Thigh structural member and thigh assembly structure of biped robot, humanoid robot and robot

Abstract

The utility model relates to the technical field of robots, and discloses a thigh structural part of a biped robot, a thigh assembly structure, a humanoid robot and a robot. The thigh structural part comprises an upper connecting end, a supporting section and a lower hinging end which are sequentially arranged and integrally formed. The supporting section is provided with a first framework, a second framework and a third framework, the first framework, the second framework and the third framework roughly extend in the length direction of the thigh structural part, a cavity between the second framework and the first framework is a first cavity, the first cavity is used for containing a rocker, and a cavity between the second framework and the third framework is a second cavity. The second cavity is used for wiring. And the thigh structural member is integrally processed. The application facilitates cable arrangement of the thigh structural member.

Description

Technical Field

[0001] This application relates to the field of robotics, and relates to a thigh structural member, a thigh assembly structure, a humanoid robot, and a robot of a biped robot. Background Art

[0002] In robotics, the research and development of humanoid biped robots is a hot topic in the industry. The lower limbs of biped robots often have a two-leg structure imitating human lower limbs, including thighs, calves, and feet. The entire leg structure can usually swing left and right and rotate around the vertical direction. The thighs, calves, and feet can all rotate independently. In this way, through the coordinated movement of each part, the humanoid walking of the biped robot is realized.

[0003] In the prior art, as in the invention patent publication text CN116946280A, a cavity is constructed inside the thigh, and a calf transmission component is arranged inside the cavity. The calf transmission component includes a crank and a rocker, and the rocker is arranged inside the cavity generally along the length direction of the thigh. Due to technical requirements, wires need to be arranged towards the lower calf direction, and these wires are usually arranged outside the thigh. These external wire routings will affect the aesthetics of the thigh. Summary of the Utility Model

[0004] This application provides a thigh structural member, a thigh assembly structure, a humanoid robot, and a robot of a biped robot, aiming to solve the problem that the existing thigh structural member is not convenient for wire routing.

[0005] In one solution, a thigh structural member of a biped robot is provided, including an upper connection end, a support section, and a lower hinge end that are sequentially arranged and integrally formed;

[0006] Among them, the support section is constructed with a first skeleton, a second skeleton, and a third skeleton that are substantially parallel to each other. The second skeleton is arranged between the first skeleton and the third skeleton, and the first skeleton, the second skeleton, and the third skeleton extend generally along the length direction of the thigh structural member;

[0007] Define the cavity between the second skeleton and the first skeleton as the first cavity, and the first cavity is used to accommodate the rocker;

[0008] Define the cavity between the second skeleton and the third skeleton as the second cavity, and the second cavity is used for wire routing.

[0009] In one solution, a first support rod is arranged between the first skeleton and the second skeleton, and a second support rod is arranged between the second skeleton and the third skeleton. The extending directions of the first support rod and the second support rod are different.

[0010] In one solution, the first support rod extends generally along the width direction of the thigh structural member, and the second support rod extends along an oblique direction between the length direction and the width direction of the thigh structural member.

[0011] In one solution, the included angle between the extending direction of the first support rod and the extending direction of the second support rod is greater than 15 degrees and not greater than 75 degrees.

[0012] In one solution, the first support rod and the second support rod are arranged offset in the thickness direction of the thigh structural member.

[0013] In one solution, the second support rod includes a first sub-rod and a second sub-rod, and the first sub-rod, the second sub-rod, the second skeleton and the third skeleton substantially form a triangular support structure.

[0014] In one solution, the first support rod, the second skeleton and the first skeleton substantially form a rectangular support structure.

[0015] In one solution, the number of the first support rods is multiple, and the multiple first support rods are all located on one side of the rocker in the thickness direction of the thigh structural member;

[0016] The number of the second support rods is multiple, and the multiple second support rods are all located on the side of the first support rod close to the rocker.

[0017] In one solution, there is provided a thigh assembly structure of a bipedal robot, including a thigh joint, a calf joint, a calf transmission assembly and the thigh structural member of the bipedal robot as above;

[0018] One side of the upper connection end of the thigh structural member is connected to the output flange of the thigh joint, and the other side is connected to the calf joint. The lower hinge end of the thigh structural member is used for hinging with the calf;

[0019] The calf transmission assembly is used to connect the calf joint and the calf. The calf transmission assembly includes a rocker, and the rocker is arranged in the first cavity.

[0020] In one solution, the calf transmission assembly further includes a crank, the crank is used to connect to the output flange of the calf joint, the first connection end of the rocker is connected to the crank, and the second connection end of the rocker is used to connect to the calf;

[0021] The upper connection end of the thigh structural member is provided with a third cavity, the third cavity is communicated with the first cavity, and the crank is arranged in the third cavity.

[0022] In one solution, the extending direction of the rocker is substantially parallel to the extending direction of the second skeleton.

[0023] In one solution, there is provided a humanoid robot, including:

[0024] The thigh structural member of the bipedal robot as above; or the thigh assembly structure of the bipedal robot.

[0025] In one solution, there is provided a robot, including:

[0026] The thigh structural member of the bipedal robot as described above; or the thigh assembly structure of the bipedal robot.

[0027] Advantages of the present application:

[0028] In the thigh structural member provided in the embodiment of the present application, the support section is designed to include a first skeleton, a second skeleton, and a third skeleton that are substantially parallel. The cavity between the first skeleton and the second skeleton is the first cavity, and the cavity between the third skeleton and the second skeleton is the second cavity. That is, the first cavity and the second cavity are substantially parallel and are separated. The first cavity is used to accommodate the rocker, and the second cavity is used for wiring. The embodiment of the present application makes full use of the space inside the thigh structural member to provide a wiring cavity for cable distribution, thereby avoiding the cable distribution outside the thigh structural member and affecting its aesthetics. Moreover, the separated first cavity and second cavity can prevent interference between the rocker and the cable, thereby maintaining the stability of the transmission system and the circuit system respectively.

[0029] In addition, the thigh structural member is integrally processed. This design not only helps to improve the overall structural strength of the thigh structural member, but also makes its appearance more smooth and unified, improving the aesthetics of the entire structure.

[0030] The general description and the detailed description below are only exemplary and explanatory, and cannot limit this specification. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0032] Figure 1 It is a schematic three-dimensional structure diagram of the thigh structural member in an embodiment of the present application;

[0033] Figure 2 It is a schematic three-dimensional structure diagram of the thigh structural member from another angle in an embodiment of the present application;

[0034] Figure 3 It is a front view of the thigh structural member in an embodiment of the present application;

[0035] Figure 4 It is a rear view of the thigh structural member in an embodiment of the present application;

[0036] Figure 5 It is a left view of the thigh structural member in an embodiment of the present application;

[0037] Figure 6 isFigure 4 Cross-sectional view in the A-A direction;

[0038] Figure 7 Schematic three-dimensional structure diagram of the thigh assembly structure in an embodiment of the present application;

[0039] Figure 8 Schematic structure diagram of a robot in an embodiment of the present application;

[0040] Figure 9 Schematic structure diagram of a humanoid robot in an embodiment of the present application.

[0041] Reference numerals in the figure:

[0042] 1. Thigh structural member; 11. Upper connection end; 12. Support section; 121. First skeleton; 122. Second skeleton; 123. Third skeleton; 124. First cavity; 125. First support rod; 126. Second support rod; 1261. First sub-rod; 1262. Second sub-rod; 127. Third cavity; 128. Second cavity; 13. Lower hinge end;

[0043] 2. Calf transmission assembly; 21. Crank; 22. Rocker;

[0044] 3. Thigh joint;

[0045] 4. Calf joint.

[0046] X represents the width direction of the thigh structural member; Y represents the length direction of the thigh structural member; Z represents the thickness direction of the thigh structural member. Detailed implementation manners

[0047] The following will further describe in detail the specific embodiments of the present application in conjunction with the accompanying drawings and embodiments. The following embodiments are used to illustrate the present application, but are not used to limit the scope of the present application. Similarly, the following embodiments are only partial embodiments of the present application rather than all embodiments. All other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present application.

[0048] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0049] In addition, the terms "first" and "second" are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In the description of the present utility model, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise specifically defined.

[0050] In the present utility model, unless otherwise clearly defined and limited, terms such as "installed", "connected", "joined", "fixed", etc. shall be construed in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection, an electrical connection, or capable of communicating with each other; it may be directly connected, or indirectly connected through an intermediate medium, and it may be the communication inside two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0051] In the present utility model, unless otherwise clearly defined and limited, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0052] In the present utility model, terms such as "an embodiment", "some embodiments", "example", "specific example", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present utility model. In this specification, the schematic descriptions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0053] In the present utility model, the adverb "substantially" describes the main feature of an overall structure or shape. When describing the shape of an object, it means that the object mainly presents a certain specific shape, but there may be differences in non-functional details. These detail differences do not affect the overall feature, so it can be classified as "substantially" having a certain shape. For example, when describing a circular object, it is expressed as "substantially circular", which means that the overall shape of the object is circular, but there are differences in some non-functional details. Similarly, when describing a cube, it is expressed as "substantially cubic", which means that the overall shape of the object is cubic, but there are differences in some non-functional details.

[0054] In the prior art, the routing of the thigh structural member is inconvenient.

[0055] Based on this, the present application makes improvements and innovations and proposes the following embodiments.

[0056] In one embodiment, please refer to Figures 1 to 4 and Figure 6 The embodiment of the present application provides a thigh structural member 1 of a bipedal robot, including an upper connection end 11, a support section 12, and a lower hinge end 13 that are sequentially arranged and integrally formed.

[0057] The support section 12 is configured with a first skeleton 121, a second skeleton 122, and a third skeleton 123 that are substantially parallel to each other. The second skeleton 122 is disposed between the first skeleton 121 and the third skeleton 123. The first skeleton 121, the second skeleton 122, and the third skeleton 123 substantially extend along the length direction Y of the thigh structural member 1. The cavity between the second skeleton 122 and the first skeleton 121 is the first cavity 124, and the first cavity 124 is used to accommodate the rocker 22. The cavity between the second skeleton 122 and the third skeleton 123 is the second cavity 128, and the second cavity 128 is used for routing.

[0058] The thigh structural member 1 is integrally processed.

[0059] The thigh structural member 1 provided by the embodiment of the present application designs the support section 12 to include a first skeleton 121, a second skeleton 122, and a third skeleton 123 that are substantially parallel. The cavity between the first skeleton 121 and the second skeleton 122 is the first cavity 124, and the cavity between the third skeleton 123 and the second skeleton 122 is the second cavity 128. That is, the first cavity 124 and the second cavity 128 are substantially parallel and separated. The first cavity 124 is used to accommodate the rocker 22, and the second cavity 128 is used for wire routing. The embodiment of the present application makes full use of the space inside the thigh structural member 1 to provide a dedicated wire routing cavity for cable distribution, thereby avoiding the cable distribution outside the thigh structural member 1 and affecting its aesthetics. Moreover, the separated first cavity 124 and second cavity 128 can prevent interference between the rocker 22 and the cable, thereby maintaining the stability of the transmission system and the circuit system respectively.

[0060] In addition, the thigh structural member 1 is integrally processed. This design not only helps to improve the overall structural strength of the thigh structural member 1, but also makes its appearance more smooth and unified, improving the aesthetics of the entire structure.

[0061] In one embodiment, please refer to Figures 1 to 4 , a first support rod 125 is provided between the first skeleton 121 and the second skeleton 122, and a second support rod 126 is provided between the second skeleton 122 and the third skeleton 123. The extending directions of the first support rod 125 and the second support rod 126 are different.

[0062] The first support rod 125 is connected between the first skeleton 121 and the second skeleton 122. The number of the first support rods 125 can be multiple, and the multiple first support rods 125 can be arranged between the first skeleton 121 and the second skeleton 122 in a certain arrangement. The second support rod 126 is connected between the third skeleton 123 and the second skeleton 122. The number of the second support rods 126 can be multiple, and the multiple second support rods 126 can be arranged between the third skeleton 123 and the second skeleton 122 in a certain arrangement. The arrangement of the first support rod 125 and the second support rod 126 can be different.

[0063] In this embodiment, the first support rod 125 provided between the first frame 121 and the second frame 122, and the second support rod 126 provided between the second frame 122 and the third frame 123, can provide additional support for the thigh structure 1, thereby enhancing the overall structural strength. Moreover, the first support rod 125 and the second support rod 126 extend in different directions, so that the thigh structure 1 can be given additional differentiated support, that is, support can be provided for the thigh structure 1 in different force directions, so that the thigh structure 1 can disperse the force more evenly, reduce local stress concentration, thereby improving the overall mechanical properties, and improving the stability and reliability of the robot in various motion states. In addition, the structural design of the support rod can have a certain weight reduction effect while playing a supporting role.

[0064] In one embodiment, see Figure 3 and Figure 4 The first support rod 125 extends substantially along the width direction X of the thigh structure 1 , and the second support rod 126 extends along an oblique direction between the length direction Y and the width direction X of the thigh structure 1 .

[0065] In this embodiment, the two support rods can provide support for the thigh structure 1 in different force directions. For example, the first support rod 125 can more effectively resist lateral forces, while the second support rod 126 can resist oblique, lateral or longitudinal forces, so that the thigh structure 1 can disperse the force more evenly, reduce local stress concentration, and improve the overall mechanical properties. This structural design helps to improve the adaptability of the thigh structure 1 to different movement modes. For example, when the bipedal robot is walking, running or performing other complex movements, this design can ensure that the thigh structure 1 can maintain good stability when subjected to forces in different directions.

[0066] In one embodiment, see Figure 3 and Figure 4 , the included angle α between the extension direction of the first support rod 125 and the extension direction of the second support rod 126 is greater than 15 degrees and not greater than 75 degrees, that is, the included angle between the second support rod 126 and the width direction X of the thigh structure 1 is greater than 15 degrees and not greater than 75 degrees. The first support rod 125 and the second support rod 126 are not perpendicular, and the included angle between the extension directions of the two can be 20 degrees, 25 degrees, 30 degrees, 32 degrees, 35 degrees, 36 degrees, 40 degrees, 42 degrees, 45 degrees, 50 degrees, 55 degrees, 60 degrees, 65 degrees, 70 degrees, 75 degrees, but not limited thereto.

[0067] In this embodiment, when the angle between the second support rod 126 and the extension direction of the first support rod 125 is greater than 15 degrees and not greater than 75 degrees, the difference in the resistance of the second support rod 126 to lateral and longitudinal forces is not significant. It can jointly bear and disperse the forces acting on the thigh structural member 1 with the second skeleton 122 and the first support rod 125, and it is easier to achieve force balance, enhancing the impact resistance and rigidity of the thigh structural member 1.

[0068] In one embodiment, please refer to Figure 1 、 Figure 2 、 Figures 4 to 6 that the first support rod 125 and the second support rod 126 are arranged offset in the thickness direction Z of the thigh structural member 1. For example, with the rocker 22 as a reference, in the thickness direction Z of the thigh structural member 1, the first support rod 125 is located on one side of the rocker 22, while the second support rod 126 is approximately located on the other side of the rocker 22 or at a position approximately flush with the rocker 22. In a specific embodiment, the number of the first support rods 125 is multiple, and multiple first support rods 125 are all located on one side of the rocker 22 in the thickness direction Z of the thigh structural member 1. The number of the second support rods 126 is multiple, and multiple second support rods 126 are all located on the side of the first support rod 125 close to the rocker 22.

[0069] In this embodiment, the offset - arranged first support rod 125 and second support rod 126 can more effectively share and disperse the forces acting on the thigh structural member 1, thereby improving the strength of the overall structure. This configuration helps to resist bending, twisting, or other forces that may cause structural failure. Moreover, the offset - arranged first support rod 125 and second support rod 126 can cause the first cavity 124 and the second cavity 128 to be offset in the thickness direction Z of the thigh structural member 1. When technicians perform wire routing and assemble the rocker 22, they can do it from different sides of the thigh structural member 1, avoiding contact between the two and ensuring the stability of the circuit system and the transmission system.

[0070] In addition, from the perspective of the appearance design, the offset - arranged support rods can provide a more dynamic and attractive appearance for the thigh structural member 1. This design can enhance the overall visual effect of the robot.

[0071] In one embodiment, please refer to Figures 1 to 4 that the second support rod 126 includes a first sub - rod 1261 and a second sub - rod 1262. The first sub - rod 1261, the second sub - rod 1262, the second skeleton 122, and the third skeleton 123 approximately form a triangular support structure. One end of both the first sub - rod 1261 and the second sub - rod 1262 is connected to the first skeleton 121, and the other end is connected to the second skeleton 122. The extension directions of the first sub - rod 1261 and the second sub - rod 1262 are different.

[0072] In this embodiment, the triangular support structure formed by the first sub-rod 1261, the second sub-rod 1262, the second frame 122 and the third frame 123 has better rigidity and stability than other shapes, which helps to reduce the deformation probability of the thigh structure 1 during the movement of the robot, while optimizing the force transmission path and improving the force transmission efficiency. The introduction of this structure in the thigh structure 1 can significantly improve its overall stability, so that it can maintain the integrity of its shape and structure when subjected to forces in various directions. This triangular support structure enhances the load-bearing capacity of the thigh structure 1 by dispersing the force, reduces local stress concentration, and thus improves the durability and reliability of the structure. In addition, the triangular support structure provides a concise and powerful visual expression for the thigh structure 1, enhancing the overall aesthetics and modernity of the robot.

[0073] In one embodiment, see Figures 1 to 4 The first support rod 125, the second frame 122 and the first frame 121 generally form a rectangular support structure. There are multiple first support rods 125, and the multiple first support rods 125 are arranged between the second frame 122 and the first frame 121 at intervals.

[0074] In this embodiment, the rectangular support can not only play a good supporting effect and enhance the structural strength of the thigh structure 1, but also its simple design of straight lines and right angles provides an unobstructed field of vision for technicians, allowing them to intuitively observe the movement state and performance of the rocker 22. This structural design meets the dual requirements of improving the structural strength of the thigh structure 1 and ensuring maintenance efficiency.

[0075] In one embodiment, see Figure 1 , Figure 2 and Figure 7 An embodiment of the present application provides a thigh assembly structure of a bipedal robot, including a thigh joint 3, a calf joint 4, a calf transmission assembly 2, and a thigh structure 1 as in any of the above embodiments.

[0076] One side of the upper connecting end 11 of the thigh structure 1 can be connected to the output flange of the thigh joint 3, and the other side can be connected to the calf joint 4. The lower hinge end 13 of the thigh structure 1 can be hinged to the calf.

[0077] The calf transmission assembly 2 is used to connect the calf joint 4 and the calf. The calf transmission assembly 2 includes a rocker 22 . The rocker 22 is disposed in the first cavity 124 .

[0078] In one embodiment, the calf transmission assembly 2 further comprises a crank 21, the crank 21 is used to connect to the output flange of the calf joint 4, the first connection end of the rocker 22 is connected to the crank 21, and the second connection end of the rocker 22 is used to connect to the calf.Figure 2 ), the third cavity 127 communicates with the first cavity 124, and the crank 21 is disposed within the third cavity 127.

[0079] In one embodiment, the extending direction of the rocker 22 is substantially parallel to the extending direction of the second frame 122.

[0080] In one embodiment, please refer to Figure 9 , a humanoid robot is provided, including the thigh structural member 1 or the thigh assembly structure of the bipedal robot in any of the above embodiments.

[0081] In one embodiment, please refer to Figure 8 , a robot is provided, including the thigh structural member 1 or the thigh assembly structure of the bipedal robot in any of the above embodiments.

[0082] The above are only optional embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application shall be included within the protection scope of the present application. Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, replacements, and variations to the above embodiments within the scope of the present invention.

Claims

1. Thigh structural member of a bipedal robot, characterized in that, Comprising: An upper connection end, a support section, and a lower hinge end that are sequentially arranged and integrally formed: Wherein, the support section is configured with a first framework, a second framework, and a third framework that are substantially parallel to each other. The second framework is arranged between the first framework and the third framework, and the first framework, the second framework, and the third framework extend substantially along the length direction of the thigh structural member; Defining the cavity between the second framework and the first framework as a first cavity, and the first cavity is used to accommodate a rocker; Defining the cavity between the second framework and the third framework as a second cavity, and the second cavity is used for wire routing.

2. The thigh structural member of a bipedal robot according to claim 1, wherein A first support rod is provided between the first framework and the second framework, and a second support rod is provided between the second framework and the third framework. The extending directions of the first support rod and the second support rod are different.

3. The thigh structural member of a bipedal robot according to claim 2, wherein The first support rod extends substantially along the width direction of the thigh structural member, and the second support rod extends along an oblique direction between the length direction and the width direction of the thigh structural member.

4. The thigh structural member of a bipedal robot according to claim 2, wherein The included angle between the extending direction of the first support rod and the extending direction of the second support rod is greater than 15 degrees and not greater than 75 degrees.

5. The thigh structural member of a bipedal robot according to claim 2, wherein The first support rod and the second support rod are arranged offset in the thickness direction of the thigh structural member.

6. The thigh structural member of a bipedal robot according to claim 2, wherein The second support rod includes a first sub-rod and a second sub-rod, and the first sub-rod, the second sub-rod, the second framework, and the third framework substantially form a triangular support structure.

7. The thigh structural member of a bipedal robot according to claim 2, wherein The first support rod, the second framework, and the first framework substantially form a rectangular support structure.

8. The thigh structural member of a bipedal robot according to claim 2, wherein The number of the first support rods is multiple, and multiple first support rods are all located on one side of the rocker in the thickness direction of the thigh structural member; The number of the second support rods is multiple, and multiple second support rods are all located on the side of the first support rod close to the rocker.

9. Thigh assembly structure of a biped robot, characterized in that, Comprising A thigh joint, a calf joint, a calf transmission assembly, and the thigh structural member of a bipedal robot according to any one of claims 1 to 8; One side of the upper connection end of the thigh structural member is connected to the output flange of the thigh joint, and the other side is connected to the calf joint. The lower hinge end of the thigh structural member is used for hinging with the calf; The calf transmission assembly is used to connect the calf joint and the calf, and the calf transmission assembly includes a rocker, and the rocker is arranged in the first cavity.

10. The thigh assembly structure of a bipedal robot according to claim 9, wherein The calf transmission assembly further includes a crank, which is used to connect with the output flange of the calf joint. The first connection end of the rocker is connected to the crank, and the second connection end of the rocker is used to connect with the calf. The upper connection end of the thigh structural member is provided with a third cavity, which is communicated with the first cavity, and the crank is arranged in the third cavity.

11. The thigh assembly structure of the biped robot according to claim 9, wherein The extending direction of the rocker is substantially parallel to the extending direction of the second skeleton.

12. Humanoid robot, characterized in that, Comprising: The thigh structural member of the biped robot according to any one of claims 1-8; or The thigh assembly structure of the biped robot according to any one of claims 9-11.

13. A robot, characterized in that, Comprising: The thigh structural member of the biped robot according to any one of claims 1-8; or The thigh assembly structure of the biped robot according to any one of claims 9-11.

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