A humanoid robot leg structure and its humanoid robot

Abstract

This utility model relates to the field of humanoid robot technology, and discloses a humanoid robot leg structure and the humanoid robot thereof, including a first actuator, a second actuator, a third actuator, a fourth actuator, a thigh structure, a lower leg structure, a knee pivot, and an ankle pivot; the thigh structure includes a thigh support, a first link, a second link, and a first connecting block, and the lower leg structure includes a lower leg support and a third link; the multi-degree-of-freedom design can significantly improve the robot's adaptability and solve the problem of humanoid robots being unable to effectively maintain balance when walking on uneven or inclined ground. By placing the third actuator on the thigh support, the weight of the lower leg structure is reduced, and the overall inertial torque of the leg structure is reduced, solving the problem that when the foot drive device of the humanoid robot is directly connected to the foot, the foot drive device must be located at the end of the leg structure, resulting in excessive overall inertial torque and limited performance of the leg structure.

Description

Technical Field

[0001] This utility model relates to the field of humanoid robot technology, and in particular to a humanoid robot leg structure and the humanoid robot thereof. Background Technology

[0002] With the development of technology, humanoid robots are being used more and more widely in various fields, especially showing great potential in industries such as service, healthcare, and entertainment. Among them, the leg structure, as a key component of humanoid robots, directly affects the robot's motion performance and adaptability.

[0003] Currently, many existing humanoid robot leg designs use a series mechanism, placing the drive motors at each joint. While this design simplifies the structure, it leads to a lower center of gravity and increased rotational inertia in the legs, thus affecting the robot's stability and motion efficiency.

[0004] In addition, humanoid robots need to maintain dynamic balance while walking. Traditional leg structures often lack sufficient flexibility and adaptability when facing complex terrain, and cannot effectively simulate human gait. The balance problem is even more prominent when walking on uneven or sloping ground, which limits the application scenarios and performance of robots.

[0005] Therefore, there is an urgent need for a new type of humanoid robot leg structure design that can overcome the shortcomings of existing technologies and provide higher degrees of freedom of movement and adaptability to meet the needs of walking and operation in complex environments. Utility Model Content

[0006] To address the aforementioned shortcomings, the purpose of this invention is to propose a humanoid robot leg structure and a humanoid robot thereof, which can simulate human gait, provide a more natural walking experience, significantly improve the adaptability and stability of humanoid robot walking in complex environments, and solve the problems of excessive overall inertial torque and limited performance of humanoid robot leg structures, as well as the inability to effectively maintain balance when walking on uneven or sloping ground.

[0007] To achieve this objective, the present invention adopts the following technical solution:

[0008] A humanoid robot leg structure includes a first actuator, a second actuator, a third actuator, a fourth actuator, a thigh structure, a lower leg structure, a knee pivot, and an ankle pivot;

[0009] The thigh structure includes a thigh support, a first link, a second link, and a first connecting block; the lower leg structure includes a lower leg support and a third link.

[0010] The output of the first driver is connected to the thigh support, and the thigh support is movably connected to the lower leg support via the knee pivot.

[0011] The second driver is disposed on the thigh support, the output of the second driver is connected to one end of the first link, the other end of the first link is connected to the lower leg structure, the ankle pivot is disposed on the lower leg support, the ankle pivot is provided with a foot mounting position, and the axis of the foot mounting position is perpendicular to the axis of the ankle pivot, the foot mounting position is used to movably connect the foot of the humanoid robot;

[0012] The third actuator is disposed on the thigh support. The output of the third actuator is connected to one end of the second link. The other end of the second link is hinged to one end of the first connecting block. The other end of the first connecting block is hinged to one end of the third link. The first connecting block is connected to the knee pivot and can rotate around the axis of the knee pivot. The other end of the third link is used to hinge to the foot of the humanoid robot.

[0013] The first actuator is used to drive the entire leg structure to rotate around the axis of the first actuator, the second actuator is used to drive the lower leg structure to rotate around the axis of the knee rotation axis, the third actuator is used to drive the humanoid robot's foot to rotate around the axis of the foot mounting position, and the fourth actuator is used to drive the humanoid robot's foot to rotate around the axis of the ankle rotation axis.

[0014] Preferably, the fourth actuator is disposed at one end of the lower leg support near the knee pivot. The lower leg structure also includes a fourth link and a fifth link. The ankle pivot has two connecting parts arranged radially thereon. One end of the fourth link and one end of the fifth link are respectively symmetrically hinged to the output part of the fourth actuator. The other end of the fourth link and the other end of the fifth link are respectively drivenly connected to the two connecting parts.

[0015] Preferably, the first connecting block is provided with a bent portion, which is used to hinge the third connecting rod. The hinge point between the bent portion and the first connecting block is the perpendicular point on the axis of the knee pivot, located at the middle of the length direction of the knee pivot. The thigh support is provided with a clearance groove, which is used to accommodate the bent portion. The second connecting rod is an arc-shaped rod, and the outer arc of the second connecting rod is located away from the knee pivot.

[0016] Preferably, the calf structure further includes a sixth link and a seventh link, one end of the sixth link and one end of the seventh link are both hinged to the first link, the other end of the sixth link is hinged to the thigh support, and the other end of the seventh link is pivotally hinged to the calf support.

[0017] Preferably, it further includes a waist connecting bracket, a serrated toothed block, and two waist connecting blocks. The first driver is disposed on the waist connecting bracket, which is rotatably connected to the thigh bracket. The two waist connecting blocks are disposed opposite each other on both sides of the waist connecting bracket. One end of each waist connecting block is rotatably connected to the waist connecting bracket, and the other end of each waist connecting block is connected to the waist of the humanoid robot. The serrated toothed block is disposed on the outside of the waist connecting bracket and located between the two waist connecting blocks.

[0018] Preferably, the axes of the first driver, the third driver, and the fourth driver are located in the same plane, and the axes of the second driver and the first driver are offset.

[0019] Preferably, the outputs of the second driver, the third driver, and the fourth driver are all provided with flanges, and the two ends of the first link, the second link, and the third link are all connected by ball joints.

[0020] Preferably, the axis of the first driver is perpendicular to the axis of the second driver, the axis of the second driver is perpendicular to the axis of the third driver, and the axis of the third driver is perpendicular to the axis of the fourth driver.

[0021] Preferably, both the thigh support and the calf support are made of magnesium alloy and are provided with hollowed-out portions. The thigh support is provided with hollowed-out portions along its length, and the calf structure is provided with hollowed-out portions along its length, and the hollowed-out portions are provided with reinforcing ribs.

[0022] A humanoid robot includes an upper body, a waist, feet, and the aforementioned humanoid robot leg structure. The upper body is driven to the waist, the waist is driven to the waist connecting block, and the ankle pivot and the third link are driven to the feet.

[0023] The technical solution provided by this utility model can include the following beneficial effects:

[0024] 1. The multi-degree-of-freedom design allows the legs to better mimic the human gait, providing a more natural walking experience. This flexibility is crucial for humanoid robots, as they need to walk in complex environments. The multi-degree-of-freedom design significantly improves the robot's adaptability, motion accuracy and stability, and solves the problem of humanoid robots being unable to maintain balance effectively when walking on uneven or sloping ground.

[0025] 2. The third actuator is mounted on the thigh support and, with the assistance of a knee pivot, forms a multi-link structure consisting of the second link, the first connecting block, and the third link. This structure drives the humanoid robot's foot, controlling its rotation around the axis of its mounting position. This allows the robot's foot to mimic human foot movements such as pitching and rolling. By mounting the third actuator on the thigh support, the weight of the lower leg structure is reduced, decreasing the overall inertial torque of the leg structure and improving its overall dynamic performance. This solves the problem of excessively large overall inertial torque and limited performance when the foot drive device is directly connected to the foot, requiring it to be located at the end of the leg structure.

[0026] 3. A parallelogram structure is formed between the fourth actuator, the fourth link, the fifth link, and the ankle pivot. The fourth actuator controls the lateral rotation of the humanoid robot's foot via the fourth and fifth links, increasing the flexibility of the leg structure. Simultaneously, the lateral rotation angle of the foot is the same as the rotation angle of the fourth actuator, facilitating precise and stable control calculations. By placing the fourth actuator near the knee pivot, the rotational torque of the lower leg structure is reduced, solving the problem of excessive rotational torque in the lower leg structure when the fourth actuator is designed close to the foot pivot. Simultaneous transmission from both sides via the fourth and fifth links solves the problem of insufficient reliability of unilateral transmission due to excessively long transmission distance when the fourth actuator is designed close to the foot pivot.

[0027] 4. By using a bending section, the main force direction of the third link during transmission is parallel to the length direction of the third link, solving the problem of deformation caused by excessive bending moment due to excessive transmission distance. Simultaneously, the clearance groove ensures that the bending section does not affect the folding of the thigh and lower leg structures. Combined with the use of an arc-shaped second link, interference from the knee pivot is avoided, increasing the overall rotation angle and resolving the problem of interference between the multi-link structure and the thigh support or knee pivot, preventing the thigh and lower leg structures from fully folding.

[0028] 5. The sixth link, seventh link, lower leg support, and thigh support form a quadrilateral linkage structure, increasing the flexibility and control precision of the leg structure.

[0029] 6. The leg structure and the humanoid robot's waist are connected by a waist connecting block. A waist actuator located at the waist drives the entire leg structure to rotate around the connection point between the waist connecting bracket and the waist connecting block, simulating the back-and-forth swinging of a human leg. The opposing waist connecting blocks press the leg structure and waist together. The oblique pattern of the oblique teeth increases the drive contact area, resulting in smoother transmission, reduced vibration and noise, and the ability to withstand greater torque and load.

[0030] 7. The axes of the first, third, and fourth actuators are set in the same plane, which enables the humanoid robot to maintain balance in both upright and walking modes with bent legs. The axis offset of the second actuator is set to facilitate kinematic calculations. Attached Figure Description

[0031] Figure 1 This is a three-dimensional structural diagram of one embodiment of the present invention.

[0032] Figure 2 This is a three-dimensional structural schematic diagram of another embodiment of the present invention.

[0033] Figure 3 This is a partial structural diagram of one embodiment of the present invention.

[0034] Figure 4 This is a three-dimensional structural schematic diagram of another embodiment of the present invention.

[0035] Figure 5 This is a partial structural diagram of another embodiment of the present invention.

[0036] Among them: first driver 11, second driver 12, third driver 13, fourth driver 14, thigh structure 2, thigh support 21, clearance groove 211, first link 22, second link 23, first connecting block 24, bending part 241, hinge point 242, lower leg structure 3, lower leg support 31, third link 32, fourth link 33, fifth link 34, sixth link 35, seventh link 36, knee pivot 4, ankle pivot 5, connecting part 51, foot mounting position 52, waist connecting bracket 61, oblique toothed block 62, waist connecting block 63. Detailed Implementation

[0037] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0038] In the description of this utility model, it should be understood that the terms "longitudinal" and "lateral" are used interchangeably.

[0039] The orientations or positional relationships indicated by terms such as "up," "down," "front," "back," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer" are based on the orientations or positional relationships shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description. They 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, and therefore should not be construed as a limitation on this utility model. In addition, features defined with "first" and "second" may explicitly or implicitly include one or more of these features, used to distinguish and describe features, without any order or emphasis.

[0040] In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0041] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0042] The embodiments of this utility model are described below with reference to the accompanying drawings.

[0043] A humanoid robot leg structure includes a first actuator 11, a second actuator 12, a third actuator 13, a fourth actuator 14, a thigh structure 2, a lower leg structure 3, a knee pivot 4, and an ankle pivot 5;

[0044] The thigh structure 2 includes a thigh support 21, a first connecting rod 22, a second connecting rod 23, and a first connecting block 24; the calf structure 3 includes a calf support 31 and a third connecting rod 32.

[0045] The output of the first driver 11 is connected to the thigh support 21, and the thigh support 21 is movably connected to the calf support 31 via the knee pivot 4;

[0046] The second driver 12 is disposed on the thigh support 21. The output of the second driver 12 is connected to one end of the first connecting rod 22. The other end of the first connecting rod 22 is connected to the lower leg structure 3. The ankle pivot 5 is disposed on the lower leg support 31. The ankle pivot 5 is provided with a foot mounting position 52, and the axis of the foot mounting position 52 is perpendicular to the axis of the ankle pivot. The foot mounting position 52 is used to movably connect the foot of the humanoid robot.

[0047] The third actuator 13 is disposed on the thigh support 21. The output of the third actuator 13 is connected to one end of the second link 23. The other end of the second link 23 is hinged to one end of the first connecting block 24. The other end of the first connecting block 24 is hinged to one end of the third link 32. The first connecting block 24 is connected to the knee pivot 4 and can rotate around the axis of the knee pivot 4. The other end of the third link 32 is used to hinge to the foot of the humanoid robot.

[0048] The first actuator 11 is used to drive the entire leg structure to rotate around the axis of the first actuator 11, the second actuator 12 is used to drive the lower leg structure 3 to rotate around the axis of the knee pivot 4, the third actuator 13 is used to drive the humanoid robot's foot to rotate around the axis of the foot mounting position 52, and the fourth actuator 14 is used to drive the humanoid robot's foot to rotate around the axis of the ankle pivot 5.

[0049] like Figure 1 As shown, the multi-degree-of-freedom design allows the legs to better mimic the human gait, providing a more natural walking experience. This flexibility is crucial for humanoid robots, as they need to walk in complex environments. The multi-degree-of-freedom design significantly improves the robot's adaptability, motion accuracy and stability, and solves the problem of humanoid robots failing to maintain balance effectively when walking on uneven or sloping ground.

[0050] The third actuator 13 is mounted on the thigh support 21. Supported by the knee pivot 4, it forms a multi-link structure with the second link 23, the first connecting block 24, and the third link 32. This structure drives the humanoid robot's foot, controlling its rotation around the axis of the foot mounting position 52. This allows the humanoid robot's foot to simulate human foot movements such as pitching and rolling. By mounting the third actuator 13 on the thigh support, the weight of the lower leg structure is reduced, the overall inertial torque of the leg structure is decreased, and the overall dynamic performance of the leg structure is improved. This solves the problem that when the foot drive device is directly connected to the foot, it must be located at the end of the leg structure, resulting in excessive overall inertial torque and limited performance.

[0051] Preferably, the fourth actuator 14 is disposed at one end of the calf support 31 near the knee pivot 4. The calf structure 3 also includes a fourth link 33 and a fifth link 34. The ankle pivot 5 is provided with two connecting parts 51 along its radial direction. One end of the fourth link 33 and one end of the fifth link 34 are respectively symmetrically hinged to the output part of the fourth actuator 14. The other end of the fourth link 33 and the other end of the fifth link 34 are respectively connected to the two connecting parts 51.

[0052] like Figure 2 and Figure 5 As shown, in a specific embodiment, the fourth link 33 and the fifth link 34 are of the same length. A parallelogram structure is formed between the fourth actuator 14, the fourth link 33, the fifth link 34, and the connection part 51 of the ankle pivot 5. The fourth actuator 14 controls the lateral rotation of the humanoid robot's foot through the fourth link 33 and the fifth link 34, increasing the flexibility of the leg structure. At the same time, the lateral rotation angle of the foot is the same as the rotation angle of the fourth actuator 14, which facilitates control calculation and is accurate and stable. By placing the fourth actuator 14 at one end near the knee pivot 4, the rotational torque of the lower leg structure 3 is reduced, solving the problem of excessive rotational torque of the lower leg structure when the fourth actuator 14 is designed close to the foot pivot 5. By simultaneously transmitting power from both sides through the fourth link 33 and the fifth link 34, the problem of insufficient reliability of unilateral transmission caused by excessive transmission distance when the fourth actuator 14 is designed close to the foot pivot 5 is solved.

[0053] Preferably, the first connecting block 24 is provided with a bent portion 241, which is used to hinge the third connecting rod 32. The hinge point 242 of the bent portion 241 and the first connecting block 24 is the perpendicular point on the axis of the knee pivot 4, located at the middle of the length direction of the knee pivot 4. The thigh support 21 is provided with a clearance groove 211, which is used to accommodate the bent portion 241. The second connecting rod 23 is an arc-shaped rod, and the outer arc of the second connecting rod 23 is located away from the knee pivot 4.

[0054] like Figure 1 and Figure 2 As shown, by using the bending portion 241, the main force direction of the third link 32 during transmission is parallel to the length direction of the third link 32, solving the problem of deformation caused by excessive bending moment due to excessive transmission distance. At the same time, through the clearance groove 211, the bending portion 241 will not affect the folding of the thigh structure 2 and the lower leg structure 3. Combined with the use of the arc-shaped second link 23, interference of the knee pivot 4 with the second link 23 is avoided, increasing the overall rotation angle and solving the problem of interference between the multi-link structure and the thigh support 21 or the knee pivot 4, which prevents the thigh structure 2 and the lower leg structure 3 from folding fully.

[0055] Preferably, the calf structure 3 further includes a sixth link 35 and a seventh link 36. One end of the sixth link 35 and one end of the seventh link 36 are both hinged to the first link 22. The other end of the sixth link 35 is hinged to the thigh support 21, and the other end of the seventh link 36 is pivotally hinged to the calf support 31.

[0056] like Figure 3 As shown, with this structure, the sixth link 35, the seventh link 36, the lower leg support 31 and the thigh support 21 form a quadrilateral link structure, which increases the flexibility and control precision of the leg structure.

[0057] Preferably, the device further includes a waist connecting bracket 61, a serrated toothed block 62, and two waist connecting blocks 63. The first driver 11 is disposed on the waist connecting bracket 61, which is rotatably connected to the thigh bracket 21. The two waist connecting blocks 63 are disposed opposite each other on both sides of the waist connecting bracket 61. One end of each waist connecting block 63 is rotatably connected to the waist connecting bracket 61, and the other end is connected to the waist of the humanoid robot. The serrated toothed block 62 is disposed on the outside of the waist connecting bracket 61 and is located between the two waist connecting blocks 63.

[0058] In a specific embodiment, the waist section is provided with a waist actuator for driving the herringbone tooth block 62 to rotate. For example... Figure 4 As shown, this structure connects the leg structure and the humanoid robot's waist via a waist connecting block 63. A waist actuator located at the waist drives the entire leg structure to rotate around the connection point between the waist connecting bracket 61 and the waist connecting block 63 via a knurled toothed block 62, simulating the back-and-forth swinging of a human leg. The opposing waist connecting blocks 63 press the leg structure and waist together, and the knurled structure of the knurled toothed block 62 increases the drive contact area, resulting in smoother transmission, reduced vibration and noise, and the ability to withstand greater torque and load.

[0059] Preferably, the axes of the first driver 11, the third driver 13, and the fourth driver 14 are located in the same plane, and the axis of the second driver 12 and the axis of the first driver 11 are offset.

[0060] With this structure, the axes of the first, third, and fourth actuators are set in the same plane, which allows the humanoid robot to maintain balance in both upright and walking modes with bent legs. The offset setting of the axis of the second actuator 12 facilitates kinematic calculations.

[0061] Preferably, when the humanoid robot is standing still, the axis of the first actuator 11 passes through the axis of the third actuator 13, the axis of the fourth actuator 14, and the ankle pivot 5. The center of gravity of the leg structure is located near the axis of the first actuator 11 and falls within the range of the ankle pivot 5, which facilitates maintaining the standing balance of the humanoid robot.

[0062] Preferably, the first driver 11, the second driver 12, the third driver 13 and the fourth driver 14 are all torque motors.

[0063] Torque motors ensure the stability and precision of the leg structure when performing heavy-duty tasks. Especially when it is necessary to move heavy objects or perform precision operations, torque motors can provide sufficient power support to ensure the smooth completion of the task.

[0064] In specific embodiments, the first driver 11 is an HJ14-101-48N-DCN torque motor, the first driver 11 is an HJ17-101-48N-DCN torque motor, and the first driver 11 is an HJ25-101-48N-DCN torque motor.

[0065] Preferably, the outputs of the second driver 12, the third driver 13, and the fourth driver 14 are all provided with flanges, and the two ends of the first connecting rod 22, the second connecting rod 23, and the third connecting rod 32 are all connected by ball joints.

[0066] Preferably, the two ends of the fourth link 33, the fifth link 34, the sixth link 35 and the seventh link 36 are all connected by ball joints.

[0067] Flanges enhance system reliability and efficiency while optimizing spatial layout. Ball joints provide multiple degrees of freedom, improving motion efficiency and enabling humanoid robots to naturally mimic human joint movements, thus enhancing the robot's flexibility and stability.

[0068] Torque motors, flanges, and ball joints work together in robot drive systems to provide efficient and precise motion control.

[0069] Preferably, the axis of the first driver 11 is perpendicular to the axis of the second driver 12, the axis of the second driver 12 is perpendicular to the axis of the third driver 13, and the axis of the third driver 13 is perpendicular to the axis of the fourth driver 14.

[0070] Having the axes of the actuators perpendicular to each other enhances structural stability, avoids mutual interference between different degrees of freedom, ensures that each component moves independently when the robot performs complex actions, and helps reduce the complexity of mechanical design and control systems, making the robot easier to operate and maintain, thereby improving motion smoothness and energy efficiency.

[0071] Preferably, both the thigh support 21 and the calf support 31 are made of magnesium alloy and both have hollowed-out portions. The thigh support 21 has a hollowed-out portion along its length, and the calf support 31 has a hollowed-out portion along its length, with reinforcing ribs provided in the hollowed-out portions.

[0072] Preferably, the thickness of the thinnest part of the calf support 31 is 10mm, the thickness of the thinnest part of the thigh support 21 is 18mm, the thickness of the mounting base of the second driver 12 is 20mm, and the thickness of the mounting bases of the third driver 13 and the fourth driver 14 is 15mm.

[0073] In one embodiment, by using magnesium alloy and adding hollow sections, the weight of the leg structure is greatly reduced compared to when aluminum alloy is used.

[0074] A humanoid robot includes an upper body, a waist, feet, and the aforementioned humanoid robot leg structure. The upper body is driven to the waist, the waist is driven to the waist connecting block 63, and the ankle pivot 5 and the third link 32 are driven to the feet.

[0075] In a specific embodiment, the humanoid robot integrates a control system equipped with a gyroscope, accelerometer, and torque sensor. Through the multi-degree-of-freedom design of the leg structure, it works in conjunction with the control system to achieve efficient, stable, and reliable collaborative control. This enables the humanoid robot to better simulate human gait, providing a more natural walking experience, enhancing the adaptability and stability of the humanoid robot, and providing reliable assurance for the application of the humanoid robot in complex environments.

[0076] Other configurations and operations according to the embodiments of this utility model are known to those skilled in the art and will not be described in detail here.

[0077] In this specification, the terms "embodiment," "example," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0078] Although embodiments of the present invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A leg structure for a humanoid robot, characterized in that: Including the first actuator, second actuator, third actuator, fourth actuator, thigh structure, calf structure, knee pivot, and ankle pivot; The thigh structure includes a thigh support, a first link, a second link, and a first connecting block; the lower leg structure includes a lower leg support and a third link. The output of the first driver is connected to the thigh support, and the thigh support is movably connected to the lower leg support via the knee pivot. The second driver is disposed on the thigh support, the output of the second driver is connected to one end of the first link, the other end of the first link is connected to the lower leg structure, the ankle pivot is disposed on the lower leg support, the ankle pivot is provided with a foot mounting position, and the axis of the foot mounting position is perpendicular to the axis of the ankle pivot, the foot mounting position is used to movably connect the foot of the humanoid robot; The third actuator is disposed on the thigh support. The output of the third actuator is connected to one end of the second link. The other end of the second link is hinged to one end of the first connecting block. The other end of the first connecting block is hinged to one end of the third link. The first connecting block is connected to the knee pivot and can rotate around the axis of the knee pivot. The other end of the third link is used to hinge to the foot of the humanoid robot. The first actuator is used to drive the entire leg structure to rotate around the axis of the first actuator, the second actuator is used to drive the lower leg structure to rotate around the axis of the knee rotation axis, the third actuator is used to drive the humanoid robot's foot to rotate around the axis of the foot mounting position, and the fourth actuator is used to drive the humanoid robot's foot to rotate around the axis of the ankle rotation axis.

2. The humanoid robot leg structure according to claim 1, characterized in that: The fourth actuator is located at one end of the calf support near the knee pivot. The calf structure also includes a fourth link and a fifth link. The ankle pivot has two connecting parts arranged radially therein. One end of the fourth link and one end of the fifth link are symmetrically hinged to the output part of the fourth actuator. The other end of the fourth link and the other end of the fifth link are respectively connected to the two connecting parts.

3. The humanoid robot leg structure according to claim 1, characterized in that: The first connecting block is provided with a bent portion, which is used to hinge the third connecting rod. The hinge point between the bent portion and the first connecting block is the perpendicular point on the axis of the knee pivot, located at the middle of the length direction of the knee pivot. The thigh support is provided with a clearance groove, which is used to accommodate the bent portion. The second connecting rod is an arc-shaped rod, and the outer arc of the second connecting rod is located away from the knee pivot.

4. The humanoid robot leg structure according to claim 1, characterized in that: The lower leg structure also includes a sixth link and a seventh link. One end of the sixth link and one end of the seventh link are both hinged to the first link. The other end of the sixth link is hinged to the thigh support, and the other end of the seventh link is pivotally hinged to the lower leg support.

5. The humanoid robot leg structure according to claim 1, characterized in that: It also includes a waist connecting bracket, a serrated toothed block, and two waist connecting blocks. The first driver is disposed on the waist connecting bracket, which is rotatably connected to the thigh bracket. The two waist connecting blocks are disposed opposite each other on both sides of the waist connecting bracket. One end of each waist connecting block is rotatably connected to the waist connecting bracket, and the other end of each waist connecting block is connected to the waist of the humanoid robot. The serrated toothed block is disposed on the outside of the waist connecting bracket and is located between the two waist connecting blocks.

6. The humanoid robot leg structure according to claim 1, characterized in that: The axes of the first driver, the third driver, and the fourth driver are located in the same plane, and the axes of the second driver and the first driver are offset.

7. The humanoid robot leg structure according to claim 1, characterized in that: The output sections of the second driver, the third driver, and the fourth driver are all provided with flanges, and the two ends of the first link, the second link, and the third link are all connected by ball joints.

8. The humanoid robot leg structure according to claim 1, characterized in that: The axis of the first driver is perpendicular to the axis of the second driver, the axis of the second driver is perpendicular to the axis of the third driver, and the axis of the third driver is perpendicular to the axis of the fourth driver.

9. The humanoid robot leg structure according to claim 1, characterized in that: Both the thigh support and the calf support are made of magnesium alloy and have hollowed-out sections. The thigh support has hollowed-out sections along its length, and the calf structure has hollowed-out sections along its length, with reinforcing ribs in the hollowed-out sections.

10. A humanoid robot, characterized in that: The robot includes an upper body, a waist, feet, and a leg structure as described in any one of claims 1-9. The upper body is driven to the waist, the waist is driven to the waist connecting block, and the ankle pivot and the third link are driven to the feet.

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