Thigh structure, leg device and humanoid robot

Abstract

The utility model provides a thigh structure, a leg device and a humanoid robot, the thigh structure comprises a humanoid thigh shell and a thigh driving assembly, the humanoid thigh shell comprises an outer side shell, an inner side shell and a first covering body, the inner side shell is detachably connected to the outer side shell, and a first containing cavity is defined between the inner side shell and the outer side shell; a first through hole is formed in the outer surface of the inner side shell, the first through hole communicates with the interior and exterior of the first containing cavity, the first through hole is detachably covered with the first covering body, and the thigh driving assembly is installed in the first containing cavity and used for driving the thigh structure to rotate in the circumferential direction; an electrical wire of the thigh driving assembly is arranged close to the first through hole.

Description

Technical Field

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

[0002] Existing humanoid robots have two leg units, each of which typically includes a thigh structure, a lower leg structure, and a foot assembly, and has six degrees of freedom. The thigh structure has three hip degrees of freedom to enable the thigh structure to swing forward and backward, swing left and right, and rotate. The connection between the thigh and lower leg structures has one knee degree of freedom to enable the lower leg structure to bend and swing relative to the thigh structure. The foot assembly has two degrees of freedom to enable the foot to pitch and yaw movements.

[0003] In existing humanoid robot thigh structures, the drive structure used to rotate the thigh structure is usually exposed on the outside, making it difficult to truly mimic the shape of a human. If the drive structure is placed inside the enclosed thigh shell, it is not conducive to the installation and organization of electrical wires, and it is also difficult to check the connection of the electrical wires of the drive structure. Utility Model Content

[0004] This application provides a thigh structure, a leg device, and a humanoid robot to at least solve the above-mentioned technical problems existing in the prior art.

[0005] This application provides a thigh structure for a humanoid robot, the thigh structure comprising:

[0006] Humanoid thigh shell, the humanoid thigh shell includes:

[0007] Outer shell;

[0008] The inner shell is detachably connected to the outer shell and forms a first receiving cavity between the inner shell and the outer shell. The outer surface of the inner shell is provided with a first through hole, which connects the inside and outside of the first receiving cavity.

[0009] The first cover body is detachably installed over the first through hole;

[0010] The thigh drive assembly is installed in the first receiving cavity and is used to drive the thigh structure to rotate circumferentially; wherein the electrical wires of the thigh drive assembly are arranged close to the first through hole.

[0011] In one embodiment, the outer housing includes:

[0012] The main body, which forms part of the cavity wall of the first receiving cavity;

[0013] The annular portion has one side connected to the main body and the other side abutting against the inner shell, and the through hole of the annular portion communicates with the first receiving cavity.

[0014] In one embodiment, a second through hole is provided on the outer shell, and the second through hole connects the inside and outside of the first receiving cavity;

[0015] The humanoid thigh shell also includes a second cover body that is detachably fitted over a second through hole, the second through hole being used to allow some components of the thigh drive assembly to be inserted from the outside into the first receiving cavity.

[0016] In one embodiment, at least one of the first cover and the second cover is provided with a heat dissipation component.

[0017] In one embodiment, the thigh structure further includes a humanoid root housing, one end of which is connected to the thigh drive assembly, and the root housing forms a third receiving cavity.

[0018] The thigh structure also includes a left-right swing drive assembly, which is installed in the third receiving cavity and is used to drive the thigh structure to swing left and right.

[0019] In one embodiment, the root housing includes a third through hole that communicates with a third receiving cavity;

[0020] The thigh structure also includes a forward and backward swing drive assembly, which passes through a third through hole and is connected to a left and right swing drive assembly to drive the thigh structure to swing back and forth.

[0021] In one embodiment, the back-and-forth swing drive assembly includes:

[0022] The base is a hollow frame structure;

[0023] The front-to-back swing drive is inclined relative to the extension direction of the thigh structure and mounted on the base, and the axis of the front-to-back swing drive intersects perpendicularly with the axis of the left-to-right swing drive assembly.

[0024] This application also provides a leg device, which includes:

[0025] As described above, the thigh structure includes an outer shell and an inner shell that enclose a fourth receiving cavity, which is connected to the second receiving cavity.

[0026] A rotary connector is arranged in the fourth receiving cavity and has a wiring opening.

[0027] The lower leg structure has a humanoid shape and is rotatably connected to the thigh structure via a rotating connector; among which...

[0028] The thigh drive assembly is also used to drive the lower leg structure to rotate relative to the thigh structure; electrical wires arranged in the second receiving cavity extend to the lower leg structure through wiring openings.

[0029] In one embodiment, the leg device further includes a foot assembly; the lower leg structure includes:

[0030] The humanoid lower leg shell includes a support bracket and a contoured outer shell. The support bracket is installed inside the contoured outer shell and is rotatably connected to the foot assembly.

[0031] The foot drive mechanism is housed within the contoured housing and mounted on the support bracket. The foot drive mechanism is rotatably connected to the foot assembly and is used to drive the foot assembly to swing.

[0032] This application also provides a humanoid robot, which includes the leg device described above.

[0033] 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 application, nor is it intended to limit the scope of the embodiments of this application. Other features of the embodiments of this application will become readily apparent from the following description. Attached Figure Description

[0034] The above and other objects, features, and advantages of exemplary embodiments of this application will become readily understood by reading the following detailed description with reference to the accompanying drawings. Several embodiments of this application are illustrated in the drawings by way of example and not limitation, wherein:

[0035] In the accompanying drawings, the same or corresponding reference numerals indicate the same or corresponding parts.

[0036] Figure 1 A schematic diagram of the thigh structure in an embodiment of this application is shown;

[0037] Figure 2 It shows Figure 1 Exploded structural diagram of the humanoid thigh shell, heat sink, and rotating connector;

[0038] Figure 3 It shows Figure 1 Schematic diagram of the exploded structure of the mid-thigh;

[0039] Figure 4 It shows Figure 1 A schematic diagram of the structure of the root housing, the left and right swing drive assembly, and the front and rear swing drive assembly;

[0040] Figure 5 It shows Figure 1 Schematic diagram of the structure of the middle root shell;

[0041] Figure 6 It shows Figure 1 A schematic diagram of the structure of the left-right swing drive assembly and the front-back swing drive assembly;

[0042] Figure 7 A schematic diagram of the leg device in an embodiment of this application is shown;

[0043] Figure 8 It shows Figure 5 A schematic diagram of the lower leg structure.

[0044] The following are the labels in the diagram: 10. Thigh structure; 11. Humanoid thigh shell; 111. Outer shell; 1111. Main body; 1112. Annular part; 1113. Second through hole; 1114. Fourth through hole; 112. Inner shell; 1121. Opening; 1121a. First through hole; 1121b. Non-through area; 113. First cover; 114. First receiving cavity; 115. Second receiving cavity; 116. Second cover; 117. Fourth receiving cavity; 118. Third cover; 12. Thigh drive assembly; 121. Knee joint drive component; 122. Thigh crank; 123. Thigh connecting rod; 124. Rotary drive component; 125. Rotary adapter flange; 13. Heat sink; 14. Root. 141. Housing; 142. Third receiving cavity; 143. First housing; 144. Second housing; 145. Third through hole; 16. Left and right swing drive assembly; 17. Front and back swing drive assembly; 18. Base; 19. Front and back swing drive component; 20. Rotary connector; 21. Crossed roller bearing; 22. Rotary support shaft; 30. Lower leg structure; 31. Humanoid lower leg housing; 311. Bearing bracket; 312. Contouring outer shell; 32. Foot drive mechanism; 321. First foot drive assembly; 3211. First actuator; 3212. First crank; 3213. First connecting rod; 322. Second foot drive assembly; 3221. Second actuator; 3222. Second crank; 3223. Second connecting rod; 40. Foot assembly. Detailed Implementation

[0045] To make the objectives, features, and advantages of the embodiments of this application more apparent and understandable, the technical solutions of the embodiments of this application 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 application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the embodiments of this application.

[0046] This disclosure provides some embodiments of a humanoid robot's thigh structure 10. For example... Figure 1 , 3 As shown in Figure 4, the thigh structure 10 includes a thigh drive assembly 12, which drives the thigh structure 10 to rotate circumferentially around itself. Optionally, the thigh structure 10 also includes a left-right swing drive assembly for driving the thigh structure 10 to swing left and right. Optionally, the thigh structure 10 may also include a forward-backward swing drive assembly for driving the thigh structure 10 to swing forward and backward. Thus, the thigh structure 10 of the humanoid robot has three degrees of freedom: circumferential rotation, forward-backward swing, and left-right swing, enabling various movements of the thigh structure 10. It should be noted that the left-right, forward-backward, and circumferential rotation directions of the humanoid robot are the same as the directions perceived by humans; that is, the direction corresponding to the chest and back is the forward-backward direction, the direction corresponding to the left and right hands is the left-right direction, and the direction of rotation of a single leg is the circumferential rotation direction.

[0047] Some embodiments of this application also provide a thigh structure 10 for a humanoid robot; please refer to [link / reference]. Figure 1 and Figure 2 The thigh structure 10 includes a humanoid thigh shell 11 and a thigh drive assembly 12.

[0048] The humanoid thigh shell 11 adopts an anthropomorphic design, and its outer contour adopts a biomimetic curved surface design to maintain the anthropomorphism of its appearance. The humanoid thigh shell 11 includes an outer shell 111, an inner shell 112, and a first cover 113 (or cover, cap). The inner shell 112 is detachably connected to the outer shell 111, and a first receiving cavity 114 is formed between the inner shell 112 and the outer shell 111.

[0049] Optionally, the outer surface of the inner housing 112 may be provided with a first through hole 1121a, which connects the inside and outside of the first receiving cavity 114. The first cover 113 is detachably covered by the first through hole 1121a. The thigh drive assembly 12 is installed in the first receiving cavity 114 and is used to drive the thigh structure 10 to rotate circumferentially. The electrical wires of the thigh drive assembly 12 are arranged close to the first through hole 1121a. When the first cover 113 is removed from the thigh structure 10, the electrical wires of the thigh drive assembly 12 are exposed through the first through hole 1121a.

[0050] The embodiments disclosed herein can make the thigh structure 10 have a highly human-like appearance and ensure structural rigidity; at the same time, it makes the electrical wiring of the thigh drive assembly 12 arranged inside the humanoid thigh shell 11 easy to organize and maintain.

[0051] Optionally, the outer surface of the inner housing 112 has an opening 1121, which includes a first through hole 1121a and a non-through area 1121b. Specifically, the outer surface of the inner housing 112 is the surface of the inner housing 112 facing away from the outer housing 111. The first through hole 1121a connects the inside and outside of the first receiving cavity 114. The first cover 113 is detachably covered by the opening 1121 and forms a second receiving cavity 115 between itself and the non-through area 1121b. The thigh drive assembly 12 is installed in the first receiving cavity 114 and is used to drive the thigh structure 10 to rotate circumferentially. The electrical wires of the thigh drive assembly 12 are arranged in the second receiving cavity 115. When the first cover 113 is removed from the thigh structure 10, the electrical wires of the thigh drive assembly 12 are exposed through the opening 1121.

[0052] It is understandable that the thigh structure 10 has two positions, inner and outer, in the left-right direction. Specifically, when the thigh structure 10 is the right leg of the phantom human, the inner side of the thigh structure 10 is the left position and the outer side of the thigh structure 10 is the right position. When the thigh structure 10 is the left leg of the phantom human, the inner side of the thigh structure 10 is the right position and the outer side of the thigh structure 10 is the left position.

[0053] In the embodiments of this disclosure, the inner shell 112, the outer shell 111, and the first cover 113 constitute the outer peripheral structure of the humanoid thigh shell 11, ensuring the rigidity of the humanoid thigh shell 11. Furthermore, a first receiving cavity 114 is formed between the inner shell 112 and the outer shell 111, and a second receiving cavity 115 is formed between the non-penetrating region 1121b and the first cover 113, with the first receiving cavity 114 and the second receiving cavity 115 communicating. The first receiving cavity 114 in the thigh structure 10 houses the thigh drive assembly 12, with the electrical wires of the drive assembly 12 arranged near the first through hole 1121a and in the second receiving cavity 115. When the first cover 113 is opened, the electrical wires of the drive assembly 12 are exposed to the outside, facilitating the organization and maintenance of the electrical wires. This allows the thigh structure 10 to have a highly human-like appearance while ensuring structural rigidity; at the same time, it makes it easy to organize and maintain the electrical wiring of the thigh drive assembly 12 arranged inside the humanoid thigh shell 11.

[0054] Furthermore, both the outer and inner shells adopt a double-layer structure, and the double-layer structure is equipped with grid-shaped connecting ribs to ensure that the outer and inner shells have extremely high load-bearing strength, so as to avoid overload deformation and affect service life.

[0055] Please see Figure 2In some embodiments, the outer shell 111 includes a main body 1111 and an annular portion 1112. The main body 1111 forms part of the cavity wall of the first receiving cavity 114. One side of the annular portion 1112 is connected to the main body 1111 and abuts against the inner shell 112. Specifically, in the vertical direction when the humanoid robot is standing, a portion of the lower end of the annular portion 1112 is connected to the main body 1111, and the other portion of the lower end of the annular portion 1112 abuts against the top wall of the inner shell 112. The through hole of the annular portion 1112 communicates with the first receiving cavity 114.

[0056] Thus, when the inner shell 112 and the outer shell 111 are detachably connected together, the annular portion 1112 and the main body portion 1111 of the inner shell 112 and the outer shell 111 abut against each other, and the connection between the outer shell 111 and the inner shell 112 is tight and stable, reducing the risk of misalignment between the inner shell 112 and the outer shell 111. While realizing the detachability of the humanoid thigh shell 11, the stability and load-bearing strength of the overall structure are ensured.

[0057] Furthermore, the annular portion 1112 and the main body portion 1111 are an integral structure.

[0058] Furthermore, the side end of the inner shell 112 is detachably connected to the main body 1111, and the top end of the inner shell 112 is detachably connected to the annular portion 1112, so that the connection between the inner shell 112 and the outer shell 111 is more secure.

[0059] Specifically, the side end of the inner housing 112 is detachably connected to the main body 1111 via a first locking member, and the top end of the inner housing 112 is detachably connected to the annular portion 1112 via a second locking member. For example, the first locking member can be a screw, which passes through the main body 1111 in the left-right direction and is threaded to the inner housing 112. The second locking member can also be a screw, which passes through the annular portion 1112 in the height direction and is threaded to the inner housing 112.

[0060] Please see Figure 1 In some embodiments, the outer shell 111 has a second through hole 1113, which communicates with the inside and outside of the first receiving cavity 114; the humanoid thigh shell 11 also includes a second cover 116, which is detachably covered by the second through hole 1113. The second through hole 1113 is used to allow some components of the thigh drive assembly 12 to be inserted into the first receiving cavity 114 from the outside.

[0061] Thus, the second through hole 1113 connects the inside and outside of the first receiving cavity 114, allowing some components of the thigh drive assembly 12 to enter the interior of the first receiving cavity 114 from the outside of the outer housing 111. This simplifies the installation of the thigh drive assembly 12 within the humanoid thigh housing 11 and improves the convenience of maintenance and replacement. The second cover 116 is detachably fitted onto the second through hole 1113, ensuring the sealing of the humanoid thigh housing and improving structural rigidity. Simultaneously, it achieves both dustproof sealing and aesthetic appeal.

[0062] Please see Figure 3 In this embodiment, the thigh drive assembly 12 includes a knee joint drive component 121, a thigh crank 122, and a thigh connecting rod 123. The knee joint drive component 121 enters the outer housing 111 through the second through hole 1113 and is installed in the first receiving cavity 114. The thigh crank 122 is connected to the output end of the knee joint drive component 121, and one end of the thigh connecting rod 123 is rotatably connected to the thigh crank 122. Figure 7 , 8 As shown, when the thigh structure 10 is rotatably connected to the calf structure 30 (for example, rotatably connected via the rotatable connector 20), the other end of the thigh link 123 is rotatably connected to the calf structure 30.

[0063] Thus, the knee joint drive 121 drives the thigh crank 122 to rotate, so that the thigh crank 122 drives the lower leg structure 30 to rotate around the rotating connector 20 through the thigh connecting rod 123, so that the lower leg structure 30 performs a bending motion relative to the thigh structure 10.

[0064] Furthermore, a clearance hole 115 is provided on the outer housing 111 to facilitate the insertion of the thigh connecting rod 123 into the first receiving cavity 114 through the clearance hole 115 and its connection with the thigh crank 122. Optionally, spherical bearings are installed at both ends of the thigh connecting rod 123, and the thigh connecting rod 123 is rotatably connected to the thigh crank 122 and the lower leg structure 30 through the spherical bearings installed at both ends.

[0065] Please see Figure 2 In some embodiments, at least one of the first cover body 113 and the second cover body 116 is provided with a heat dissipation element 13 for heat dissipation inside the humanoid thigh shell 11.

[0066] This embodiment does not limit the structure of the heat sink. For example, the heat sink 13 can be a fan or a heat sink. Specifically, the heat sink 13 is installed on the first cover 113, or the heat sink 13 is installed on the second cover 116, or the heat sink 13 is installed on both the first cover 113 and the second cover 116.

[0067] Alternatively, the heat sink 13 may be configured as a heat dissipation through hole, which is formed in at least one of the first cover body 113 and the second cover body 116.

[0068] Alternatively, the heat sink 13 may be configured as a combination of a heat dissipation hole and a fan, and the combination of the heat dissipation hole and the fan may be provided in at least one of the first cover body 113 and the second cover body 116.

[0069] Please refer to the following: Figure 4 and Figure 5 In some embodiments, the thigh structure 10 further includes a humanoid root housing 14, one end of which is connected to the thigh drive assembly 12. The root housing 14 forms a third receiving cavity 141. The thigh structure 10 also includes a left-right swing drive assembly 15, which is installed within the third receiving cavity 141 to ensure the anthropomorphic appearance of the thigh structure 10 and to protect and store the left-right swing drive assembly 15. The left-right swing drive assembly 15 is used to drive the thigh structure 10 to swing left and right. Please refer to [link to relevant documentation]. Figure 4 In some embodiments, the root housing 14 includes a first housing 142 and a second housing 143 that surround a third receiving cavity 141, the first housing 142 being detachably connected to the second housing 143; specifically, the first housing 142 and the second housing 143 are connected by screws.

[0070] Furthermore, the left-right swing drive assembly 15 is rotatably mounted on the first housing 142 via bearings, and the output shaft of the left-right swing drive assembly 15 is fixedly connected to the second housing 143; or, the left-right swing drive assembly 15 is rotatably connected to the second housing 143 via bearings, and the output shaft of the left-right swing drive assembly 15 is fixedly connected to the first housing 142.

[0071] Please see Figure 6 Furthermore, the left-right swing drive assembly 15 includes a left-right swing drive member 151, a left-right swing housing 152, and a handle 153. The left-right swing housing 152 has a cylindrical structure. The left-right swing drive member 151 is installed inside the left-right swing housing 152 via a flange. One end of the handle 153 is connected to the circumferential surface of the left-right swing housing 152, and the other end of the handle 153 is connected to the output shaft of the front-back swing drive assembly 16. The handle 153 is designed as a hollow structure, which reduces weight and facilitates wiring. For example, the left-right swing drive member 151 can be a motor.

[0072] Please see Figure 3In some embodiments, the thigh drive assembly 12 further includes a rotary drive 124 and a rotary adapter flange 125. The rotary drive 124 is used to drive the thigh structure 10 to rotate. The input end of the rotary drive 124 is connected to the inner ring mounting hole of the rotary adapter flange 125, which is connected to the annular portion 1112. A portion of the rotary drive 124 is installed in the first receiving cavity 114 through the through hole of the annular portion 1112. The output end of the rotary drive 124 is located above the input end, extends out of the first receiving cavity 114, and is connected to the bottom flange of the left-right swing drive 15. Thus, when the rotary drive 124 is driven, the main body of the rotary drive 124 rotates relative to the root housing 14, thereby driving the humanoid thigh housing 11 to rotate circumferentially.

[0073] Please refer to the following: Figure 4 and Figure 5 In some embodiments, the root housing 14 includes a third through hole 144 communicating with a third receiving cavity 141; the thigh structure 10 also includes a front-to-back swing drive assembly 16, which passes through the third through hole 144 and is connected to a left-to-right swing drive assembly 15 for driving the thigh structure 10 to swing back and forth.

[0074] Please see Figure 4 In some embodiments, the forward and backward swing drive assembly includes a base 161 and a forward and backward swing drive member 162, wherein the base 161 is a hollow frame structure. Specifically, the forward and backward swing drive member 162 is installed within the hollow frame structure of the base 161 to facilitate the storage and protection of the forward and backward swing drive member 162, and the frame structure has good heat dissipation effect. The forward and backward swing drive member 162 is inclined relative to the extension direction of the thigh structure 10 and installed on the base 161. By tilting the forward and backward swing drive member 162, it becomes more anthropomorphic and closer to the movement pattern of a human leg. Moreover, the tilted design of the forward and backward swing drive member 162 can further reduce the space occupied by the forward and backward swing drive member 162 in the left and right direction, thereby further optimizing the spatial layout. Furthermore, the axis of the forward and backward swing drive member 162 intersects perpendicularly with the axis of the left and right swing drive assembly 15, so that the driving directions of the forward and backward swing drive member 162 and the left and right swing drive assembly 15 are perpendicular to each other.

[0075] Optionally, the hollow frame structure has intersecting irregular openings to ensure the rigidity of the base 161 while reducing its weight.

[0076] Furthermore, the axis of the drive shaft of the rotary drive 124, the axis of the left-right swing drive assembly 15, and the axis of the front-back swing drive 162 are coplanar, and the axis of the drive shaft of the rotary drive 124 is perpendicular to the axis of the left-right swing drive assembly 15.

[0077] Some embodiments of this application also provide a leg device.

[0078] Please see Figure 2 and Figure 7 In some embodiments, the leg device includes a thigh structure 10, a rotating connector 20, and a humanoid lower leg structure 30. The thigh structure 10 is rotatably connected to the lower leg structure 30 via the rotating connector 20. In this way, the lower leg structure can achieve a back-and-forth swinging motion compared to the thigh structure, making the movement of the lower leg structure 30 more flexible, so as to imitate the back-and-forth swinging motion of a human lower leg.

[0079] Furthermore, the outer shell 111 and the inner shell 112 also form a fourth receiving cavity 117, which communicates with the second receiving cavity 115. A rotating connector 20 is disposed within the fourth receiving cavity 117 and has a wiring opening. The lower leg structure 30 is rotatably connected to the thigh structure 10 via the rotating connector 20. The thigh drive assembly 12 is also used to drive the lower leg structure 30 to rotate relative to the thigh structure 10. Electrical wires disposed in the second receiving cavity 115 extend to the lower leg structure 30 via the wiring opening.

[0080] Thus, by providing a wiring opening on the rotating connector 20, the electrical wires in the second receiving cavity 115 can extend along the wiring opening into the leg structure 30, and specific wiring space is provided for the electrical wires, reducing the risk of electrical wire tangling and crossing, and improving the neatness and reliability of the overall electrical system.

[0081] Please see Figure 2 Furthermore, the rotating connector 20 includes two crossed roller bearings 21 and a rotating support shaft 22. One end of the rotating support shaft 22 is rotatably mounted to the support nut of the inner housing 112 via the crossed roller bearings 21, and the other end of the rotating support shaft 22 is rotatably mounted to the outer housing 111 via the crossed roller bearings 21. A wiring opening is provided on the rotating support shaft 22 along the axial direction. Specifically, both the inner housing 112 and the outer housing 111 are provided with lifting lug structures for mounting the crossed roller bearings 21.

[0082] Specifically, the other end of the thigh link 123 of the thigh drive assembly 12 is rotatably connected to the lower leg structure 30, wherein the rotation axis between the other end of the thigh link 123 and the lower leg structure 30 is parallel to the rotation axis between the humanoid thigh shell 11 and the lower leg structure 30.

[0083] Furthermore, a fourth through hole 1114 is provided on the outer shell 111, which is connected to the fourth receiving cavity 117. The humanoid thigh shell 11 also includes a third cover 118, which is detachably connected to the outer shell 111 and covers the fourth through hole 1114. The fourth through hole 1114 is used for inserting some components of the rotating connector 20 into the fourth receiving cavity 117.

[0084] Please refer to Figure 7 and... Figure 8 In some embodiments, the leg device further includes a foot assembly 40; the lower leg structure 30 includes a humanoid lower leg shell 31 and a foot drive mechanism 32. The humanoid lower leg shell 31 includes a support bracket 311 and a contoured outer shell 312. The support bracket 311 is installed inside the contoured outer shell 312. The foot drive mechanism 32 is disposed inside the contoured outer shell 312 and installed on the support bracket 311. The foot drive mechanism 32 is rotatably connected to the foot assembly 40. The foot assembly 40 is also rotatably connected to the support bracket 311. The foot drive mechanism 32 is used to drive the foot assembly 40 to swing.

[0085] Thus, the foot drive mechanism 32 is first installed on the support bracket 311 so that the support bracket 311 can perform the load-bearing function. Then, the support bracket 311 with the foot drive mechanism 32 installed is installed into the humanoid calf shell 31 so that the humanoid calf shell 31 with humanoid design can house and protect the foot drive mechanism 32, and make the calf structure 30 have an anthropomorphic appearance.

[0086] Furthermore, by making the support bracket 311 and the contoured shell 312 functionally independent, it is beneficial to reduce the complexity of the contoured shell 312 and to adjust the foot drive mechanism 32 to the center position of the contoured shell 312 through the support bracket 311, thereby improving the stability of the humanoid robot.

[0087] Please see Figure 7Furthermore, the foot drive mechanism 32 includes a first foot drive assembly 321 and a second foot drive assembly 322. Optionally, the first foot drive assembly 321 and the second foot drive assembly 322 have the same structure. The first foot drive assembly 321 may include a first actuator 3211, a first crank 3212, and a first connecting rod 3213. The first actuator 3211 is mounted on the support bracket 311, and the first crank 3212 is connected to the first actuator 3211. One end of the first connecting rod 3213 is rotatably connected to the first crank 3212. The second foot drive assembly 322 may include a second actuator 3221, a second crank 3222, and a second connecting rod 3223. The second actuator 3221 is mounted on the support bracket 311, the second crank 3222 is connected to the second actuator 3221, and one end of the second connecting rod 3223 is rotatably connected to the second crank 3222. The first crank 3212 and the first connecting rod 3213 are located on one side of the support bracket 311, and the second crank 3222 and the second connecting rod 3223 are located on the other side of the support bracket 311. For example, the first actuator 3211 may be a motor, and the second actuator 3221 may be a motor.

[0088] Thus, the first foot drive assembly 321 and the second foot drive assembly 322 adopt the same structure to make their weights similar, thereby further balancing the weight distribution of the support bracket 311 and improving its stability. Simultaneously, the crank structure formed by the first actuator 3211, the first crank 3212, and the first connecting rod 3213, as well as the crank structure formed by the second actuator 3221, the second crank 3222, and the second connecting rod 3223, are compact and can directly convert rotational motion into linear motion, resulting in smooth and continuous movement, thus improving the stability of the contour-following robot during continuous walking.

[0089] Some embodiments of this application also provide a humanoid robot.

[0090] In some embodiments, the humanoid robot includes the leg devices described above. Exemplarily, there are two sets of leg devices, which are arranged symmetrically.

[0091] In this way, the two sets of leg devices mimic human legs, which can improve the anthropomorphism of the appearance. The symmetrical arrangement of the two sets of leg devices can help improve the stability of the humanoid robot during movement, reduce swaying and vibration, and also help to optimize the coordination of movements by combining ergonomics.

[0092] 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 application can be achieved, and this is not limited herein.

[0093] 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 at least one of that feature. In the description of embodiments of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0094] The above description is merely a specific implementation of the embodiments of this application, but the protection scope of the embodiments of this application 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 application should be included within the protection scope of the embodiments of this application. Therefore, the protection scope of the embodiments of this application should be determined by the protection scope of the claims.

Claims

1. A thigh structure for a humanoid robot, characterized in that, The thigh structure includes: Humanoid thigh shell, the humanoid thigh shell comprising: Outer shell; An inner shell is detachably connected to an outer shell and forms a first receiving cavity between the inner shell and the outer shell. A first through hole is provided on the outer surface of the inner shell, and the first through hole communicates with the inside and outside of the first receiving cavity. A first cover body is detachably installed over the first through hole; A thigh drive assembly is installed within the first receiving cavity and is used to drive the thigh structure to rotate circumferentially; wherein the electrical wires of the thigh drive assembly are arranged close to the first through hole.

2. The thigh structure according to claim 1, wherein, The outer shell includes: The main body portion constitutes a portion of the cavity wall of the first receiving cavity; The annular portion has one side connected to the main body and the other side abutting against the inner housing. The through hole of the annular portion communicates with the first receiving cavity.

3. The thigh structure according to claim 1, wherein, A second through hole is provided on the outer shell, and the second through hole connects the inside and outside of the first receiving cavity; The humanoid thigh housing also includes a second cover body, which is detachably disposed over the second through hole, the second through hole being used to allow some components of the thigh drive assembly to be inserted into the first receiving cavity from the outside.

4. The thigh structure according to claim 3, wherein, At least one of the first cover and the second cover is provided with a heat dissipation component.

5. The thigh structure according to claim 1, wherein, The thigh structure also includes a humanoid root shell, one end of which is connected to the thigh drive assembly, and the root shell forms a third receiving cavity; The thigh structure also includes a left-right swing drive assembly, which is installed in the third receiving cavity and is used to drive the thigh structure to swing left and right.

6. The thigh structure according to claim 5, wherein, The root housing includes a third through hole, which communicates with the third receiving cavity; The thigh structure also includes a forward and backward swing drive assembly, which passes through the third through hole and is connected to the left and right swing drive assembly to drive the thigh structure to swing back and forth.

7. The thigh structure according to claim 6, wherein, The back-and-forth swing drive component includes: The base is a hollow frame structure; A forward and backward swing drive is provided, which is inclined relative to the extension direction of the thigh structure and mounted on the base, and the axis of the forward and backward swing drive intersects perpendicularly with the axis of the left and right swing drive assembly.

8. A leg device, characterized in that, The leg device includes: The thigh structure as described in any one of claims 1-7, wherein the outer shell and the inner shell further enclose a fourth receiving cavity, the outer surface of the inner shell is provided with an opening, the opening includes a first through hole and a non-through area, the first cover is detachably covered on the opening and encloses a second receiving cavity between the first cover and the non-through area, and the fourth receiving cavity communicates with the second receiving cavity; A rotating connector is arranged within the fourth receiving cavity, and the rotating connector is provided with a wiring opening; A humanoid lower leg structure, rotatably connected to the thigh structure via the rotating connector; wherein... The thigh drive assembly is also used to drive the lower leg structure to rotate relative to the thigh structure; electrical wires arranged in the second receiving cavity extend to the lower leg structure via the wiring opening.

9. The leg device according to claim 8, wherein, The leg device further includes a foot assembly; the lower leg structure includes: A humanoid lower leg shell includes a support bracket and a contoured outer shell. The support bracket is installed inside the contoured outer shell and is rotatably connected to the foot assembly. A foot drive mechanism is disposed within the conformal housing and mounted on the support bracket. The foot drive mechanism is rotatably connected to the foot assembly and is used to drive the foot assembly to swing.

10. A humanoid robot, characterized in that, The humanoid robot includes the leg device as described in claim 9.

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