Shank structure, leg device and humanoid robot

Abstract

The utility model provides a shank structure, a leg device and a humanoid robot. The shank structure comprises a humanoid shank shell, a bearing support and a foot driving mechanism. The human-like shank shell has an external shape similar to a human shank, and a cavity is formed in the human-like shank shell; the bearing support is installed in the cavity in the height direction of the humanoid shank shell. The foot driving mechanism is used for driving the feet to act, and the foot driving mechanism is arranged in the cavity and installed on the bearing support. In this way, the humanoid effect is achieved through the humanoid shank shell, the main supporting effect is achieved through the bearing support, and the stability and attractiveness of the structure are both considered.

Description

Technical Field

[0001] This disclosure relates to the field of robotics, and more particularly to a lower leg structure, leg device, and humanoid robot. Background Technology

[0002] In existing humanoid robot leg structures, to ensure convenient movement and control, the drive joints are typically made large and positioned symmetrically or in specific locations on the mechanical structure. This results in the joint shape being directly reflected in the robot's external structure. Consequently, the final structural form deviates significantly from the proportions of the human body, leading to poor aesthetics and achieving only a humanoid appearance. Furthermore, in existing humanoid robot leg structures, the foot drive joints used to drive foot movement are usually directly mounted onto the humanoid leg shell. This easily exceeds the load-bearing capacity of the humanoid leg shell, affecting the lifespan of the leg structure. Utility Model Content

[0003] This disclosure provides a lower leg structure, a leg device, and a humanoid robot to at least solve the above-mentioned technical problems existing in the prior art.

[0004] This disclosure provides a lower leg structure for a humanoid robot, the lower leg structure comprising:

[0005] The humanoid lower leg shell has an internal cavity.

[0006] The support bracket is installed within the cavity along the height direction of the humanoid lower leg shell, and includes:

[0007] The carrier includes a grid section and a mounting section, wherein the mounting section is located in the middle of the grid section;

[0008] The protruding edge is integrally formed on at least a portion of the outer periphery of the carrier, and the protruding edge protrudes from the carrier in the left-right direction of the humanoid lower leg shell;

[0009] The foot drive mechanism is located inside the cavity and mounted on the mounting part of the carrier.

[0010] In one embodiment, the foot drive mechanism includes:

[0011] The first foot drive component includes:

[0012] The first actuator is mounted on the carrier.

[0013] The first crank is connected to the first actuator;

[0014] The first connecting rod, one end of which is rotatably connected to the first crank;

[0015] The second foot drive component includes:

[0016] The second actuator is mounted on the carrier.

[0017] The second crank is connected to the second actuator;

[0018] The second connecting rod, one end of which is rotatably connected to the second crank;

[0019] The first crank and the first connecting rod are located on one side of the carrier, and the second crank and the second connecting rod are located on the other side of the carrier.

[0020] In one embodiment, the first link and the second link have a sweeping range on the carrier, and the thickness of the carrier within the sweeping range is less than the thickness of the carrier outside the sweeping range. The thickness is the dimension of the carrier in the left-right direction of the humanoid lower leg shell.

[0021] In one embodiment, the carrier has a first reinforcing rib formed at the boundary of the sweeping range.

[0022] In one embodiment, the humanoid lower leg shell includes:

[0023] The first conforming shell is detachably covered on one side of the support bracket in the left-right direction, and forms a first receiving cavity between the first conforming shell and the support bracket;

[0024] A second conformal housing is detachably fitted onto the other side of the support bracket in the left-right direction, and together with the support bracket, forms a second receiving cavity; wherein...

[0025] The first foot drive assembly is disposed in the first receiving cavity, and the second foot drive assembly is disposed in the second receiving cavity.

[0026] This disclosure also provides a leg device, which includes:

[0027] The aforementioned lower leg structure;

[0028] The foot assembly is rotatably connected to the lower leg structure and the foot drive mechanism.

[0029] In one embodiment, the foot assembly includes:

[0030] Ankle support has a first rotation axis extending in the left-right direction, and the foot drive mechanism and the ankle support are rotatably connected around the first rotation axis.

[0031] An ankle support shaft is provided along a second rotation axis, which extends in the left-right direction and is spaced apart from the first rotation axis in the front-back direction. The ankle support shaft is connected to a support bracket.

[0032] The first joint bearing has its inner ring assembled and connected to the ankle support shaft, and its outer ring assembled and connected to the foot drive mechanism.

[0033] In one embodiment, the leg device further includes:

[0034] The thigh structure is rotatably connected to the calf structure via a knee pivot.

[0035] The knee cover is fixedly connected to the thigh structure and slidably connected to the lower leg structure. When the leg device is in an extended state, the knee cover is concealed within the thigh structure. When the lower leg structure rotates relative to the thigh structure to change the leg device from an extended state to a bent state, the knee cover is exposed between the thigh structure and the lower leg structure.

[0036] In one possible implementation, the knee shield includes:

[0037] An outer cover, one end of which is fixedly connected to the thigh structure;

[0038] The inner shield is located inside the outer shield and is slidably connected to the outer shield. The inner shield is slidably connected to the lower leg structure. When the lower leg structure rotates relative to the thigh structure to change the leg device from a straight state to a bent state, the lower leg structure drives the inner shield and the outer shield to perform an arched rotation around the knee axis.

[0039] This disclosure also provides a humanoid robot, which includes the leg assembly described above.

[0040] It should be understood that the content described in this section is not intended to identify key or important features of the embodiments of this disclosure, nor is it intended to limit the scope of the embodiments of this disclosure. Other features of the embodiments of this disclosure will become readily apparent from the following description. Attached Figure Description

[0041] The above and other objects, features, and advantages of exemplary embodiments of the present disclosure will become readily apparent upon reading the following detailed description with reference to the accompanying drawings. Several embodiments of the present disclosure are illustrated in the drawings by way of example and not limitation, wherein:

[0042] In the accompanying drawings, the same or corresponding reference numerals indicate the same or corresponding parts.

[0043] Figure 1 A schematic diagram of the lower leg structure and foot assembly according to an embodiment of the present disclosure is shown;

[0044] Figure 2 It shows Figure 1A schematic diagram of the exploded structure of the lower leg in the image;

[0045] Figure 3 It shows Figure 2 A schematic diagram of the supporting structure in the diagram;

[0046] Figure 4 It shows Figure 1 A schematic diagram of the foot component in the image;

[0047] Figure 5 It shows Figure 1 A schematic diagram of the lower leg structure and foot components viewed from a cross-sectional perspective along the I-I direction;

[0048] Figure 6 It shows Figure 1 A schematic diagram of the lower leg structure and foot components viewed from another perspective along the I-I direction;

[0049] Figure 7 A schematic diagram of the leg device in the extended state according to an embodiment of this disclosure is shown;

[0050] Figure 8 A schematic diagram of the leg device in a bent state according to an embodiment of this disclosure is shown.

[0051] The following are the labels in the diagram: 10. Lower leg structure; 11. Humanoid lower leg shell; 111. First contoured shell; 112. Second contoured shell; 113. Cavity; 12. Support bracket; 121. Support body; 122. Protruding edge; 123. First reinforcing rib; 124. Second reinforcing rib; 125. First mounting hole; 126. Second mounting hole; 13. Foot drive mechanism; 131. First foot drive assembly; 1311. First actuator; 1312. First crank; 131 3. First connecting rod; 1314. Second joint bearing; 132. Second foot drive assembly; 1321. Second actuator; 1322. Second crank; 1323. Second connecting rod; 1324. Third joint bearing; 20. Foot assembly; 21. Ankle support; 22. First joint bearing; 23. Ankle support shaft; 24. Second rotation axis; 25. First rotation axis; 26. Foot body; 30. Thigh structure; 40. Knee shield; 41. Outer shield; 42. Inner shield. Detailed Implementation

[0052] To make the objectives, features, and advantages of the embodiments of this disclosure more apparent and understandable, the technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the embodiments of this disclosure, and not all embodiments. Based on the embodiments of this disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the embodiments of this disclosure.

[0053] It is understood that in this embodiment, the left-right direction, the front-back direction, and the height direction are the perception directions of the humanoid robot. That is, when the humanoid robot is standing, the direction corresponding to the chest and back is the front-back direction, the direction corresponding to the left and right hands is the left-right direction, and the direction of gravity is the height direction.

[0054] Example 1: This disclosure provides a lower leg structure 10 for a humanoid robot.

[0055] Figure 1 This disclosure illustrates some embodiments of a humanoid robot's lower leg structure, including: a humanoid lower leg shell 11, a support bracket 12, and a foot drive mechanism 13. The humanoid lower leg shell 11 has an external shape similar to a human lower leg, and an internal cavity 113 is formed therein. The support bracket 12 is mounted within the cavity 113 along the height direction of the humanoid lower leg shell. The foot drive mechanism 13, used to drive foot movements, is disposed within the cavity 113 and mounted on the support bracket 12. In these embodiments, the humanoid lower leg shell 11 achieves a humanoid effect, while the support bracket 12 provides the main support, balancing structural stability and aesthetics. Figure 2-3 The diagram illustrates a lower leg structure 10 for a humanoid robot according to some embodiments of the present disclosure. The lower leg structure 10 includes a humanoid lower leg shell 11, a support bracket 12, and a foot drive mechanism 13.

[0056] The interior of the humanoid lower leg shell 11 forms a cavity 113, and the support bracket 12 is installed in the cavity 113 along the height direction of the humanoid lower leg shell 11.

[0057] The support bracket 12 includes a support body 121 and a protruding edge 122. The support body 121 is grid-shaped, such as... Figure 3As shown. The support body 121 of the support bracket 12 is generally grid-shaped, which helps to reduce the weight of the support bracket 12. It can be understood that a grid is formed on the support body 121. Optionally, the grid can be openwork and run through the support body 121 in the left-right direction; the grid can also be non-openwork. A protruding edge 122 is formed on at least part of the outer periphery of the support body 121, and the protruding edge 122 protrudes from the support body 121 in the left-right direction of the humanoid lower leg shell 11. From a mechanical point of view, the setting of the protruding edge 122 makes the support bracket 12 generally I-shaped, which improves the load-bearing strength of the support bracket 12.

[0058] The foot drive mechanism 13 is disposed in the cavity 113 and mounted on the carrier 121. The foot drive mechanism is used to drive the foot movement.

[0059] In an optional embodiment, the carrier 121 includes a grid section and a mounting section. The mounting section is located in the middle of the grid section. The grid section of the carrier 121 is generally grid-shaped, which helps to reduce the weight of the carrier support 12. The foot drive mechanism 13 is mounted on the mounting section of the carrier 121.

[0060] In the lower leg structure 10 of the humanoid robot of this embodiment, the foot drive mechanism 13 is mounted on the support bracket 12, and the support bracket 12 supports the foot drive mechanism 13. The support bracket 12 has a protruding edge 122 in the left-right direction to ensure the load-bearing strength of the support bracket 12; at the same time, the support body 121 is designed in a grid shape to reduce the weight of the support bracket 12. In this way, the support bracket 12, which is designed in a grid shape and has a protruding edge 122, can reduce the weight while having a certain load-bearing strength, making the lower leg structure 10 sturdy, durable, long-lasting, and lightweight; the support bracket 12 and the foot drive mechanism 13 are installed in the humanoid lower leg shell 11. The humanoid lower leg shell 11, which is designed in a humanoid shape, can house and protect the foot drive mechanism 13, and also makes the lower leg structure 10 aesthetically pleasing.

[0061] In addition, the support bracket 12 and the humanoid lower leg shell 11 are functionally independent, which helps to reduce the design complexity of the humanoid lower leg shell 11. The foot drive mechanism 13 is adjusted to the appropriate position of the humanoid lower leg shell 11 through the support bracket 12, which helps to improve the stability of the humanoid robot.

[0062] In an alternative embodiment, the protruding edge 122 is formed on a portion of the outer periphery of the carrier 121, or the protruding edge 122 is a closed-loop structure and is formed on the entire outer periphery of the carrier 121.

[0063] In optional embodiments, the materials used for the support bracket 12 and the humanoid lower leg shell 11 can be the same or different. Optionally, both the support bracket 12 and the humanoid lower leg shell 11 can be made of metal, which further enhances the load-bearing strength of the lower leg structure 10 after the humanoid lower leg shell 11 is installed on the support bracket 12. Alternatively, the support bracket 12 and the humanoid lower leg shell 11 can be made of different materials. Specifically, the support bracket 12 is made of a high-strength material, such as carbon fiber, titanium alloy, aluminum alloy, or high-strength steel, to give the support bracket 12 higher load-bearing strength. The humanoid lower leg shell 11 is made of a material that is easy to process and mold, such as plastic, so that the humanoid lower leg shell 11 is easy to process and mold, which helps to improve the aesthetics of the shell.

[0064] In an optional embodiment, the support body 121 and the protruding edge 122 are an integral structure, so that the connection strength between the support body 121 and the protruding edge 122 is higher, thereby further improving the load-bearing strength of the support bracket 12.

[0065] In some embodiments, the foot drive mechanism 13 includes a first foot drive assembly 131 and a second foot drive assembly 132, the first foot drive assembly 131 being mounted on one side of the carrier 121 and the second foot carrier assembly 132 being mounted on the other side of the carrier 121.

[0066] Thus, by mounting the first foot drive assembly and the second foot drive assembly 132 on opposite sides of the carrier 121, it helps to balance the weight distribution of the carrier 121 and avoid instability caused by excessive weight on one side of the carrier 121, which is especially important for humanoid robots during walking. The scientific spatial layout of this structure, for example, makes the spatial structure more compact and reduces the crossing and interference between components on both sides of the carrier 121 (e.g., cables on both sides of the carrier 121, the first foot drive assembly 131 and the second foot drive assembly 132 on both sides of the carrier 121), thereby effectively reducing the failure rate of the lower leg structure 10.

[0067] In this embodiment, the structure of the first foot drive assembly 131 and the second foot drive assembly 20 is not limited. For example, the first foot drive assembly 131 and the second foot drive assembly 132 can be an electric drive structure, a pneumatic drive structure, or a hybrid drive structure (a combination of electric drive structure and pneumatic drive structure).

[0068] Optionally, the structures of the first foot drive assembly 131 and the second foot drive assembly 132 may be different or the same.

[0069] In some embodiments of this disclosure, such as Figure 2As shown, the foot drive mechanism 13 includes a first foot drive assembly 131 and a second foot drive assembly 132. The first foot drive assembly 131 and the second foot drive assembly 132 have the same configuration. The first foot drive assembly 131 includes a first actuator 1311, a first crank 1312, and a first connecting rod 1313. The first actuator 1311 is mounted on the carrier 121, and the first crank 1312 is connected to the first actuator 1311. One end of the first connecting rod 1313 is rotatably connected to the first crank 1312. The second foot drive assembly 132 includes a second actuator 1321, a second crank 1322, and a second connecting rod 1323. The second actuator 1321 is mounted on the carrier 121, the second crank 1322 is connected to the second actuator 1321, and one end of the second connecting rod 1323 is rotatably connected to the second crank 1322. The first crank 1312 and the first connecting rod 1313 are located on one side of the carrier 121, and the second crank 1322 and the second connecting rod 1323 are located on the other side of the carrier 121. For example, the first actuator 1311 can be a motor, and the second actuator 1321 can also be a motor.

[0070] Thus, the first foot drive assembly 131 and the second foot drive assembly 132 adopt the same structure so that their weights are similar, which helps to further balance the gravity distribution of the carrier 121 and thus further improve the stability of the carrier 121. At the same time, the crank structure formed by the first actuator 1311, the first crank 1312 and the first connecting rod 1313, and the crank structure formed by the second actuator 1321, the second crank 1322 and the second connecting rod 1323 are compact and can directly convert rotational motion into linear motion, making the motion smooth and continuous, so as to improve the stability of the contour robot when walking continuously.

[0071] In some embodiments of this disclosure, the first link 1313 and the second link 1323 have a sweeping range on the support body 121. The thickness of the support body 121 within the sweeping range is less than the thickness of the support body 121 outside the sweeping range, and the thickness is the dimension of the support body 121 in the left-right direction of the humanoid lower leg shell 11. It can be understood that the sweeping range of the first link 1313 and the second link 1323 on the support body 121 refers to the maximum area swept on the support body 121 when the first link 1313 and the second link 1323 swing.

[0072] Thus, by setting the sweeping range of the first connecting rod 1313 and the second connecting rod 1323 on the carrier 121, when the first actuator drives the first crank 1312 to rotate and drive the first connecting rod 1313 to move, the first connecting rod 1313 has clearance space on the carrier 121 to avoid motion interference between the first connecting rod 1313 and the carrier 121. At the same time, when the second actuator drives the second crank 1322 to rotate and drive the second connecting rod 1323 to move, the second connecting rod 1323 has clearance space on the carrier 121 to avoid motion interference between the second connecting rod 1323 and the carrier 121. Furthermore, the first foot drive mechanism 13 and the second foot drive assembly 132 can be more compactly installed on the carrier bracket 12, saving space in the internal cavity of the lower leg structure 10, making the humanoid lower leg shell 11 more aesthetically pleasing and easier to design to closely resemble the shape of a human lower leg.

[0073] In some embodiments, such as Figure 3 As shown, the carrier 121 has a first reinforcing rib 123 formed at the boundary of the sweeping range, so as to improve the strength of the sweeping range of the carrier 121, thereby ensuring that the carrier 121 does not reduce its load-bearing strength due to the thinning of the sweeping range, making the carrier 121 more reliable, durable and with a longer service life.

[0074] In some embodiments of this disclosure, such as Figure 3 As shown, the carrier 121 is also provided with a first mounting hole 125 and a second mounting hole 126. The first mounting hole 125 and the second mounting hole 126 are arranged adjacent to each other and form the mounting part of the carrier 121. The first actuator 1311 is mounted in the first mounting hole 125, the second actuator 1321 is mounted in the second mounting hole 126, and the first connecting rod 1313 is connected to the first mounting hole 125 within the sweeping range on the carrier 121, and the second connecting rod 1323 is connected to the second mounting hole 126 within the sweeping range on the carrier 121.

[0075] Please see Figure 3 Optionally, the walls of the first mounting hole 125 and the second mounting hole 126 are provided with second reinforcing ribs 124 to improve the load-bearing strength of the bearing body 121, thereby making the bearing body 121 more reliable, durable and with a longer service life.

[0076] In this embodiment, the sweeping range of the first link 1313 on the carrier 121 and the position of the sweeping range of the second link 1323 on the carrier 121 are not limited.

[0077] In some embodiments, please refer to Figure 2The humanoid lower leg shell 11 includes a first contoured shell 111 and a second contoured shell 112. The first contoured shell 111 is detachably covered on one side of the support bracket 12 in the left-right direction and forms a first receiving cavity between it and the support bracket 12. The second contoured shell 112 is detachably covered on the other side of the support bracket 12 in the left-right direction and forms a second receiving cavity with the support bracket 12. The first foot drive assembly 131 is disposed in the first receiving cavity and the second foot drive assembly 132 is disposed in the second receiving cavity.

[0078] Thus, the first receiving cavity formed by the first contoured shell and the support bracket 12 houses and protects the first foot drive assembly 131, while also serving a contoured and aesthetically pleasing function. Similarly, the second receiving cavity formed by the second contoured shell and the support bracket 12 houses and protects the second foot drive assembly 132, also serving a contoured and aesthetically pleasing function. Furthermore, the first and second contoured shells 111 and 112 also increase the section modulus of the support bracket 12, thereby further improving the load-bearing strength of the lower leg structure 10. When the first contoured shell 111, the second contoured shell 112, and the support bracket 12 are all made of high-strength materials (e.g., metal), the load-bearing strength of the lower leg structure 10 can be greatly improved, thereby increasing the load-bearing capacity of the humanoid robot equipped with the lower leg structure 10.

[0079] In some embodiments, at least one of the first contoured housing 111 and the second contoured housing is equipped with a heat sink. Exemplarily, the heat sink may be a fan or a heat sink fin.

[0080] Specifically, a heat sink is installed on the first contoured shell, or a heat sink is installed on the second contoured shell 112, or both the first contoured shell 111 and the second contoured shell 112 are equipped with heat sinks.

[0081] Furthermore, at least one of the first contoured housing 111 and the second directional housing is provided with heat dissipation holes; specifically, the first contoured housing 111 is provided with heat dissipation holes, or the second contoured housing 112 is provided with heat dissipation holes, or both the first contoured housing 111 and the second contoured housing 112 are provided with heat dissipation holes.

[0082] In some embodiments, the first contoured housing 111 is detachably connected to the support bracket 12 via a first locking member, and the second contoured housing 112 is detachably connected to the support bracket 12 via a second locking member. For example, the first locking member can be a screw; correspondingly, the first support bracket 12 is provided with a threaded hole adapted to the screw, and the second locking member can be a screw; correspondingly, the second support bracket 12 is provided with a threaded hole adapted to the screw.

[0083] Some embodiments of this disclosure also provide a leg device, which includes the lower leg structure 10 and the foot assembly 20 described above. The foot assembly 20 is rotatably connected to the lower leg structure 10 and the foot drive mechanism 13, which is used to drive the foot assembly 20 to move.

[0084] Thus, by rotatably connecting the foot assembly 20 and the lower leg structure 10, and by giving the foot assembly 20 the ability to rotate about an axis relative to the lower leg structure 10, the degree of freedom of the foot assembly 20 is increased, thereby improving the walking stability of the leg device and the naturalness of the gait during walking. At the same time, the angle of the foot assembly 20 can be actively adjusted by the foot drive mechanism 13 to adapt to different ground slopes or obstacle heights (e.g., going up and down steps) and to adapt to complex road conditions.

[0085] In some optional embodiments, the foot assembly 20 is provided with a first rotation axis 25 and a second rotation axis 24, which are spaced apart in the front-rear direction. The calf structure 10 is rotatably connected to the foot assembly 20 about the second rotation axis 24. The other end of the first link 1313 of the first foot drive assembly 131 is rotatably connected to the foot assembly 20 about the first axis 25, and the other end of the second link 1323 of the second foot drive assembly 132 is rotatably connected to the foot assembly 20 about the first axis 25.

[0086] In some embodiments, please refer to Figure 4 The foot assembly 20 includes an ankle support 21, a first joint bearing 22, and an ankle support 23. The ankle support shaft 23 is positioned along a second rotation axis 24, which extends laterally. The ankle support 21 has a first rotation axis 25 extending laterally, and the foot drive mechanism 13 and the ankle support 21 are rotatably connected around the first rotation axis 25. Specifically, the other end of the first connecting rod 1313 of the first foot drive assembly 131 is rotatably connected to the ankle support 21 around the first rotation axis 25, and the other end of the second connecting rod 1323 of the second foot drive assembly 132 is rotatably connected to the ankle support 21 around the first rotation axis 25. The ankle support shaft 23 is connected to the support bracket 12. The inner ring of the first joint bearing 22 is assembled and connected to the ankle support shaft 23, and the outer ring of the first joint bearing 22 is assembled and connected to the foot drive mechanism 13. The outer ring of the first joint bearing 22 can rotate relative to the inner ring.

[0087] Please see Figure 5 The first crank 1312, the first connecting rod 1313, and the ankle support 21 form an anti-parallelogram structure; please refer to Figure 6The second crank 1322, the second connecting rod 1323, and the ankle support 21 also form an anti-parallelogram structure; the two sets of anti-parallelogram structures are connected in parallel. Thus, the first actuator 1311 and the second actuator 1321 can drive the foot assembly 20 to achieve pitching motion around the ankle support axis 23; the first actuator 1311 and the second actuator 1321 can also drive the outer ring of the first joint bearing 22 to rotate relative to the inner ring, thereby driving the foot assembly 20 to yaw motion, thus improving the flexibility of the foot assembly 20.

[0088] Furthermore, a second joint bearing 1314 is installed at the other end of the first connecting rod 1313, and a third joint bearing 1324 is installed at the other end of the second connecting rod 1323. The second joint bearing 1314 and the third joint bearing 1324 are installed to the ankle support 21 via bearing shafts, wherein the bearing shafts are fixedly connected to the ankle support 21. Specifically, the fixing method between the bearing shafts and the ankle support 21 can be threaded fixing or welding fixing.

[0089] For further details, please refer to Figure 4 The foot assembly 20 also includes a foot body 26, which includes a sole plate, a sole pad, and an upper cover. The sole pad is stacked on the sole plate, the upper cover is placed on the sole pad, and the ankle support 21 is connected to the sole pad.

[0090] In some embodiments, please refer to the following: Figure 7 and Figure 8 The leg device also includes a thigh structure 30 and a knee cover 40. The thigh structure 30 and the lower leg structure 10 are rotatably connected via a knee pivot. The knee cover 40 is fixedly connected to the thigh structure 30 and slidably connected to the lower leg structure 10. When the leg device is in a straight state, the knee cover 40 is concealed within the thigh structure 30. When the lower leg structure 10 rotates relative to the thigh structure 30 to change the leg device from a straight state to a bent state, the knee cover 40 is exposed between the thigh structure 30 and the lower leg structure 10.

[0091] Thus, the thigh structure 30 and the lower leg structure 10 are rotatably connected via a knee pivot to simulate the straightening and bending movements of the lower leg structure 10. When the leg device is in a straight state, the knee cover 40 is hidden inside the thigh structure 30 and the lower leg structure 10. When the leg device is bent, the knee cover 40 slides along the lower leg structure 10 and is exposed between the thigh structure 30 and the lower leg structure 10 to cover and protect components inside the knee (i.e., the connection between the thigh structure 30 and the lower leg structure 10) (e.g., the knee pivot or electrical cables), and to improve the aesthetics of the leg device. At the same time, the leg device can automatically switch between the knee covering state when covering or bending, making it more convenient.

[0092] In some embodiments, please refer to Figure 8 The knee shield 40 includes an outer shield 41 and an inner shield 42. One end of the outer shield 41 is fixedly connected to the thigh structure 30. The inner shield 42 is located inside the outer shield 41 and is slidably connected to the outer shield 41. The inner shield 42 is slidably connected to the calf structure 10. When the calf structure 10 rotates relative to the thigh structure 30 to change the leg device from a straight state to a bent state, the calf structure 10 drives the inner shield 42 and the outer shield 41 to perform an arched rotation around the knee axis.

[0093] Thus, when the leg device is straight, the inner shield 42 can be stacked on the inside of the outer shield 41, and the outer shield 41 is hidden inside the thigh structure 30 and the calf structure 10. After the inner shield 42 and the outer shield 41 are stacked in the front-to-back direction, the space occupied in the height direction will be significantly reduced, so as to reduce the space occupied by the knee shield 40, thereby optimizing the internal space layout of the leg device. When the leg device is bent, the outer shield 41 gradually emerges from the gap between the thigh structure 30 and the calf structure 10, and the inner shield 42 slides along the outer shield 41 and the calf structure 10, and gradually emerges from the gap between the outer shield 41 and the calf structure 10, thereby achieving the wrapping and protection of the components inside the knee (such as the knee pivot or electrical cables), and the wrapping is more complete, improving the aesthetics of the leg device and greatly improving the safety of human-computer interaction.

[0094] Some embodiments of this disclosure also provide a humanoid robot. In some embodiments, the humanoid robot includes the leg devices described above. Optionally, the number of leg devices is two sets, and the two sets of leg devices are arranged symmetrically.

[0095] This allows the humanoid robot's leg assembly to have an anthropomorphic shape and multi-degree-of-freedom movement capabilities.

[0096] It should be understood that the various forms of processes shown above can be used to reorder, add, or delete steps. For example, the steps described in this disclosure can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution disclosed in the embodiments of this disclosure can be achieved, and this is not limited herein.

[0097] 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 indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of embodiments of this disclosure, "a plurality of" means two or more, unless otherwise explicitly specified.

[0098] The above description is merely a specific implementation of the embodiments of this disclosure, but the protection scope of the embodiments of this disclosure is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the embodiments of this disclosure should be included within the protection scope of the embodiments of this disclosure. Therefore, the protection scope of the embodiments of this disclosure should be determined by the protection scope of the claims.

Claims

1. A leg structure for a humanoid robot, characterized in that, The lower leg structure includes: A humanoid lower leg shell, wherein a cavity is formed inside the humanoid lower leg shell; A support bracket is mounted within the cavity along the height direction of the humanoid lower leg shell, and the support bracket includes: The carrier includes a grid section and a mounting section, wherein the mounting section is located in the middle of the grid section; A protruding edge is integrally formed on at least a portion of the outer periphery of the carrier, and the protruding edge protrudes from the carrier in the left-right direction of the humanoid lower leg shell; A foot drive mechanism is disposed within the cavity and mounted on the mounting portion of the carrier.

2. The lower leg structure according to claim 1, wherein, The foot drive mechanism includes: The first foot drive component includes: A first actuator is mounted on the carrier. A first crank, the first crank being connected to the first actuator; The first connecting rod, one end of which is rotatably connected to the first crank; The second foot drive component includes: A second actuator is mounted on the carrier. The second crank is connected to the second actuator; The second connecting rod, one end of which is rotatably connected to the second crank; The first crank and the first connecting rod are located on one side of the carrier, and the second crank and the second connecting rod are located on the other side of the carrier.

3. The lower leg structure according to claim 2, wherein, The first link and the second link have a sweeping range on the carrier, and the thickness of the carrier within the sweeping range is less than the thickness of the carrier outside the sweeping range. The thickness is the dimension of the carrier in the left-right direction of the humanoid lower leg shell.

4. The lower leg structure according to claim 3, wherein, The carrier has a first reinforcing rib formed at the boundary of the sweeping range.

5. The lower leg structure according to any one of claims 2-4, wherein, The humanoid lower leg shell includes: A first conforming housing is detachably covered on one side of the support bracket along the left-right direction, and a first receiving cavity is formed between the first conforming housing and the support bracket; A second conformal housing is detachably mounted on the other side of the support bracket along the left-right direction, and together with the support bracket, forms a second receiving cavity; wherein... The first foot drive assembly is disposed in the first receiving cavity, and the second foot drive assembly is disposed in the second receiving cavity.

6. A leg device, characterized in that, The leg device includes: The lower leg structure as described in any one of claims 1-5; A foot assembly, which is rotatably connected to the lower leg structure and the foot drive mechanism.

7. The leg device according to claim 6, wherein, The foot assembly includes: An ankle support is provided with a first rotation axis extending in the left-right direction, and the foot drive mechanism and the ankle support are rotatably connected around the first rotation axis. An ankle support shaft is provided along a second rotation axis, which extends in the left-right direction and is spaced apart from the first rotation axis in the front-back direction. The ankle support shaft is connected to the support bracket. A first joint bearing, the inner ring of which is assembled and connected to the ankle support shaft, and the outer ring of which is assembled and connected to the ankle support component.

8. The leg device according to claim 6, characterized in that, The leg device also includes: A thigh structure, wherein the thigh structure and the lower leg structure are rotatably connected via a knee pivot. A knee shield, wherein the knee shield is fixedly connected to the thigh structure and slidably connected to the lower leg structure; When the leg device is in an extended state, the knee cover is concealed within the thigh structure. When the lower leg structure rotates relative to the thigh structure to change the leg device from an extended state to a bent state, the knee cover is exposed between the thigh structure and the lower leg structure.

9. The leg device according to claim 8, wherein, The knee shield includes: An outer shielding piece, one end of which is fixedly connected to the thigh structure; An inner shielding piece is disposed inside the outer shielding piece and slidably connected to the outer shielding piece; the inner shielding piece is slidably connected to the lower leg structure. When the lower leg structure rotates relative to the thigh structure to change the leg device from a straight state to a bent state, the lower leg structure drives the inner and outer shielding plates to rotate in an arch shape around the knee axis.

10. A humanoid robot, characterized in that, The humanoid robot includes the leg device as described in claim 6.

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