Ankle structure for humanoid robot and humanoid robot

Abstract

The utility model relates to an ankle structure for a humanoid robot and the humanoid robot. The ankle structure comprises: a shank body; the first fixed end of the first joint module is fixedly connected with the shank body; a second fixed end of the second joint module is fixedly connected with the shank body; the first rotating wheel is connected with the first output end of the first joint module; the second rotating wheel is connected with the second output end of the second joint module; the ankle joint assembly comprises a pitching part and a heeling part; the third rotating wheel is fixedly connected with the pitching part, and the third rotating wheel is connected with the first rotating wheel through a first transmission piece; the first rotating reversing piece is fixedly connected with the side inclining part; the second rotating reversing piece is meshed with the first rotating reversing piece; the fourth rotating wheel is fixedly connected with the second rotating reversing piece; and the fourth rotating wheel is connected with the second rotating wheel through a second transmission part.

Description

Technical Field

[0001] This utility model relates to the field of humanoid robot technology, and in particular to ankle structures for humanoid robots and humanoid robots. Background Technology

[0002] The lower limb lobe system of a humanoid robot typically includes joint components such as the hip, knee, and ankle joints. Among these, the ankle joint, as the core component for supporting and adjusting gait, directly determines the stability of the humanoid robot's walking posture, dynamic balance ability, and adaptability to complex terrain through its degree of freedom configuration, range of motion, and structural rigidity.

[0003] Currently, most humanoid robots employ a two-degree-of-freedom ankle joint design, enabling pitch and lateral movements. However, existing ankle joint designs also have significant limitations. For example, the limited range of pitch angles restricts the robot's ability to adjust the foot's contact angle with the ground during dynamic movements such as going uphill, downhill, or over obstacles. Furthermore, the limited range of lateral movement means that when encountering irregular terrain such as gravel or step edges, the robot's foot cannot quickly adjust its inversion or eversion angle to compensate for terrain differences. Under these circumstances, the humanoid robot's motion stability is severely affected. Utility Model Content

[0004] This section provides a general overview of the present invention, rather than a complete disclosure of the full scope or all features of the present invention.

[0005] The purpose of this invention is to provide an ankle structure for humanoid robots that can improve the range of motion of the ankle joint, as well as the humanoid robot itself.

[0006] To achieve the above objectives, according to one aspect of the present invention, an ankle structure for a humanoid robot is provided, the ankle structure comprising:

[0007] Lower leg body;

[0008] The first joint module has its first fixed end fixedly connected to the lower leg body;

[0009] The second joint module has its second fixed end fixedly connected to the lower leg body;

[0010] The first rotating wheel is connected to the first output end of the first joint module;

[0011] The second rotating wheel is connected to the second output end of the second joint module;

[0012] Ankle joint components, including the flexion and lateral extension portions;

[0013] The third rotating wheel is fixedly connected to the pitching part, and the third rotating wheel is connected to the first rotating wheel via the first transmission component;

[0014] The first rotational reversing component is fixedly connected to the tilting part;

[0015] The second rotary reversing component engages with the first rotary reversing component;

[0016] The fourth rotating wheel is fixedly connected to the second rotating reversing component; wherein the fourth rotating wheel and the second rotating wheel are connected via the second transmission component.

[0017] Alternatively, in some embodiments, the lower leg body is configured such that its lateral width gradually decreases from away from the foot to near the foot.

[0018] Optionally, in some embodiments, a first clearance groove is formed on the lower leg body, which is used to avoid the lateral tilt portion during pitching motion.

[0019] Optionally, in some embodiments, a second clearance groove is formed on the tilting portion, which is used to avoid the end of the lower leg body near the foot during tilting motion.

[0020] Optionally, in some embodiments, the first rotational reversing element is a worm gear, and the second rotational reversing element is a worm.

[0021] Optionally, in some embodiments, both the first rotating wheel and the third rotating wheel are one of a synchronous pulley, a sprocket, or a friction wheel, and the corresponding first transmission component is one of a synchronous belt, a chain, or a belt; and

[0022] Both the second and fourth rotating wheels are one of the following: a synchronous wheel, a sprocket, or a friction wheel; and the corresponding second transmission component is one of the following: a synchronous belt, a chain, or a belt.

[0023] Optionally, in some embodiments, the first joint module and the second joint module are arranged side by side in the extension direction of the lower leg body, and the axial direction of the first joint module and the axial direction of the second joint module are both perpendicular to the extension direction.

[0024] Optionally, in some embodiments, the first joint module and the second joint module are configured such that their axial directions coincide, and both their axial directions are perpendicular to the extension direction of the lower leg body.

[0025] Optionally, in some embodiments, a limiting hole for mounting the first joint module and the second joint module is provided on the lower leg body. The axis of the limiting hole is perpendicular to the extension direction, and the first output end and the second output end are exposed from the limiting hole.

[0026] According to another aspect of the present invention, a humanoid robot is provided, which includes the ankle structure for a humanoid robot in any of the foregoing embodiments.

[0027] According to the above technical solution, when the first joint module drives the first rotating wheel to rotate, the power is transmitted to the third rotating wheel through the first transmission component. Under the action of the third rotating wheel, the pitching part can drive the tilting part to pitch synchronously. At the same time, the second joint module drives the second rotating wheel to rotate, and the power is transmitted to the fourth rotating wheel through the second transmission component. At this time, the second rotational reversing component connected to the fourth rotating wheel also rotates, thereby driving the first rotational reversing component to rotate. Under the action of the first rotational reversing component, the tilting part swings relative to the pitching part, so that the foot pitches and tilts under the combined action of the pitching part and the tilting part. Without colliding with the lower leg body, the pitching part and the tilting part can adjust their own rotation angles to allow the foot to obtain a larger range of pitching and tilting motion angles. Attached Figure Description

[0028] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 This is a diagram of an ankle structure for a humanoid robot according to an embodiment of the present invention.

[0030] Figure 2 for Figure 1 The diagram shown is a first-view view of the ankle structure after the lower leg body and bearing have been removed.

[0031] Figure 3 for Figure 1 The diagram shown is a second-view structural diagram of the ankle structure after the lower leg body and bearing have been removed.

[0032] Figure 4 for Figure 3 The diagram shows the structure of the ankle after the foot and ankle joint components have been removed.

[0033] Figure 5 for Figure 1 The diagram shows a cross-sectional view of the ankle structure at point AA after the foot has been removed.

[0034] Figure 6 for Figure 1 The diagram shows the layout of the first joint module and the second joint module.

[0035] Figure 7 for Figure 1 The diagram shows the structure of the lower leg body with the ankle structure.

[0036] Figure 8 for Figure 1 The diagram shows the ankle structure after the lower leg body, various joint modules, foot, and ankle joint components have been removed.

[0037] Figure 9 for Figure 1 The diagram shows the connection between the first rotational reversing component and the tilting component.

[0038] Figure 10 for Figure 1 A schematic diagram showing the ankle structure during pitching and bending movements.

[0039] Figure 11 for Figure 1 Another schematic diagram showing the ankle structure during pitching and bending movements.

[0040] Figure 12 for Figure 1 The diagram shows a lateral tilting motion of the ankle structure.

[0041] In the picture:

[0042] 1: Ankle structure; 10: Lower leg body; 101: Limiting hole; 102: First clearance groove; 20: First joint module; 201: First fixed end; 202: First output end; 30: Second joint module; 301: Second fixed end; 302: Second output end; 40: First rotating wheel; 50: Second rotating wheel; 60: Ankle joint assembly; 601: Pitch section; 602: Lateral tilt section; 6021: First end; 6022: Third end; 6023: Second clearance groove; 70: Foot; 80: Third rotating wheel; 801: First transmission Shaft; 90: First transmission component; 100: First bearing; 110: First bearing cover; 120: First bushing; 130: First rotational reversing component; 1301: Second end; 1302: Fourth end; 140: Second rotational reversing component; 150: Fourth rotating wheel; 1501: Second transmission shaft; 160: Second transmission component; 170: First connecting shaft; 180: Second connecting shaft; 190: Second bearing; 200: Third bearing; 210: Second bearing cover; 220: Fourth bearing; 230: Fifth bearing; 240: Third bearing cover. Detailed Implementation

[0043] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0044] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0045] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0046] In the description of this utility model, it should be noted that the terms "upper," "lower," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product is in use. They are used only for the convenience of describing this utility model and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0047] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection, etc. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0048] Before detailing the technical solution of this utility model, it should be noted that, in this utility model, "pitch-up movement" refers to the angular displacement of the ankle joint in the sagittal plane, and its kinematic characteristics are dorsiflexion and plantarflexion. Dorsiflexion refers to the movement of the dorsum of the foot towards the tibia, while plantarflexion refers to the movement of the dorsum of the foot away from the tibia. "Lateral tilt movement" refers to the angular displacement of the ankle joint in the coronal plane, and its kinematic characteristics are inversion and eversion. Inversion refers to the movement of the sole of the foot turning inward, while eversion refers to the movement of the sole of the foot turning outward.

[0049] As mentioned earlier, the pitch and lateral movement angles of existing humanoid robots' ankle joints are limited; for example, the pitch range is around 30° and the lateral range is around 20°. This restricts the robot's posture, especially when it is moving uphill or downhill or encountering irregular terrain, which severely affects its stability. Based on this, referring to... Figures 1 to 5 This utility model embodiment provides an ankle structure 1 for a humanoid robot. The ankle structure 1 specifically includes: a lower leg body 10, a first joint module 20, and a second joint module 30. The first joint module 20 and the second joint module 30 are respectively fixedly connected to the lower leg body 10. Specifically, the first fixed end 201 of the first joint module 20 and the second fixed end 301 of the second joint module 30 are both fixedly connected to the lower leg body 10.

[0050] In an embodiment of this utility model, the ankle structure 1 further includes: a first rotating wheel 40 connected to the first output end 202 of the first joint module 20, and a second rotating wheel 50 connected to the second output end 302 of the second joint module 30.

[0051] It should be understood that the rotation axis of the first rotating wheel 40 coincides with the rotation axis of the first output terminal 202, and the first joint module 20 can drive the first rotating wheel 40 to rotate. The rotation axis of the second rotating wheel 50 coincides with the rotation axis of the second output terminal 302, and the second joint module 30 can drive the second rotating wheel 50 to rotate.

[0052] In practical implementation, both the first joint module 20 and the second joint module 30 can be integrated from precision control modules such as servo motors, drivers, reducers, and encoders. Furthermore, the first joint module 20 and the second joint module 30 can output corresponding torque based on control signals from the control system. In this case, the aforementioned first fixed end 201 and second fixed end 301 are the non-rotating parts of the first joint module 20 and the second joint module 30, respectively, and can be, for example, the body. The aforementioned first output end 202 and second output end 302 are the rotating parts of the first joint module 20 and the second joint module 30, respectively, and can be, for example, a rotating flange connected to the reducer.

[0053] In the embodiments of this utility model, reference continues to be made to... Figure 3 In the extension direction of the lower leg body 10, the first joint module 20 and the second joint module 30 are arranged side by side, and the axial direction of the first joint module 20 and the axial direction of the second joint module 30 are both perpendicular to the extension direction.

[0054] In this case, the first joint module 20 and the second joint module 30 are arranged according to Figure 3 The arrangement shown allows for a more compact design of the entire ankle structure 1, thereby reducing its volume in the direction perpendicular to the aforementioned extension direction. Furthermore, the first joint module 20 and the second joint module 30 are arranged according to... Figure 3 The arrangement shown allows the first joint module 20 and the second joint module 30 to be positioned rearward, thereby reducing the end mass of the ankle structure 1 and improving the flexibility of the ankle structure 1.

[0055] In other embodiments, refer to Figure 6 The first joint module 20 and the second joint module 30 can also be configured such that their axial directions (as shown by the dotted line) coincide, and both of their axial directions are perpendicular to the extension direction of the lower leg body 10 (as shown by the dashed line).

[0056] In an embodiment of this utility model, in order to install the first joint module 20 and the second joint module 30, refer to Figure 7 A limiting hole 101 for mounting the first joint module 20 and the second joint module 30 is provided in the lower leg body 10. The axial direction of the limiting hole 101 is perpendicular to the extension direction of the lower leg body 10, and the first output end 202 and the second output end 302 are exposed from the limiting hole 101.

[0057] It should be noted that the number of limiting holes 101 opened on the lower leg body 10 in this utility model includes, but is not limited to, the following: Figure 7The two shown can be adjusted according to the arrangement of the first joint module 20 and the second joint module 30. For example, when the first joint module 20 and the second joint module 30 are arranged in accordance with... Figure 6 When arranged as shown, only one limiting hole 101 needs to be opened on the lower leg body 10.

[0058] In addition, in order to facilitate the connection of the first output end 202 and the second output end 302 to the first rotating wheel 40 and the second rotating wheel 50 respectively, in the specific implementation process, the first output end 202 and the second output end 302 are oriented in opposite directions in the direction perpendicular to the extension direction of the lower leg body 10.

[0059] Optionally, the limiting hole 101 extends completely through the lower leg body 10 in a direction perpendicular to its extension direction. In this case, the end of the first joint module 20 opposite to the first output end 202 can be exposed through the limiting hole 101. The end of the second joint module 30 opposite to the second output end 302 can also be exposed through the limiting hole 101. This design facilitates the wiring design of the first joint module 20 and the second joint module 30, and also helps to improve the heat dissipation efficiency of the first joint module 20 and the second joint module 30.

[0060] In the embodiments of this utility model, reference continues to be made to... Figure 2 The ankle structure 1 also includes an ankle joint assembly 60. The ankle joint assembly 60 includes a pitching portion 601 and a lateral tilting portion 602.

[0061] In some examples, the tilting part 602 can be a flange that is fixedly connected to the foot 70 of the humanoid robot.

[0062] In some examples, the pitch section 601 can be a cross axis.

[0063] It should be understood that the first joint module 20 and the second joint module 30 are independent power sources used to drive the first rotating wheel 40 and the second rotating wheel 50 to rotate, thereby driving the pitch part 601 and the roll part 602 to move.

[0064] In addition, the ankle structure 1 also includes a third rotating wheel 80 fixedly connected to the pitching part 601, and the third rotating wheel 80 is connected to the first rotating wheel 40 via a first transmission member 90.

[0065] In this case, when the first joint module 20 drives the first rotating wheel 40 to rotate, the third rotating wheel 80 rotates under the transmission action of the first transmission member 90. Furthermore, referring to... Figure 8A first bearing 100 is provided between the third rotating wheel 80 and the lower leg body 10. The outer ring of the first bearing 100 is fixed to the inner wall of the pitching part 601, and its inner ring is tightly fitted with the first drive shaft 801 of the third rotating wheel 80. Furthermore, a first bearing cap 110 is provided between the third rotating wheel 80 and the lower leg body 10 to secure the first bearing 100. In addition, a first bushing 120 is fitted onto the end of the first drive shaft 801.

[0066] In the specific implementation process, in order to reduce the space occupied by the ankle structure 1, the first drive shaft 801 of the third rotating wheel 80 is inserted into the pitch part 601.

[0067] In the embodiments of this utility model, reference continues to be made to... Figure 4 The ankle structure 1 also includes a first rotational reversing element 130 fixedly connected to the lateral tilting portion 602;

[0068] The second rotary reversing member 140 meshes with the first rotary reversing member 130; and

[0069] A fourth rotating wheel 150 is fixedly connected to the second rotating reversing member 140; wherein the fourth rotating wheel 150 and the second rotating wheel 50 are connected via the second transmission member 160.

[0070] In some examples, refer to Figure 9 The first end 6021 of the tilting part 602 is rotatably connected to the second end 1301 of the first rotation reversing member 130 via the first connecting shaft 170, and the third end 6022 of the tilting part 602 is rotatably connected to the fourth end 1302 of the first rotation reversing member 130 via the second connecting shaft 180.

[0071] In order to further reduce the volume of the ankle structure 1, in this utility model, the first rotation reversing member 130, the second rotation reversing member 140, the first connecting shaft 170 and the second connecting shaft 180 are all disposed in the pitch part 601.

[0072] Continue to refer to Figure 8 A second bearing 190 is provided between the first connecting shaft 170 and the pitch part 601. The outer ring of the second bearing 190 is fixed to the inner wall of the pitch part 601, and its inner ring is tightly fitted with the first connecting shaft 170.

[0073] Furthermore, a third bearing 200 is provided between the first rotation reversing member 130 and the pitch portion 601. The outer ring of the third bearing 200 is fixed to the inner wall of the pitch portion 601, and its inner ring is tightly fitted to the drive shaft 1303 of the first rotation reversing member 130. A second bearing cap 210 is also provided between the first rotation reversing member 130 and the pitch portion 601 to secure the third bearing 200.

[0074] Continue to refer to Figure 8 In the specific implementation process, a fourth bearing 220 is provided between the fourth rotating wheel 150 and the lower leg body 10. The outer ring of the fourth bearing 220 is fixed to the inner wall of the pitching part 601, and its inner ring is tightly fitted with the drive shaft 1501 of the fourth rotating wheel 150. Furthermore, a fifth bearing 230 is provided between the fourth rotating wheel 150 and the pitching part 601. The outer ring of the fifth bearing 230 is fixed to the inner wall of the pitching part 601, and its inner ring is tightly fitted with the second drive shaft 1501 of the fourth rotating wheel 150. A third bearing cap 240 is also provided between the fourth rotating wheel 150 and the pitching part 601 to secure the third bearing 230.

[0075] According to the above technical solution, when the first joint module 20 drives the first rotating wheel 40 to rotate, the power is transmitted to the third rotating wheel 80 through the first transmission member 90. Under the action of the third rotating wheel 80, the pitching part 601 can drive the tilting part 602 to pitch synchronously. At the same time, the second joint module 30 drives the second rotating wheel 50 to rotate, and the power is transmitted to the fourth rotating wheel 150 through the second transmission member 160. At this time, the second rotation reversing member 140 connected to the fourth rotating wheel 150 also rotates, thereby driving the first rotation reversing member 130 to rotate. Under the action of the first rotation reversing member 130, the tilting part 602 swings relative to the pitching part 601. Thus, under the combined action of the pitching part 601 and the tilting part 602, the foot 70 pitches and tilts.

[0076] Continue to refer to Figure 1 The lower leg body 10 has a first clearance groove 102 formed thereon. The first clearance groove 102 is used to avoid the lateral tilting part 602 during pitching motion.

[0077] Furthermore, continue to refer to Figure 7 The lower leg body 10 is configured such that its lateral width d gradually decreases as it extends from away from the foot 70 to near the foot 70.

[0078] In this configuration, collisions with the lower leg body 10 are avoided when the tilting portion 602 swings. In some examples, the side of the lower leg body 10 near the foot 70 is configured in a V-shape to provide sufficient swing space for the tilting portion 602 when it swings.

[0079] In addition, continue to refer to Figure 1 A second clearance groove 6023 is formed on the tilting portion 602. The second clearance groove 6023 is used to avoid the end 103 of the lower leg body 10 near the foot 70 during the tilting movement.

[0080] In some embodiments, the end 103 of the lower leg body 10 near the foot 70 may be rounded to further avoid the lateral tilt 602, specifically as follows: Figure 7 The area indicated by B in the diagram. In some examples, the radius of this fillet can be 10mm.

[0081] In some implementations, reference continues. Figure 4 The first rotational reversing component 130 is a worm gear, and the second rotational reversing component 140 is a worm.

[0082] In some implementations, reference continues. Figure 1 In this embodiment, both the first rotating wheel 40 and the third rotating wheel 80 are synchronous pulleys, and the first transmission component 90 is a synchronous belt. Alternatively, in other embodiments, both the first rotating wheel 40 and the third rotating wheel 80 can be sprockets or friction wheels, in which case the first transmission component 90 is a chain or belt.

[0083] In some implementations, reference continues. Figure 1 In this embodiment, both the second rotating wheel 50 and the fourth rotating wheel 150 are synchronous pulleys, and the second transmission component 160 is a synchronous belt. Alternatively, in other embodiments, both the second rotating wheel 50 and the fourth rotating wheel 150 can be sprockets or friction wheels, in which case the second transmission component 160 is a chain or belt.

[0084] Based on the ankle structure 1 provided by this utility model, when the pitching part 601 drives the tilting part 602 to perform pitching motion and when the tilting part 602 performs tilting motion, without colliding with the lower leg body 10, the pitching part 601 and the tilting part 602 can adjust their own rotation angles to allow the foot 70 to obtain a larger pitching motion angle and a larger tilting motion angle. Specifically, referring to... Figures 10 to 12 The ankle structure 1 has a lateral tilt range of approximately 100°, meaning both inversion and eversion angles can reach approximately 50°. The pitch range is approximately 140°, meaning both dorsiflexion and plantar flexion angles can reach approximately 70°. It can be envisioned that, under these conditions, when the humanoid robot is moving uphill or downhill or encountering irregular terrain, it can promptly adjust the foot's posture to ensure the robot's stability.

[0085] Finally, this embodiment of the invention provides a humanoid robot, which includes the ankle structure 1 for the humanoid robot according to the foregoing embodiments of the invention.

[0086] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. An ankle structure for a humanoid robot, characterized in that, The ankle structure includes: Lower leg body (10); The first joint module (20) has its first fixed end (201) fixedly connected to the lower leg body (10); The second joint module (30) has its second fixed end (301) fixedly connected to the lower leg body (10); The first rotating wheel (40) is connected to the first output end (202) of the first joint module (20); The second rotating wheel (50) is connected to the second output end (302) of the second joint module (30); Ankle assembly (60) includes a pitching portion (601) and a lateral tilting portion (602). The third rotating wheel (80) is fixedly connected to the pitching part (601), and the third rotating wheel (80) is connected to the first rotating wheel (40) via the first transmission member (90); The first rotational reversing component (130) is fixedly connected to the tilting part (602); The second rotary reversing member (140) engages with the first rotary reversing member (130); The fourth rotating wheel (150) is fixedly connected to the second rotating reversing member (140); wherein the fourth rotating wheel (150) and the second rotating wheel (50) are connected via the second transmission member (160).

2. The ankle structure for a humanoid robot according to claim 1, characterized in that, The lower leg body (10) is configured such that its lateral width gradually decreases from away from the foot (70) to near the foot (70).

3. The ankle structure for a humanoid robot according to claim 1, characterized in that, A first avoidance groove (102) is formed on the lower leg body (10), which is used to avoid the lateral tilting part (602) during pitching motion.

4. The ankle structure for a humanoid robot according to claim 1, characterized in that, A second clearance groove (6021) is formed on the tilting part (602), which is used for the tilting part (602) to avoid the end (103) of the lower leg body (10) near the foot (70) during the tilting movement.

5. The ankle structure for a humanoid robot according to any one of claims 1 to 4, characterized in that, The first rotational reversing component (130) is a worm gear, and the second rotational reversing component (140) is a worm.

6. The ankle structure for a humanoid robot according to any one of claims 1 to 4, characterized in that, Both the first rotating wheel (40) and the third rotating wheel (80) are one of a synchronous pulley, a sprocket, or a friction wheel, and the corresponding first transmission component (90) is one of a synchronous belt, a chain, or a belt; and The second rotating wheel (50) and the fourth rotating wheel (150) are both one of a synchronous wheel, a sprocket or a friction wheel, and the corresponding second transmission component (160) is one of a synchronous belt, a chain or a belt.

7. The ankle structure for a humanoid robot according to any one of claims 1 to 4, characterized in that, In the extension direction of the lower leg body (10), the first joint module (20) and the second joint module (30) are arranged side by side, and the axial direction of the first joint module (20) and the axial direction of the second joint module (30) are both perpendicular to the extension direction.

8. The ankle structure for a humanoid robot according to any one of claims 1 to 4, characterized in that, The first joint module (20) and the second joint module (30) are configured such that their axial directions coincide, and both of their axial directions are perpendicular to the extension direction of the lower leg body (10).

9. The ankle structure for a humanoid robot according to claim 7, characterized in that, A limiting hole (101) for mounting the first joint module (20) and the second joint module (30) is provided on the lower leg body (10). The axial direction of the limiting hole (101) is perpendicular to the extension direction, and the first output end (202) and the second output end (302) are exposed from the limiting hole (101).

10. A humanoid robot, characterized in that, The humanoid robot includes an ankle structure for a humanoid robot according to any one of claims 1 to 9.

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