Crus structure of humanoid robot and humanoid robot

Abstract

The utility model discloses a shank structure of a humanoid robot and the humanoid robot, belongs to the field of humanoid robots, solves the problems that a shank motor is mounted at the upper end of a shank, so that the attractiveness is influenced, and the simulation is reduced, and adopts the technical scheme that the shank structure mainly comprises a shank bracket and a motor fixed on the shank bracket, the motor comprises a shell, a driving unit, a control unit and a transmission unit, the shank support is provided with an installation cavity formed in the length direction of the shank support, the shell of the motor is in a long strip shape and is fixed in the installation cavity, the driving unit comprises an output shaft, the transmission unit comprises a rotating shaft, and the rotating shaft is in transmission connection with the output shaft and is used for outputting torque. The rotating axis of the output shaft is perpendicular to the rotating axis of the transmission shaft, the rotating shaft is fixedly connected with the foot end piece, and the driving motor is driven by the rotating shaft to achieve relative rotation of the shank support and the foot end piece. The motor fixing device is mainly used for fixing the motor in the shank support, so that the appearance of the shank support is more attractive.

Description

TECHNICAL FIELD

[0001] The utility model discloses a lower 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 supporting component and moving component of robot has been paid more and more attention and research, and the research of leg structure not only has great scientific significance, but also has great potential in practical application.

[0003] For example, the prior art CN118810959A 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, and the right lower leg is provided with a right lower leg motor and a right ankle joint rotating connection.

[0004] In the above patent, the lower leg motor is arranged at the upper end of the lower leg inner plate, and the lower leg motor protrudes from the rear side of the lower leg structure, so that the appearance of the lower leg structure is relatively conspicuous, which easily affects the aesthetic appearance of the lower leg structure. In addition, the protrusion of the lower leg motor from the lower leg structure makes the lower leg motor more susceptible to external impact, so that the lower leg motor is more easily damaged. Furthermore, the lower leg motor is arranged at the upper end of the push-down structure, and when the lower leg structure and the thigh structure are relatively rotated and moved closer to each other, the lower leg motor will form an obstacle, which causes the lower leg structure and the thigh structure to be unable to completely close together, thereby reducing the simulation of the leg structure. UTILITY MODEL CONTENTS

[0005] The utility model discloses a lower 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 calf structure of the humanoid robot is connected between the thigh structure and the foot end piece of the humanoid robot, and comprises a calf support and a motor fixed to the calf support. The motor comprises a housing, a driving unit, a control unit and a transmission unit installed in the motor. The calf support is provided with a mounting cavity arranged along the length direction of the calf support. The housing of the motor is in a strip shape and is fixed in the mounting cavity. The driving unit comprises an output shaft. The transmission unit comprises a rotating shaft which is in transmission connection with the output shaft and is used for outputting torque. The rotating shaft of the output shaft and the rotating shaft of the transmission shaft are perpendicular to each other. The rotating shaft is fixedly connected with the foot end piece. The driving motor is driven by the rotating shaft to realize the relative rotation of the calf support and the foot end piece.

[0008] The calf support is internally hollow to form the mounting cavity, the housing of the motor is in a strip shape, the shape of the housing is matched with the shape of the calf support, and thus the motor can be fixed in the mounting cavity of the calf support, the assembly of the calf support and the motor is more compact, the overall space of the calf structure can be greatly saved, the overall appearance of the calf structure is more beautiful, the motor is installed in the mounting cavity, the structure of the motor does not affect the appearance of the calf structure, the calf structure can maintain the original appearance, the motor can avoid interfering with the rotation of the calf structure, the relative rotation angle between the calf structure and the thigh structure can be improved, the rotation of the calf structure can be more in line with the human structure, and the simulation of the calf structure can be improved.

[0009] The calf support is internally hollow to form the mounting cavity, the housing of the motor is in a strip shape, the shape of the housing is matched with the shape of the calf support, and thus the motor can be fixed in the mounting cavity of the calf support, the assembly of the calf support and the motor is more compact, the overall space of the calf structure can be greatly saved, the overall appearance of the calf structure is more beautiful, the motor is installed in the mounting cavity, the structure of the motor does not affect the appearance of the calf structure, the calf structure can maintain the original appearance, the motor can avoid interfering with the rotation of the calf structure, the relative rotation angle between the calf structure and the thigh structure can be improved, the rotation of the calf structure can be more in line with the human structure, and the simulation of the calf structure can be improved.

[0010] Preferably, the calf support comprises a front plate, a rear plate and two side plates. The two side plates are fixed between the front plate and the rear plate. The front plate, the rear plate and the two side plates surround to form the mounting cavity. The top end of the side plate forms a hinged end which is hinged with the thigh structure. The housing of the motor is fixed to the front plate. The transmission unit of the motor extends to the bottom end of the calf support. The calf support is spliced by the front plate, the rear plate and the two side plates. The top end and the bottom end of the mounting cavity are open to facilitate the connection of the thigh structure and the hinged end of the calf support, and the connection of the motor and the foot end piece. The installation and disassembly of the leg structure are more simple and convenient. The installation and maintenance efficiency of the leg structure is improved.

[0011] Preferably, in the vertical direction, the top end of the front plate is lower than the top end of the side plate, and the upper side of the front plate forms an avoiding groove for avoiding the thigh structure. 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.

[0012] Preferably, the front plate, the rear plate and the two side plates are in an integrated structure. With the foregoing technical scheme, the integrated structure can enhance the overall strength of the calf support, and then the leg structure has stronger supporting performance, and the motor can be provided with more powerful protection, and the possibility of damage of the motor due to external impact is reduced.

[0013] Preferably, the shell comprises a main shell and an end cover detachably mounted 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. With the foregoing technical scheme, the main shell and the end cover are detachably connected, 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, the distance between the control unit and the driving unit is increased, the heat generated by the driving unit is 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 long strip shape, the volume of the containing cavity can be expanded by increasing the length of the shell, and then the containing cavity can be used to install a control unit with a larger area, so as to enhance the function of the control unit, and the leg structure has a faster running speed and a stronger load capacity.

[0014] Preferably, the control unit comprises a plurality of circuit boards, the circuit boards are stacked in the containing cavity along the length direction of the shell, a support column is arranged between adjacent two circuit boards, the support column supports the upper circuit board, and a gap is formed between the adjacent two circuit boards. With the foregoing technical scheme, the control unit is composed of a plurality of circuit boards, and the circuit boards are stacked along the length direction of the shell. The area of the circuit board is increased, and the diameter of the control unit is reduced, so that the circuit board can adapt to the shape of the motor shell, and the overall volume of the motor is prevented from being increased due to the too large diameter of the circuit board. In addition, the area of the circuit board is increased, more electronic elements can be installed in the control unit, the control of the motor by the control unit is more accurate, the control unit can output larger voltage and current to the motor, and the motor has a large enough output torque.

[0015] As preferred, the transmission unit comprises a rotating shaft, the end of the rotating shaft is provided with an inertia disc for outputting torque to the foot end piece, the rotating shaft is fixed with a first bevel gear, the end of the output shaft is provided with a second bevel gear engaged with the first bevel gear, and the driving unit drives the inertia disc to rotate through the rotating shaft to realize the relative rotation of the calf support and the foot end piece. By the above technical scheme, the first bevel gear and the second bevel gear can realize the vertical transmission between the transmission shaft and the output shaft, the transmission efficiency between the output shaft and the transmission shaft is higher, the stable transmission of the torque is ensured, the output shaft and the transmission shaft are directly engaged, the connecting rod can be saved, the energy loss in the power transmission process is reduced, the motor can output larger torque to the foot end piece, the torque output by the motor is sufficient to make the foot end piece walk and run in the form of toe landing, the walking posture of the leg structure of the humanoid robot is more consistent with the human body structure, and the simulation is higher.

[0016] 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 the above technical scheme, the speed reduction mechanism can slow down the rotating speed of the rotating shaft, and the inertia disc has larger output torque, so that the motor can stably drive the movement of the leg structure.

[0017] As preferred, the speed reduction mechanism further comprises a speed reduction box, the speed reduction box is fixedly connected with the shell, the ring gear is fixed to 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 rotating shaft is connected to the retainer and the inertia disc at two ends respectively, and the inertia disc has a fastener for fixing the foot end piece. By the above technical scheme, the planetary gear is limited between the retainer and the inertia disc, the movement of the planetary gear along the axial direction of the sun gear can be avoided, and the stable engagement of the planetary gear with the sun gear and the ring gear can be ensured.

[0018] The utility model discloses still demonstrated humanoid robot, including torso, the bottom of torso swing joint has leg structure, and the leg structure includes crotch, thigh and shank structure, the shank structure adopts the shank structure of humanoid robot of any one described above.

[0019] The other features and advantages of the utility model will be disclosed in the following specific embodiment, drawings in detail. BRIEF DESCRIPTION OF DRAWINGS

[0020] The utility model makes further explanation from the following combining with the drawings:

[0021] Figure 1 It is a structure schematic view of the lower leg structure of the humanoid robot of the utility model;

[0022] Figure 2 It is a structure schematic view of the lower leg support in the lower leg structure of the humanoid robot of the utility model;

[0023] Figure 3 It is a structure schematic view of the motor in the lower leg structure of the humanoid robot of the utility model;

[0024] Figure 4 It is an explosion view of the motor in the lower leg structure of the humanoid robot of the utility model;

[0025] Figure 5 It is an explosion view of the speed reduction structure in the lower leg structure of the humanoid robot of the utility model;

[0026] Figure 6 It is a structure schematic view of the control unit in the lower leg structure of the humanoid robot of the utility model;

[0027] Figure 7 It is a leg structure schematic view of the humanoid robot of the utility model;

[0028] Figure 8 It is a structure schematic view of the left leg in the humanoid robot of the utility model.

[0029] Fig. 1, crotch; 2, thigh structure; 3, lower leg structure; 31, lower leg support; 311, front plate; 312, side plate; 313, rear plate; 32, mounting cavity; 33, avoiding slot; 34, hinged end; 4, foot end piece; 5, motor; 51, shell; 511, main shell; 512, end cover; 5121, containing cavity; 513, box body; 5131, curved surface; 521, output shaft; 522, second bevel gear; 53, transmission unit; 531, rotating shaft; 532, first bevel gear; 533, inertia disc; 541, sun gear; 542, planetary gear; 543, gear ring; 544, retainer; 5441, connecting column; 545, speed reducer; 55, control unit; 551, circuit board; 552, support column; 553, pin. DETAILED DESCRIPTION

[0030] 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, but the following embodiments are only preferred embodiments of the utility model, not all. Based on the embodiments in the embodiments, other embodiments obtained by the person skilled in the art without making creative labor all belong to the protection scope of the utility model.

[0031] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "clockwise", "counterclockwise", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0032] 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.

[0033] 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.

[0034] Example 1:

[0035] like Figures 1 to 6 As shown in the figure, this embodiment illustrates the lower leg structure 3 of a humanoid robot. The lower leg structure 3 is connected between the thigh structure 2 and the foot end piece 4 of the humanoid robot. The lower leg structure 3 includes a lower leg support 31 and a motor 5 fixed to the lower leg support 31. The motor 5 includes a housing 51, and a drive unit, a control unit 55 and a transmission unit 53 installed in the motor 5. The lower leg support 31 is provided with a mounting cavity 32 arranged along the length direction of the lower leg support 31. The housing 51 of the motor 5 is elongated and fixed in the mounting cavity 32. The drive unit includes an output shaft 521, and the transmission unit 53 includes a rotating shaft 531. The rotating shaft 531 is connected to the output shaft 521 and is used to output torque. The rotation axis 531 line of the output shaft 521 is perpendicular to the rotation axis 531 line of the transmission shaft. The rotating shaft 531 is fixedly connected to the foot end piece 4. The drive motor 5 is driven by the rotating shaft 531 to realize the relative rotation of the lower leg support 31 and the foot end piece 4.

[0036] The inside of the calf support 31 is hollow to form a mounting cavity 32, the shell 51 of the motor 5 is long strip-shaped, the shell 51 is matched with the shape of the calf support 31, and then the motor 5 can be fixed in the mounting cavity 32 of the calf support 31, so that the calf support 31 and the motor 5 are more compactly assembled, the overall space of the calf structure 3 can be greatly saved, and the overall appearance of the calf structure 3 is more beautiful; in addition, the motor 5 is installed in the mounting cavity 32, and the structure of the motor 5 will not affect the appearance of the calf structure 3, so that the calf structure 3 can maintain the original appearance, and the motor 5 can also avoid interfering with the rotation of the calf structure 3, which helps to improve the relative rotation angle between the calf structure 3 and the thigh structure 2, so that the rotation of the calf structure 3 can be more in line with the human structure, and the simulation of the calf structure 3 is improved; secondly, the calf support 31 can provide a mounting space for the motor 5 and also protect the motor 5, so that the motor 5 is not easily subjected to external impact due to directly protruding from the calf support 31, and the possibility of damage to the motor 5 is reduced.

[0037] As shown in Figure 1 and Figure 2 The calf support 31 includes a front plate 311, a rear plate 313 and two side plates 312, the two side plates 312 are connected to the two sides of the front plate 311 and the rear plate 313 respectively, the front plate 311, the rear plate 313 and the two side plates 312 are surrounded to form a mounting cavity 32, the mounting cavity 32 is open at the top end and the bottom end of the calf support 31, in the vertical direction, the top end of the side plate 312 is higher than the top end of the front plate 311 and the rear plate 313, the top end of the side plate 312 forms a hinge end 34 hinged with the thigh structure 2, the shell 51 of the motor 5 is fixed to the front plate 311 of the calf support 31, and the transmission unit 53 of the motor 5 extends to the bottom end of the calf support 31, so that the transmission unit 53 of the motor 5 can be connected with the foot end piece 4 of the leg structure, the motor 5 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 front plate 311, the rear plate 313 and the two side plates 312, and the top end and the bottom end of the mounting cavity 32 are open, so as to facilitate the connection of the thigh structure 2 and the hinge end 34 of the calf support 31, and facilitate the connection of the motor 5 and the foot end piece 4, 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.

[0038] As shown in Figure 2As shown in the drawings, in the embodiment, the top end surface of the side plate 312 is a circular arc surface, and the top end surface of the front plate is lower than the circular arc surface of the side plate 312, so as to form an avoiding groove 33 on the upper side of the front plate 311 for avoiding the thigh structure 2, the avoiding groove 33 is between the two side plates 312, and the top ends of the two side plates 312 form a hinged end 34 on the opposite surfaces of the two side plates 312, which forms a hinged structure fixedly connected with the inertia disc 533 of the motor 5 in the thigh structure 2. The avoiding groove 33 can be used for the thigh structure 2 to extend into, so as to ensure that the front side of the thigh structure 2 and the 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 side plate 312 can make the relative rotation of the calf structure 3 and the thigh structure 2 more smooth, and avoid that the side plate 312 and the thigh structure 2 interfere with each other to limit the rotation angle of the calf structure 3 and the thigh structure 2 when the calf structure 3 and the thigh structure 2 rotate.

[0039] As shown in the drawings, Figure 2 In the embodiment, the top end of the rear plate 313 is connected to the bottom end of the side plate 312, and in the vertical direction, the bottom end surface of the rear plate 313 is higher than the bottom end surface of the front plate 311, that is, the lengths of the rear plate 313 and the side plate 312 are relatively short, so as to shorten the lengths of the rear plate 313 and the side plate 312, reduce the overall weight of the calf support 31, help to reduce the power required by the thigh structure 2 to drive the calf support 31, reduce the load of the motor 5 of the thigh structure 2, 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 front plate 311 and the two side plates 312, and the rear plate 313 is omitted, which can further reduce the weight of the calf support 31.

[0040] In the embodiment, the front plate 311, the rear plate 313 and the two side plates 312 are an integral structure, which can enhance the overall strength of the calf support 31, so as to make the leg structure have stronger supporting performance, and also can provide stronger protection for the motor 5, and reduce the possibility that the motor 5 is damaged by external impact.

[0041] As shown in the drawings, Figure 4As shown, the shell 51 in the embodiment includes a main housing 511, a box 513 and an end cover 512, the box 513 and the end cover 512 are respectively installed at both ends of the main housing 511, a driving unit is fixed in the main housing 511, an output shaft 521 of the driving unit extends into the box 513, a transmission unit 53 is installed in the box 513, a rotating shaft 531 of the transmission unit 53 is rotatably connected with the box 513, an end of the main housing 511 away from the transmission unit 53 and the end cover 512 form a containing cavity 5121 for assembling the control unit 55, the main housing 511 and the end cover 512 are detachably connected, which can facilitate the installation and disassembly of the control unit 55, so that the maintenance and testing of the control unit 55 are more simple and convenient; in addition, the end cover 512 forms the containing cavity 5121 at one end of the main housing 511, which can increase the distance between the control unit 55 and the driving unit, reduce the heat generated by the driving unit into the containing cavity 5121, reduce the heating speed of the control unit 55, and help to prolong the service life of the control unit 55; in addition, the containing cavity 5121 is arranged at one end of the main housing 511, and 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 55 with a larger area, so as to enhance the function of the control unit 55, and make the leg structure have a faster running speed and a stronger load capacity.

[0042] As shown, Figure 6 In the embodiment, the control unit 55 includes at least two circuit boards 551, the circuit boards 551 are stacked in the containing cavity 5121 along the length direction of the shell 51, a support column 552 is arranged between adjacent two circuit boards 551, the support column 552 supports the upper circuit board 551, so that a gap is formed between the adjacent two circuit boards 551, the adjacent two circuit boards 551 are electrically connected through pins 553, the control unit 55 is composed of a plurality of circuit boards 551, and the circuit boards 551 are stacked along the length direction of the shell 51, which can increase the area of the circuit board 551 and reduce the diameter of the control unit 55, so that the circuit board 551 can adapt to the shape of the motor 5 shell 51, and avoid that the diameter of the circuit board 551 is too large to increase the overall volume of the motor 5; in addition, increasing the area of the circuit board 551 can enable the control unit 55 to install more electronic elements, so that the control of the motor 5 by the control unit 55 is more accurate, the control unit 55 can output larger voltage and current to the motor 5, so that the motor 5 has a large enough output torque. Of course, it can be understood that the number of circuit boards 551 can also be more than two, and increasing the number of circuit boards 551 can also increase the installation area of the circuit board 551, so as to improve the performance of the control unit 55.

[0043] As shown, Figure 4As shown, the transmission unit 53 in the embodiment comprises a rotating shaft 531 rotatably connected with the box 513, a first bevel gear 532 fixed on the outer circumferential side of the rotating shaft 531, a second bevel gear 522 fixed on the end of the output shaft 521, the first bevel gear 532 and the second bevel gear 522 being in mesh with each other, an inertia disc 533 drivingly connected with one end of the rotating shaft 531 and located outside the box 513, the output shaft 521 driving the rotating shaft 531 to rotate through the first bevel gear 532 and the second bevel gear 522, the rotating shaft 531 driving 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 being capable of realizing the vertical transmission between the transmission shaft and the output shaft 521, the transmission between the output shaft 521 and the transmission shaft having higher transmission efficiency, ensuring the stable transmission of the torque; in addition, the output shaft 521 and the transmission shaft are directly in mesh, 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 make the foot end piece 4 walk and run in the form of toe landing, so that the walking posture of the leg structure of the humanoid robot is more in line with the human body structure, and has higher simulation.

[0044] As Figure 5As shown, the transmission unit 53 in the embodiment also includes a speed reduction mechanism, which includes a speed reduction box 545 fixed to one side of the box 513, the speed reduction box 545 is provided with a sun gear 541, a planetary gear 542 and a ring gear 543, one end of the rotating shaft 531 of the transmission unit 53 is rotatably connected with the box 513, the other end 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 in the speed reduction box 545, the planetary gear 542 is in mesh with the ring gear 543 and the sun gear 541 at the same time, the outer peripheral side of the end of the rotating shaft 531 extending into the speed reduction box 545 is sleeved with a shaft sleeve, the shaft sleeve is fixedly connected with the box 513, the outer peripheral side of the shaft sleeve is rotatably connected with a retainer 544, the speed reduction box 545 is provided with a through hole away from the rotating shaft 531, the inertia disc 533 is rotatably matched with the through hole through a bearing, the retainer 544 is provided with a connecting column 5441 extending to the inertia disc 533, the retainer 544 is fixedly connected with the inertia disc 533 through the connecting column 5441, the planetary gear 542 has a rotating shaft, both ends of the rotating shaft are connected with 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 the rotating shaft, the inertia disc 533 has a fastener for connecting the leg structure; after 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 in the process of rotating around the sun gear 541, so that the output of the torque is realized, the speed reduction mechanism can slow down the rotating speed of the rotating shaft, and the inertia disc 533 has greater output torque, so that the motor 5 can stably drive the movement of the leg structure.

[0045] Embodiment two:

[0046] As Figure 7 and Figure 8As shown, the embodiment shows a humanoid robot, including a trunk, a leg structure movably connected to the bottom of the trunk, the leg structure including a crotch 1, a thigh structure 2, a lower leg structure 3 and a foot end piece 4, wherein the lower leg structure 3 adopts the lower leg structure 3 of the humanoid robot as described in Embodiment One, the crotch 1 is fixedly connected with the trunk, the crotch 1 is rotatably connected with two thigh structures 2, the bottom end of each thigh structure 2 is rotatably connected with 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 32 for mounting a motor 5, and two motors 5 are fixedly connected in the mounting cavity 32 of the thigh structure 2, the inertia disc 533 of one of the motors 5 is fixedly connected with the crotch 1, and 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 with the top end of the lower leg structure 3, and 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, and the inside of the corresponding lower leg structure 3 also forms a mounting cavity 32 for mounting a motor 5, one motor 5 is fixedly connected in the mounting cavity 32 of the lower leg structure 3, the inertia disc 533 of the motor 5 is fixedly connected with the foot end piece 4, and 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.

[0047] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto, 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 embodiments and the drawings. Any modification of the function and structural principle of the present application without departing from the present application will be included in the scope of the claims.

Claims

1. A lower leg structure for a humanoid robot, the lower leg structure being connected between the thigh structure and the foot end piece of the humanoid robot, the lower leg structure including a lower leg support and a motor fixed to the lower leg support, the motor including a housing, and a drive unit, a control unit, and a transmission unit installed within the motor, characterized in that, The calf support has an installation cavity along its length. The motor housing is elongated and fixed inside the installation cavity. The drive unit includes an output shaft, and the transmission unit includes a rotating shaft. The rotating shaft is connected to the output shaft and is used to output torque. The rotation axis of the output shaft is perpendicular to the rotation axis of the transmission shaft. The rotating shaft is fixedly connected to the foot end piece. The drive motor drives the calf support and the foot end piece to rotate relative to each other through the rotating shaft.

2. The lower leg structure of the humanoid robot according to claim 1, characterized in that, The calf support includes a front plate, a rear plate, and two side plates. The two side plates are fixed between the front plate and the rear plate. The front plate, the rear plate, and the two side plates form an installation cavity. The top of the side plates forms a hinge end that is hinged to the thigh structure. The motor housing is fixed to the front plate, and the motor transmission unit extends to the bottom of the calf support.

3. The lower leg structure of the humanoid robot according to claim 2, characterized in that, In the vertical direction, the top of the front plate is lower than the top of the side plate, and the upper side of the front plate forms a clearance groove for avoiding the thigh structure.

4. The lower leg structure of the humanoid robot according to claim 2, characterized in that, The front panel, rear panel, and two side panels are an integral structure.

5. The lower leg structure of the humanoid robot according to claim 1, characterized in that, The outer casing includes a main housing and an end cap that is detachably mounted on one end of the main housing. The end cap is connected to the end of the main housing away from the transmission unit, and a receiving cavity for assembling the control unit is formed between the end cap and the main housing.

6. The lower leg structure of the humanoid robot according to claim 5, characterized in that, The control unit includes several circuit boards, which are stacked in the receiving cavity along the length of the outer shell. A support column is provided between two adjacent circuit boards, which supports the upper circuit board to create a gap between the two adjacent circuit boards.

7. The lower leg structure of the humanoid robot according to claim 1, characterized in that, The transmission unit includes a rotating shaft, with an inertia disk at the end of the rotating shaft for outputting torque to the foot end piece. A first bevel gear is fixed on the rotating shaft, and a second bevel gear meshing with the first bevel gear is provided at the end of the output shaft. The drive unit drives the inertia disk to rotate through the rotating shaft, so as to realize the relative rotation between the lower leg support and the foot end piece.

8. The lower leg structure of the humanoid robot according to claim 7, characterized in that, The transmission unit also includes a reduction mechanism, which includes a planetary gear and a ring gear. A sun gear is provided at the end of the rotating shaft. The planetary gear meshes with both the ring gear and the sun gear. The rotating shaft drives the ring gear to rotate through the planetary gear. The inertia disk is fixedly connected to the ring gear. Alternatively, the ring gear is fixed relative to the outer casing, the inertia disk is fixedly connected to the planetary gear, and the output shaft drives the inertia disk to rotate through the planetary gear.

9. The lower leg structure of the humanoid robot according to claim 8, characterized in that, The deceleration mechanism also includes a deceleration box, which is fixedly connected to the outer shell of the motor. A gear ring is fixed to the inner wall of the deceleration box. The deceleration box has a through hole. An inertia disk is rotatably mounted in the through hole via a bearing. A retainer is rotatably connected to the outer periphery of the rotating shaft. The retainer is fixedly connected to the inertia disk. The planetary gear has a rotating shaft. Both ends of the rotating shaft are connected to the retainer and the inertia disk, respectively. The inertia disk has fasteners for fixing the foot end piece.

10. A humanoid robot, comprising a torso, with a leg structure movably connected to the bottom of the torso, the leg structure including a hip, thigh, and calf structure, characterized in that, The lower leg structure adopts the lower leg structure of the humanoid robot as described in any one of claims 1 to 9.

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