Leg structure of humanoid robot and humanoid robot

Abstract

The utility model discloses a leg structure of a humanoid robot and the humanoid robot, belongs to the field of humanoid robots, solves the problem that the sizes of a motor and a control unit are limited due to the fact that the motor is fixed at the upper ends of a thigh structure and a shank structure, and adopts the technical scheme that the leg structure mainly comprises a crotch, the thigh structure, the shank structure and a foot end piece, the thigh structure comprises a thigh support, two motors are installed on the thigh support, the shank structure comprises a shank support, a motor is installed on the shank support, a shell of each motor is in a long strip shape, the control unit comprises a plurality of circuit boards, the circuit boards are stacked in the shell in the length direction of the shell, and a first installation cavity is formed in the thigh support. The two motors on the thigh support are both fixed in the first installation cavity, the shank support is provided with a second installation cavity, the motor of the shank support is fixed in the second installation cavity, and a transmission unit of the motor is fixedly connected with the foot end piece. The utility model is mainly used for enabling the motor to have a larger installation space.

Description

TECHNICAL FIELD

[0001] The utility model discloses a leg structure of humanoid robot and humanoid robot belong to humanoid robot technical field. BACKGROUND

[0002] With the rapid development of artificial intelligence technology, and its deep integration with traditional robot industry, humanoid robot has higher simulation degree, and the leg structure of humanoid robot as the most important support component and moving component of robot has received more and more attention and research, and the research of leg structure not only has great scientific significance, but also has shown great potential in practical application.

[0003] For example, the prior art CN11881095C discloses a biped humanoid robot, which comprises a pelvis structure and two leg structures, the pelvis structure is provided with a right thigh motor and a left thigh motor at both ends, the output end of the right thigh motor is connected with the right leg structure, the right thigh motor drives the right thigh to realize the action of swinging forward and backward, the right thigh is provided with a right knee joint motor and a right knee joint rotating connecting rod, the output end of the right knee joint motor is connected with one end of the right knee joint connecting rod, the other end of the right knee joint connecting rod is rotatably connected with the upper end of the right lower leg, the right knee joint motor drives the right lower leg to realize the action of swinging forward and backward, the right lower leg is provided with a right lower leg motor and a right ankle joint rotating connection, and the right lower leg motor drives the right ankle joint rotating connecting rod to drive the right foot end piece to move.

[0004] In the above-mentioned patent, the motors of the humanoid robot are all disc type motors, and the motors are all installed at the upper ends of the thighs and the lower legs, the disc type motor itself has a round and flat shape, and in order to avoid the upper ends of the thighs and the lower legs being too wide, the size of the disc type motor is also limited, which further leads to a small space in the disc type motor for accommodating the control unit, so that the overall area of the control unit is small, and the voltage and current output by the control unit to the motor are insufficient, which reduces the running speed and load capacity of the leg structure. UTILITY MODEL CONTENTS

[0005] The utility model discloses a leg structure of humanoid robot and humanoid robot belong to humanoid robot technical field.

[0006] To solve the above technical problems, the utility model adopts the following technical scheme:

[0007] The leg structure of the humanoid robot comprises a crotch, a thigh structure, a lower leg structure and a foot end piece, the thigh structure is rotationally connected between the crotch and the lower leg structure, the foot end piece is rotationally connected to the bottom end of the lower leg structure, the thigh structure comprises a thigh bracket, two motors are mounted on the thigh bracket, the lower leg structure comprises a lower leg bracket, and one motor is mounted on the lower leg bracket, the motor comprises a shell, a driving unit, a control unit and a transmission unit which are mounted in the motor, the shell of the motor is in a strip shape, the transmission unit and the control unit are respectively located at two ends of the driving unit, the control unit comprises a plurality of circuit boards which are stacked in the shell along the length direction of the shell, the transmission unit is in transmission connection with the output shaft of the driving unit for outputting torque to the joints of the leg, the thigh bracket is provided with a first mounting cavity arranged along the length direction of the thigh bracket, the two motors on the thigh bracket are fixed in the first mounting cavity, the transmission unit of one of the motors on the thigh bracket is fixedly connected with the crotch, and the transmission unit of the other motor is fixedly connected with the lower leg bracket, the lower leg bracket is provided with a second mounting cavity arranged along the length direction of the lower leg bracket, the motor on the lower leg bracket is fixed in the second mounting cavity, and the transmission unit of the motor is fixedly connected with the foot end piece.

[0008] The leg structure of the humanoid robot comprises a crotch, a thigh structure, a lower leg structure and a foot end piece, the thigh structure is rotationally connected between the crotch and the lower leg structure, the foot end piece is rotationally connected to the bottom end of the lower leg structure, the thigh structure comprises a thigh bracket, two motors are mounted on the thigh bracket, the lower leg structure comprises a lower leg bracket, and one motor is mounted on the lower leg bracket, the motor comprises a shell, a driving unit, a control unit and a transmission unit which are mounted in the motor, the shell of the motor is in a strip shape, the transmission unit and the control unit are respectively located at two ends of the driving unit, the control unit comprises a plurality of circuit boards which are stacked in the shell along the length direction of the shell, the transmission unit is in transmission connection with the output shaft of the driving unit for outputting torque to the joints of the leg, the thigh bracket is provided with a first mounting cavity arranged along the length direction of the thigh bracket, the two motors on the thigh bracket are fixed in the first mounting cavity, the transmission unit of one of the motors on the thigh bracket is fixedly connected with the crotch, and the transmission unit of the other motor is fixedly connected with the lower leg bracket, the lower leg bracket is provided with a second mounting cavity arranged along the length direction of the lower leg bracket, the motor on the lower leg bracket is fixed in the second mounting cavity, and the transmission unit of the motor is fixedly connected with the foot end piece.

[0009] The first mounting cavity and the second mounting cavity are matched with the shape of the shell of the motor, so that the motor can be fixedly installed in the thigh bracket and the lower leg bracket, thereby fully utilizing the internal space of the thigh bracket and the lower leg bracket, reducing the weight of the thigh bracket and the lower leg bracket, providing a larger installation space for the motor, protecting the motor, and improving the appearance of the leg structure.

[0010] As preferred, the thigh support comprises a first front plate and two first side plates fixed on both sides of the first front plate, the first front plate and the two second side plates form the first mounting cavity, the motor of the thigh support comprises a first motor and a second motor, the first motor is fixed in the mounting cavity and close to the first front plate, the transmission unit of the first motor extends to the bottom end of the thigh support and is fixedly connected with the calf support, the second motor is fixed between the two first side plates, the transmission unit of the second motor extends to the top end of the thigh support and is fixedly connected with the crotch, and the first motor is between the first front plate and the second motor. By adopting the foregoing technical scheme, the transmission unit of the first motor extends to the bottom end of the thigh support, so that the transmission unit of the first motor can be directly connected with the calf structure, and the transmission unit of the second motor can also be directly connected with the crotch, thereby reducing the transmission mechanism between the motor and the calf structure or the crotch, helping to reduce the energy loss in the power transmission process, and reducing the mechanical wear and failure rate caused by too many transmission parts.

[0011] As preferred, the top end of the first side plate forms a first hinge end, the shell of the second motor is fixed to the first hinge end, the transmission unit of the second motor is provided with an inertia disc for outputting torque, the inertia disc is fixedly connected with the crotch, and the second motor drives the inertia disc to rotate to realize the relative rotation of the thigh and the crotch. By adopting the foregoing technical scheme, the second motor directly outputs torque to the crotch through the inertia disc, realizes linear transmission of power, can reduce the constraint stiffness of the transmission unit, compared with the existing technology adopting the connecting rod transmission, in the simulation simulation process in the design process, the design of the utility model has a larger simulation time step, which helps to reduce the training time of the control unit, shorten the research and development time and iteration test time, in addition, the connecting rod transmission is a nonlinear transmission, and few simulation engines can support simulation simulation, and the solution in simulation simulation is only an approximate solution, which is quite different from the real physical situation. By directly transmitting torque to the joint part, the utility model is a linear transmission, the solution in simulation simulation is closer to the real physical situation, and the actual product motion state is closer to the state in simulation. In addition, the linear transmission can reduce the difficulty of inverse kinematics calculation and reduce the calculation cost, which helps to directly use the simulation training control unit for the actual product. In addition, in the prior art, in order to arrange the connecting rod structure in the limited leg space, the size of the motor has to be reduced, and in the utility model, because torque is directly transmitted to the joint of the leg structure, the length of the motor can be designed to be close to the length of the leg space. Therefore, the motor has stronger performance and can output larger torque, so that the motion amplitude of the leg is improved, and the motion performance of the humanoid robot is improved.

[0012] As preferred, the calf support comprises a second front plate, a second back plate and two second side plates, the second front plate, the second back plate and the two second side plates form the second mounting cavity therebetween, the motor of the calf support is a third motor, the shell of the third motor is fixed in the second mounting cavity and is distributed along the length direction of the calf support, the transmission unit of the third motor extends to the bottom end of the calf support and is fixedly connected with the foot end piece. With the foregoing technical scheme, the calf support is spliced by the second front plate, the second back plate and the two second side plates, the top end and the low end of the second mounting cavity are open to facilitate the connection of the hinged end of the thigh structure and the calf support and the connection of the third motor and the foot end piece, so that the installation and disassembly of the leg structure are more simple and convenient, and the installation and maintenance efficiency of the leg structure is improved.

[0013] As preferred, the top end of the second side plate forms a second hinged end, the transmission unit of the motor is provided with an inertia disc for outputting torque, the inertia disc of one motor in the thigh support is fixedly connected with the second hinged end, and the motor of the thigh support drives the inertia disc to rotate to realize the relative rotation of the thigh support and the calf support.

[0014] As preferred, in the vertical direction, the top end of the second front plate is lower than the top end of the second side plate, and the upper side of the second front plate forms an avoiding groove for avoiding the thigh support. With the foregoing technical scheme, the avoiding groove can be used for the thigh structure to extend into, so that the front side of the thigh structure and the front side of the calf structure can be kept in the same plane, and then the thigh structure and the calf structure can be kept straight, the straight standing of the leg structure is realized, and the leg structure is more realistic.

[0015] As preferred, the thigh support comprises a first front plate, when the first front plate and the second front plate are in the same plane, the bottom end of the first front plate extends into the avoiding groove and abuts against the top end of the second front plate. With the foregoing technical scheme, when the first front plate and the second front plate are in the same plane, the thigh support and the calf support are in the same straight line, at this time, the leg structure is in the standing state, and the top end of the first front plate abuts against the top end of the second front plate, so that the calf support can support the thigh support, and then the acting force between the motor of the thigh support and the second hinged end is dispersed, and the possibility of damage of the motor of the thigh support and the second hinged end is reduced.

[0016] Preferably, the top of the foot-end component is provided with a mounting groove, and the transmission unit of the motor of the lower leg support is provided with an inertia disk for outputting torque. The inertia disk is fixed to the side wall of the mounting groove, and the motor of the lower leg support drives the inertia disk to rotate, so as to realize the relative rotation between the lower leg support and the foot-end component. Using the aforementioned technical solution, the inertia disk of the motor of the lower leg support is directly fixedly connected to the foot-end component, which can eliminate the need for a connecting rod, reduce energy loss during power transmission, and enable the motor to output greater torque to the foot-end component. This ensures that the torque output by the motor is sufficient for the foot-end component to walk and run with its toes touching the ground, making the walking posture of the humanoid robot's leg structure more in line with human anatomy and having higher simulation accuracy. Secondly, in the prior art, a connecting rod mechanism is usually used to transmit motor power to the lower leg. Because the toes touch the ground before the heels, the connecting rod is prone to breakage. Therefore, the current approach... Humanoid robots using linkage transmission typically adopt a heel-landing walking posture, using the entire foot as a fulcrum. However, in this invention, due to the structural adjustment of the motor and the change in the transmission method, the inertia disk and the foot component have sufficient installation strength and will not separate. The motor has powerful performance, enabling it to withstand the impact force when the toes of the foot component land. As a result, the entire leg becomes a three-segment structure, namely the thigh, the lower leg, and the foot component. During the humanoid robot's movement, when encountering complex road conditions, the leg shape can be modified to adapt to the environment in more ways, giving the humanoid robot higher mobility.

[0017] Preferably, the calf support includes a second front plate, with a clearance between the bottom end of the second front plate and the edge of the mounting groove; or, when the second front plate is perpendicular to the bottom surface of the foot piece, the orthographic projection of the second front plate onto the foot piece is always within the mounting groove. Using the aforementioned technical solution, the front end of the foot piece can rotate towards the second front plate, avoiding any obstruction to the rotation of the foot piece by the second front plate. This helps to increase the relative angle between the calf support and the foot piece, making the foot piece more flexible and improving the simulation of the leg structure.

[0018] Preferably, the foot-end component includes an ankle, heel, and toe. The mounting groove is located at the top of the ankle, and the inertia disc is fixedly connected to the ankle. As the leg structure walks and the foot-end component gradually contacts the ground, the motor of the calf support drives the toe to rotate away from the calf support, so that the toe makes priority contact with the ground. Using the aforementioned technical solution, the leg structure walks and runs by landing on its toes, directing the force of the foot-end component's impact to the toe. This keeps the force away from the connection between the ankle and the calf support, reducing the impact force at the connection point, lowering the possibility of ankle damage, and helping to extend the service life of the leg structure.

[0019] As preferred, the driving unit comprises a stator, a rotor and an output shaft, the transmission unit comprises a rotating shaft, one end of the rotating shaft is provided with a first bevel gear, the other end is provided with an inertia disc, the end of the output shaft is provided with a second bevel gear, the first bevel gear is engaged with the second bevel gear, so that the rotating shaft and the output shaft are perpendicular, the driving unit drives the inertia disc to rotate through the rotating shaft. By using the foregoing technical scheme, the first bevel gear and the second bevel gear can realize the vertical transmission between the transmission shaft and the output shaft, so that the transmission efficiency between the output shaft and the transmission shaft is higher, and the stable transmission of the torque is ensured.

[0020] As preferred, the transmission unit further comprises a speed reduction mechanism, the speed reduction mechanism comprises a planetary gear and a ring gear, the end of the rotating shaft is provided with a sun gear, the planetary gear is engaged with the ring gear and the sun gear at the same time, the rotating shaft drives the ring gear to rotate through the planetary gear, and the inertia disc is fixedly connected with the ring gear; or, the ring gear is fixedly connected with the shell, the inertia disc is fixedly connected with the planetary gear, and the output shaft drives the inertia disc to rotate through the planetary gear. By using the foregoing technical scheme, the speed reduction mechanism can slow down the rotating speed of the rotating shaft, and make the inertia disc have greater output torque, so that the motor can stably drive the movement of the leg structure.

[0021] As preferred, the speed reduction mechanism further comprises a speed reduction box, the speed reduction box is fixedly connected with the shell of the motor, the ring gear is fixed on the inner wall of the speed reduction box, the speed reduction box is provided with a through hole, the inertia disc is rotatably installed in the through hole through a bearing, the outer circumferential side of the rotating shaft is rotatably connected with a retainer, the retainer is fixedly connected with the inertia disc, the planetary gear has a rotating shaft, the two ends of the rotating shaft are connected with the retainer and the inertia disc respectively, and the inertia disc has a fastener for fixing the hip part or the lower leg or the foot end part. By using the foregoing technical scheme, the planetary gear is limited between the retainer and the inertia disc, so that the movement of the planetary gear along the axial direction of the sun gear can be avoided, and the stable engagement between the planetary gear and the sun gear and the ring gear can be ensured.

[0022] As preferred, the shell comprises a main shell and an end cover which is detachably installed at one end of the main shell, the end cover is connected to the end of the main shell away from the transmission unit, and the end cover and the main shell form a containing cavity for assembling the control unit. By using the foregoing technical scheme, the main shell and the end cover are detachably connected, so that the installation and disassembly of the control unit are facilitated, and the maintenance and testing of the control unit are facilitated; in addition, the end cover forms the containing cavity at one end of the main shell, so that the distance between the control unit and the driving unit can be increased, the heat generated by the driving unit can be reduced from entering the containing cavity, the temperature rising speed of the control unit is reduced, and the service life of the control unit is prolonged; in addition, the containing cavity is arranged at one end of the main shell, and since the shell is arranged in a strip shape, the volume of the containing cavity can be expanded by increasing the length of the shell, so that the containing cavity can be installed with a control unit of a larger area, so as to enhance the function of the control unit, and make the leg structure have a faster running speed and a stronger load capacity.

[0023] As preferred, the control unit comprises a first circuit board and at least one second circuit board, the weak electric area of the control unit is arranged on the first circuit board, the strong electric area of the control unit is arranged on the second circuit board, the first circuit board is used for signal interaction and control of the motor, the second circuit board is used for control of voltage and current output to the motor, a plurality of support columns are arranged on the first circuit board, the support columns support the second circuit board to form a heat dissipation channel between the first circuit board and the second circuit board, and the first circuit board and the second circuit board are stacked along the length direction of the shell. By using the foregoing technical scheme, the support columns not only fix the height of the heat dissipation channel to ensure stable play of the heat dissipation function, but also support and position the first circuit board and the second circuit board to prevent displacement or loosening of the first circuit board and the second circuit board due to factors such as vibration and collision during movement of the leg structure, thereby ensuring the reliability of electrical connection and normal operation of the circuit and reducing electrical failure risks caused by mechanical factors.

[0024] As preferred, one side of the second circuit board is attached with a third circuit board, the second circuit board is electrically connected with the third circuit board, the second circuit board is provided with components for control of voltage and current input to the motor, and the third circuit board is used for reduction of voltage fluctuation during operation of the motor. By using the foregoing technical scheme, voltage, current control and voltage fluctuation suppression functions are respectively borne by different circuit boards, so that each circuit board focuses on a specific function, thereby improving accuracy and stability of function implementation. In addition, during operation of the leg structure, the joint part is in a reciprocating state, so that the motor is in high-frequency and reciprocating forward and reverse rotation during operation. The voltage fluctuates sharply during switching of the motor between forward and reverse rotation. The third circuit board can specially process the voltage fluctuation problem to avoid damage caused by excessive voltage fluctuation beyond the rated voltage value of the control unit, thereby improving the stability of motor operation.

[0025] As preferred, the second circuit board comprises a PCB substrate, the PCB substrate comprises a first mounting surface and a second mounting surface, and the components comprise a first component group mounted on the first mounting surface and a second component group mounted on the second mounting surface. By using the foregoing technical scheme, the double-sided layout mode can fully utilize the space of two surfaces of the PCB substrate, increase the layout density of components, and be beneficial to dispersing heat sources to avoid excessive concentration of heat on one side of the PCB substrate, thereby improving the heat dissipation effect of the entire circuit board, reducing problems such as performance degradation or damage of components caused by overheating, and helping to maintain stable operation of the control unit. In addition, the strong electric area can be arranged on the upper and lower surfaces of the PCB substrate, and the size of the PCB substrate can be further reduced, thereby reducing the volume of the control unit.

[0026] Preferably, the first element group comprises a plurality of MOS tubes, and the height of the elements in the first element group other than the MOS tubes protruding from the first mounting surface is lower than the height of the MOS tubes protruding from the first mounting surface, and the MOS tubes are attached with a heat dissipation member, and all the MOS tubes share one heat dissipation member. With the foregoing technical solution, the height of the elements in the first element group other than the MOS tubes is lower than the height of the MOS tubes protruding from the first end surface, which helps to form a more regular layout structure on the second circuit board, avoids the problem of space waste or mutual interference caused by uneven element height, and makes the space utilization of the second circuit board more reasonable. In addition, the plurality of MOS tubes share one heat dissipation member, which can concentrate on the heat dissipation of the MOS tubes. Since the MOS tubes usually generate a lot of heat during operation, sharing the heat dissipation member can increase the heat dissipation area and enhance the heat dissipation effect, effectively reduce the temperature of the MOS tubes, ensure their operation within an appropriate temperature range, reduce the performance degradation or failure caused by overheating, and improve the stability and reliability of the entire device, thereby ensuring the continuous and stable operation of the control unit.

[0027] Preferably, the first element group comprises a plurality of MOS tubes and a current-carrying copper block, the third circuit board comprises a copper substrate, one side of the copper substrate is attached to the second mounting surface and is used for heat dissipation of the MOS tubes and the current-carrying copper block, the installation position of the second element group on the second mounting surface avoids the projection area of all the MOS tubes and the current-carrying copper block on the second panel, the copper substrate is provided with a clearance hole that avoids the second element group, and the copper substrate covers at least the projection area of all the MOS tubes and the current-carrying copper block on the second panel. With the foregoing technical solution, copper has good heat conduction performance and can quickly conduct the heat generated by the MOS tubes and the current-carrying copper block out. Although the surface of the PCB substrate itself has a layer of copper, it is too thin to carry high voltage and current. The current-carrying copper block protrudes from the first end surface and therefore has a larger volume and heat dissipation area. In addition, the large volume enables the current-carrying copper block to have better voltage and current carrying capacity, so that the control unit can output larger voltage and current to the motor even if it is reduced in size, so that the motor outputs larger torque to improve the operation performance of the leg structure. The large heat dissipation area enables the high temperature generated by the current-carrying copper block when carrying voltage and current to be radiated out more quickly, improving the heat dissipation effect of the current-carrying copper block. In addition, both the MOS tubes and the current-carrying copper block generate a lot of heat, and part of the heat generated by the MOS tubes and the current-carrying copper block is transferred to the PCB substrate because they are in direct contact with the PCB substrate. The copper substrate is attached to the second mounting surface, so part of the heat generated by the MOS tubes and the current-carrying copper block is transferred to the copper substrate. Since the main material of the copper substrate is copper, the copper substrate can quickly dissipate heat outward, thereby improving the heat dissipation efficiency, effectively reducing the temperature of the MOS tubes and the current-carrying copper block, and ensuring the stable operation of these MOS tubes and the current-carrying copper block, thereby improving the reliability and durability of the control unit.

[0028] As preferred, one end of the output shaft of the motor penetrates through the main housing and extends into the accommodating cavity, a magnet is installed on the end of the output shaft in the accommodating cavity, and a Hall sensor for detecting the rotating speed of the output shaft is arranged on the side of the control unit close to the magnet. With the foregoing technical scheme, the change of the magnetic field of the magnet during the rotation of the output shaft can be accurately captured by the Hall sensor, and then the change of the magnetic field is converted into an electric signal output, so that the actual rotating speed of the output shaft can be accurately reflected, and more accurate data support is provided for the motion control of the leg structure, thereby ensuring the accuracy of the movement of the leg structure.

[0029] The utility model also discloses a humanoid robot, including the torso, the bottom swing joint of torso has the leg structure, the leg structure adopts the leg structure of humanoid robot of any preceding described.

[0030] The other features and advantages of the utility model will be disclosed in detail in the following specific embodiment and drawings. BRIEF DESCRIPTION OF DRAWINGS

[0031] The utility model will be further explained in connection with the drawings:

[0032] Figure 1 It is the structure schematic diagram of the leg structure of the utility model humanoid robot;

[0033] Figure 2 It is the structure schematic diagram of the left leg in the leg structure of the utility model humanoid robot;

[0034] Figure 3 It is the schematic diagram of the thigh structure in the leg structure of the utility model humanoid robot;

[0035] Figure 4 It is the schematic diagram of the thigh support in the leg structure of the utility model humanoid robot;

[0036] Figure 5 It is the schematic diagram of the calf structure in the leg structure of the utility model humanoid robot;

[0037] Figure 6 It is the schematic diagram of the calf support in the leg structure of the utility model humanoid robot;

[0038] Figure 7 It is the schematic diagram of the motor in the leg structure of the utility model humanoid robot;

[0039] Figure 8 It is the explosion view of the motor in the leg structure of the utility model humanoid robot;

[0040] Figure 9 It is the sectional view of the motor in the leg structure of the utility model humanoid robot;

[0041] Figure 10 is Figure 9 is a partial enlarged view of part A in the figure;

[0042] Figure 11 is an exploded view of the speed reduction structure in the leg structure of the humanoid robot of the utility model;

[0043] Figure 12 is a schematic view of the control unit and the accommodating cavity in the leg structure of the humanoid robot of the utility model;

[0044] Figure 13 is an exploded view of the end cover and the main shell in the leg structure of the humanoid robot of the utility model;

[0045] Figure 14 is a structural schematic view of the control unit in the leg structure of the humanoid robot of the utility model;

[0046] Figure 15 is an exploded view of the control unit in the leg structure of the humanoid robot of the utility model;

[0047] Figure 16 is a schematic view of the first circuit board in the leg structure of the humanoid robot of the utility model Figure 1 ;

[0048] Figure 17 is a schematic view of the first circuit board in the leg structure of the humanoid robot of the utility model Figure 2 ;

[0049] Figure 18 is a schematic view of the second circuit board in the leg structure of the humanoid robot of the utility model Figure 1 ;

[0050] Figure 19 is a schematic view of the second circuit board in the leg structure of the humanoid robot of the utility model Figure 2 .

[0051] Label: 1, crotch; 2, thigh structure; 21, thigh support; 211, first front plate; 212, first side plate; 213, mounting hole; 22, first mounting cavity; 3, calf structure; 31, calf support; 311, second front plate; 312, second side plate; 313, second rear plate; 32, second mounting cavity; 33, avoiding slot; 34, second hinged end; 4, foot end piece; 5, motor; 5a, first motor; 5b, second motor; 5c, third motor; 51, shell; 511, first shell; 512, end cover; 5121, containing cavity; 5122, column; 5123, threading hole; 513, box body; 52, driving unit; 521, output shaft; 5212, rotating wheel; 5213, magnet; 522, second bevel gear; 53, transmission unit; 531, rotating shaft; 532, first bevel gear; 533, inertia disc; 541, sun gear; 542, planetary gear; 543, ring gear; 544, retainer; 5441, connecting column; 545, reduction box; 6, control unit; 61, first circuit board; 62, second circuit board; 621, first mounting surface; 6211, MOS tube; 6212, current-carrying copper block; 622, second mounting surface; 6221, second element group; 63, third circuit board; 631, avoiding hole; 632, capacitor; 64, electric connection pin; 65, electric connection seat; 67, support column; 68, hall sensor; 69, heat dissipation channel. DETAILED DESCRIPTION

[0052] The technical solutions of the embodiments of the utility model will be explained and described below in combination with the drawings of the embodiments of the utility model. However, the following embodiments are only preferred embodiments of the utility model, not all. Based on the embodiments in the embodiments, other embodiments obtained by those skilled in the art without creative labor belong to the protection scope of the utility model.

[0053] In the description of the utility model, it is understood that the orientation or position relationship indicated by the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "clockwise", "counterclockwise" are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the utility model and simplifying the description, and cannot be understood as indicating or implying that the indicated device or element must have a particular orientation, a particular orientation and operation, therefore, it cannot be understood as a limitation on the utility model.

[0054] 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 expressly defined.

[0055] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0056] Example 1:

[0057] like Figures 1 to 19 As shown, this embodiment illustrates the leg structure of a humanoid robot, including a hip 1, a thigh structure 2, a lower leg structure 3, and a foot end piece 4. The thigh structure 2 is rotatably connected between the hip 1 and the lower leg structure 3, and the foot end piece 4 is rotatably connected to the bottom end of the lower leg structure 3. The thigh structure 2 includes a thigh support 21, on which two motors 5 are mounted. The lower leg structure 3 includes a lower leg support 31, on which one motor 5 is mounted. The motor 5 includes a housing 51, and a drive unit 52, a control unit 6, and a transmission unit 53 installed within the motor 5. The housing 51 of the motor 5 is elongated. The transmission unit 53 and the control unit 6 are located at opposite ends of the drive unit 52. The control unit 6 includes several electric... The circuit board and circuit board are stacked inside the housing 51 along the length of the housing 51. The transmission unit 53 is connected to the output shaft 521 of the drive unit 52 to output torque to the joint of the leg. The thigh support 21 is provided with a first mounting cavity 22 arranged along its length. The two motors 5 on the thigh support 21 are fixed in the first mounting cavity 22. The transmission unit 53 of one of the motors 5 on the thigh support 21 is fixedly connected to the hip 1, and the transmission unit 53 of the other motor 5 is fixedly connected to the calf support 31. The calf support 31 is provided with a second mounting cavity 32 arranged along its length. The motor 5 of the calf support 31 is fixed in the second mounting cavity 32, and the transmission unit 53 of the motor 5 is fixedly connected to the foot end piece 4.

[0058] The thigh support 21 is provided with a first mounting cavity 22, and the calf support 31 is provided with a second mounting cavity 32. The motors 5 in the thigh structure 2 and the motors 5 in the calf structure 3 are in a strip shape. The shell 51 of the motor 5 is matched with the first mounting cavity 22 and the second mounting cavity 32 in shape, so that the motor 5 can be fixedly installed in the thigh support 21 and the calf support 31. In this way, the internal space of the thigh support 21 and the calf support 31 can be fully utilized, so that the thigh support 21 and the calf support 31 can reduce the weight while providing a larger installation space for the motor 5 and protecting the motor 5. In addition, the thigh structure 2 and the calf structure 3 have a relatively long length, so that the first mounting cavity 22 and the second mounting cavity 32 can provide a longer installation space for the motor 5. The size of the motor 5 can be increased by increasing the length of the shell 51. Since the control unit 6 includes a plurality of circuit boards stacked along the length direction of the shell 51, the installation mode of the circuit board can reduce the size of the circuit board in the diameter direction of the motor 5 shell 51, so that the shape of the circuit board is more consistent with the shape of the motor 5 shell 51, avoiding that the diameter of the motor 5 shell 51 is too large to affect the appearance of the thigh structure 2 and the calf structure 3, which helps to improve the aesthetic degree of the leg structure. Secondly, the stacking mode of the circuit board is consistent with the formation of the shell 51. While the control unit 6 does not affect the appearance of the motor 5, the overall area of the circuit board can be increased by increasing the number of circuit boards, so that more components can be installed on the circuit board, thereby improving the performance of the circuit board, enabling the circuit board to output larger voltage and current to the motor 5, providing the output torque and load capacity of the motor 5, and helping to improve the running speed and carrying capacity of the leg structure.

[0059] As Figure 3 and Figure 4As shown, the thigh support 21 in the embodiment includes a first front plate 211 and two first side plates 212, the two first side plates 212 are respectively fixed on the two sides of the first front plate 211, and the two first side plates 212 are arranged in parallel, a first installation cavity 22 is formed between the first front plate 211 and the two first side plates 212, wherein the first installation cavity 22 is open at the top end and the bottom end of the two first side plates 212 away from the first front plate 211, the two motors 5 are respectively a first motor 5a and a second motor 5b, the first motor 5a is installed in the first installation cavity 22 and close to the first front plate 211, the transmission unit 53 of the first motor 5a extends to the bottom end of the thigh support 21, the second motor 5b is fixed between the two first side plates 212, the transmission unit 53 of the second motor 5b extends to the top end of the thigh support 21, and the first motor 5a is between the first front plate 211 and the second motor 5b; the transmission unit 53 of the first motor 5a extends to the bottom end of the thigh support 21, so that the transmission unit 53 of the first motor 5a can be directly connected with the calf structure 3, and correspondingly, the transmission unit 53 of the second motor 5b can be directly connected with the crotch 1, thereby reducing the transmission parts between the motor 5 and the calf structure 3 or the crotch 1, helping to reduce the energy loss in the power transmission process, and reducing the mechanical wear and failure rate caused by too many transmission parts. It should be noted that the front plate is the front side part of the thigh structure 2, and the front side of the thigh structure 2 is the direction directly facing the humanoid robot.

[0060] As shown in Figure 3 and Figure 4 As shown, the top end of the first side plate 212 is flush with the top end of the first front plate 211, the length of the first side plate 212 is less than the length of the first front plate 211, that is, the connection position of the bottom end of the first side plate 212 and the first front plate 211 is on the upper side of the bottom end of the first front plate 211, the transmission unit 53 of the first motor 5a extends to the bottom end of the first front plate 211, only one side of the transmission unit 53 abuts against the first front plate 211, and the other sides are exposed to the outside, and the connection position of the transmission unit 53 and the calf structure 3 is located on the two sides of the first front plate 211, that is, the first motor 5a and the calf structure 3 are installed without being affected by the thigh support 21, so that the connection of the thigh structure 2 and the calf structure 3 is more convenient and fast; in addition, shortening the length of the first side plate 212 can reduce the overall weight of the thigh support 21 and also reduce the manufacturing cost of the thigh support 21; secondly, the transmission unit 53 of the first motor 5a extends to the bottom end of the front plate, so that the front of the thigh structure 2 has a more complete shape, and the first front plate 211 can also shield the first motor 5a and the second motor 5b, reducing the possibility of external impact on the motor 5 of the thigh structure 2 during movement of the humanoid robot.

[0061] As shown in Figure 3 andFigure 4 As shown in the drawings, the top end of the first side plate 212 in the embodiment is provided with a mounting hole 213 for fixing the second motor 5b, the mounting hole 213 is located at the edge of the first side plate 212 away from the first front plate 211, the transmission unit 53 of the second motor 5b extends to the top end of the first side plate 212, the transmission unit 53 of the second motor 5b is fixed through the mounting hole 213, thereby forming a first hinged end connected with the crotch part 1, the transmission unit 53 is provided with an inertia disc 533, the inertia disc 533 is fixedly connected with the crotch part 1, the motor 5 drives the inertia disc 533 to rotate, thereby realizing the relative rotation of the thigh structure 2 and the crotch part 1.

[0062] As shown in the drawings, Figure 5 and Figure 6 As shown in the drawings, the calf support 31 in the embodiment includes a second front plate 311, a second rear plate 313 and two second side plates 312, the two second side plates 312 are respectively connected to the two sides of the second front plate 311 and the second rear plate 313, the second front plate 311, the second rear plate 313 and the two second side plates 312 surround to form a second mounting cavity 32, the second mounting cavity 32 is open at the top end and the low end of the calf support 31, in the vertical direction, the top end of the second side plate 312 is higher than the top end of the second front plate 311 and the second rear plate 313, the top end of the second side plate 312 forms a second hinged end 34 hinged with the thigh structure 2, the motor 5 in the calf support 31 is a third motor 5c, the shell 51 of the third motor 5c is fixed to the second front plate 311 of the calf support 31, and the transmission unit 53 of the third motor 5c extends to the bottom end of the calf support 31, so that the transmission unit 53 of the third motor 5c can be connected with the foot end piece 4 of the leg structure, the third motor 5c drives the foot end piece 4 to rotate to realize the relative rotation of the calf support 31 and the foot end piece 4, the calf support 31 is spliced by the second front plate 311, the second rear plate 313 and the two second side plates 312, and can be open at the top end and the low end of the second mounting cavity 32, so as to connect the thigh structure 2 with the second hinged end 34 of the calf support 31, and also facilitate the connection of the third motor 5c with the foot end piece 4, which makes the installation and disassembly of the leg structure more simple and convenient, and helps to improve the installation and maintenance efficiency of the leg structure.

[0063] As shown in the drawings, Figure 5 and Figure 6As shown, the top end surface of the second side plate 312 in the embodiment is a circular arc surface, and the top end surface of the second front plate 311 is lower than the circular arc surface of the second side plate 312, so as to form an avoiding groove 33 on the upper side of the second front plate 311 for avoiding the thigh structure 2, the avoiding groove 33 is between the two second side plates 312, and the top ends of the two second side plates 312 form a second hinge end 34 which is fixedly connected with the inertia disc 533 of the motor 5 in the thigh structure 2 on the opposite surfaces of the two second side plates 312, the avoiding groove 33 can be extended into by the thigh support 21, so as to ensure that the first front side of the thigh support 21 and the second front side of the calf structure 3 can be kept in the same plane, and then the thigh structure 2 and the calf structure 3 can be kept straight, the straight standing of the leg structure is realized, and the leg structure is more realistic; in addition, the circular arc surface of the top end of the second side plate 312 can make the relative rotation of the calf support 31 and the thigh support 21 more smooth, and avoid that the second side plate 312 and the thigh support 21 interfere with each other to limit the rotation angle of the calf support 31 and the thigh support 21 when the calf support 31 and the thigh support 21 rotate.

[0064] As shown, the top end surface of the second side plate 312 in the embodiment is a circular arc surface, and the top end surface of the second front plate 311 is lower than the circular arc surface of the second side plate 312, so as to form an avoiding groove 33 on the upper side of the second front plate 311 for avoiding the thigh structure 2, the avoiding groove 33 is between the two second side plates 312, and the top ends of the two second side plates 312 form a second hinge end 34 which is fixedly connected with the inertia disc 533 of the motor 5 in the thigh structure 2 on the opposite surfaces of the two second side plates 312, the avoiding groove 33 can be extended into by the thigh support 21, so as to ensure that the first front side of the thigh support 21 and the second front side of the calf structure 3 can be kept in the same plane, and then the thigh structure 2 and the calf structure 3 can be kept straight, the straight standing of the leg structure is realized, and the leg structure is more realistic; in addition, the circular arc surface of the top end of the second side plate 312 can make the relative rotation of the calf support 31 and the thigh support 21 more smooth, and avoid that the second side plate 312 and the thigh support 21 interfere with each other to limit the rotation angle of the calf support 31 and the thigh support 21 when the calf support 31 and the thigh support 21 rotate.

[0065] As shown, Figure 5 and Figure 6 As shown, the top end of the second rear plate 313 is connected to the bottom end of the second side plate 312 in the embodiment, and in the vertical direction, the bottom end surface of the second rear plate 313 is higher than the bottom end surface of the second front plate 311, that is, the lengths of the second rear plate 313 and the second side plate 312 are relatively short, so as to shorten the lengths of the second rear plate 313 and the second side plate 312, which can reduce the overall weight of the calf support 31, help to reduce the power required for the thigh structure 2 to drive the calf support 31, reduce the load of the first motor 5a, and also can reduce the manufacturing cost of the calf support 31. Of course, it can be understood that in other embodiments, the calf support 31 can also be composed of only the second front plate 311 and the two second side plates 312, and the second rear plate 313 is omitted, which can further reduce the weight of the calf support 31.

[0066] The foot end piece 4 in the embodiment includes an ankle, a heel and a toe, the top end of the ankle is provided with a mounting groove, the transmission unit 53 of the third motor 5c is provided with an inertia disc 533 for outputting torque, the inertia disc 533 is fixed to the side wall of the mounting groove, and the motor 5 of the calf support 31 drives the inertia disc 533 to rotate, so as to realize the relative rotation of the calf support 31 and the foot end piece 4. During the walking of the leg structure and the gradual contact of the foot end piece 4 to the ground, the motor 5 of the calf support 31 drives the toe to rotate away from the calf support 31, so that the toe is preferentially in contact with the ground. The inertia disc 533 of the motor 5 of the calf support 31 is directly fixedly connected with the foot end piece 4, so that the connecting rod can be omitted, the energy loss in the power transmission process is reduced, the motor 5 can output greater torque to the foot end piece 4, so that the torque output by the motor 5 is sufficient to enable the foot end piece 4 to walk and run in the form of toe landing. In the prior art, a connecting rod mechanism is usually used to transmit power from the motor 5 to the calf structure 3. Due to the toe landing before the heel landing, the connecting rod is prone to breakage. Therefore, the walking posture of the current humanoid robot using the connecting rod transmission is to make the entire foot end piece 4 as a fulcrum. In the embodiment, due to the adjustment of the structure of the motor and the change of the transmission mode, the inertia disc and the foot end piece 4 have sufficient mounting strength and will not be separated. The motor 5 has strong performance and can withstand the impact force when the toe of the foot end piece 4 lands. In this way, the entire leg becomes a three-segment structure, i.e., the thigh structure 2, the calf structure 3 and the foot end piece 4. When the humanoid robot moves and encounters complex road conditions, the leg structure changes in form and has more solutions to adapt to the environment, so that the humanoid robot has high motion performance.

[0067] In the embodiment, the bottom end of the second front plate 311 of the calf support 31 and the edge of the slot of the mounting groove have a clearance. The clearance can rotate the front end of the foot end piece 4 towards the second front plate 311, avoid the rotation of the second front plate 311 to hinder the rotation of the foot end piece 4, help to improve the relative angle between the calf support 31 and the foot end piece 4, make the foot end piece 4 more flexible, and improve the simulation of the leg structure. Of course, it can be understood that in other embodiments, when the second front plate 311 is perpendicular to the bottom surface of the foot end piece 4, the orthographic projection of the second front plate 311 on the foot end piece 4 is in the mounting groove.

[0068] As Figures 7 to 11As shown, the shell 51 of the motor 5 in the embodiment includes a main shell, a box body 513 and an end cover 512, the box body 513 and the end cover 512 are respectively installed at two ends of the main shell, the driving unit 52 includes a stator, a rotor and an output shaft 521, the stator is fixed to the inner wall of the main shell, the rotor is rotationally fitted in the stator, the two ends of the rotor extend out of the main shell to form the output shaft 521, the output shaft 521 at one end of the driving unit 52 extends into the box body 513, the transmission unit 53 is installed in the box body 513, the transmission unit 53 includes a rotation, a rotating shaft 531 is rotationally connected with the box body 513, a first bevel gear 532 is fixed to the outer circumferential side of the rotating shaft 531, a second bevel gear 522 is fixed to the end of the output shaft 521, the first bevel gear 532 and the second bevel gear 522 are meshed with each other, an inertia disc 533 is drivingly connected with one end of the rotating shaft 531, and the inertia disc 533 is outside the box body 513, the output shaft 521 drives the rotating shaft 531 to rotate through the first bevel gear 532 and the second bevel gear 522, the rotating shaft 531 drives the inertia disc 533 to rotate, so as to realize the output of the torque, the first bevel gear 532 and the second bevel gear 522 can realize the vertical transmission between the transmission shaft and the output shaft 521, the transmission efficiency between the output shaft 521 and the transmission shaft is higher, and the stable transmission of the torque is ensured.

[0069] As Figure 10 and Figure 11As shown, the transmission unit 53 in this embodiment also includes a speed reduction mechanism, which includes a speed reduction box 545 fixed to one side of the box 513, and a sun gear 541, a planetary gear 542 and a ring gear 543 are arranged in the speed reduction box 545. The rotating shaft 531 of the transmission unit 53 is rotatably connected to one end of the box 513 and penetrates through the box 513 and extends into the speed reduction box 545. The sun gear 541 is fixed to the end of the rotating shaft 531 and rotates synchronously with the rotating shaft 531. The ring gear 543 is fixed to the inner wall of the speed reduction box 545. The planetary gear 542 is in meshing connection with the ring gear 543 and the sun gear 541. An axle sleeve is arranged on the outer circumferential side of the end of the rotating shaft 531 extending into the speed reduction box 545, and the axle sleeve is fixedly connected to the box 513. A retainer 544 is rotatably connected to the outer circumferential side of the axle sleeve. The speed reduction box 545 is provided with a perforation on the side away from the rotating shaft 531. The inertia disc 533 is rotatably connected to the perforation through a bearing. The retainer 544 is provided with a connecting column 5441 extending to the inertia disc 533. The retainer 544 and the inertia disc 533 are fixedly connected through the connecting column 5441. The planetary gear 542 is rotatable and has two ends connected to the retainer 544 and the inertia disc 533, respectively. The planetary gear 542 is rotatably arranged between the retainer 544 and the inertia disc 533 through a rotating shaft. The inertia disc 533 is provided with a fastener for connecting the leg structure. When the motor 5 is started, the rotating shaft 531 drives the sun gear 541 to rotate. The sun gear 541 and the ring gear 543 cooperate to drive the planetary gear 542 to rotate circumferentially around the sun gear 541. The planetary gear 542 drives the inertia disc 533 to rotate during the rotation around the sun gear 541, so as to realize the output of the torque. The speed reduction mechanism can slow down the rotating speed of the rotating shaft and make the inertia disc 533 have greater output torque, so that the motor 5 can stably drive the movement of the leg structure.

[0070] Of course, it can be understood that in other embodiments, the inertia disc 533 can also be fixedly connected with the ring gear 543, and the ring gear 543 is rotatably arranged in the speed reduction box 545. The rotating shaft 531 drives the planetary gear 542 to rotate through the sun gear 541. The planetary gear 542 drives the ring gear 543 to rotate, and the ring gear 543 drives the inertia disc 533 to rotate, so as to realize the output of the torque.

[0071] In addition, the rotating shaft 531 in the embodiment directly outputs torque through the inertia disc 533, linear transmission of power can be realized, the constraint stiffness of the transmission unit 53 can be reduced, compared with the scheme of adopting a connecting rod transmission in the prior art, the embodiment has a larger simulation time step during simulation in the design process, which is helpful to reduce the training time of the control unit 6, shorten the research and development time and iteration test time, in addition, the connecting rod transmission is nonlinear transmission, and few simulation engines can support simulation during simulation, and the solution during simulation is only an approximate solution, which greatly deviates from the real physical condition, while the application directly transmits torque to the joint part, which is linear transmission, the solution during simulation is closer to the real physical condition, and the actual product motion state is closer to the state during simulation; in addition, in the prior art, in order to arrange the connecting rod structure in the limited leg space, the size of the motor has to be reduced, while in the embodiment, the torque is directly transmitted to the joint of the leg structure, so the length of the motor can be designed to be close to the length of the leg space, so that the motor has stronger performance and can output larger torque, thereby improving the motion amplitude of the leg during motion and improving the motion performance of the humanoid robot; secondly, in the embodiment, the torque of the motor 5 is directly transmitted to the joint of the leg structure, so the length of the motor 5 can be designed to be close to the length of the leg space, and by increasing the size of the motor 5, the control unit 6 can be provided with larger installation space, thereby increasing the installation area of the control unit 6, so that the control unit 6 can install more components, and the control unit 6 can output larger voltage and current to the driving unit 52 to make the driving unit 52 have higher output power, the driving unit 52 outputs higher output power at the output shaft 521, and after transmission through the speed reduction mechanism, the inertia disc 533 has higher output torque, and the increase of torque can improve the stride of the leg structure, that is, the leg structure has larger pace, in addition, the motor 5 is installed along the length direction of the thigh support 21 and the lower leg support 31, which increases the inertia of the whole leg, thereby reducing the step frequency of the whole leg, and the speed reduction mechanism of the motor can further reduce the step frequency of the whole leg to increase the torque output by the motor, while the actual step frequency of human beings during walking is lower than 2.5HZ, and the step frequency of human beings is small, the embodiment increases the pace to increase the running speed of the robot by sacrificing the step frequency, so that the leg structure can realize a running speed of 8m / s, and the leg structure can also be more consistent with the human body structure, so that the leg structure has higher simulation degree.

[0072] As Figure 12 and Figure 13As shown, the end of the main housing away from the transmission unit 53 and the end cover 512 form a containing cavity 5121 for assembling the control unit 6, the containing cavity 5121 is provided with a stand 5122 formed on the inner wall of the containing cavity 5121, and one end of the stand 5122 abuts against the end of the main housing, the control unit 6 is detachably connected with the stand 5122 through fasteners, the stand 5122 supports the control unit 6 to form a gap between the control unit 6 and the inner wall of the containing cavity 5121, the main housing and the end cover 512 are detachably connected, which can facilitate the installation and disassembly of the control unit 6, so as to maintain and test the control unit 6; in addition, the end cover 512 forms the containing cavity 5121 at one end of the main housing, which can increase the distance between the control unit 6 and the drive unit 52, reduce the heat generated by the drive unit 52 into the containing cavity 5121, reduce the temperature rising speed of the control unit 6, and help to prolong the service life of the control unit 6; in addition, the containing cavity 5121 is arranged at one end of the main housing, since the shell 51 is arranged in a long strip shape, the volume of the containing cavity 5121 can be expanded by increasing the length of the shell 51, so that the containing cavity 5121 can install a control unit 6 with larger area, so as to enhance the function of the control unit 6, make the leg structure have faster running speed and stronger load capacity; secondly, the stand 5122 can elevate the control unit 6, which can further increase the distance between the control unit 6 and the drive unit 52, and reduce the influence of the heat generated by the drive unit 52 on the control unit 6; in addition, the gap between the control unit 6 and the inner wall of the containing cavity 5121 enables the control unit 6 to install electronic components on the side facing the inner wall of the containing cavity 5121, thereby increasing the installation area of the control unit 6.

[0073] As Figure 13As shown, the main shell in the embodiment surrounds the cavity of the assembly driving unit 52, and the end of the main shell close to the end cover 512 is provided with a partition plate for separating the accommodating cavity 5121 and the cavity, the partition plate is provided with a threading hole 5123 for communicating the accommodating cavity 5121 and the cavity, the lead of the driving unit 52 passes through the threading hole 5123 and is electrically connected with the control unit 6, in addition, one end of the output shaft 521 penetrates through the partition plate and extends into the accommodating cavity 5121, and the end of the output shaft 521 in the accommodating cavity 5121 is fixedly provided with a rotating wheel 5212, the rotating wheel 5212 rotates synchronously with the output shaft 521, and a magnet 5213 is installed on the surface of the rotating wheel 5212 away from the output shaft 521, and the control unit 6 is provided with a Hall sensor 68 on the side close to the magnet 5213 for detecting the rotating speed of the output shaft 521, in the rotating process of the output shaft 521, the magnetic field change of the magnet 5213 can be accurately captured by the Hall sensor 68, and then the magnetic field change is converted into an electric signal output, and then the actual rotating speed of the output shaft 521 can be accurately reflected, and the rotating speed of the output shaft 521 can be fed back to the control unit 6 of the motor, so that the control system can adjust the operating state of the motor 5 in time according to the rotating speed data, such as adjusting the output power and torque of the motor 5. In this way, the movement speed and force of the leg structure can be accurately controlled, so that more accurate and more natural and smooth movements can be realized, and the performance in complex movement scenes such as walking, running and climbing is more excellent.

[0074] As Figures 14 to 19 As shown, the control unit 6 in the embodiment includes a first circuit board 61 and at least one second circuit board 62, the weak current area of the control unit 6 is arranged on the first circuit board 61, and the strong current area of the control unit 6 is arranged on the second circuit board 62, the first circuit board 61 and the second circuit board 62 are stacked along the length direction of the shell 51, the edge of the first circuit board 61 is provided with a plurality of support columns 67, the support columns 67 support the second circuit board 62, so as to form a heat dissipation channel 69 between the first circuit board 61 and the second circuit board 62; in the embodiment, the weak current area and the strong current area of the control unit 6 are arranged on two circuit boards respectively, which can effectively avoid the interference of the strong current signal on the weak current signal, prevent the weak current signal from malfunctioning or data transmission error, and then affect the stability and accuracy of the movement of the leg structure; in addition, the separate arrangement of the weak current area and the strong current area can also reduce the possibility of safety risk caused by the failure of the strong current area, can reduce the safety hidden danger of the control unit 6, and make the operation of the leg structure more safe and reliable.

[0075] Of course, it is understood that in other embodiments, the number of second circuit boards 62 can also be more than one, and the second circuit boards 62 can be stacked along the length direction of the shell 51, and the first circuit board 61 and the second circuit board 62 can be made modular, and the number of second circuit boards 62 can be freely combined or different types of first circuit boards 61 can be matched according to different power requirements, reducing the design difficulty of the control unit 6.

[0076] In addition, the first circuit board 61 and the second circuit board 62 are separated by the support column 67 to form a heat dissipation channel 69. During operation of the control unit 6, the strong current area of the second circuit board 62 generates a large amount of heat, which accelerates the temperature rise speed of the control unit 6. If the control unit 6 operates in an overheated environment for a long time, the performance and service life of the components in the control unit 6 may be affected. The heat dissipation channel 69 can guide airflow to flow between the first circuit board 61 and the second circuit board 62, and the heat generated by the control unit 6 can be carried away by the airflow, preventing the heat from converging on the first circuit board 61 and the second circuit board 62, which helps to slow down the temperature rise speed of the control unit 6 and reduce the possibility of the control unit 6 operating in an overheated environment for a long time, thereby improving the reliability and stability of the control unit 6 and prolonging the service life of the control unit 6.

[0077] Secondly, the support column 67 not only fixes the height of the heat dissipation channel 69 to ensure the stable play of the heat dissipation function, but also supports and positions the first circuit board 61 and the second circuit board 62, preventing displacement or loosening of the first circuit board 61 and the second circuit board 62 due to factors such as vibration and collision during the movement of the leg structure, ensuring the reliability of the electrical connection and the normal operation of the circuit, and reducing the risk of electrical failure caused by mechanical factors.

[0078] For example, Figure 14As shown, the first circuit board 61 in the embodiment is provided with a plurality of groups of electrically connecting pins 64 on the side surface facing the second circuit board 62, and the second circuit board 62 includes a first mounting surface 621 facing away from the first circuit board 61 and a second mounting surface 622 facing the first circuit board 61, wherein the first mounting surface 621 is also provided with a plurality of groups of electrically connecting pins 64, and the second mounting surface 622 is provided with electrically connecting seats 65 matched with the electrically connecting pins 64. In the embodiment, the electrically connecting pins 64 of the first circuit board 61 are inserted into the electrically connecting seats 65 on the second circuit board 62 to achieve electrical connection between the first circuit board 61 and the second circuit board 62, so that the connection between the first circuit board 61 and the second circuit board 62 becomes simpler and more convenient, which helps to improve the assembly efficiency of the control unit 6. When the first circuit board 61 or the second circuit board 62 needs to be repaired, decelerated or replaced, the connection by insertion can also simplify the disassembly and reinstallation of the first circuit board 61 and the second circuit board 62, which helps to improve the maintainability and replaceability of the components of the control unit 6 and reduce the difficulty of maintenance and upgrading of the control unit 6.

[0079] Of course, it can be understood that in other embodiments when the number of second circuit boards 62 exceeds one, the adjacent two second circuit boards 62 can also be electrically connected through the electrically connecting pins 64 and the electrically connecting seats 65. In addition, the more the number of second circuit boards 62, the greater the voltage and current that the control unit 6 can output to the motor 5, and the number of second circuit boards 62 can be selected according to the actual needs of the motor 5.

[0080] As shown in Figure 18 and Figure 19 , the second circuit board 62 in the embodiment includes a PCB substrate, the first mounting surface 621 of the PCB substrate is provided with a first component group, and the second mounting surface 622 of the PCB substrate is provided with a second component group 6221, so that the second circuit board 62 forms a double-sided layout, which can greatly increase the mounting area of the second circuit board 62, and can greatly increase the number of components mounted on the second circuit board 62 compared with a single-sided layout, which makes it possible to realize more complex circuit functions. In addition, the double-sided layout can form functional partitions, and different functional components can be mounted on different mounting surfaces, so that the first mounting surface 621 and the second mounting surface 622 can undertake different sub-functions or process different types of signals, which helps to reduce the mutual interference between components and makes the operation of the second circuit board 62 more stable and reliable. Secondly, the distribution of components is dispersed, which is beneficial to disperse heat sources and avoid excessive concentration of heat on one side of the PCB substrate, thereby improving the heat dissipation effect of the entire circuit board, reducing the possibility of performance degradation or damage of components due to overheating, and helping to maintain the stable operation of the control unit 6. In addition, the double-sided layout can further reduce the size of the PCB substrate and the volume of the control unit 6.

[0081] The first element group in the embodiment includes multiple MOS tubes 6211 and current-carrying copper blocks 6212. The height of the elements in the first element group, except the MOS tubes 6211, protruding from the first mounting surface 621 is lower than the height of the MOS tubes 6211 protruding from the first mounting surface 621. A heat dissipation piece is attached to the MOS tubes 6211. All the MOS tubes 6211 share one heat dissipation piece. Compared with the previous structure, in order to avoid the heat dissipation piece from colliding with the elements higher than the MOS tubes 6211, a heat dissipation piece needs to be attached to each MOS tube 6211, which greatly increases the attachment time of the heat dissipation piece and reduces the total heat dissipation area of the heat dissipation piece. In the embodiment, the heat dissipation piece does not need to avoid the elements in the first element group, and one heat dissipation piece can cover all the MOS tubes 6211. The heat dissipation area of the heat dissipation piece is expanded, the heat dissipation efficiency is improved, the attachment difficulty of the heat dissipation piece is reduced, the attachment efficiency of the heat dissipation piece is improved, and the manufacturing cost of the control unit 6 is reduced. In addition, the heat dissipation piece can ensure that the MOS tubes work in an appropriate temperature range, reduce performance degradation or failure caused by overheating, and improve the stability and reliability of the entire device, thereby ensuring the continuous and stable operation of the control unit 6. It should be noted that the current-carrying copper blocks 6212 in the embodiment can improve the current-carrying capacity of the second circuit board 62, increase the voltage and current carrying capacity of the second circuit board 62, and then enable the control unit 6 to output higher voltage and current to the driving unit 52, so that the motor 5 has higher output power, and the running speed and carrying capacity of the leg structure are improved.

[0082] Since the MOS tubes 6211 and the current-carrying copper blocks 6212 are concentratedly installed on the first mounting surface 621 and the number is large, and the MOS tubes 6211 and the current-carrying copper blocks 6212 will generate a large amount of heat during the operation of the control unit 6, the first mounting surface 621 of the second circuit board 62 will have a high and concentrated heat generation. In order to further improve the heat dissipation effect of the second circuit board 62, in addition to the heat dissipation channel 69 arranged between the first circuit board 61 and the second circuit board 62 and the heat dissipation piece assembled on the MOS tubes 6211, a third circuit board 63 is attached to the second mounting surface 622 of the second circuit board 62 in the embodiment. The third circuit board 63 is a copper substrate, and multiple capacitors 632 are arranged on the third circuit board 63. Thus, the voltage fluctuation of the second circuit board 62 can be reduced. During the operation of the leg structure, the joint part is in a reciprocating state. Therefore, the motor 5 is in a high-frequency and reciprocating forward and reverse rotation state during the operation. The voltage fluctuation is severe during the forward and reverse rotation switching process of the motor 5. The third circuit board 63 can specially process the voltage fluctuation problem to avoid damage caused by the voltage fluctuation being too severe to exceed the rated voltage value of the control unit 6, thereby improving the stability of the motor 5 during operation.

[0083] In addition, the mounting position of the second element group 6221 on the second mounting surface 622 avoids the projection area of all MOS tubes 6211 and current-carrying copper blocks 6212 on the second panel, and the copper substrate is provided with a relief hole 631 that avoids the second element group 6221, and the copper substrate at least covers the projection area of all MOS tubes 6211 and current-carrying copper blocks 6212 on the second panel, and the material of the copper substrate is copper, which has good heat conduction performance and can quickly conduct the heat generated by the MOS tubes and the current-carrying copper blocks 6212 out. Although the surface of the PCB substrate itself also has a layer of copper, it is too thin to bear higher voltage and current, and the current-carrying copper blocks 6212 protrude from the first end surface, so they have a larger volume and a larger heat dissipation area. In addition, the large volume makes the current-carrying copper blocks 6212 have better voltage and current carrying capacity, so that a larger voltage and current can be output to the motor 5 under the condition that the control unit 6 is reduced, so that the motor 5 outputs a larger torque to improve the running performance of the leg structure. At the same time, the large heat dissipation area makes the high temperature generated by the current-carrying copper blocks 6212 when carrying voltage and current be able to radiate outward more quickly, improving the heat dissipation effect of the current-carrying copper blocks 6212. Secondly, both the MOS tubes 6211 and the current-carrying copper blocks 6212 will generate a lot of heat, and because they are in direct contact with the PCB substrate, part of the heat generated will be transferred to the PCB substrate. The copper substrate is attached to the second mounting surface 622, so part of the heat generated by the MOS tubes 6211 and the current-carrying copper blocks 6212 will be transferred to the copper substrate, and the main material of the copper substrate is copper, so the copper substrate can quickly dissipate heat outward, thereby improving the heat dissipation efficiency and effectively reducing the temperature of the MOS tubes and the current-carrying copper blocks 6212, ensuring the stable work of these MOS tubes and current-carrying copper blocks 6212, thereby improving the reliability and durability of the control unit 6.

[0084] Embodiment two:

[0085] The embodiment shows a humanoid robot, which comprises a trunk, a leg structure movably connected to the bottom of the trunk, the leg structure comprising a crotch 1, a thigh structure 2, a lower leg structure 3 and a foot end piece 4, wherein the leg structure adopts the leg structure of the humanoid robot as described in Embodiment One, the crotch 1 is fixedly connected to the trunk, the crotch 1 is rotatably connected to two thigh structures 2, the bottom end of each thigh structure 2 is rotatably connected to a lower leg structure 3, and the foot end piece 4 is rotatably connected to the bottom end of the lower leg structure 3, the inside of the thigh structure 2 forms a mounting cavity for mounting a motor 5, and two motors 5 are fixedly connected in the mounting cavity of the thigh structure 2, the inertia disc 533 of one of the motors 5 is fixedly connected to the crotch 1, the motor 5 drives the inertia disc 533 to rotate after being started, thereby realizing the relative rotation of the crotch 1 and the thigh structure 2, the inertia disc 533 of the other motor 5 is fixedly connected to the top end of the lower leg structure 3, the motor 5 drives the inertia disc 533 to rotate after being started, thereby realizing the relative rotation of the thigh structure 2 and the lower leg structure 3, the inside of the corresponding lower leg structure 3 also forms a mounting cavity for mounting a motor 5, and one motor 5 is fixedly connected in the mounting cavity of the lower leg structure 3, the inertia disc 533 of the motor 5 is fixedly connected to the foot end piece 4, the motor 5 drives the inertia disc 533 to rotate after being started, thereby realizing the relative rotation of the lower leg structure 3 and the foot end piece 4.

[0086] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited to this, and those skilled in the art should understand that the present application includes but is not limited to the contents described in the above specific embodiment and the accompanying drawings. Any modification of the function and structural principle of the present application without deviating from the present application will be included in the scope of the claims.

Claims

1. A leg structure of a humanoid robot, comprising a hip, a thigh structure, a lower leg structure and a foot end member, the thigh structure being rotatably connected between the hip and the lower leg structure, the foot end member being rotatably connected to a bottom end of the lower leg structure, the thigh structure comprising a thigh bracket, two motors being mounted on the thigh bracket, the lower leg structure comprising a lower leg bracket, one motor being mounted on the lower leg bracket, the motor comprising a housing, a driving unit, a control unit and a transmission unit mounted in the motor, characterized in that, The outer shell of the motor is long strip-shaped, the transmission unit and the control unit are respectively located at two ends of the driving unit, the control unit comprises a plurality of circuit boards, the circuit boards are stacked in the outer shell along the length direction of the outer shell, the transmission unit is in transmission connection with the output shaft of the driving unit for outputting torque to the joints of the leg part, the thigh support is provided with a first mounting cavity arranged along the length direction of the thigh support, the two motors on the thigh support are fixed in the first mounting cavity, the transmission unit of one of the motors on the thigh support is fixedly connected with the crotch part, and the transmission unit of the other motor is fixedly connected with the lower leg support, the lower leg support is provided with a second mounting cavity arranged along the length direction of the lower leg support, the motor of the lower leg support is fixed in the second mounting cavity, and the transmission unit of the motor is fixedly connected with the foot end part.

2. The leg structure of the humanoid robot according to claim 1, characterized by, The thigh support comprises a first front plate and two first side plates fixed on two sides of the first front plate, the first front plate and the two second side plates surround to form the first mounting cavity, the motor of the thigh support comprises a first motor and a second motor, the first motor is fixed in the mounting cavity and close to the first front plate, the transmission unit of the first motor extends to the bottom end of the thigh support and is fixedly connected with the lower leg support, the second motor is fixed between the two first side plates, the transmission unit of the second motor extends to the top end of the thigh support and is fixedly connected with the crotch part, and the first motor is between the first front plate and the second motor.

3. The leg structure of the humanoid robot according to claim 2, wherein The top end of the first side plate forms a first hinge end, the outer shell of the second motor is fixed to the first hinge end, the transmission unit of the second motor is provided with an inertia disc for outputting torque, the inertia disc is fixedly connected with the crotch part, and the second motor drives the inertia disc to rotate to realize the relative rotation of the thigh and the crotch part.

4. The leg structure of the humanoid robot according to claim 1, wherein The lower leg support comprises a second front plate, a second rear plate and two second side plates, the second front plate, the second rear plate and the two second side plates surround to form the second mounting cavity, the motor of the lower leg support is a third motor, the outer shell of the third motor is fixed in the second mounting cavity and is distributed along the length direction of the lower leg support, and the transmission unit of the third motor extends to the bottom end of the lower leg support and is fixedly connected with the foot end part.

5. The leg structure of the humanoid robot according to claim 4, wherein The top end of the second side plate forms a second hinge end, the transmission unit of the motor is provided with an inertia disc for outputting torque, the inertia disc of one of the motors in the thigh support is fixedly connected with the second hinge end, and the motor of the thigh support drives the inertia disc to rotate to realize the relative rotation of the thigh support and the lower leg support.

6. The leg structure of the humanoid robot according to claim 4, wherein In the vertical direction, the top end of the second front plate is lower than the top end of the second side plate, and the upper side of the second front plate forms an avoiding groove for avoiding the thigh support.

7. The leg structure of the humanoid robot according to claim 6, wherein The thigh support comprises a first front plate, when the first front plate and the second front plate are in the same plane, the bottom end of the first front plate extends into the avoiding groove and abuts against the top end of the second front plate.

8. The leg structure of the humanoid robot according to claim 1, wherein The top end of the foot end part is provided with a mounting groove, the transmission unit of the motor of the lower leg support is provided with an inertia disc for outputting torque, the inertia disc is fixed to the side wall of the mounting groove, and the motor of the lower leg support drives the inertia disc to rotate to realize the relative rotation of the lower leg support and the foot end part.

9. The leg structure of the humanoid robot according to claim 8, wherein The calf support comprises a second front plate, and a gap is formed between the bottom end of the second front plate and the slot edge of the mounting slot; or, when the bottom surface of the foot end part is kept vertical, the orthographic projection of the second front plate on the foot end part is in the mounting slot.

10. The leg structure of the humanoid robot according to claim 8, wherein The foot end part comprises an ankle, a heel and a toe, the mounting slot is arranged at the top end of the ankle, the inertia disc is fixedly connected with the ankle, and the motor of the calf support drives the toe to rotate away from the calf support in the process that the leg structure walks and the foot end part gradually contacts the ground, so that the toe is preferentially contacted with the ground.

11. The leg structure of the humanoid robot according to claim 1, wherein The driving unit comprises a stator, a rotor and an output shaft, the transmission unit comprises a rotating shaft, one end of the rotating shaft is provided with a first bevel gear, the other end is provided with an inertia disc, the end of the output shaft is provided with a second bevel gear, the first bevel gear is engaged with the second bevel gear, so that the rotating shaft and the output shaft are kept vertical, and the driving unit drives the inertia disc to rotate through the rotating shaft.

12. The leg structure of the humanoid robot according to claim 11, wherein The transmission unit further comprises a reduction mechanism, the reduction mechanism comprises a planetary gear and a gear ring, the end of the rotating shaft is provided with a sun gear, the planetary gear is engaged with the gear ring and the sun gear at the same time, the rotating shaft drives the gear ring to rotate through the planetary gear, and the inertia disc is fixedly connected with the gear ring; or, the gear ring is fixedly connected with the shell, the inertia disc is fixedly connected with the planetary gear, and the output shaft drives the inertia disc to rotate through the planetary gear.

13. The leg structure of the humanoid robot according to claim 12, wherein The reduction mechanism further comprises a reduction box, the reduction box is fixedly connected with the shell of the motor, the gear ring is fixed to the inner wall of the reduction box, the reduction box is provided with a perforation, the inertia disc is rotatably arranged in the perforation through a bearing, the outer circumferential side of the rotating shaft is rotatably connected with a retainer, the retainer is fixedly connected with the inertia disc, the planetary gear has a rotating shaft, and the two ends of the rotating shaft are connected with the retainer and the inertia disc respectively, and the inertia disc has a fastener for fixing the crotch part, the calf or the foot end part.

14. The leg structure of the humanoid robot according to claim 1, wherein The shell comprises a main shell and an end cover which is detachably arranged at one end of the main shell, the end cover is connected to the end of the main shell away from the transmission unit, and the end cover and the main shell form a containing cavity for assembling the control unit.

15. The leg structure of the humanoid robot according to claim 14, wherein The control unit comprises a first circuit board and at least one second circuit board, the weak current area of the control unit is arranged on the first circuit board, the strong current area of the control unit is arranged on the second circuit board, the first circuit board is used for signal interaction and control of the motor, the second circuit board is used for control of voltage and current output to the motor, a plurality of support columns are arranged on the first circuit board, the support columns support the second circuit board, so that a heat dissipation channel is formed between the first circuit board and the second circuit board, and the first circuit board and the second circuit board are stacked along the length direction of the shell.

16. The leg structure of the humanoid robot according to claim 15, wherein One side of the second circuit board is attached with a third circuit board, the second circuit board and the third circuit board are electrically connected, the second circuit board is provided with components for controlling the size of voltage and current input to the motor, and the third circuit board is used for reducing voltage fluctuation in the operation of the motor.

17. The leg structure of the humanoid robot according to claim 16, wherein The second circuit board comprises a PCB substrate, the PCB substrate comprises a first mounting surface and a second mounting surface, the components comprise a first component group arranged on the first mounting surface and a second component group arranged on the second mounting surface.

18. The leg structure of the humanoid robot according to claim 17, wherein The first element group includes multiple MOS tubes, and the height of the elements in the first element group, except the MOS tubes, protruding from the first mounting surface is lower than the height of the MOS tubes protruding from the first mounting surface, and the MOS tubes are attached with a heat dissipation member, and all the MOS tubes share one heat dissipation member.

19. The leg structure of the humanoid robot according to claim 17, wherein The first element group includes multiple MOS tubes and current-carrying copper blocks, the third circuit board includes a copper substrate, one side of the copper substrate is attached to the second mounting surface and is used for heat dissipation of the MOS tubes and the current-carrying copper blocks, the mounting position of the second element group on the second mounting surface avoids the projection area of all the MOS tubes and the current-carrying copper blocks on the second panel, the copper substrate is provided with an avoiding hole avoiding the second element group, and the copper substrate covers at least the projection area of all the MOS tubes and the current-carrying copper blocks on the second panel.

20. The leg structure of the humanoid robot according to claim 14, wherein One end of the output shaft of the motor penetrates through the main shell and extends into the accommodating cavity, a magnet is mounted on the end of the output shaft in the accommodating cavity, and a Hall sensor for detecting the rotating speed of the output shaft is arranged on the side of the control unit close to the magnet.

21. A humanoid robot comprising a trunk, a leg structure movably connected to a bottom of the trunk, characterized in that, The leg structure is the leg structure of the humanoid robot according to any one of claims 1 to 20. The leg structure is the leg structure of the humanoid robot according to any one of claims 1 to 20.

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