Leg structure and humanoid robot

Abstract

The utility model provides a leg structure and a humanoid robot, and relates to the technical field of robots. The leg structure comprises a foot assembly, a shank assembly and a pair of driving assemblies. The shank assembly and the foot assembly are hinged to form a rotation center. In the pair of driving assemblies, one driving assembly is arranged on the outer side of the shank assembly, and the other driving assembly is arranged on the inner side of the shank assembly; the driving assembly can stretch out and draw back in the extending direction of the driving assembly and is provided with a fixed end and a telescopic end, the fixed end is hinged to the shank assembly, the telescopic end is hinged to the foot assembly, and the hinged position of the telescopic end and the foot assembly and the rotating center are arranged at intervals in the length direction of the foot assembly. The telescopic action of the driving assembly can drive the foot assembly to rotate around the rotating center. According to the leg structure provided by the utility model, by improving the leg structure, the weight of the ankle joint can be reduced, the size of the ankle joint is reduced, and the bionic effect of the rotation action between the leg bone and the foot is better.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field especially relates to a leg structure and humanoid robot. BACKGROUND

[0002] The ankle joint of the leg structure of the humanoid robot is mostly driven by at least two driving motors to realize the control of multiple actions of the foot. This structure has two driving motors in series and stacking, and the overall structure of the ankle joint is heavy and redundant. In addition, this structure is quite different from the joint structure of the human body, and the action bionics effect is poor. SUMMARY

[0003] Therefore, the utility model discloses a leg structure and humanoid robot, which can reduce the weight of the ankle joint, reduce the volume of the ankle joint and make the rotating action between the leg bone and the foot better in bionics effect by improving the leg structure.

[0004] The utility model provides the following technical scheme:

[0005] In a first aspect, the embodiment of the application provides a leg structure, which comprises:

[0006] a foot assembly;

[0007] a calf assembly, which is hinged to the foot assembly and has a rotation center;

[0008] a pair of driving assemblies, wherein one of the driving assemblies is arranged on the outer side of the calf assembly, and the other driving assembly is arranged on the inner side of the calf assembly; the driving assembly can be extended and contracted along the extension direction of the driving assembly; the driving assembly has a fixed end and an extension end; the fixed end is hinged to the calf assembly, and the extension end is hinged to the foot assembly; along the length direction of the foot assembly, the hinged part of the extension end and the foot assembly is arranged apart from the rotation center; the extension and contraction action of the driving assembly can drive the foot assembly to rotate around the rotation center.

[0009] In some embodiments of the first aspect, the foot assembly comprises:

[0010] a foot body, which has opposite bottom and top parts;

[0011] an adapter assembly, which is connected to the top part of the foot body; the adapter assembly comprises a first adapter and a second adapter; along the length direction of the calf assembly, the first adapter and the second adapter are arranged apart from each other, and the first adapter is farther away from the front side of the foot assembly than the second adapter.

[0012] The first adapter and the telescopic end are hinged, and the second adapter and the lower leg assembly are hinged and form the rotation center.

[0013] In some embodiments of the first aspect, the first adapter comprises a first connecting shaft, a second connecting shaft, and a connecting portion, the first connecting shaft and the second connecting shaft are both rotationally connected with the connecting portion, the connecting portion is arranged at the top of the foot body, and the first connecting shaft and the second connecting shaft are arranged side by side and coaxially along the width direction of the foot assembly.

[0014] The first connecting shaft is hinged with the telescopic end of one of the drive assemblies, and the second connecting shaft is hinged with the telescopic end of the other drive assembly.

[0015] In some embodiments of the first aspect, the connecting portion has a mounting groove arranged therethrough, the first connecting shaft and the second connecting shaft each have a plug-in end and a connecting end, the plug-in end of the first connecting shaft is arranged through one end of the mounting groove, the plug-in end of the second connecting shaft is arranged through the other end of the mounting groove, and the first connecting shaft and the second connecting shaft are rotationally fitted with the mounting groove.

[0016] In some embodiments of the first aspect, the plug-in end of the first connecting shaft and the plug-in end of the second connecting shaft are arranged in connection with each other.

[0017] The groove wall of the mounting groove has a disassembly side opening, and the connection between the first connecting shaft and the second connecting shaft is located at the disassembly side opening.

[0018] In some embodiments of the first aspect, the first adapter further comprises a first rotation bearing and a second rotation bearing, and the first rotation bearing and the second rotation bearing are arranged in the mounting groove.

[0019] The plug-in end of the first connecting shaft is arranged through the inner ring of the first rotation bearing, the outer diameter of the connecting end of the first connecting shaft is greater than the outer diameter of the plug-in end, and the connecting end of the first connecting shaft and the end of the inner ring of the first rotation bearing that is close to each other abut against each other.

[0020] The plug-in end of the second connecting shaft is arranged through the inner ring of the second rotation bearing, the outer diameter of the connecting end of the second connecting shaft is greater than the outer diameter of the plug-in end, and the connecting end of the second connecting shaft and the end of the inner ring of the second rotation bearing that is close to each other abut against each other.

[0021] In some embodiments of the first aspect, an end of the insertion end of the first connecting shaft has an insertion slot, and an end of the insertion end of the second connecting shaft has an insertion body which is inserted into the insertion slot.

[0022] The first adapter further comprises a fastening part which is arranged through the first connecting shaft and the insertion body in the radial direction of the first connecting shaft and the second connecting shaft, so as to connect the first connecting shaft and the second connecting shaft.

[0023] In some embodiments of the first aspect, the fastening part is a fastening screw, a slot wall of the insertion slot of the first connecting shaft is arranged through a first through hole in the radial direction, the first through hole and the insertion slot are arranged in communication, the insertion body of the second connecting shaft is arranged through a threaded hole in the radial direction, the threaded hole and the insertion slot are arranged in communication, and a rod part of the fastening screw is arranged through the first through hole and is threadedly connected with a hole wall of the threaded hole.

[0024] In some embodiments of the first aspect, the fastening part is a fastening bolt, a slot wall of the insertion slot of the first connecting shaft is arranged through a first through hole in the radial direction, the first through hole and the insertion slot are arranged in communication, the insertion body of the second connecting shaft is arranged through a second through hole in the radial direction, and a rod part of the fastening bolt is arranged through the first through hole and the second through hole and is connected with a fastening nut.

[0025] In some embodiments of the first aspect, an end of the insertion end of the first connecting shaft has an insertion slot, and an end of the insertion end of the second connecting shaft has an insertion body which is inserted into the insertion slot.

[0026] In some embodiments of the first aspect, each of the driving assemblies comprises at least one of the following:

[0027] An electric push rod, an air cylinder and a hydraulic cylinder;

[0028] The lower leg assembly has an avoiding cavity which is used for accommodating the driving assembly.

[0029] In a second aspect, the application further provides a humanoid robot, which comprises the leg structure according to any one of the above embodiments.

[0030] Embodiments of the utility model have the following advantages:

[0031] The ball hinge between the lower leg assembly and the foot assembly forms a fixed rotation center. The rotation center allows the foot assembly to rotate in a complex manner in a three-dimensional space, simulating the movement of the human ankle joint. The fixed end of the driving assembly is connected to the lower leg assembly through the ball hinge, ensuring that the driving assembly can transmit force without changing its position. The driving assembly can perform a telescopic action through hydraulic, pneumatic or electric push rod, etc. The telescopic end is connected to the foot assembly through the ball hinge, and the hinge is located on the front side or rear side of the lower leg assembly. When the driving assembly performs a telescopic action, it will push or pull the foot assembly to rotate around the rotation center. The driving assembly is arranged on the outer side and inner side of the lower leg assembly, respectively, so that the two driving assemblies can apply force from different directions to ensure that the rotation of the foot assembly is more stable and natural. The hinge between the telescopic end and the foot assembly is located on the front side or rear side of the lower leg assembly, which can optimize the driving effect according to the specific application scenario.

[0032] Obviously, by reducing the number of driving motors and optimizing the structure layout, the weight of the ankle joint is significantly reduced, and the volume of the ankle joint is reduced. The ball hinge design makes the movement of the foot assembly closer to the multidirectional rotation of the human ankle joint, enhancing the naturalness and flexibility of the movement. The coordinated work of the pair of driving assemblies ensures that the movement between the degrees of freedom is more consistent, improving the walking stability and adaptability of the robot, and the driving assembly is arranged on the lower leg assembly to be arranged integrally with the lower leg assembly, which is beneficial to adjusting the gravity center of the leg structure and improving the stability of the robot walking.

[0033] Furthermore, the lower leg assembly is both ball-hinged with the foot assembly and connected to the foot assembly through the driving assembly. Obviously, the connection strength between the lower leg assembly and the foot assembly can be effectively improved, the load acting on the lower leg assembly can be shared, and the stability and load-bearing capacity of the leg structure can be improved.

[0034] The utility model also relates to a humanoid robot, since the leg structure has the above technical effect, the humanoid robot comprising the leg structure should have the same technical effect, which will not be repeated here.

[0035] In order to make the above-mentioned purposes, features and advantages of the utility model more obvious and easy to understand, the following preferred embodiments are described in detail below, and the accompanying drawings are described as follows. DRAWINGS

[0036] In order to more clearly illustrate the technical scheme of the embodiment of the utility model, the following will briefly introduce the drawings needed to be used in the embodiment, it should be understood that the following drawings only show some embodiments of the utility model, therefore should not be regarded as the limitation to the scope, for those skilled in the art, under the premise of not paying the creative labor, can also obtain other related drawings according to these drawings.

[0037] Figure 1 A structural schematic view of a leg structure from one perspective is shown in the embodiment of the utility model;

[0038] Figure 2 Another structural schematic view of a leg structure from another perspective is shown in the embodiment of the utility model;

[0039] Figure 3 Still another structural schematic view of a leg structure from still another perspective is shown in the embodiment of the utility model;

[0040] Figure 4 A structural schematic view of A-A section in Figure 3 is shown;

[0041] Figure 5 A structural schematic view of a foot assembly in a leg structure from one perspective is shown in the embodiment of the utility model;

[0042] Figure 6 An assembly schematic view of a connecting shaft in a leg structure is shown in the embodiment of the utility model;

[0043] Figure 7 An explosion structural schematic view of a connecting shaft in a leg structure is shown in the embodiment of the utility model.

[0044] Main element symbol explanation:

[0045] 100-calf assembly; 110-avoidance cavity; 200-driving assembly; 210-fixed end; 220-telescopic end; 300-foot assembly; 310-first adapter; 311-first connecting shaft; 3111-connecting end; 3112-plug-in end; 3113-plug-in slot; 3114-plug-in body; 3115-first through hole; 3116-second through hole; 312-connecting part; 3121-mounting slot; 3122-disassembly side opening; 313-second connecting shaft; 314-fastening part; 315-second rotary bearing; 316-first rotary bearing; 320-foot body; 330-base; 340-second adapter; 400-rotation center. DETAILED DESCRIPTION

[0046] The embodiments of the utility model are described in detail below, examples of the embodiments are shown in the drawings, wherein the same or similar reference signs represent the same or similar elements or elements with the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary, only for explaining the utility model, and cannot be understood as limiting the utility model.

[0047] It should be noted that when an element is said to be "fixed to" another element, it can be directly on the other element or there may be an intervening element. When an element is said to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. Conversely, when an element is said to be "directly on" another element, there is no intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0048] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0049] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0050] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the template description is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0051] In related technologies, with the advancement of science and technology, the research and application fields of robots are constantly expanding. Among them, the research and application of humanoid robots have received particular attention and have become one of the most active research hotspots in the field of robotics.

[0052] Most humanoid robots use at least two drive motors to control multiple movements of the feet. This structure, with two drive motors connected and stacked in series, makes the ankle joint appear bulky and redundant, differing greatly from the joint structure of the human body, resulting in poor biomimetic effects.

[0053] like Figure 1 , Figure 2 and Figure 3To solve the above technical problems, the embodiment of the present application provides a leg structure, which comprises a foot assembly 300, a lower leg assembly 100 and a pair of driving assemblies 200. The lower leg assembly 100 and the foot assembly 300 are hinged and formed with a rotation center 400. In the pair of driving assemblies 200, one driving assembly 200 is arranged on the outer side of the lower leg assembly 100, and the other driving assembly 200 is arranged on the inner side of the lower leg assembly 100. The driving assembly 200 can be extended and retracted along the extension direction of the driving assembly 200. The driving assembly 200 has a fixed end 210 and a retractable end 220. The fixed end 210 is hingedly connected to the lower leg assembly 100, and the retractable end 220 is hingedly connected to the foot assembly 300. Along the length direction of the foot assembly 300, the hinged position of the retractable end 220 and the foot assembly 300 is arranged separately from the rotation center 400. The extension and retraction action of the driving assembly 200 can drive the foot assembly 300 to rotate around the rotation center 400.

[0054] In these embodiments, the present application aims to reduce the weight and volume of the ankle joint and improve the bionic effect of the rotation action between the leg bone and the foot. The following is a description of the specific components of the leg structure:

[0055] The foot assembly 300 is used for supporting and moving, directly contacting the ground, and ensuring the stability and flexibility of the robot on different terrains. Correspondingly, the foot assembly 300 has a sole side and a instep side. The sole side corresponds to the bottom of the foot assembly 300 hereinafter, and the instep side corresponds to the top of the foot assembly 300 hereinafter.

[0056] The lower leg assembly 100 is connected to the foot assembly 300 through a hinged connection, forming a rotation center 400.

[0057] For example, the lower leg assembly 100 has a lower leg ankle joint end, and the foot assembly 300 has a foot ankle joint end. The lower leg ankle joint end is connected to the foot ankle joint end through a cross hinge. The two rotation axes of the cross hinge are parallel to the length direction and the width direction of the foot assembly 300. The lower leg ankle joint end can realize rotation in two degrees of freedom directions relative to the foot ankle joint end through the cross hinge. Of course, in other embodiments, the lower leg ankle joint end is hingedly connected to the foot ankle joint end through a spherical hinge, etc. This spherical hinge design allows the foot assembly 300 to rotate around the rotation center 400 (similar to the center of a sphere) in multiple directions, which is closer to the movement mode of human joints.

[0058] One of the pair of drive assemblies 200 is arranged on the lateral side of the lower leg assembly 100, and the other is arranged on the medial side of the lower leg assembly 100. Each drive assembly 200 has a fixed end 210 and a telescopic end 220, and can perform a telescopic action. The fixed end 210 is ball-jointed with the lower leg assembly 100, and the telescopic end 220 is ball-jointed with the foot assembly 300. The joint between the telescopic end 220 of the pair of drive assemblies 200 and the foot assembly 300 is located on the front side or the rear side of the lower leg assembly 100, ensuring that the telescopic action of the telescopic end 220 can effectively drive the foot assembly 300 to rotate around the rotation center 400.

[0059] Through the ball-joint design, the pair of drive assemblies 200 are arranged on the lateral side and the medial side respectively, and the joint between the telescopic end 220 of the pair of drive assemblies 200 and the foot assembly 300 is arranged in the width direction of the foot assembly 300, i.e. the joint between the telescopic end 220 of one drive assembly 200 and the foot assembly 300 is located on the medial side of the lower leg assembly 100, and the joint between the telescopic end 220 of the other drive assembly 200 and the foot assembly 300 is located on the lateral side of the lower leg assembly 100. Through the telescopic action of the pair of drive assemblies 200, the rotation angle and direction of the foot assembly 300 can be accurately controlled, achieving a more natural and flexible gait. The foot assembly 300 can rotate around the rotation center 400 in multiple directions, simulating the movement characteristics of the human ankle joint, such as dorsiflexion, plantar flexion, inversion, and eversion.

[0060] Compared with the traditional design, this scheme reduces the number of drive motors, simplifies the mechanical structure, reduces the overall weight and volume, and improves energy efficiency and movement coordination. In other words, the ball-joint between the lower leg assembly 100 and the foot assembly 300 forms a fixed rotation center 400. This rotation center 400 allows the foot assembly 300 to perform complex rotations in three-dimensional space, simulating the movement of the human ankle joint. The fixed end 210 of the drive assembly 200 is ball-jointed with the lower leg assembly 100, ensuring that the drive assembly 200 can transmit force without changing its own position. The drive assembly 200 can perform a telescopic action, which can be achieved by hydraulic, pneumatic, or electric push rods. The telescopic end 220 is ball-jointed with the foot assembly 300, and the joint is located on the front side or the rear side of the lower leg assembly 100. When the drive assembly 200 performs a telescopic action, it will push or pull the foot assembly 300, causing it to rotate around the rotation center 400.

[0061] It is foreseeable that the driving assemblies 200 are respectively arranged on the outer side and the inner side of the lower leg assembly 100, so that the two driving assemblies 200 can cooperate to apply force from different directions, ensuring that the rotation of the foot assembly 300 is more stable and natural. The articulation between the telescopic end 220 and the foot assembly 300 is located on the front side or the rear side of the lower leg assembly 100, and the driving effect can be optimized according to the specific application scenario. For example, in the present embodiment, the articulation between the telescopic end 220 and the foot assembly 300 is located on the rear side of the lower leg assembly 100.

[0062] Of course, in order to improve the carrying capacity and flexibility of the leg structure, a pair of driving assemblies 200 is arranged on the inner side and the outer side of the lower leg assembly 100 respectively, and the telescopic ends 220 of the driving assemblies 200 on the same side are respectively ball-hinged to the front side of the foot assembly 300 and the rear side of the foot assembly 300.

[0063] Obviously, by reducing the number of driving motors and optimizing the structural layout, the weight and volume of the ankle joint are significantly reduced. The ball-hinged design makes the movement of the foot assembly 300 closer to the multidirectional rotation of the human ankle joint, enhancing the naturalness and flexibility of the movement. The coordinated work of the pair of driving assemblies 200 ensures that the movement between the various degrees of freedom is more consistent, improving the walking stability and adaptability of the robot, and the driving assemblies 200 are arranged on the lower leg assembly 100 to be integrated with the lower leg assembly 100, which is beneficial to adjusting the center of gravity of the leg structure and improving the stability of the robot walking.

[0064] Furthermore, the lower leg assembly 100 is both ball-hinged to the foot assembly 300 and connected to the foot assembly 300 through the driving assemblies 200, which obviously can effectively improve the connection strength between the lower leg assembly 100 and the foot assembly 300, can share the load acting on the lower leg assembly 100, and can improve the stability and carrying capacity of the leg structure.

[0065] It should be noted that when performing tasks in a complex environment, a more biomimetic ankle joint can help the robot maintain balance, improve work efficiency and safety.

[0066] As shown in FIGS. Figure 2 and Figure 5 In some embodiments, the foot assembly 300 includes a foot body 320 and an adapter assembly, the foot body 320 has opposite bottom and top; the adapter assembly is connected to the top of the foot body 320, the adapter assembly includes a first adapter 310 and a second adapter 340, the first adapter 310 and the second adapter 340 are arranged opposite and spaced apart along the length direction of the foot assembly 300, and the first adapter 310 is farther away from the front side of the foot assembly 300 than the second adapter 340; the first adapter 310 is ball-hinged to the telescopic end 220, and the second adapter 340 is ball-hinged to the lower leg assembly 100 and forms a rotation center 400.

[0067] In these embodiments, the present application makes detailed improvements to the foot assembly 300. Specifically, the foot assembly 300 includes the following parts:

[0068] The foot body 320 is used for support and movement, directly contacting the ground, ensuring the stability and flexibility of the robot on different terrains. The foot body 320 has opposite bottom and top parts, where the bottom part is the part directly contacting the ground, and the top part is used to connect other components, such as the adapter assembly.

[0069] The adapter assembly, as a key component connecting the foot body 320 and the drive assembly 200 and the lower leg assembly 100, ensures the flexible rotation and force transmission between the parts. The adapter assembly is connected to the top of the foot body 320 in a detachable manner, facilitating installation, maintenance and replacement. Relative to the second adapter 340, the first adapter 310 is farther away from the front side of the foot assembly 300, so that the spherical hinge points of the telescopic end 220 can be better distributed in space, improving the flexibility of the action. In contrast to the first adapter 310, the second adapter 340 is closer to the foot assembly 300 and is spherical hinged with the lower leg assembly 100. The first adapter 310 is spherical hinged with the telescopic end 220 of the drive assembly 200, allowing the telescopic end 220 to freely rotate in multiple directions, thereby precisely controlling the movement of the foot body 320. The second adapter 340 is spherical hinged with the lower leg assembly 100, ensuring that the entire foot assembly 300 can rotate around the rotation center 400 in multiple directions, simulating the action of the human ankle joint.

[0070] The adapter assembly reduces mechanical complexity, simplifies the overall structure, reduces weight and volume, improves energy efficiency and motion coordination, and the adapter assembly is split type, easy to replace after damage, without the need for overall replacement, reducing costs.

[0071] By way of example, the second adapter 340 is provided as a cross hinge, and the hinge between the lower leg assembly 100 and the foot body 320 is realized through the cross hinge. Of course, in other embodiments, the second adapter 340 can also be provided as a ball head and the like.

[0072] As Figure 1 , Figure 3 , Figure 4 and Figure 5As shown, in some embodiments, the first adapter 310 includes a first connecting shaft 311, a second connecting shaft 313, and a connecting portion 312. The first connecting shaft 311 and the second connecting shaft 313 are both rotationally connected with the connecting portion 312. The connecting portion 312 is arranged at the top of the foot body 320. Along the width direction of the foot assembly 300, the first connecting shaft 311 and the second connecting shaft 313 are arranged side by side and coaxially. The first connecting shaft 311 is ball-jointed with the telescopic end 220 of one driving assembly 200, and the second connecting shaft 313 is ball-jointed with the telescopic end 220 of another driving assembly 200.

[0073] In these embodiments, in order to further optimize the connection between the foot assembly 300 and the driving assembly 200, the first adapter 310 is improved in the embodiments of the present application. Specifically, the first adapter 310 includes the following parts:

[0074] The connecting portion 312 serves as the basic structure of the first adapter 310, providing a stable platform for mounting and fixing other components. In the present embodiment, the connecting portion 312 has sufficient strength and rigidity to withstand the torque and load from the driving assembly 200 and the foot body 320. The connecting portion 312 is provided with necessary mounting grooves 3121 and other interfaces to facilitate connection with other components (such as the foot body 320, the first connecting shaft 311, the second connecting shaft 313, etc.).

[0075] The first connecting shaft 311 and the second connecting shaft 313 serve as key components for connecting the driving assembly 200 and the foot body 320, ensuring flexible rotation and force transmission between the parts. In the present embodiment, the first connecting shaft 311 is located on the inner side of the calf assembly 100, and the second connecting shaft 313 is located on the outer side of the calf assembly 100. Of course, in other embodiments, the first connecting shaft 311 can be located on the outer side of the calf assembly 100, and the second connecting shaft 313 can be located on the inner side of the calf assembly 100. Optionally, the first connecting shaft 311 and the second connecting shaft 313 are connected with the connecting portion 312 in a detachable manner, facilitating installation, maintenance, and replacement. When necessary, the first connecting shaft 311 and the second connecting shaft 313 can be quickly detached and reinstalled, improving the flexibility and maintainability of the system. The first connecting shaft 311 and the second connecting shaft 313 are arranged oppositely and coaxially, with their axial directions parallel to the width direction of the foot assembly 300. The coaxial arrangement of the first connecting shaft 311 and the second connecting shaft 313, i.e., the first connecting shaft 311 and the second connecting shaft 313 share the same axis, not only simplifies the mechanical structure but also ensures that the movement of the driving assembly 200 is more coordinated and consistent.

[0076] The first connecting shaft 311 and the second connecting shaft 313 are responsible for connecting the telescopic end 220 of a driving assembly 200 respectively. The first connecting shaft 311 and the second connecting shaft 313 are connected with the telescopic end 220 of the corresponding driving assembly 200 through a spherical hinge, allowing the telescopic end 220 to rotate freely in multiple directions, thereby accurately controlling the movement of the foot body 320.

[0077] In order to ensure that the first connecting shaft 311 and the second connecting shaft 313 can be accurately connected with the telescopic end 220 of the corresponding driving assembly 200 through a spherical hinge, the installation groove 3121 on the connecting part 312 needs to be accurately designed and processed in terms of position and size to ensure the stability after assembly. In order to ensure that the connection between the first connecting shaft 311 and the second connecting shaft 313 and the telescopic end 220 of the corresponding driving assembly 200 is both flexible and reliable, a high-precision spherical hinge design is used. This design allows the first connecting shaft 311 and the second connecting shaft 313 to rotate freely in multiple directions while maintaining high load capacity and wear resistance.

[0078] Exemplarily, the first connecting shaft 311 and the second connecting shaft 313 can be connected with the connecting part 312 through bearings, bushings, or other forms of rotating mechanisms, ensuring that the first connecting shaft 311 and the second connecting shaft 313 can rotate freely around their own axes within a certain range.

[0079] Exemplarily, the first connecting shaft 311 is connected with the corresponding telescopic end 220 through a first bearing, realizing the spherical hinge connection between the first connecting shaft 311 and the corresponding telescopic end 220. Similarly, the second connecting shaft 313 is connected with the corresponding telescopic end 220 through a second bearing, realizing the spherical hinge connection between the second connecting shaft 313 and the corresponding telescopic end 220. The first bearing and the second bearing can both be fisheye bearings.

[0080] As shown in FIG. 1, the first connecting shaft 311 and the second connecting shaft 313 are connected with the connecting part 312 through bearings, bushings, or other forms of rotating mechanisms, ensuring that the first connecting shaft 311 and the second connecting shaft 313 can rotate freely around their own axes within a certain range. Figure 5 As shown in FIG. 1, in some embodiments, the connecting part 312 is arranged on the base 330, and the second adapter 340 is arranged on the base 330. The base 330 and the foot body 320 are detachably connected, so that when the first adapter 310 and / or the second adapter 340 are damaged, the foot body 320 does not need to be replaced, saving costs.

[0081] Exemplarily, the top of the base 330 and the foot body 320 are connected by bolts or screws. Of course, in other embodiments, the base 330 and the foot body 320 can also be connected in a buckling, clamping, or other manner.

[0082] Exemplarily, the base 330 should be arranged to face the contact between the foot body 320, increasing the contact area between the two and improving stability.

[0083] As shown in FIG. 1, the first connecting shaft 311 and the second connecting shaft 313 are connected with the connecting part 312 through bearings, bushings, or other forms of rotating mechanisms, ensuring that the first connecting shaft 311 and the second connecting shaft 313 can rotate freely around their own axes within a certain range. Figure 5As shown, in some embodiments, the connecting portion 312, the second adapter 340 and the base 330 are integrally arranged.

[0084] As shown, in some embodiments, the connecting portion 312 has a mounting slot 3121 arranged therethrough, the first connecting shaft 311 and the second connecting shaft 313 each have a plug-in end 3112 and a connecting end 3111, the plug-in end 3112 of the first connecting shaft 311 is arranged through one end of the mounting slot 3121, the plug-in end 3112 of the second connecting shaft 313 is arranged through the other end of the mounting slot 3121, and the first connecting shaft 311 and the second connecting shaft 313 are each rotationally fitted with the mounting slot 3121. Figure 3 Figure 4 As shown, in some embodiments, the connecting portion 312 has a mounting slot 3121 arranged therethrough, the first connecting shaft 311 and the second connecting shaft 313 each have a plug-in end 3112 and a connecting end 3111, the plug-in end 3112 of the first connecting shaft 311 is arranged through one end of the mounting slot 3121, the plug-in end 3112 of the second connecting shaft 313 is arranged through the other end of the mounting slot 3121, and the first connecting shaft 311 and the second connecting shaft 313 are each rotationally fitted with the mounting slot 3121.

[0085] In these embodiments, in order to further optimize the first adapter 310, the present application improves the connection mode between the connecting portion 312 and the first connecting shaft 311 and the second connecting shaft 313. Specifically, the connecting portion 312 is provided with a mounting slot 3121 arranged therethrough, which penetrates the connecting portion 312 in the width direction of the foot component 300, and is used to accommodate the plug-in end 3112 of the first connecting shaft 311 and the second connecting shaft 313. The size and shape of the mounting slot 3121 need to be processed with high precision to ensure that the first connecting shaft 311 and the second connecting shaft 313 can be accurately inserted and kept in good rotational fit.

[0086] The first connecting shaft 311 and the second connecting shaft 313 are key components for connecting the driving assembly 200 and the foot body 320, and ensure flexible rotation and force transmission between the parts. The first connecting shaft 311 and the second connecting shaft 313 are each divided into two opposite parts, namely the plug-in end 3112 and the connecting end 3111. The plug-in end 3112 is used to be inserted into the mounting slot 3121 of the connecting portion 312, while the connecting end 3111 is used to be hinged with the telescopic end 220 of the driving assembly 200.

[0087] The plug-in end 3112 of the first connecting shaft 311 is inserted from one end of the mounting slot 3121, and the plug-in end 3112 of the second connecting shaft 313 is inserted from the other end of the mounting slot 3121, so that the first connecting shaft 311 and the second connecting shaft 313 can rotate relatively on the same axis while maintaining stable connection. The first connecting shaft 311 and the second connecting shaft 313 are each rotationally fitted with the mounting slot 3121, allowing the first connecting shaft 311 and the second connecting shaft 313 to rotate freely around their own axes. Such rotational fit can be achieved through bearings, bushings or other forms of rotational mechanisms, ensuring smooth and gapless rotation.

[0088] ​The plug-in end 3112 is designed to be in the shape of a cylinder or with a guide slope to reduce friction when being inserted into the installation slot 3121. After the first connecting shaft 311 and the second connecting shaft 313 are inserted, they can be secured from accidental sliding out by means of screws, bolts, clamping springs or other fixing methods, while maintaining sufficient rotational freedom. The first connecting shaft 311 and the second connecting shaft 313 are in rotational cooperation with the installation slot 3121 through bearings, bushings or other forms of rotational mechanisms to ensure smooth rotation without play. The coaxial arrangement reduces the need for additional mechanical components, simplifies the overall structure and reduces the failure rate.

[0089] As shown in Figure 4 , Figure 6 and Figure 7 , in some embodiments, the plug-in end 3112 of the first connecting shaft 311 and the plug-in end 3112 of the second connecting shaft 313 are arranged in connection with each other; the slot wall of the installation slot 3121 has a disassembly side opening 3122, and the connection between the first connecting shaft 311 and the second connecting shaft 313 is located at the disassembly side opening 3122.

[0090] In these embodiments, by connecting the plug-in end 3112 of the first connecting shaft 311 and the plug-in end 3112 of the second connecting shaft 313 to each other, a whole structure is formed to ensure that torque can be transmitted between the first connecting shaft 311 and the second connecting shaft 313, and the driving force of the driving assembly 200 can be avoided to act on the connection between the first connecting shaft 311 and the second connecting shaft 313 and the connecting part 312, respectively.

[0091] Furthermore, by providing the disassembly side opening 3122 through the slot wall of the installation slot 3121, the connection between the first connecting shaft 311 and the second connecting shaft 313 can be exposed to the disassembly side opening 3122, thereby facilitating disassembly.

[0092] For example, the first connecting shaft 311 and the second connecting shaft 313 are axially tensioned and fixed by the fastening part 314, such as a bolt or a screw. That is, the axis of the bolt or screw, the axis of the first connecting shaft 311 and the axis of the second connecting shaft 313 are parallel, and the fastening part 314 is used to tension and lock the first connecting shaft 311 and the second connecting shaft 313.

[0093] As shown in Figure 4 , Figure 6 and Figure 7As shown, in some embodiments, the first adapter 310 further comprises a first rotary bearing 316 and a second rotary bearing 315, both of which are arranged in the mounting groove 3121; the insertion end 3112 of the first connecting shaft 311 passes through the inner ring of the first rotary bearing 316, the outer diameter of the connection end 3111 of the first connecting shaft 311 is larger than that of the insertion end 3112, and the connection end 3111 of the first connecting shaft 311 and the end of the inner ring of the first rotary bearing 316 that is close to each other abut each other.

[0094] The insertion end 3112 of the second connecting shaft 313 passes through the inner ring of the second rotary bearing 315, the outer diameter of the connection end 3111 of the second connecting shaft 313 is larger than that of the insertion end 3112, and the connection end 3111 of the second connecting shaft 313 and the end of the inner ring of the second rotary bearing 315 that is close to each other abut each other.

[0095] In these embodiments, in order to further optimize the first adapter 310 and enhance the stability and rotation performance of the system, the cooperation between the mounting groove 3121 and the first connecting shaft 311 and the second connecting shaft 313 is improved. By arranging the first rotary bearing 316 and the second rotary bearing 315 at both ends of the mounting groove 3121, a low-friction and high-precision rotary platform is provided, ensuring that the first connecting shaft 311 and the second connecting shaft 313 can smoothly rotate around their own axes.

[0096] For example, the insertion end 3112 of the first connecting shaft 311 is designed to have a smaller diameter so as to smoothly pass through the inner ring of the first rotary bearing 316 and freely rotate with the inner ring. The connection end 3111 of the first connecting shaft 311 is designed to have a larger diameter, forming a stepped structure. After the insertion end 3112 passes into the inner ring of the first rotary bearing 316, the larger diameter portion of the connection end 3111 abuts against the end face of the inner ring of the first rotary bearing 316, serving as a limiting function to prevent the first connecting shaft 311 from sliding out of the first rotary bearing 316.

[0097] For example, the insertion end 3112 of the second connecting shaft 313 is designed to have a smaller diameter so as to smoothly pass through the inner ring of the second rotary bearing 315 and freely rotate with the inner ring. The connection end 3111 of the second connecting shaft 313 is designed to have a larger diameter, forming a stepped structure. After the insertion end 3112 passes into the inner ring of the second rotary bearing 315, the larger diameter portion of the connection end 3111 abuts against the end face of the inner ring of the second rotary bearing 315, serving as a limiting function to prevent the second connecting shaft 313 from sliding out of the second rotary bearing 315.

[0098] Exemplarily, the first rotary bearing 316 and the second rotary bearing 315 can be selected as different types of rotary bearings, such as deep groove ball bearings, angular contact ball bearings, etc., according to application scenarios and load requirements, to meet different rotary requirements.

[0099] As shown in the figures, in some embodiments, the end of the insertion end 3112 of the first connecting shaft 311 has an insertion slot 3113, and the end of the insertion end 3112 of the second connecting shaft 313 has an insertion body 3114 which is inserted into the insertion slot 3113. Figure 7

[0100] The first adapter 310 further comprises a fastening part 314 which is arranged along the radial direction of the first connecting shaft 311 and the second connecting shaft 313, and passes through the insertion end 3112 of the first connecting shaft 311 and the insertion body 3114, so as to connect the first connecting shaft 311 and the second connecting shaft 313; that is, the axis of the fastening part 314 is perpendicular to the axes of the first connecting shaft 311 and the second connecting shaft 313.

[0101] In these embodiments, the insertion and cooperation of the insertion slot 3113 and the insertion body 3114 can enhance the connection strength between the first connecting shaft 311 and the second connecting shaft 313, and effectively reduce the situation that the fastening part 314 is easily broken when connecting the first connecting shaft 311 and the second connecting shaft 313 in the axial direction.

[0102] In addition, the first connecting shaft 311 and the second connecting shaft 313 are fixed by being pulled in the radial direction by the fastening part 314, such as a bolt or a screw. That is, the fastening part 314 passes through the insertion end 3112 of the first connecting shaft 311 and the second connecting shaft 313.

[0103] By using the fastening part 314 to lock the first connecting shaft 311 and the second connecting shaft 313 in the radial direction, the force transmitted by the two driving assemblies 200 to the fastening part 314 is a shear force, so the fastening part 314 will not be broken due to the transverse tension or pressure, and the fastening part 314 has a longer service life.

[0104] ​In some embodiments, when the distance between the two driving assemblies 200 is required to be relatively constant, the distance between the connection of the first connecting shaft 311 and the second connecting shaft 313 and the first bearing is increased as much as possible, that is, the force arm of the first connecting shaft 311 when it is stressed is increased as much as possible; the distance between the connection of the first connecting shaft 311 and the second connecting shaft 313 and the second bearing is increased as much as possible, that is, the force arm of the second connecting shaft 313 when it is stressed is increased as much as possible; so that the connection position between the first connecting shaft 311 and the second connecting shaft 313 bears less force in the radial direction. Moreover, the fastening part 314 radially locks the first connecting shaft 311 and the second connecting shaft 313, and the axis of the fastening part 314 is perpendicular to the axes of the first connecting shaft 311 and the second connecting shaft 313, the distance from the axis of the fastening part 314 to the connecting end 3111 of the first connecting shaft 311 and the connecting end 3111 of the second connecting shaft 313 is equal, that is, the distance from the axis of the fastening part 314 to the first bearing and the second bearing is equal. The two sides of the fastening part 314 are in force balance. At the same time, the distance from the connection of the first connecting shaft 311 and the second connecting shaft 313 to the two bearings is far, and the radial force on the connection of the first connecting shaft 311 and the second connecting shaft 313 is small, which can further prolong the service life of the fastening part 314.

[0105] In some embodiments, the fastening part 314 is a fastening screw, the slot wall of the insertion slot 3113 of the insertion end 3112 of the first connecting shaft 311 is provided with a first through hole 3115 which is radially through, the first through hole and the insertion slot are in communication, the insertion body 3114 of the second connecting shaft 313 is provided with a threaded hole which is radially through, and the rod part of the fastening screw is inserted into the first through hole 3115 and is threadedly connected with the hole wall of the threaded hole.

[0106] In these embodiments, by providing the first through hole 3115 which is radially through on the insertion end 3112 of the first connecting shaft 311 and the threaded hole which is radially through on the insertion end 3112 of the second connecting shaft 313, the rod part of the fastening screw is inserted into the first through hole 3115 and is threadedly connected with the hole wall of the threaded hole. The first through hole 3115 is located on the insertion end 3112 of the first connecting shaft 311 and is radially through, allowing the rod part of the fastening screw to pass through. The threaded hole is located on the insertion end 3112 of the second connecting shaft 313 and is also radially through, ensuring that the fastening screw can be smoothly screwed in and threadedly connected with the hole wall. The rod part of the fastening screw passes through the first through hole 3115 and is threadedly connected with the hole wall of the threaded hole, providing a fastening force.

[0107] Obviously, the first connecting shaft 311 and the second connecting shaft 313 are preliminarily positioned by the insertion slot 3113, ensuring that they are aligned. The fastening screw further strengthens the connection by the cooperation of the first through hole 3115 and the threaded hole, ensuring the stable connection between the two connecting shafts. When disassembly is required, the two connecting shafts can be easily separated by loosening the fastening screw, facilitating maintenance and adjustment.

[0108] As Figure 6 and Figure 7 shown, in some embodiments, the fastening part 314 is a fastening bolt, the insertion slot 3113 of the insertion end 3112 of the first connecting shaft 311 is provided with a first through hole 3115 radially through the slot wall, the first through hole 3115 and the insertion slot 3113 are in communication, the insertion end 3112 of the second connecting shaft 313 is provided with a second through hole 3116 radially through, the rod of the fastening bolt is threaded through the first through hole 3115 and the second through hole 3116 and connected with a fastening nut.

[0109] In these embodiments, the fastening part 314 is a fastening bolt, the insertion end 3112 of the first connecting shaft 311 is provided with a first through hole 3115 radially through, the insertion end 3112 of the second connecting shaft 313 is provided with a second through hole 3116 radially through, and the first through hole 3115 is in communication with the insertion slot 3113. The rod of the fastening bolt is threaded through the first through hole 3115 and the second through hole 3116 and fixed by a fastening nut.

[0110] Wherein, the first through hole 3115 is located at the insertion end 3112 of the first connecting shaft 311 and is radially through, and is in communication with the insertion slot 3113, allowing the rod of the fastening bolt to pass through. The second through hole 3116 is located at the insertion end 3112 of the second connecting shaft 313 and is also radially through, ensuring that the fastening bolt can pass through smoothly and cooperate with the fastening nut. The rod of the fastening bolt passes through the first through hole 3115 and the second through hole 3116 in turn. The fastening nut is installed at the end of the fastening bolt, and the stable connection between the two connecting shafts is achieved by tightening the nut.

[0111] The first connecting shaft 311 and the second connecting shaft 313 are preliminarily positioned by the insertion slot 3113, ensuring that the two are aligned. The fastening bolt further strengthens the connection by cooperating with the first through hole 3115 and the second through hole 3116, ensuring the stable connection between the two connecting shafts. The fastening nut provides additional fastening force to prevent the bolt from loosening or falling off.

[0112] Obviously, the fastening bolt and the nut provide additional fastening force, enhancing the stability of the connection and preventing loosening or falling off. When disassembly is required, the two connecting shafts can be easily separated by loosening the fastening nut, facilitating maintenance and adjustment.

[0113] As Figure 7 shown, in some embodiments, the end of the insertion end 3112 of the first connecting shaft 311 has an insertion slot 3113, the end of the insertion end 3112 of the second connecting shaft 313 has an insertion body 3114, and the insertion body 3114 is fixedly threaded into the insertion slot 3113; wherein, the insertion body 3114 and the insertion slot 3113 are key matched.

[0114] In these embodiments, the synchronization and stability of the first connecting shaft 311 and the second connecting shaft 313 are ensured by introducing a key matching design between the first connecting shaft 311 and the second connecting shaft 313. The key matching design is adopted between the plug-in body 3114 and the plug-in slot 3113, i.e., corresponding keyways and keys are provided on the plug-in body 3114 and the plug-in slot 3113, to ensure accurate relative positioning and rotation transmission after insertion.

[0115] For example, the design of the keyway and the key can be in the form of a flat key, a semicircular key, a spline, etc., and the appropriate type is selected according to the specific application scenario. For example, a flat key is suitable for transmitting a larger torque, while a spline is suitable for occasions requiring high-precision positioning and frequent sliding. The size of the key and the keyway needs to be processed with high precision to ensure tight fit and gapless rotation after assembly. Of course, in the present embodiment, the protrusion on the side of the plug-in body 3114 forms the key, and the recess on the inner wall of the plug-in slot 3113 forms the keyway.

[0116] As shown in Figure 1 In some embodiments, each drive assembly 200 includes at least one of the following: an electric push rod, an air cylinder, a hydraulic cylinder; and the lower leg assembly 100 has an avoidance cavity 110 for accommodating the drive assembly 200.

[0117] In these embodiments, each driving mode has its unique advantages and application scenarios, and the specific selection depends on the design requirements and application scenarios of the robot. Among them, the electric push rod: through the motor-driven screw or gear mechanism, the electric energy is converted into mechanical energy to realize the extension and retraction action. The electric push rod can realize high-precision position control through the feedback device such as encoder, and is suitable for application scenarios requiring fine adjustment. The response speed of the electric push rod is fast, which can quickly execute instructions and improve the dynamic performance of the system. The electric push rod has compact structure and is easy to integrate with the control system, which is suitable for small or portable robots. Compared with air pressure and hydraulic systems, the energy conversion efficiency of the electric push rod is higher, which reduces energy waste.

[0118] Air cylinder: driven by compressed air to drive the piston to realize extension and retraction. The cost of the air cylinder is relatively low, which is suitable for mass production and low-cost applications. The air cylinder is usually light, which helps to reduce the overall weight and improve the mobility of the robot. The air pressure system runs with less noise, which is suitable for noise-sensitive environments. The air pressure system has simple structure and is easy to maintain, which is suitable for long-term use.

[0119] Hydraulic cylinder: Driven by hydraulic oil, the piston realizes the extension and retraction action. Hydraulic cylinder can provide larger thrust, suitable for applications that need to carry heavy objects or deal with complex terrain. Hydraulic system has good stability and impact resistance, can work reliably in harsh environments. Hydraulic system can realize fine flow control through proportional valve and other elements, to ensure the smoothness and accuracy of the action. Hydraulic system can adjust the output torque and speed in a large range, to adapt to different task requirements.

[0120] Of course, in other embodiments, the drive assembly 200 can also be provided as an electromagnetic drive, a rack and pinion drive mechanism, etc., which is not specifically limited here.

[0121] In addition, the avoidance cavity 110 is arranged along the extension direction of the calf assembly 100, so that the drive assembly 200 is at least partially located in the avoidance cavity 110, so as to reduce the size of the leg structure, and the calf assembly 100 and the drive assembly 200 form an integral whole, which is beneficial to adjusting the center of gravity and improving the stability of the leg structure.

[0122] In some embodiments, the application also provides a humanoid robot, which includes the leg structure according to any one of the above embodiments.

[0123] Obviously, the application is not limited to a single leg structure, but also proposes a brand new integrated solution, namely a humanoid robot. This humanoid robot integrates the leg structure technology described in the above various embodiments, aiming to provide users with more intelligent, flexible and efficient automation solutions. One of the design goals of the humanoid robot is to imitate the body structure and movement ability of humans, in order to realize more natural human-computer interaction and a wide range of application scenarios. The leg structure, as an important part of the humanoid robot, undertakes the key responsibility of performing various tasks, such as grasping objects, performing fine operations, etc.

[0124] In all examples shown and described herein, any specific values should be interpreted as merely exemplary and not as a limitation, and thus, other examples of the example embodiments can have different values.

[0125] It should be noted that similar reference numbers and letters represent similar items in the following drawings, and thus, once an item is defined in one drawing, it need not be further defined and explained in subsequent drawings.

[0126] The above-described embodiments only express several implementation manners of the present application, and the description is more specific and detailed, but it should not be understood as a limitation on the scope of the present application. It should be noted that for ordinary skilled persons in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are all within the protection scope of the present application.

Claims

1. A leg structure, characterized in that, The leg structure includes: Foot components; The lower leg assembly and the foot assembly are hinged together and form a rotation center; A pair of drive components, wherein one drive component is disposed on the outer side of the lower leg component and the other drive component is disposed on the inner side of the lower leg component; the drive components are telescopic along the extension direction of the drive components, the drive components have a fixed end and a telescopic end, the fixed end is hinged to the lower leg component, the telescopic end is hinged to the foot component, and along the length direction of the foot component, the hinge point of the telescopic end and the foot component is spaced apart from the rotation center, and the telescopic movement of the drive components can drive the foot component to rotate around the rotation center.

2. The leg structure according to claim 1, characterized in that, The foot assembly includes: A foot body having a bottom and a top; A connecting assembly is connected to the top of the foot body. The connecting assembly includes a first connecting member and a second connecting member. Along the length direction of the lower leg assembly, the first connecting member and the second connecting member are spaced apart and opposite to each other. The first connecting member is further away from the front side of the foot assembly than the second connecting member. The first adapter and the telescopic end are hinged together, and the second adapter and the lower leg assembly are hinged together to form the rotation center.

3. The leg structure according to claim 2, characterized in that, The first adapter includes a first connecting shaft, a second connecting shaft, and a connecting part. The first connecting shaft and the second connecting shaft are rotatably connected to the connecting part. The connecting part is disposed on the top of the foot body. Along the width direction of the foot assembly, the first connecting shaft and the second connecting shaft are arranged side by side and coaxially. The first connecting shaft is hinged to the telescopic end of one of the drive components, and the second connecting shaft is hinged to the telescopic end of another of the drive components.

4. The leg structure according to claim 3, characterized in that, The connecting part has a through mounting groove. Both the first connecting shaft and the second connecting shaft have a plug-in end and a connecting end. The plug-in end of the first connecting shaft passes through one end of the mounting groove, and the plug-in end of the second connecting shaft passes through the other end of the mounting groove. Both the first connecting shaft and the second connecting shaft are rotatably engaged with the mounting groove.

5. The leg structure according to claim 4, characterized in that, The plug-in end of the first connecting shaft and the plug-in end of the second connecting shaft are connected to each other; The mounting groove has a disassembly side opening on its wall, and the connection between the first connecting shaft and the second connecting shaft is located at the disassembly side opening.

6. The leg structure according to claim 4, characterized in that, The first adapter also includes a first rotary bearing and a second rotary bearing, both of which are disposed within the mounting groove; The insertion end of the first connecting shaft passes through the inner ring of the first rotating bearing. The outer diameter of the connecting end of the first connecting shaft is larger than the outer diameter of the insertion end, and the connecting end of the first connecting shaft and the inner ring of the first rotating bearing abut against each other at their closest points. The insertion end of the second connecting shaft passes through the inner ring of the second rotating bearing. The outer diameter of the connecting end of the second connecting shaft is larger than the outer diameter of the insertion end, and the connecting end of the second connecting shaft and the inner ring of the second rotating bearing abut against each other at their closest points.

7. The leg structure according to claim 5, characterized in that, The first connecting shaft has a plug-in groove at its plug-in end, and the second connecting shaft has a plug-in body at its plug-in end, the plug-in body being plugged into the plug-in groove. The first adapter further includes a fastening part, which passes through the first connecting shaft and the plug body along the radial direction of the first connecting shaft and the second connecting shaft, so as to connect the first connecting shaft and the second connecting shaft.

8. The leg structure according to claim 7, characterized in that, The fastening part is a fastening screw. The groove wall of the first connecting shaft is radially provided with a first through hole, and the first through hole and the groove are connected. The plug body of the second connecting shaft is radially provided with a threaded hole. The shank of the fastening screw passes through the first through hole and is threadedly connected to the wall of the threaded hole.

9. The leg structure according to claim 7, characterized in that, The fastening part is a fastening bolt. The groove wall of the first connecting shaft is radially provided with a first through hole, which is connected to the groove. The plug body of the second connecting shaft is radially provided with a second through hole. The shank of the fastening bolt passes through the first through hole and the second through hole and is connected with a fastening nut.

10. The leg structure according to claim 5, characterized in that, The first connecting shaft has a plug-in groove at its plug-in end, and the second connecting shaft has a plug-in body at its plug-in end, the plug-in body being fixed to the plug-in groove; wherein the plug-in body and the plug-in groove are keyed together.

11. The leg structure according to claim 1, characterized in that, Each of the drive components includes at least one of the following: Electric linear actuators, pneumatic cylinders, hydraulic cylinders; The lower leg assembly has a clearance cavity for accommodating the drive assembly.

12. A humanoid robot, characterized in that, The humanoid robot includes the leg structure as described in any one of claims 1 to 11.

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