Lower limb structure of bionic humanoid robot

Abstract

The utility model discloses a lower limb structure of a bionic humanoid robot, and aims to overcome the defects that the upper part of a leg structure of a robot is bloated, the inertia is large, and a force bearing arm is short. The thigh body and the shank body are hinged together, a thigh turnover seat is hinged to the upper portion of the thigh body, a knee joint assembly is installed on the thigh body and comprises a knee joint pusher and a knee joint connecting rod, the knee joint connecting rod is hinged to the shank body, and a knee joint ejector rod is hinged between the knee joint connecting rod and the thigh body; the knee joint pusher is hinged to the thigh body, and a telescopic rod of the knee joint pusher is hinged to the knee joint connecting rod. According to the bionic humanoid robot lower limb structure, the space utilization rate and mass inertia distribution are optimized, the upper portion is prevented from being bloated, and the bionic humanoid robot lower limb structure has good bionic performance, engineering practicability and expansibility.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and more specifically, to a lower limb structure for a biomimetic humanoid robot. Background Technology

[0002] Existing bionic humanoid robots generally use high-power rotary motors to directly drive the hip and knee joints, with these motors mostly concentrated on both sides of the thigh root or the upper part of the lower leg. Due to the large size and concentrated mass of the motors and reducers, the upper part of the leg structure is bulky, with high inertia and a short lever arm. This not only affects the bionic proportions and overall aesthetic harmony but also limits the output torque and control precision. Especially when meeting compact size requirements, the motor reduction ratio is limited, further weakening the joint torque capacity and reducing motion performance and load capacity. For example, the Zhuji Power Robot disclosed in Chinese Patent Publication No. CN116946280A and the Zhiyuan Robot disclosed in Chinese Patent Publication No. CN118182675A share a high degree of similarity in their lower limb structures. Their bulky thigh structures and unreasonable motor space layout result in high inertia and limited torque. Furthermore, the concentrated structure in the upper part of the lower leg leads to insufficient torque in the power system, poor bionics, low space utilization, and an inability to simultaneously achieve both bionics and dynamic performance. Utility Model Content

[0003] To overcome the above shortcomings, this utility model provides a biomimetic humanoid robot lower limb structure that optimizes space utilization and mass inertia distribution, avoids a bulky upper part, and has good biomimeticity, engineering practicality and scalability.

[0004] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: a bionic humanoid robot lower limb structure, including a thigh body and a lower leg body hinged together, a thigh revolving seat hinged to the upper part of the thigh body, a knee joint assembly installed on the thigh body, the knee joint assembly including a knee joint pusher and a knee joint connecting rod, the knee joint connecting rod being hinged to the lower leg body, a knee joint top rod being hinged between the knee joint connecting rod and the thigh body, the knee joint pusher being hinged to the thigh body, and the telescopic rod of the knee joint pusher being hinged to the knee joint connecting rod.

[0005] The knee joint employs a "knee joint actuator + double linkage" drive system. The knee joint actuator is mounted on the main thigh, significantly optimizing spatial layout and mass distribution. Compared to traditional rotary motor solutions concentrated in the upper thigh or calf, this solution integrates the knee joint actuator and linkage in the mid-limb, resulting in a natural and harmonious leg contour, effectively reducing upper-section bulkiness, enhancing biomimicry, and facilitating integrated aesthetic design. The mass distribution more closely resembles the structure of human leg muscles, with lower inertia and more stable movement. During knee joint movement, the telescopic rod of the knee joint actuator extends and retracts, driving the knee joint linkage and knee joint top rod to rotate, thereby achieving rotation of the main calf.

[0006] The biomimetic humanoid robot lower limb structure of this patent application optimizes space utilization and mass inertia distribution, avoids a bulky upper part, and has good biomimeticity, engineering practicality and scalability.

[0007] Preferably, a hip joint assembly is installed on the thigh body. The hip joint assembly includes a hip joint actuator and a hip joint link. The hip joint link is hinged to the thigh pivot seat. A hip joint top rod is hinged between the hip joint link and the thigh body. The hip joint actuator is hinged to the thigh body. The telescopic rod of the hip joint actuator is hinged to the hip joint link.

[0008] The hip joint employs a "hip joint actuator + double linkage" drive system. The hip joint actuator is mounted on the main thigh, significantly optimizing spatial layout and mass distribution. Compared to traditional rotary motor solutions concentrated at the root of the thigh or upper calf, this solution integrates the hip joint actuator and linkage in the middle of the limb, resulting in a natural and harmonious leg contour, effectively reducing upper body bulkiness, enhancing biomimicry, and facilitating integrated appearance design.

[0009] The hip and knee joints are connected by a linkage mechanism. A short-stroke electric cylinder installed in the middle of the thigh or calf acts as a knee joint actuator and a hip joint actuator. This allows the originally concentrated motor drive unit to "sink" and be distributed in the lower middle space, effectively freeing up the structure of the upper thigh and calf, optimizing mass distribution and inertial characteristics, while ensuring the unity of high torque output and structural compactness.

[0010] Preferably, the thigh body includes two oppositely arranged connecting plates, and the gap between the two connecting plates forms an installation space. The thigh revolving seat, hip joint push rod, knee joint pusher, hip joint pusher, knee joint push rod, and the hinge position between the lower leg body and the thigh body are all within the installation space.

[0011] The two connecting plates are arranged opposite each other and fastened together to form the thigh body. It is lightweight, and the installation space formed between the two connecting plates provides space for the connection of components, which helps to improve the compactness of the structure.

[0012] Preferably, a recessed groove is provided on the surface of the connecting plate, and the driver is installed in the recessed groove.

[0013] The actuator is installed in the sinkhole, which helps to optimize mass distribution and inertial characteristics.

[0014] Preferably, a lower hinge shaft is installed on the knee joint link, and a rotating ring is provided at the end of the telescopic rod of the knee joint actuator. The rotating ring and the knee joint top rod are both connected to the lower hinge shaft. An upper hinge shaft is installed on the hip joint link, and a collar is provided at the end of the telescopic rod of the hip joint actuator. The collar and the hip joint top rod are both connected to the upper hinge shaft.

[0015] The knee joint link, the extension rod of the knee joint actuator, and the knee joint top rod are hinged on the same lower hinge shaft, while the hip joint link, the extension rod of the hip joint actuator, and the hip joint top rod are hinged on the same upper hinge shaft. This facilitates assembly and improves the compactness of the structure.

[0016] Preferably, a thigh rotation motor is installed on the thigh rotation seat, and a thigh side swing motor is correspondingly provided on the thigh rotation motor. A side swing rotation connector is connected between the output end of the thigh rotation motor and the output end of the thigh side swing motor.

[0017] The thigh rotation motor enables the thigh to rotate, and the thigh side swing motor enables the thigh to swing sideways.

[0018] Preferably, the lower end of the lower leg body is connected to a cross bearing, the cross bearing is connected to a foot output seat, the foot output seat is connected to the sole of the foot, and an ankle actuator is hinged between the foot output seat and the lower leg body.

[0019] The design utilizes a cross bearing to achieve decoupling of the cross shaft, providing two rotational degrees of freedom and ensuring convenient and reliable connection.

[0020] Preferably, a support horizontal shaft is installed on the foot output seat, and two ankle pushers are arranged opposite each other on the left and right. The upper end of the ankle pusher is hinged to the lower leg body, and a connecting ring is provided at the lower end of the extension rod of the ankle pusher. The connecting ring is connected to the support horizontal shaft.

[0021] The ankle actuator uses an electric cylinder, and the ankle joint adopts a dual-electric cylinder parallel control + cross-axis decoupling design to achieve high-response control of the two degrees of freedom of pitch and roll. It has a simple structure, clear decoupling, and high control precision.

[0022] Preferably, two universal ball joints are arranged opposite each other on the horizontal support axis, and a spherical surface is provided on the inner wall of the connecting ring, which is adapted to and connected with the universal ball joints.

[0023] The spherical joint of the universal ball joint engages with the spherical surface of the inner wall of the connecting ring, allowing the telescopic rod of the ankle pusher to deflect and sway laterally.

[0024] Preferably, a six-dimensional force sensor is connected between the foot and the foot output seat.

[0025] The six-dimensional force sensor makes it easy to detect the pressure of the lower limbs on the soles of the feet.

[0026] Compared with the prior art, the beneficial effects of this utility model are: (1) The lower limb structure of the bionic humanoid robot in this patent application adopts the "electric cylinder + double linkage" drive form for the hip and knee joints, which optimizes the space utilization and mass inertia distribution, avoids the upper part being bulky, and has good bionicity, engineering practicality and scalability; (2) The output lever arm is amplified by controlling the five-bar mechanism through the short-stroke electric cylinder, which not only retains the high thrust advantage of the electric cylinder, but also achieves dynamic coordinated control of the target angle and torque through the mechanism gain; (3) The ankle joint adopts the pure mechanical solution of "parallel electric cylinder drive + cross shaft decoupling", which replaces the traditional servo motor series method and achieves natural and flexible dual-degree-of-freedom output; (4) The hip joint, knee joint and ankle joint are each an independent module, which can be quickly disassembled and assembled, facilitates engineering debugging and fault replacement, and has high engineering feasibility. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the structure of this utility model.

[0028] Figure 2 This is a side view of the present invention.

[0029] Figure 3 This is a structural diagram of the cross bearing of this utility model.

[0030] In the diagram: 1. Thigh body, 2. Lower leg body, 3. Thigh pivot seat, 4. Thigh pivot motor, 5. Thigh side swing motor, 6. Side swing pivot connector, 7. Rotary motor driver, 8. Knee joint assembly, 9. Knee joint actuator, 10. Knee joint link, 11. Lower knee joint shaft, 12. Knee joint top rod, 13. Upper knee joint shaft, 14. Lower hinge shaft, 15. Rotating ring, 16. Hip joint assembly, 17. Hip joint actuator, 18. Hip joint link, 19. Upper hip joint... 20. Hip joint top rod, 21. Hip joint lower shaft, 22. Upper hinge shaft, 23. Collar, 24. Sinking groove, 25. Upper positioning shaft, 26. Lower positioning shaft, 27. Hip joint shaft, 28. Knee joint shaft, 29. Cross bearing, 30. Foot output seat, 31. Foot, 32. Six-dimensional force sensor, 33. Ankle pusher, 34. Weight reduction groove, 35. Connecting horizontal shaft, 36. Deflection ring, 37. Supporting horizontal shaft, 38. Connecting ring, 39. Universal ball joint, 40. Connecting plate. Detailed Implementation

[0031] The technical solution of this utility model will be further described in detail below through specific embodiments and with reference to the accompanying drawings:

[0032] Example: A lower limb structure for a biomimetic humanoid robot (see...) Figure 1 , Figure 2 , Figure 3The system includes a thigh body 1 and a lower leg body 2 hinged together. A thigh revolving seat 3 is hinged to the upper part of the thigh body 1. A thigh revolving motor 4 is mounted on the thigh revolving seat 3. The rotation axis of the thigh revolving motor 4 is vertically arranged. A thigh side-swing motor 5 is correspondingly provided for the thigh revolving motor 4. The rotation axis of the thigh side-swing motor 5 is horizontally arranged. A side-swing revolving connector 6 is connected between the output ends of the thigh revolving motor 4 and the thigh side-swing motor 5. A side-swing flange is fastened to the output end of the thigh side-swing motor 5, and a revolving flange is fastened to the output end of the thigh revolving motor 4. Both the side-swing flange and the revolving flange are fastened to the side-swing revolving connector 6. A rotary motor driver 7 is mounted on the side-swing revolving connector 6.

[0033] A knee joint assembly 8 is installed on the thigh body 1. The knee joint assembly 8 includes a knee joint actuator 9 and a knee joint connecting rod 10. The knee joint connecting rod 10 is hinged to the lower leg body 2. A lower knee joint shaft 11 is installed on the lower leg body 2. A connecting hole is provided at the lower part of the knee joint connecting rod 10, and the connecting hole is fitted with the lower knee joint shaft 11. A bearing is installed between the connecting hole and the lower knee joint shaft 11. A knee joint top rod 12 is hinged between the knee joint connecting rod 10 and the thigh body 1. An upper knee joint shaft 13 is installed on the thigh body 1. A connecting hole is provided at the upper part of the knee joint top rod 12, and the connecting hole is fitted with the upper knee joint shaft 13. A bearing is installed between the connecting hole and the upper knee joint shaft 13. The upper part of the knee joint actuator 9 is hinged to the thigh body 1, and the telescopic rod of the knee joint actuator 9 is hinged to the knee joint connecting rod 10. A lower hinge shaft 14 is installed on the knee joint link 10. A rotating ring 15 is provided at the end of the telescopic rod of the knee joint pusher 9. The rotating ring 15 and the knee joint push rod 12 are both connected to the lower hinge shaft 14. The knee joint push rod 12 is connected to the lower hinge shaft 14 through the mounting hole provided at the bottom. A bearing is installed between the mounting hole and the lower hinge shaft 14. After the knee joint link 10 and the knee joint push rod 12 are connected, a V-shaped structure is formed.

[0034] A hip joint assembly 16 is mounted on the thigh body 1. The hip joint assembly 16 includes a hip joint actuator 17 and a hip joint connecting rod 18. The hip joint connecting rod 18 is hinged to the thigh rotating seat 3. A hip joint upper shaft 19 is mounted on the thigh rotating seat 3. A connecting hole is provided on the upper part of the hip joint connecting rod 18, and the hip joint connecting rod 18 is fitted to the hip joint upper shaft 19 through the connecting hole. A bearing is installed between the hip joint upper shaft 19 and the connecting hole, thereby realizing the hinge connection between the hip joint connecting rod 18 and the thigh rotating seat 3. A hip joint top rod 20 is hinged between the hip joint connecting rod 18 and the thigh body 1. A hip joint lower shaft 21 is mounted on the thigh body 1. A connecting hole is provided on the lower part of the hip joint top rod 20, and the connecting hole on the hip joint top rod 20 is fitted to the hip joint lower shaft 21. A bearing is installed between the hip joint lower shaft 21 and the connecting hole. The lower part of the hip joint actuator 17 is hinged to the thigh body 1, and the telescopic rod of the hip joint actuator 17 is hinged to the hip joint connecting rod 18. A hinge shaft 22 is mounted on the hip joint link 18. A collar 23 is provided at the end of the telescopic rod of the hip joint actuator 17. Both the collar 23 and the hip joint push rod 20 are fitted together with the upper hinge shaft 22. A mounting hole is provided on the upper part of the hip joint push rod 20. The mounting hole is fitted together with the upper hinge shaft 22. A bearing is installed between the mounting hole and the upper hinge shaft 22, thereby realizing the hinge connection between the hip joint link 18 and the hip joint push rod 20. After the hip joint link 18 and the hip joint push rod 20 are connected, a V-shaped structure is formed.

[0035] Knee joint assembly 8 and hip joint assembly 16 are respectively disposed on the front and rear sides of thigh body 1. Thigh body 1 includes two oppositely disposed connecting plates 40, the gap between the two connecting plates 40 forming an installation space. The hinge positions of thigh pivot seat 3, hip joint push rod 20, knee joint actuator 9, hip joint actuator 17, knee joint push rod 12, lower leg body 2 and thigh body 1 are all within the installation space. A recessed groove 24 is provided on the surface of the connecting plate 40, and the driver is installed in the recessed groove 24. The upper positioning shaft 25 and the lower positioning shaft 26 are connected between the two connecting plates 40. The upper part of the knee joint actuator 9 is hinged to the upper positioning shaft 25, and the lower part of the hip joint actuator 17 is hinged to the lower positioning shaft 26. The two connecting plates 40 are connected and fastened by the lower hip joint shaft 21, the upper positioning shaft 25, the lower positioning shaft 26 and the upper knee joint shaft 13. The upper ends of the two connecting plates 40 are connected to the hip joint shaft 27, and the lower ends of the two connecting plates 40 are connected to the knee joint shaft 28. The thigh rotator seat 3 is rotatably connected to the hip joint shaft 27, and the upper part of the lower leg body 2 is rotatably connected to the knee joint shaft 28.

[0036] The knee joint link 10, the telescopic rod of the knee joint pusher 9, and the knee joint top rod 12 are hinged on the same lower hinge shaft 14, and the hip joint link 18, the telescopic rod of the hip joint pusher 17, and the hip joint top rod 20 are hinged on the same upper hinge shaft 22, which facilitates assembly and improves the compactness of the structure.

[0037] The lower end of the lower leg body 2 is connected to a cross bearing 29, which in turn connects to a foot output seat 30. The use of the cross bearing 29 achieves a decoupled cross-axis design, providing two degrees of rotational freedom and ensuring convenient and reliable connection. The foot output seat 30 connects to the foot 31, and a six-dimensional force sensor 32 connects between the foot 31 and the foot output seat 30. The six-dimensional force sensor 32 facilitates the detection of pressure exerted by the lower limb on the foot 31. An ankle actuator 33 is hinged between the output seat and the lower leg body 2. The knee joint actuator 9, hip joint actuator 17, and ankle actuator 33 are all electric cylinders, either pneumatic, pneumatic, or hydraulic. In this embodiment, all three are electric cylinders.

[0038] Two ankle pushers 33 are arranged opposite each other on the left and right sides. A weight-reducing groove 34 is provided on the lower leg body 2, and the two ankle pushers 33 are positioned on either side of the weight-reducing groove 34. The upper end of each ankle pusher 33 is hinged to the lower leg body 2. A connecting horizontal shaft 35 is installed on the upper part of the lower leg body 2, and two deflection ball heads are provided on the connecting horizontal shaft 35. A deflection ring 36 is installed on the upper part of each ankle pusher 33, and a ball head surface is provided on the inner wall of the deflection ring 36. The deflection ring 36 and the connecting horizontal shaft 35 are fitted together, and the ball head surface and the deflection ball head are adapted to each other. A supporting horizontal shaft 37 is installed on the foot output base 30. A connecting ring 38 is provided at the lower end of the telescopic rod of the ankle pusher 33, and the connecting ring 38 is fitted to the supporting horizontal shaft 37. Two universal ball heads 39 are arranged opposite each other on the supporting horizontal shaft 37, and a spherical surface is provided on the inner wall of the connecting ring 38, and the spherical surface and the universal ball head 39 are adapted to each other. The ball joint surface engages with the deflection ball joint, and the universal ball joint 39 engages with the spherical surface of the inner wall of the connecting ring 38, enabling the telescopic rod of the ankle pusher 33 to deflect and sway.

[0039] Specifically, such as Figure 1 As shown, knee joint assembly 8 and hip joint assembly 16 are respectively installed on the front and rear sides of the thigh body 1, and the knee joint assembly 8 and hip joint assembly 16 are arranged symmetrically in the center.

[0040] The upper end of the linear electric cylinder of the knee joint assembly 8 is connected to the upper positioning shaft 25 on the thigh body 1 using a fisheye bearing. The lower end of the linear electric cylinder of the knee joint assembly 8 is hinged to the knee joint connecting rod 10 and the knee joint top rod 12. The knee joint top rod 12 is connected to the upper knee joint shaft 13 on the thigh body 1 using a deep groove ball bearing. The knee joint connecting rod 10 is connected to the lower knee joint shaft 11 on the lower leg body 2 using a deep groove ball bearing. The thigh body 1 and the lower leg body 2 are rotatably connected using a deep groove ball bearing.

[0041] The lower end of the linear electric cylinder of the hip joint assembly 16 is connected to the lower positioning shaft 26 on the thigh body 1 using a fisheye bearing. The upper end of the linear electric cylinder of the hip joint assembly 16 is hinged to the hip joint connecting rod 18 and the hip joint top rod 20. The hip joint top rod 20 is connected to the upper hip joint shaft 19 on the thigh body 1 using a deep groove ball bearing. The hip joint connecting rod 18 is connected to the lower hip joint shaft 21 on the thigh rotating seat 3 using a deep groove ball bearing.

[0042] The upper ends of the linear electric cylinders of the two ankle actuators 33 are connected to the upper end of the lower leg body 2. Through the cooperation of the ball joint surface and the deflection ball joint, the linear electric cylinders are allowed to deflect and swing laterally, and the axial rotation is fixed. The telescopic rods at the other end of the two ankle joint linear electric cylinders are connected to the spherical surface of the inner wall of the connecting ring 38 through the universal ball joint 39, so that the telescopic rods can deflect and swing laterally. The upper horizontal axis of the cross bearing 29 is fixed to the lower leg body using a deep groove ball bearing and a hinge pin. The lower vertical axis of the cross bearing is fixed to the foot output seat 30 using a deep groove ball bearing and a hinge pin. The six-dimensional force sensor 32 is fixed to the bottom of the foot output seat 30 with bolts. The foot 31 is fixed to the end of the six-dimensional force sensor 32 with bolts.

[0043] Mechanism Principle: 1. Hip / Knee Joint Linkage 10: This mechanism can be considered as a five-bar structure with diagonally fixed links, such as... Figure 2 As shown, the structural points are defined as follows:

[0044] A: The connection point between the thigh body 1 and the thigh rotating seat 3;

[0045] B: Connection point between thigh pivot seat 3 and hip joint top rod 20;

[0046] C: The connection point between the thigh body 1 and the hip joint link 18;

[0047] D: The junction of the hip joint link 18, the hip joint push rod 20 and the extension rod of the hip joint pusher 17;

[0048] E: Connection point between hip joint actuator 17 and thigh body 1.

[0049] In the five-bar linkage, side AB is fixed, and side DE is the drive source (i.e., the length of the electric cylinder). When the electric cylinder DE extends, the AC shaft swings forward, driving the entire structure to lift the hip forward; conversely, it swings backward. Similarly, the knee joint mechanism uses the change in the length of the electric cylinder to control the flexion and extension of the lower leg, achieving a wide range of high torque output capabilities.

[0050] 2. Ankle joint parallel mechanism, two ankle electric cylinders respectively drive the two ends of the foot output seat 30, such as Figure 3 As shown, the following control modes can be implemented:

[0051] Co-directional drive: causes the foot 31 to rotate around the P axis (pitch).

[0052] Reverse drive: Causes the foot 31 to rotate (roll) around the R axis.

[0053] The knee joint employs a "knee joint actuator 9 + double linkage" drive system. The knee joint actuator 9 is mounted on the thigh body 1, significantly optimizing spatial layout and mass distribution. Compared to traditional rotary motor solutions concentrated in the upper thigh or calf, this solution integrates the knee joint actuator 9 and linkages in the middle of the limb, resulting in a natural and coordinated leg contour, effectively reducing upper-section bulkiness, enhancing biomimicry, and facilitating integrated aesthetic design. The mass distribution more closely resembles the structure of human leg muscles, with lower inertia and more stable movement. During knee joint movement, the telescopic rod of the knee joint actuator 9 extends and retracts, driving the knee joint linkage 10 and knee joint top rod 12 to rotate, thereby achieving the rotation of the calf body 2.

[0054] The hip joint adopts a drive mechanism of "hip joint actuator 17 + double linkage". The hip joint actuator 17 is mounted on the thigh body 1, which significantly optimizes the spatial layout and mass distribution. Compared with the traditional rotary motor solution that is concentrated in the root of the thigh or the upper part of the calf, this solution integrates the hip joint actuator 17 and the linkage in the middle of the limb, making the leg contour natural and coordinated, effectively reducing the problem of upper body bulkiness, improving biomimicry, and facilitating integrated appearance design.

[0055] The hip and knee joints are connected by a linkage mechanism. A short-stroke electric cylinder installed in the middle of the thigh or calf serves as the knee joint actuator 9 and the hip joint actuator 17. This allows the originally concentrated motor drive unit to "sink" and be distributed in the middle and lower space, effectively freeing up the structure of the upper thigh and calf, optimizing the mass distribution and inertial characteristics, while ensuring the unity of high torque output and structural compactness.

[0056] This solution achieves high output torque and high response speed by using a "short-stroke linear electric cylinder + five-bar linkage structure," thus solving the problem of limited reduction ratio in thin motors. Traditional thin motors struggle to achieve sufficient torque output due to limitations in their reduction structure. This solution amplifies the output lever arm by controlling a five-bar linkage with a short-stroke electric cylinder, retaining the high thrust advantage of the electric cylinder while enabling dynamic coordinated control of the target angle and torque through mechanism gain.

[0057] The ankle joint adopts a purely mechanical solution of "parallel electric cylinder drive + cross shaft decoupling" to replace the traditional series servo motor method, so as to achieve natural and flexible dual-degree-of-freedom output.

[0058] The hip, knee, and ankle joints are each independent modules, enabling quick assembly and disassembly, facilitating engineering debugging and fault replacement, and possessing high engineering feasibility.

[0059] The embodiments described above are merely preferred solutions of this utility model and are not intended to limit this utility model in any way. Other variations and modifications are possible without departing from the technical solutions described in the claims.

Claims

1. A lower limb structure for a biomimetic humanoid robot, characterized in that, It includes a thigh body and a lower leg body that are hinged together. A thigh pivot seat is hinged to the upper part of the thigh body. A knee joint body is installed on the thigh body. The knee joint body includes a knee joint actuator and a knee joint link. The knee joint link is hinged to the lower leg body. A knee joint top rod is hinged between the knee joint link and the thigh body. The knee joint actuator is hinged to the thigh body. The telescopic rod of the knee joint actuator is hinged to the knee joint link.

2. The lower limb structure of the bionic humanoid robot according to claim 1, characterized in that, A hip joint body is mounted on the thigh body. The hip joint body includes a hip joint actuator and a hip joint linkage. The hip joint linkage is hinged to the thigh pivot seat. A hip joint top rod is hinged between the hip joint linkage and the thigh body. The hip joint actuator is hinged to the thigh body. The telescopic rod of the hip joint actuator is hinged to the hip joint linkage.

3. The lower limb structure of the bionic humanoid robot according to claim 2, characterized in that, The thigh body includes two oppositely arranged connecting plates, and the gap between the two connecting plates forms an installation space. The thigh pivot seat, hip joint push rod, knee joint pusher, hip joint pusher, knee joint push rod, and the hinge position between the lower leg body and the thigh body are all within the installation space.

4. The lower limb structure of the bionic humanoid robot according to claim 3, characterized in that, A recessed groove is provided on the surface of the connecting plate, and the driver is installed in the recessed groove.

5. The lower limb structure of the bionic humanoid robot according to claim 2, characterized in that, A lower hinge shaft is installed on the knee joint link, and a rotating ring is provided at the end of the telescopic rod of the knee joint actuator. The rotating ring and the knee joint top rod are both connected to the lower hinge shaft. An upper hinge shaft is installed on the hip joint link, and a collar is provided at the end of the telescopic rod of the hip joint actuator. The collar and the hip joint top rod are both connected to the upper hinge shaft.

6. The lower limb structure of the bionic humanoid robot according to claim 1, characterized in that, A thigh rotation motor is installed on the thigh rotation seat, and a thigh side swing motor is correspondingly set on the thigh rotation motor. A side swing rotation connector is connected between the output end of the thigh rotation motor and the output end of the thigh side swing motor.

7. The lower limb structure of the bionic humanoid robot according to any one of claims 1 to 6, characterized in that, The lower end of the lower leg body is connected to a cross bearing, the cross bearing is connected to a foot output seat, the foot output seat is connected to the sole of the foot, and an ankle actuator is hinged between the foot output seat and the lower leg body.

8. The lower limb structure of the bionic humanoid robot according to claim 7, characterized in that, A support horizontal shaft is installed on the foot output base. Two ankle pushers are arranged opposite each other on the left and right. The upper end of the ankle pusher is hinged to the lower leg body. A connecting ring is set at the lower end of the extension rod of the ankle pusher. The connecting ring is connected to the support horizontal shaft.

9. The lower limb structure of the bionic humanoid robot according to claim 8, characterized in that, Two universal ball joints are set opposite each other on the horizontal support axis, and a spherical surface is set on the inner wall of the connecting ring. The spherical surface is adapted to connect with the universal ball joint.

10. The lower limb structure of the bionic humanoid robot according to claim 7, characterized in that, A six-dimensional force sensor is connected between the foot and the foot output base.

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