and the bearing connection portion 42, respectively.

[0038] In the leg structure provided in this embodiment, the generally square accommodating space 52 provides radial mounting positioning for the bearing 50 through the cooperation between the inner wall of the first bearing fixing position 420 and the outer ring of the bearing, and the cooperation between the outer wall of the second bearing fixing position 640 and the inner ring of the bearing. Simultaneously, since the accommodating space 52 has a generally square cross-section, its four side walls can form a circumferential limit on the outer ring of the bearing, preventing the outer ring of the bearing from rotating relative to the bearing connecting portion 42, thereby ensuring the posture stability of the bearing 50 during rotation with the lower leg structure 20. The two end faces of the bearing 50, from the inside to the outside along the axial direction, respectively abut against the opposing surfaces of the bearing mounting portion 64 and the bearing connecting portion 42. This abutting relationship provides an axial mounting reference for the bearing 50, limiting the axial movement of the bearing 50. The axial load capacity of bearing 50 is determined by the selected bearing type and its axial bearing-supporting relationship with bearing mounting part 64 and bearing connecting part 42. The selected bearing 50 can be a deep groove ball bearing, angular contact ball bearing, tapered roller bearing, or a combination of cylindrical roller bearing and thrust bearing. It is not limited to these. The specific connection structure of different types of bearings will not be described here.

[0039] The leg structure provided in this embodiment integrates the knee joint module 60 with the thigh 10 by housing the knee joint module 60 within the accommodating cavity 160 of the mounting sleeve 16 of the thigh 10, effectively reducing the radial dimension of the leg and making the structure more compact. The output flange 62 and the flange connecting boss 320 cooperate through positioning pins and positioning holes to ensure the coaxiality and connection accuracy between the first lower leg assembly 30 and the output end of the knee joint module 60. The cooperation between the outer ring of the bearing 50 and the first bearing fixing position 420, and the inner ring and the second bearing fixing position 640, provides support for the rotation of the lower leg structure 20 relative to the thigh 10.

[0040] Please refer to Figures 3 to 6 as well as Figure 13 and Figure 14 In some embodiments, the flange connection portion 32 is provided with a first limiting portion 322 and a second limiting portion 324 on the side facing the output flange 62. The first limiting portion 322 and the second limiting portion 324 are spaced apart along the periphery of the flange connection cam 320, and the first limiting portion 322, the second limiting portion 324 and the outer periphery of the flange connection cam 320 form a first limiting space 326. The joint mounting portion 12 is provided with a first limiting block 120 facing the flange connection portion 32; The bearing connection part 42 has a bearing connection plate 424 facing the bearing 50 and cooperating with the bearing mounting part 64, and a third limiting part 425 and a fourth limiting part 426 extending radially along the outer periphery of the bearing connection plate 424. A second limiting space 427 is formed between the bearing connection plate 424 and the third limiting part 425 and the fourth limiting part 426 in a circumferential direction. The bearing mounting part 64 is provided with a second limiting block 642 facing the bearing connection part 42. The first limiting block 120 and the second limiting block 642 are arranged opposite each other along the rotation axis of the knee joint module 60, and the two have the same angular position in the circumferential direction. When the lower leg structure 20 rotates to the limit position relative to the thigh 10, the first limiting block 120 abuts against the first limiting part 322 or the second limiting part 324, and at the same time, the second limiting block 642 abuts against the third limiting part 425 or the fourth limiting part 426.

[0041] The leg structure provided in this embodiment features symmetrical limiting structures on the output flange 62 side and the bearing 50 side, with the limiting blocks on both sides having the same angular position in the circumferential direction. This ensures that when the lower leg structure 20 rotates to its limit position, both sides simultaneously generate mechanical limits. This dual-sided symmetrical limiting method effectively restricts the rotation angle range of the lower leg relative to the thigh 10, preventing damage to the internal structure or cable pulling due to excessive rotation, thus improving the safety and reliability of leg movement.

[0042] Please refer to Figures 3 to 10 In some embodiments, the first housing connection portion 92 has a first inner side 920 facing the flange connection portion 32 and a first outer side 926 facing the first pressure cover 70, and the first housing connection portion 92 has a first flange 928 protruding towards the first pressure cover 70 on the first outer side 926. The second housing connection portion 94 has a second inner side 940 facing the bearing connection portion 42 and a second outer side 946 facing the second pressure cover 80. The second housing connection portion 94 has a second flange 948 protruding towards the second pressure cover 80 on the second outer side 946. The first pressure cover 70 is provided with a first mounting cavity 72 for accommodating and mounting the first flange 928. The first pressure cover 70 and the first flange 928 cooperate with each other through positioning pins and positioning holes respectively provided on one of the two and the other. The second cover 80 is provided with a second mounting cavity 82 for accommodating the second flange 948. The second cover 80 and the second flange 948 cooperate with each other through positioning pins and positioning holes respectively provided in the two.

[0043] The leg structure provided in this embodiment features flanges on the first housing connecting portion 92 and the second housing connecting portion 94, and mounting cavities on the first pressure cover 70 and the second pressure cover 80, resulting in a more precise fit between the lower leg housing 90 and the pressure cover. The fit between the positioning pin and the positioning hole further ensures the accuracy of the assembly position, preventing the housing from shifting or rotating during leg movement, and helps maintain the assembly position between the housing and the pressure cover.

[0044] In some embodiments, the first housing connection portion 92 is provided with a first mounting portion 922 and a first abutting portion 924 communicating with the first mounting portion 922 on the first inner side 920; the flange connection portion 32 has a first fixing portion 328 accommodated in the first mounting portion 922, the first leg connection portion 34 abuts against the first abutting portion 924, and fasteners pass through the first pressure cover 70 and are fixed to the first fixing portion 328. The second housing connection portion 94 has a second mounting portion 942 and a second abutting portion 944 communicating with the second mounting portion 942 on the second inner side 940; the bearing connection portion 42 has a second fixing portion 428 housed in the second mounting portion 942, the second lower leg connection portion 44 abuts against the second abutting portion 944, and the fastener passes through the second pressure cover 80 and is fixed to the second fixing portion 428.

[0045] In the leg structure provided in this embodiment, the first mounting part 922 provides mounting space for the first fixing part 328, allowing the flange connection part 32 to be embedded inside the first housing connection part 92. The second mounting part 942 provides mounting space for the second fixing part 428, allowing the bearing connection part 42 to be embedded inside the second housing connection part 94. The first abutment part 924 provides an abutment support surface for the first lower leg connection part 34, and the second abutment part 944 provides an abutment support surface for the second lower leg connection part 44. Fasteners penetrate from the outside of the first pressure cover 70 and are fixed to the first fixing part 328, achieving a tight connection between the first pressure cover 70, the first housing connection part 92, and the lower leg assembly. Similarly, fasteners penetrate from the outside of the second pressure cover 80 and are fixed to the second fixing part 428, achieving a tight connection between the second pressure cover 80, the second housing connection part 94, and the lower leg assembly. This nested connection facilitates a more compact fit between the components.

[0046] This structure makes the connection between the lower leg shell 90, the pressure cover, and the lower leg assembly more compact, the force transmission path is clear, and the structural strength is high.

[0047] Please refer to Figures 3 to 10 In some embodiments, the humanoid robot's leg structure further includes: The first cover 79 is located on the side of the first pressure cover 70 away from the first lower leg assembly 30. The first pressure cover 70 has a first snap-fit ​​groove 74 on the side facing the first cover 79. The edge of the first cover 79 snaps into the groove wall of the first snap-fit ​​groove 74 to be fixedly connected to the first pressure cover 70. The second cover 89 is located on the side of the second pressure cover 80 away from the second lower leg assembly 40. The second pressure cover 80 has a second snap-fit ​​groove 84 on the side facing the second cover 89. The edge of the second cover 89 snaps into the groove wall of the second snap-fit ​​groove 84 to be fixedly connected to the second pressure cover 80.

[0048] Please refer to Figures 1 to 14 In the leg structure provided in this embodiment, the first cover 79 and the second cover 89 are respectively snapped onto the corresponding pressure cover, which can further cover the pressure cover and the ends of the fasteners that may be exposed, making the appearance of both sides of the leg more concise and uniform. The snap-fit ​​connection method is convenient for disassembly and assembly, which is beneficial for later maintenance and repair.

[0049] Please refer to Figures 1 to 14 The following section details the assembly process of the leg structure, taking into account the structural characteristics of each component. The assembly process follows the principle of working from the inside out and from the main body to the accessories, ensuring the precise positioning of each transmission component and the complete assembly of the exterior parts.

[0050] Please refer to Figure 13 and Figure 14 Pre-assembly of the knee joint module 60 and the thigh 10. The knee joint module 60 is inserted into the receiving cavity 160 from the second opening 164 side of the mounting sleeve 16 of the thigh 10, with the fixing plate of the knee joint module 60 facing the first opening 162 side of the mounting sleeve 16. The fixing plate is aligned with the joint mounting part 12, and the fixing plate is fixedly installed on the joint mounting part 12 using fasteners. At this time, the module body of the knee joint module 60 is housed in the receiving cavity 160, the output flange 62 is located on the side of the module body facing the first opening 162, and the bearing mounting part 64 is located on the side of the module body facing the second opening 164. Please refer to Figure 11 and Figure 12 The first lower leg assembly 30 is connected to the output end of the knee joint module 60. The flange connection part 32 of the first lower leg assembly 30 is oriented toward the output flange 62 of the knee joint module 60. The flange connection protrusion 320 on the side of the flange connection part 32 facing the output flange 62 is aligned with the output flange 62, so that the positioning pins and positioning holes on the two respectively cooperate with each other to achieve precise circumferential and radial positioning. Then, the flange connection part 32 and the output flange 62 are fixedly connected by fasteners. At this time, the first lower leg connection part 34 of the first lower leg assembly 30 is bent and extended along the first fixed side 360 ​​of the fixed bracket body 36 and is located on one side of the installation position of the lower leg structure 20. Pre-connection of the second lower leg assembly 40 to the bearing end of the knee joint module 60. The inner ring of the bearing 50 is fitted onto the outer wall of the second bearing fixing position 640 of the bearing mounting part 64, so that the inner ring of the bearing 50 abuts against the outer wall of the second bearing fixing position 640; at the same time, the outer ring of the bearing 50 is aligned with the first bearing fixing position 420 on the bearing connecting part 42 of the second lower leg assembly 40, and pushed into the bearing connecting part 42 axially, so that the bearing 50 enters the receiving space 52. At this time, the outer ring of the bearing 50 abuts against the inner wall of the first bearing fixing position 420, and the two end faces of the bearing 50 abut against the opposing surfaces of the bearing mounting part 64 and the bearing connecting part 42 axially from the inside to the outside. Please refer to Figure 11 and Figure 12 The lower leg structure 20 is assembled with the frame of the first lower leg assembly 30 / second lower leg assembly 40. The upper end of the lower leg structure 20 is fixedly installed between the first fixed side 360 ​​and the second fixed side 362 of the fixed bracket body 36 of the first lower leg assembly 30, so that the first lower leg connecting part 34 is located between the fixed bracket body 36 and the flange connecting part 32. The second lower leg connecting part 44 is fixedly installed on the second fixed side 362 of the fixed bracket body 36 using fasteners. At this point, the first lower leg assembly 30 and the second lower leg assembly 40 are fixed to each other to form an integral frame through the fixed bracket body 36. The upper end of the lower leg structure 20 is clamped and fixed in the integral frame. The flange connecting part 32 and the bearing connecting part 42 are arranged opposite to each other on both sides of the fixed bracket body 36. The lower leg structure 20 can rotate relative to the thigh 10 under the drive of the knee joint module 60. Please refer to Figures 3 to 8Pre-installation positioning of the lower leg housing 90. Push the lower leg housing 90 into the lower leg structure 20 from bottom to top (third direction) along its axial direction, using the opening of the lower leg housing 90 near the thigh 10 as the starting position for assembly. Place the housing sleeve 96 over the outside of the lower leg structure 20. During the pushing process, adjust the circumferential orientation of the lower leg housing 90 so that the first housing connecting part 92 faces the flange connecting part 32 of the first lower leg assembly 30, and the second housing connecting part 94 faces the bearing connecting part 42 of the second lower leg assembly 40. Continue pushing the lower leg housing 90 closer to the thigh 10 so that the first mounting part 922 inside the first housing connecting part 92 is fitted onto the first fixing part 328 of the flange connecting part 32. The first fixing part 328 is accommodated within the first mounting part 922, while the first lower leg connecting part 34 is connected to the first housing. The first abutting part 924 on the inner side of the connecting part 92 abuts against each other. Simultaneously, the second mounting part 942 on the inner side of the second housing connecting part 94 is sleeved on the second fixing part 428 of the bearing connecting part 42. The second fixing part 428 is housed in the second mounting part 942. At the same time, the second lower leg connecting part 44 abuts against the second abutting part 944 on the inner side of the second housing connecting part 94. At this time, the first housing connecting part 92 and the second housing connecting part 94 are respectively located outside the connection area between the corresponding lower leg assembly and the lower leg structure 20. The outer surface of the housing sleeve 96, the first outer side 926 of the first housing connecting part 92 and the second outer side 946 of the second housing connecting part 94 form a continuous appearance surface. The first shielding part 964 together with the two housing connecting parts surrounds the lower area of ​​the knee joint module 60. Please refer to Figure 3 and Figure 5 The installation of the first pressure cover 70 and the second pressure cover 80: Align the first mounting cavity 72 provided on the inner side of the first pressure cover 70 with the first flange 928 protruding on the first outer side 926 of the first housing connection 92, and push it in axially so that the first flange 928 is accommodated in the first mounting cavity 72. The positioning pins and positioning holes respectively provided on one of the first pressure cover 70 and the first flange 928 cooperate with each other to achieve circumferential positioning of the first pressure cover 70 and the first housing connection 92. Fasteners pass through the first pressure cover 70 and lock it to the first fixing part 328 of the flange connection 32. During the fastening process, the first pressure cover 70 presses the first housing connection 92 against the flange connection 32, so that the first housing connection 92 is firmly clamped between the first pressure cover 70 and the flange connection 32. Synchronously or sequentially, the second mounting cavity 82 provided on the inner side of the second pressure cover 80 is aligned with the second flange 948 protruding on the second outer side 946 of the second housing connection portion 94, and pushed axially to accommodate the second flange 948 in the second mounting cavity 82. The positioning pins and positioning holes respectively provided on one of the second pressure cover 80 and the second flange 948 cooperate with each other to achieve circumferential positioning of the second pressure cover 80 and the second housing connection portion 94. Fasteners pass through the second pressure cover 80 and lock it to the second fixing portion 428 of the bearing connection portion 42. The second pressure cover 80 presses the second housing connection portion 94 against the bearing connection portion 42, so that the second housing connection portion 94 is firmly clamped between the second pressure cover 80 and the bearing connection portion 42, while the second abutment portion 944 and the second small leg connection portion 44 maintain tight abutment. After both pressure caps are tightened in place, check the installation status of the lower leg housing 90 to ensure that the gap between the housing sleeve 96 and the lower leg structural component 20 is uniform, the housing is not abnormally twisted, and the outer surface of the housing sleeve 96 forms a continuous and smooth appearance transition with the outer surface of the two housing connection parts and the outer surface of the pressure cap.

[0051] Please refer to Figure 3 and Figure 5 The first cover 79 and the second cover 89 are then snapped together. The edge of the first cover 79 is aligned with the first snap-fit ​​groove 74 on the side of the first pressure cap 70 facing the first cover 79. The first cover 79 is pressed axially so that its edge snaps into the groove wall of the first snap-fit ​​groove 74. The elastic deformation and rebound of the snap-fit ​​structure achieve a fixed connection between the first cover 79 and the first pressure cap 70. The edge of the second cover 89 is aligned with the second snap-fit ​​groove 84 on the side of the second pressure cap 80 facing the second cover 89. The second cover 89 is pressed axially so that its edge snaps into the groove wall of the second snap-fit ​​groove 84, thus achieving a fixed connection between the second cover 89 and the second pressure cap 80.

[0052] Through the above connection structure, the first lower leg assembly 30 and the second lower leg assembly 40 connect the lower leg structure 20 to both sides of the knee joint module 60, the first pressure cover 70 and the second pressure cover 80 clamp and fix the lower leg shell 90, and the first cover 79 and the second cover 89 cover the corresponding pressure cover and the ends of the fasteners that may be exposed.

[0053] Please refer to Figures 1 to 14 Secondly, embodiments of this application provide a humanoid robot including the leg structure of any of the above-mentioned humanoid robots. The humanoid robot provides collision cushioning through the lower leg shell 90 of the aforementioned leg structure, and supports the lower leg structure 20 through connecting structures on both sides of the knee joint module 60. When a leg structure with a first limiting block 120 and a second limiting block 642 is used, the rotation angle range of the lower leg structure 20 relative to the thigh 10 can also be limited.

[0054] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as the combination of these technical features does not contradict each other, it should be considered within the scope of this specification. The description of the above embodiments is only intended to help understand the structure and design concept of this application. Furthermore, those skilled in the art will recognize that, based on the concept of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A leg structure for a humanoid robot, characterized in that, Includes thigh and calf structural components, first calf assembly, second calf assembly, bearings, knee joint module, first pressure cover, second pressure cover, and calf shell; The thigh is provided with a joint mounting part at one end near the lower leg structure, and the knee joint module is fixedly mounted on the joint mounting part. The knee joint module has an output flange and a bearing mounting part located on the side opposite to the output flange. The first lower leg assembly includes a flange connection and a first lower leg connection that are connected to each other; the second lower leg assembly includes a bearing connection and a second lower leg connection that are connected to each other. The flange connection is fixedly connected to the output flange, the bearing connection is rotatably supported on the bearing mounting part by the bearing, and the first calf connection and the second calf connection are respectively fixedly connected to both sides of the upper end of the calf structure, so that the calf structure can rotate relative to the thigh under the drive of the knee joint module; The lower leg shell is made of a flexible material capable of elastic deformation and is covered on the outside of the lower leg structure. The lower leg shell has a first shell connecting part and a second shell connecting part arranged opposite to each other on the side near the thigh. The first pressure cap is connected to the flange connection portion, and the first housing connection portion is clamped between the first pressure cap and the flange connection portion; the second pressure cap is connected to the bearing connection portion, and the second housing connection portion is clamped between the second pressure cap and the bearing connection portion.

2. The leg structure of the humanoid robot according to claim 1, characterized in that, The lower leg housing includes a housing sleeve and a first housing connecting portion and a second housing connecting portion integrally formed with the housing sleeve. The outer surface of the housing sleeve, the outer surface of the first housing connecting portion, and the outer surface of the second housing connecting portion form a continuous appearance surface.

3. The leg structure of the humanoid robot according to claim 2, characterized in that, The housing sleeve includes a first housing wall in the circumferential direction corresponding to the front side of the lower leg, and a second housing wall located on both sides of the first housing wall in the circumferential direction, wherein the wall thickness of the first housing wall is greater than the wall thickness of the second housing wall.

4. The leg structure of the humanoid robot according to claim 1, characterized in that, There is a gap between the inner wall of the lower leg shell and the lower leg structural member, and the lower leg shell can elastically deform toward the gap when it is impacted.

5. The leg structure of the humanoid robot according to claim 1, characterized in that, The calf shell also includes a first shielding portion and a second shielding portion extending along the first shielding portion toward the thigh side. The first shielding portion is connected between the first shell connecting portion and the second shell connecting portion. The second shielding portion is an outwardly convex arc transition surface. The first shielding portion, together with the first shell connecting portion and the second shell connecting portion, encircles the knee joint module. The first shielding portion cooperates with the second shielding portion to shield the gap between the knee joint module and the calf structure.

6. The leg structure of the humanoid robot according to claim 1, characterized in that, The lower leg shell has a lower through portion on the side away from the thigh. The lower through portion has a first notch and a second notch. The first notch faces the front side of the lower leg shell, and the second notch faces the rear side of the lower leg shell. Both the first notch and the second notch are arc-shaped openings facing the thigh side. The opening size of the first notch is larger than the opening size of the second notch.

7. The leg structure of the humanoid robot according to claim 1, characterized in that, The first lower leg assembly also includes a fixed bracket body that is fixedly connected to the lower leg structural member, and the first lower leg connecting part is located between the fixed bracket body and the flange connecting part; The main body of the fixed bracket has a first fixed side and a second fixed side located on both sides of the lower leg structure. The first lower leg connecting part extends and bends along the first fixed side and is connected to the flange connecting part. The second lower leg connecting part is fixedly installed on the second fixed side by fasteners so that the first lower leg assembly and the second lower leg assembly are fixed to each other to form an integral frame. The flange connecting part and the bearing connecting part are arranged facing each other on both sides of the main body of the fixed bracket.

8. The leg structure of the humanoid robot according to claim 1, characterized in that, The thigh includes a thigh shell portion and a mounting sleeve. The mounting sleeve is integrally formed with the thigh shell portion. The mounting sleeve has a first opening facing a first pressure cover, a second opening facing a second pressure cover, and a receiving cavity passing through the first opening and the second opening. The joint mounting portion is disposed on one side of the first opening. The knee joint module is housed within the accommodating cavity. The knee joint module includes a module body and a fixing plate connected to the module body facing the first opening. The output flange is rotatably mounted on the module body, and the output flange and the fixing plate are arranged side by side along the rotation axis of the knee joint module. The fixing plate is fixedly mounted on the joint mounting part. The output flange is fixedly connected to the flange connecting part through the first opening. The bearing mounting part is connected to the bearing connecting part through the second opening. The flange connection part is provided with a flange connection boss on the side facing the output flange. The output flange and the flange connection boss are connected to each other by positioning pins and positioning holes and fasteners. The bearing connecting portion has a first bearing fixing position facing the bearing mounting portion, and the bearing mounting portion has a second bearing fixing position facing one side of the bearing connecting portion. The inner wall of the first bearing fixing position, the outer surface of the bearing connecting portion facing the bearing mounting portion, the outer wall of the second bearing fixing position, and the outer surface of the bearing mounting portion facing the bearing connecting portion form an accommodating space with a roughly square cross-section. The bearing is disposed in the accommodating space. The outer ring of the bearing abuts against the inner wall of the first bearing fixing position, and the inner ring of the bearing abuts against the outer wall of the second bearing fixing position. The two end faces of the bearing along the axial direction from the inside to the outside abut against the facing surfaces of the bearing mounting portion and the bearing connecting portion, respectively.

9. The leg structure of the humanoid robot according to claim 8, characterized in that, The flange connection portion is provided with a first limiting portion and a second limiting portion on the side facing the output flange. The first limiting portion and the second limiting portion are spaced apart along the periphery of the flange connection cam. The first limiting portion, the second limiting portion and the outer periphery of the flange connection cam form a first limiting space. The joint mounting portion is provided with a first limiting block facing the flange connection portion; The bearing connecting part has a bearing connecting plate facing the bearing and cooperating with the bearing mounting part, and a third limiting part and a fourth limiting part extending radially along the outer periphery of the bearing connecting plate. A second limiting space is formed between the bearing connecting plate and the third limiting part and the fourth limiting part in a circumferential direction. The bearing mounting part is provided with a second limiting block facing the bearing connecting part. The first limiting block and the second limiting block are arranged opposite each other along the rotation axis of the knee joint module, and the two have the same angular position in the circumferential direction; when the lower leg structure rotates to the limit position relative to the thigh, the first limiting block abuts against the first limiting part or the second limiting part, and at the same time, the second limiting block abuts against the third limiting part or the fourth limiting part.

10. The leg structure of the humanoid robot according to claim 1, characterized in that, The first housing connection portion has a first inner side facing the flange connection portion and a first outer side facing the first pressure cover, and the first housing connection portion has a first flange protruding towards the first pressure cover on the first outer side; The second housing connection portion has a second inner side facing the bearing connection portion and a second outer side facing the second pressure cover, and the second housing connection portion is provided with a second flange on the second outer side that protrudes toward the second pressure cover; The first pressure cover is provided with a first mounting cavity for accommodating the first flange, and the first pressure cover and the first flange cooperate with each other through positioning pins and positioning holes respectively provided in one of the two and the other. The second cover has a second mounting cavity for accommodating the second flange. The second cover and the second flange cooperate with each other through positioning pins and positioning holes respectively provided on one of them.

11. The leg structure of the humanoid robot according to claim 10, characterized in that, The first housing connecting part has a first mounting part and a first abutting part communicating with the first mounting part on the first inner side; the flange connecting part has a first fixing part accommodated in the first mounting part, the first small leg connecting part abuts against the first abutting part, and the fastener passes through the first pressure cover and is fixed to the first fixing part. The second housing connecting part has a second mounting part and a second abutting part communicating with the second mounting part on the second inner side; the bearing connecting part has a second fixing part accommodated in the second mounting part, the second leg connecting part abuts against the second abutting part, and the fastener passes through the second pressure cover and is fixed to the second fixing part.

12. The leg structure of the humanoid robot according to claim 1, characterized in that, Also includes: The first cover is located on the side of the first pressure cover away from the first lower leg assembly. The first pressure cover has a first snap-fit ​​groove on the side facing the first cover. The edge of the first cover is snapped into the groove wall of the first snap-fit ​​groove to be fixedly connected with the first pressure cover. The second cover is located on the side of the second pressure cover away from the second lower leg assembly. The second pressure cover has a second snap-fit ​​groove on the side facing the second cover. The edge of the second cover is snapped into the groove wall of the second snap-fit ​​groove to be fixedly connected with the second pressure cover.

13. A humanoid robot, characterized in that, Including the leg structure of the humanoid robot as described in any one of claims 1 to 12.

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