A leg structure for a humanoid robot and the humanoid robot

Abstract

The purpose of this application is to provide a leg structure for a humanoid robot and the humanoid robot. The leg structure includes a first joint motor (1), a first linear joint module (2), a second linear joint module (3), a hip mounting base (4), a hip joint (5), a hip universal joint (6), a thigh tie rod (7), a lateral swing universal joint (8), a thigh fixing structure (9), multiple joint axes, multiple angular contact bearings, and a double-row angular contact bearing (10). The stator of the first joint motor (1) is connected to the hip mounting base (4), and the rotor of the first joint motor (1) is connected to the hip joint (5). The first fisheye bearing of the first linear joint module (2) is connected to the lateral swing universal joint (8). The use of linear joints (i.e., the thigh linear motor) instead of traditional rotary joints results in planetary roller screws having better impact resistance than ball screws, far better than harmonic drives, high energy efficiency, and long battery life.

Description

Technical Field

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

[0002] In recent years, the robotics industry has developed rapidly, with humanoid robots becoming a focal point in the field both domestically and internationally. The leg structure of humanoid robots is a key design consideration. The legs of a humanoid robot are responsible for walking and bearing the entire body weight; therefore, the leg design directly affects whether the robot can walk, its walking posture, the dynamic balance issues related to whether it will fall during walking, the static balance issues when standing, and the robot's load capacity. Currently, most robot leg structures on the market employ rotary joints based on frameless torque motors and harmonic reducers. Utility Model Content

[0003] One object of this application is to provide a leg structure for a humanoid robot and a humanoid robot.

[0004] According to one aspect of this application, a leg structure for a humanoid robot is provided, the leg structure comprising a first joint motor (1), a first linear joint module (2), a second linear joint module (3), a hip mount (4), a hip joint (5), a hip universal joint (6), a thigh tie rod (7), a lateral swing universal joint (8), a thigh fixation structure (9), multiple joint axes, multiple angular contact bearings, and a double-row angular contact bearing (10); wherein, the stator of the first joint motor (1) is connected to the hip mount (4), the rotor of the first joint motor (1) is connected to the hip joint (5), the first fisheye bearing of the first linear joint module (2) is connected to the lateral swing universal joint (8), the second fisheye bearing of the first linear joint module (2) is connected to the thigh fixation structure (9), and the double-row angular contact bearing (10) is connected to the hip joint (5). The outer ring of the first linear joint module (2) is fixedly connected to the hip joint (5), the inner ring of the double-row angular contact bearing (10) is fixedly connected to the front convex shaft of the side swing universal joint (8), the third fisheye bearing of the second linear joint module (3) is connected to the thigh tie rod (7), the thigh tie rod (7) is connected to the thigh fixing structure (9), the fourth fisheye bearing of the second linear joint module (3) is connected to the thigh fixing structure (9), each of the plurality of joint shafts is fixedly connected to the hip joint (5) or the thigh fixing structure (9), a joint shaft is embedded in the inner ring of each of the plurality of angular contact bearings, and the outer ring of each angular contact bearing is embedded in a groove of the hip universal joint (6). Both the first linear joint module (2) and the second linear joint module (3) include planetary roller screws.

[0005] According to one aspect of this application, a humanoid robot is provided, the humanoid robot comprising the leg structure of the humanoid robot described above.

[0006] Compared with existing technologies, the humanoid robot provided in this application adopts a leg structure consisting of one hip rotary motor and two thigh linear motors. Linear joints (i.e., thigh linear motors) are used instead of traditional rotary joints. Compared with rotary joints, the planetary roller screws in the linear joints can easily achieve zero backlash transmission through the preloaded nut. Compared with the flexible wheel of the harmonic reducer, the planetary roller screw has better stiffness retention due to line / surface contact, which is more conducive to precise and stable operation. The impact resistance of the planetary roller screw is better than that of the ball screw and far better than that of the harmonic drive. The planetary screw has uniform force distribution and long service life. Due to the self-locking characteristics of the planetary roller screw, the leg motors do not need to exert force when standing, resulting in high energy efficiency and long battery life. This is very conducive to the precise, stable and efficient operation of the robot in the factory. Attached Figure Description

[0007] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0008] Figure 1 A schematic diagram showing the leg structure of a humanoid robot according to an embodiment of this application is provided.

[0009] Figure 2 A schematic diagram of the leg structure of a humanoid robot according to an embodiment of this application is shown at an angle;

[0010] Figure 3 Show Figure 2 A schematic diagram of the leg structure shown from another angle;

[0011] Figure 4a , Figure 4b Show Figure 2 Exploded view of the leg structure shown;

[0012] Figure 5a A schematic diagram of the first state of the leg structure of a humanoid robot according to an embodiment of this application is shown.

[0013] Figure 5b Showing according to Figure 5a A schematic diagram of the second state of the leg structure after lateral movement;

[0014] Figure 6 Showing according to Figure 1 A schematic diagram of the fourth state of the leg structure after the rolling motion shown;

[0015] Figure 7aA schematic diagram of the fifth state of the leg structure of a humanoid robot according to an embodiment of this application is shown;

[0016] Figure 7b Showing according to Figure 7a A schematic diagram of the sixth state of the leg structure after the rolling motion shown;

[0017] Figure 8a , 8b A partial schematic diagram of the hip joint of the leg structure of a humanoid robot according to an embodiment of this application is shown.

[0018] Figure 9 A partial schematic diagram of the hip joint of the leg structure of a humanoid robot according to an embodiment of this application is shown;

[0019] Figure 10 A partial schematic diagram of the hip connection plate of the leg structure of a humanoid robot according to an embodiment of this application is shown;

[0020] Figure 11 A partial schematic diagram of the lateral swing universal joint of the leg structure of a humanoid robot according to an embodiment of this application is shown;

[0021] Figure 12 A partial schematic diagram of the thigh lever of the leg structure of a humanoid robot according to an embodiment of this application is shown;

[0022] Figure 13 A partial structural schematic diagram of the leg structure of a humanoid robot according to an embodiment of this application is shown;

[0023] Figure 14 A partial structural schematic diagram of the leg structure of a humanoid robot according to an embodiment of this application is shown;

[0024] Figure 15 A partial structural schematic diagram of the leg structure of a humanoid robot according to an embodiment of this application is shown;

[0025] Figure 16 A partial structural schematic diagram of the leg structure of a humanoid robot according to an embodiment of this application is shown;

[0026] Figure 17 A partial structural schematic diagram of the leg structure of a humanoid robot according to an embodiment of this application is shown;

[0027] Figure 18 A partial structural schematic diagram of the leg structure of a humanoid robot according to an embodiment of this application is shown;

[0028] Figure 19a for Figure 18 Side view;

[0029] Figure 19b For along Figure 19a Cross-sectional view of AA in the middle;

[0030] Figure 20a A partial structural schematic diagram of the leg structure of a humanoid robot according to an embodiment of this application is shown;

[0031] Figure 20b for Figure 20a Side view;

[0032] Figure 20c For along Figure 20b Cross-sectional view of BB in the middle.

[0033] Figure label:

[0034] 1-First joint motor, 2-First linear joint module, 3-Second linear joint module, 4-Hip mounting base, 5-Hip joint, 6-Hip universal joint, 7-Thigh tie rod, 8-Side swing universal joint, 9-Thigh fixing structure, 10-Double row angular contact bearing, 11-First fisheye bearing, 12-Second fisheye bearing, 13-Third fisheye bearing, 14-Fourth fisheye bearing, 15-First pin, 16-Second pin, 17-First thigh fixing seat, 18-Second thigh fixing seat, 19-Third joint shaft, 20-Fourth joint shaft, 21-First... 1-Joint shaft, 22-Second joint shaft, 23-First thigh support plate, 24-Second thigh support plate, 25-Second long pin, 26-Hip connecting plate, 27-Hip tie rod, 28-Third pin, 29-Fourth pin, 30-Fifth pin, 31-First long pin, 32-Side swing fixing component, 33-First angular contact bearing, 34-Second angular contact bearing, 35-Third angular contact bearing, 36-Fourth angular contact bearing, 37-Bearing cap, 38-Bearing retaining ring, 101-First shutdown motor stator, 102-First shutdown motor rotor. Detailed Implementation

[0035] The present application will now be described in further detail with reference to the accompanying drawings.

[0036] In the description of this application, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and 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 application.

[0037] Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0038] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., 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 between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0039] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0040] In the description of this application, "multiple" means two or more, unless otherwise expressly and specifically defined.

[0041] Figure 1 A schematic diagram of the leg structure of a humanoid robot according to an embodiment of this application is shown, as follows: Figure 1 As shown, the leg structure includes a first joint motor 1, a first linear joint module 2, a second linear joint module 3, a hip mounting base 4, a hip joint 5, a hip universal joint 6, a thigh tie rod 7, a side swing universal joint 8, a thigh fixing structure 9, multiple joint shafts, multiple angular contact bearings, and double-row angular contact bearings 10.

[0042] In this configuration, the stator of the first joint motor 1 is connected to the hip mounting base 4, the rotor of the first joint motor 1 is connected to the hip joint 5, the first fisheye bearing 11 of the first linear joint module 2 is connected to the lateral universal joint 8, the second fisheye bearing 12 of the first linear joint module 2 is connected to the thigh fixation structure 9, the outer ring of the double-row angular contact bearing 10 is fixedly connected to the hip joint 5, the inner ring of the double-row angular contact bearing 10 is fixedly connected to the front convex shaft of the lateral universal joint 8, and the third fisheye bearing 13 of the second linear joint module 3... The thigh pull rod 7 is connected to the thigh fixing structure 9. The fourth fisheye bearing 14 of the second linear joint module 3 is connected to the thigh fixing structure 9. Each of the plurality of joint shafts is fixedly connected to the hip joint 5 or the thigh fixing structure 9. A joint shaft is embedded in the inner ring of each of the plurality of angular contact bearings. The outer ring of each angular contact bearing is embedded in a groove of the hip universal joint 6. Both the first linear joint module 2 and the second linear joint module 3 include planetary roller screws.

[0043] In some embodiments, the leg structure in this solution may be the left leg of a humanoid robot, or it may be the right leg of a humanoid robot. This example embodiment does not impose any special limitations on this.

[0044] In some embodiments, a joint motor refers to an electric motor and its supporting system specifically designed to drive the movement of robot limb joints. Its core function is to convert electrical energy into mechanical energy, enabling precise control of the joint's position, speed, or torque, thereby mimicking human movement capabilities. Specific types of joint motors include, but are not limited to, frameless torque motors, etc., which are not specifically limited in this example embodiment. In some embodiments, the first joint motor 1 includes a rotor and a stator. The rotor is fixedly connected to the hip joint 5, and the stator is fixedly connected to the hip mounting base 4. The stator is the stationary part of the joint motor, and the rotor is the rotating part. The fixing methods in this solution include, but are not limited to, threaded connections, welding, riveting, etc., which are not specifically limited in this example embodiment. In some embodiments, both the hip mounting base 4 and the hip joint 5 have markings as positioning indicators during installation.

[0045] In some embodiments, a linear joint module, also known as a linear actuator or linear servo module, is an integrated functional unit that incorporates components such as a motor, planetary roller screw, and bearings. Its core function is to convert the rotational motion of the motor into precise and controllable linear motion via the planetary roller screw. In some embodiments, the first fisheye bearing 11 of the first linear joint module 2 is connected to the lateral universal joint 8, and the second fisheye bearing 12 of the first linear joint module 2 is connected to the thigh fixation structure 9. In some embodiments, the fisheye bearing is a specially designed bearing whose core feature is that it allows for angular swinging and rotational motion in multiple directions, and it is widely used in mechanical systems that require flexible adjustment and can withstand complex loads. In some embodiments, the lateral universal joint is a specially designed rotary joint. Its core feature is that it integrates two rotational degrees of freedom within a compact unit, and the rotation axes of these two degrees of freedom are perpendicular to each other. In some embodiments, the thigh fixation structure is the core of power transmission and load-bearing of the robot's legs, providing a robust connection to the robot's torso structure and bearing the weight of the entire upper body as well as the enormous dynamic impact forces generated during movement.

[0046] In some embodiments, a double-row angular contact bearing 10 is embedded in a groove of a hip joint 5, and the outer ring of the double-row angular contact bearing 10 is fixed to the hip joint 5 by an interference fit. The front cam of a lateral universal joint 8 is embedded in the inner ring of the double-row angular contact bearing 10, and the lateral universal joint 8 and the inner ring of the double-row angular contact bearing 10 are fixed together by an interference fit. The double-row angular contact bearing is a bearing structure composed of two single-row angular contact ball bearings, used to support the rotating shaft and bear loads. In some embodiments, a bearing cap 37 is fitted around the outer ring of the double-row angular contact bearing 10, and the bearing cap 37 is fixed (e.g., by a threaded connection) to the hip joint 5 to prevent the double-row angular contact bearing 10 from falling out of the groove of the hip joint 5. In some embodiments, a bearing retainer ring 38 is used to fix the outer ring of the double-row angular contact bearing 10 to prevent the double-row angular contact bearing 10 from falling off the front cam of the lateral universal joint 8.

[0047] In some embodiments, the third fisheye bearing 13 of the second linear joint module 3 is connected to the thigh tie rod 7, the thigh tie rod 7 is connected to the thigh fixation structure 9, and the fourth fisheye bearing 14 of the second linear joint module 3 is connected to the thigh fixation structure 9. In humanoid robots, the thigh tie rod is a linkage mechanism that transmits the force generated by the drive unit (such as a motor) to the thigh or calf bones. It does not generate power itself, but acts as a "force transmission medium" to transmit power from the installation position (usually in the torso or thigh root) to the joint that needs to move.

[0048] In some embodiments, the leg structure includes multiple joint shafts and multiple angular contact bearings. The number of joint shafts is the same as the number of angular contact bearings. This example embodiment does not specifically limit the exact value of this number. For example, the leg structure includes 4 joint shafts and 4 angular contact bearings. The joint shaft is a high-precision shaft component in a humanoid robot that provides a precise rotation center for the rotary joints. For example, the joint shaft can be a metal shaft that has undergone special heat treatment and precision machining. In some embodiments, the angular contact bearing is a rolling bearing that can simultaneously withstand radial and axial loads. Its design feature is that the rolling elements (steel balls) form a contact angle with the inner and outer raceways, thereby possessing higher axial load capacity and rigidity. In some embodiments, each joint shaft is embedded in a groove of the hip joint 5 or a groove of the thigh fixation structure 9, and is fixed (e.g., by threaded connection) to the hip joint 5 or the thigh fixation structure 9. Each angular contact bearing has a joint shaft embedded in its inner ring, and the embedded joint shaft and the inner ring of the angular contact bearing are fixed together by an interference fit. That is, each angular contact bearing has a different joint shaft embedded in its inner ring. Each angular contact bearing has an outer ring embedded in a groove of the hip universal joint 5, and the outer ring of the angular contact bearing and the hip universal joint 5 are fixed together by an interference fit. That is, each angular contact bearing has an outer ring embedded in a groove of the hip universal joint 5. In a different groove of the hip joint 5, taking the leg structure including 4 joint shafts and 4 angular contact bearings as an example, 2 of the joint shafts are respectively embedded in one of the two grooves (the first groove and the second groove) of the hip joint 5, and the other 2 joint shafts are respectively embedded in one of the two grooves (the first groove and the second groove) of the thigh fixation structure 9. The inner ring of each of the 4 angular contact bearings is respectively embedded in one of the 4 joint shafts, and the outer ring of each angular contact bearing is respectively embedded in one of the four grooves (the first groove, the second groove, the third groove, and the fourth groove) of the hip universal joint 5.

[0049] The humanoid robot provided in this application adopts a leg structure consisting of one hip rotary motor and two thigh linear motors. Linear joints (i.e., thigh linear motors) are used instead of traditional rotary joints. Compared to rotary joints, the planetary roller screws in linear joints, through preloaded nuts, easily achieve zero backlash in transmission. Compared to the flexible wheels of harmonic reducers, planetary roller screws, due to line / surface contact, have better stiffness retention, making them more conducive to precise and stable operation. The impact resistance of planetary roller screws is better than that of ball screws and far superior to harmonic drives. Planetary screws distribute force evenly and have a long lifespan. Due to the self-locking characteristics of the planetary roller screws, the leg motors do not need to exert force when the robot is standing, resulting in high energy efficiency and long battery life. This is highly beneficial for the robot's precise, stable, and efficient operation in factories.

[0050] Figure 2This diagram illustrates the leg structure of a humanoid robot according to an embodiment of the present application at one angle. Figure 3 Show Figure 2 The diagram shows the leg structure from another angle. Figure 4a , Figure 4b Show Figure 2 The exploded view of the leg structure is shown below. (The following is combined with...) Figure 2 , Figure 3 , Figure 4a , Figure 4b The leg structure shown is described in further detail.

[0051] In some embodiments, the first joint motor (1) is used to rotate its rotor after receiving a motion signal, thereby driving the humanoid robot's leg to perform a lateral movement through the hip joint (5). In some embodiments, the stator of the first joint motor 1 is fixed (e.g., by threaded connection) to the hip mounting base 4, which is in turn fixed to the robot body. The hip joint 5 is fixed to the rotor of the first joint motor 1. When the first joint motor 1 receives a motion signal, the stator of the first joint motor 1 is fixed relative to the body, and the rotor of the first joint motor 1 rotates, thereby driving the hip joint 5 to perform a rotational movement. The hip joint 5 is connected (e.g., by threaded connection) to the entire leg (left or right leg), including the first linear joint module 2 and the second linear joint module 3. Therefore, the entire leg performs a lateral movement around the first reference axis, and as the motor rotates clockwise or counterclockwise (left or right), the leg can laterally move clockwise or counterclockwise, thus realizing the rotational movement of the entire leg in both directions. Figure 5a This diagram illustrates a first state of the leg structure of a humanoid robot according to an embodiment of this application. Figure 5b Showing according to Figure 5a The diagram shown illustrates the second state of the leg structure after lateral movement, based on... Figure 5a and Figure 5b As shown in the example, the humanoid robot from Figure 5a Starting from the indicated state, the legs perform a lateral movement around the first reference axis, rotating 45° to reach the desired position. Figure 5b The state shown.

[0052] In some embodiments, the first fisheye bearing (11) of the first linear joint module (2) is connected to the lateral universal joint (8) via a first pin (15) to form a first hinge. In some embodiments, the first pin 15 is installed on the hole of the lateral universal joint 8 and cooperates with the first fisheye bearing 11 on the upper part of the first linear joint module 2 to form a first hinge. Through this first hinge, the linear joint module 1 is connected to the hip joint 5. The pin is one of the most basic and critical mechanical connection elements in the joint of a humanoid robot. Its core function is like a latch or pivot, connecting two or more parts (such as linkages, gears, bearings) together and allowing relative rotation between them. The hinge is a connection device that enables a limited angle of relative rotation between two rigid components. In a humanoid robot, the hinge is one of the specific implementations of the joint and is the core of the movement and execution functions.

[0053] In some embodiments, the leg structure further includes a side-swing fixing member (32), wherein the second fisheye bearing (12) of the first linear joint module (2) is connected to the side-swing fixing member (32) via a second pin (16) to form a second hinge, and the side-swing fixing member (32) is fixedly connected to the thigh fixing structure (9). In some embodiments, the leg structure further includes a side-swing fixing member (32), which is a key structural component of the humanoid robot's leg. Its core function is to install the second pin 16 on the hole of the side-swing fixing member 32 and cooperate with the second fisheye bearing 12 at the lower part of the first linear joint module 2 to form a second hinge. The side-swing fixing member 32 is then fixed (e.g., by threaded connection) to the thigh fixing structure 9, thereby fixing the first linear joint module 2 to the leg via the first hinge and the second hinge.

[0054] In some embodiments, the first linear joint module (2) is used to extend or shorten its guide rod after receiving a motion signal, thereby driving the humanoid robot's leg to perform a rolling motion through the first hinge and the second hinge. In some embodiments, when the first joint motor 1 is fixed, that is, the first pin 15 of the first hinge is fixed, when the motion signal is given to the first linear joint module 2, the guide rod of the first linear joint module 2 extends or shortens, that is, the center distance between the second pin 16 of the second hinge and the first pin 15 increases or decreases, while the side swing fixing member 32 of the second hinge and the thigh fixing structure 9 are fixed together (e.g., by threaded connection), and the thigh fixing structure 9 and the entire leg (left leg or right leg) including the first linear joint module 2 and the second linear joint module 3 are fixed together, driving the entire leg to perform a rolling motion around the second reference axis, thus realizing the left and right movement of the entire leg. Figure 6 Showing according to Figure 1 The diagram shows the fourth state of the humanoid robot after the leg structure has rolled over. Figure 1 Starting from the third state shown, the legs perform a rolling motion around the second reference axis, reaching... Figure 6 The fourth state is shown.

[0055] In some embodiments, the thigh fixing structure (9) includes a first thigh fixing seat (17) and a second thigh fixing seat (18); wherein, a third joint axis (19) of the plurality of joint axes is embedded in the groove of the first thigh fixing seat (17), and a fourth joint axis (20) is embedded in the groove of the second thigh fixing seat (18). In some embodiments, the thigh fixing structure 9 includes a first thigh fixing seat 17 and a second thigh fixing seat 18, wherein the thigh fixing seat is a key load-bearing structure of the lower limb of the humanoid robot, which undertakes multiple missions such as connecting the torso and the thigh, transmitting all motion power, installing key components, and ensuring motion accuracy. It is the basic hardware guarantee for the robot to achieve stable, powerful, and precise motion. In some embodiments, the third joint axis 19 of the plurality of joint axes is embedded in the groove of the first thigh fixing seat 17 and fixed (e.g., by threaded connection) to the first thigh fixing seat 17, and the fourth joint axis 20 is embedded in the groove of the second thigh fixing seat 18 and fixed to the second thigh fixing seat 18.

[0056] In some embodiments, the plurality of joint shafts further includes a first joint shaft (21) embedded in a first groove of the hip joint (5) and a second joint shaft (22) embedded in a second groove of the hip joint (5). In some embodiments, the first joint shaft 21 of the plurality of joint shafts is embedded in the first groove of the hip joint 5 and fixed (e.g., by threaded connection) to the hip joint 5, and the second joint shaft 22 is embedded in the second groove of the hip joint 5 (distinct from the first groove) and fixed to the hip joint 5.

[0057] In some embodiments, the thigh fixing structure (9) further includes a first thigh support plate (23); wherein one end of the first thigh support plate (23) is fixedly connected to the first thigh fixing seat (17), and the other end is fixedly connected to the second thigh fixing seat (18), and the first thigh support plate (23) is arranged around the guide rod of the second linear joint module (3). In some embodiments, the thigh fixing structure 9 further includes a first thigh support plate 23, which is a support plate located on the thigh of the humanoid robot. It is essentially a connecting plate, and its main function is to be fixedly connected to the first thigh fixing seat 17 and the second thigh fixing seat 18 respectively, thereby connecting the two thigh fixing seats and fixing them together as a whole. This whole is the core load-bearing support skeleton of the leg and serves as the mounting base for all components of the thigh. In some embodiments, one end of the first thigh support plate 23 is fixedly connected to the first thigh fixing seat 17 (e.g., threaded connection), and the other end is fixedly connected to the second thigh fixing seat 18. The first thigh support plate 23 is arranged around the guide rod of the second linear joint module 3, that is, the guide rod of the second linear joint module 3 is located in the middle of the first thigh support plate 23, and the two do not directly contact each other. The first thigh support plate 23 can prevent foreign objects from hitting the guide rod of the second linear joint module 3.

[0058] In some embodiments, the thigh fixing structure (9) further includes a second thigh support plate (24); wherein, the fourth fisheye bearing (14) of the second linear joint module (3) and the second thigh support plate (24) are connected by a second long pin (25) to form a seventh hinge, the seventh hinge being used to drive the fourth fisheye bearing (14) to rotate around the second long pin (25) when the guide rod of the second linear joint module (3) extends or retracts. In some embodiments, the thigh fixing structure 9 further includes a second thigh support plate 24, the fourth fisheye bearing 14 of the second linear joint module 3 and the second thigh support plate 24 are connected together by a second long pin (25) to form a seventh hinge. In some embodiments, the seventh hinge is a rotatable hinge that can rotate with the guide rod. When the second linear joint module (3) moves, as the guide rod extends or retracts, the fourth fisheye bearing (14) of the second linear joint module (3) needs to rotate, and the rotation of the fourth fisheye bearing (14) of the second linear joint module (3) is realized by the seventh hinge.

[0059] In some embodiments, the leg structure further includes a hip connecting plate (26) and a hip tie rod (27); wherein the hip connecting plate (26) is fixedly connected to the hip universal joint (6), the hip connecting plate (26) and the hip tie rod (27) are connected by a third pin (28) to form a third hinge, the hip tie rod (27) and the thigh tie rod (7) are connected by a fourth pin (29) to form a fourth hinge, and the thigh tie rod (7) is connected to the third fisheye bearing (13) of the second linear joint module (3). A fifth hinge is formed by connecting the first thigh fixing seat (17) and the second thigh fixing seat (18) through the fifth pin (30). A sixth hinge is formed by connecting the thigh rod (7) with the first thigh fixing seat (17) and the second thigh fixing seat (18) through the first long pin (31). The hip connecting plate (26), the hip rod (27), the thigh rod (7), the first thigh fixing seat (17), and the second thigh fixing seat (18) form a linkage mechanism through the third hinge, the fourth hinge, the fifth hinge, and the sixth hinge. In some embodiments, the leg structure also includes a hip connecting plate 26 and a hip rod 27. The hip connecting plate is a core structural plate at the bottom of the humanoid robot's torso and can be regarded as the "pelvis" or "base" of the robot's leg. The hip rod is a rigid connecting rod connecting the hip connecting plate and the thigh fixing seat (or thigh support plate), and its two ends are connected to the two ends through fisheye bearings or ball joints. In some embodiments, the hip connecting plate 26 is fixedly connected to the hip universal joint 6 (e.g., by threaded connection), the hip connecting plate 26 and the hip tie rod 27 are connected together by the third pin 28 to form a third hinge, the hip tie rod 26 and the thigh tie rod 7 are connected together by the fourth pin 29 to form a fourth hinge, the thigh tie rod 7 and the third fisheye bearing 13 of the second linear joint module 3 are connected together by the fifth pin 30 to form a fifth hinge, and the thigh tie rod 7 is connected to the first thigh fixing seat 17 and the second thigh fixing seat 18 by the first long pin 31 to form a sixth hinge 6. In some embodiments, the hip connecting plate 26 (equivalent to the frame in the linkage mechanism), the hip tie rod 27 (equivalent to the connecting rod 1 in the linkage mechanism), the thigh tie rod 7 (equivalent to the connecting rod in the linkage mechanism), the first thigh fixation seat 17 (equivalent to the connecting rod 2 in the linkage mechanism), and the second thigh fixation seat 18 (which has the same function as the first thigh fixation seat 17, equivalent to the connecting rod 2 in the linkage mechanism) form a linkage mechanism through the third hinge, the fourth hinge, the fifth hinge, and the sixth hinge. The linkage mechanism is the mechanical realization of the skeleton and joints of the humanoid robot, which converts the rotational motion of the actuator (such as the motor) into the complex motion required by the robot's limbs and body.

[0060] In some embodiments, the second linear joint module (3) is used to extend or shorten its guide rod after receiving a motion signal, thereby driving the humanoid robot's legs to perform pitching motion through the linkage mechanism. In some embodiments, the first joint motor 1 and the first linear joint module 2 are both fixed. When a motion signal is given to the second linear joint module 3, the guide rod of the second linear joint module extends or shortens, pushing the linkage (i.e., the thigh lever 7) in the linkage mechanism to move. Under the push of the linkage mechanism, the robot's legs swing back and forth around the third reference axis, i.e., pitching motion. Figure 7a This diagram illustrates a fifth state of the leg structure of a humanoid robot according to an embodiment of this application. Figure 7b Showing according to Figure 7a The diagram shown illustrates the sixth state of the leg structure after its rolling motion, based on... Figure 7a and Figure 7b As shown in the example, the humanoid robot from Figure 7a Starting from the indicated position, the legs perform pitching motion around the third reference axis, reaching... Figure 7b The state shown. In some embodiments, the first joint motor 1, the first linear joint module 2, and the second linear joint module 3 can move simultaneously or individually, which forms the movement of the robot leg in three directions around the first reference axis, the second reference axis, and the third reference axis, thereby simulating the movement of the human leg.

[0061] like Figure 8a , 8b As shown, a partial schematic diagram of the hip joint is presented. Figure 9 As shown, a partial schematic diagram of the hip universal joint is presented. Figure 10 As shown, a partial schematic diagram of the connecting plate is presented. Figure 11 As shown, a partial schematic diagram of a lateral universal joint is presented. Figure 12 As shown, a partial schematic diagram of the thigh pull bar is presented.

[0062] Figure 13 This diagram illustrates a partial structural schematic of the leg structure of a humanoid robot according to one embodiment of the present application. Figure 13 As shown, the stator 101 of the first joint motor is fixed to the hip mounting base 4 via a threaded connection. The hip joint 5 is fixed to the rotor 102 of the first joint motor via a threaded connection. Both the hip mounting base 4 and the hip joint 5 have markings to serve as positioning indicators during installation.

[0063] Figure 14 This diagram illustrates a partial structural schematic of the leg structure of a humanoid robot according to one embodiment of this application. Figure 14As shown, the first sway universal joint 8 and the first fisheye bearing 11 of the first linear joint module 2 are connected together by the first pin 15 to form the first hinge. The second fisheye bearing 12 of the first linear joint module 2 and the lateral swing fixing member 32 are connected together by the second pin 16 to form the hinge 2. The lateral swing fixing member 32 is then fixed to the first thigh fixing seat 17 by a threaded connection. The inner ring of the double-row angular contact bearing 10 is fitted onto the shaft of the lateral swing universal joint 8, and the inner ring of the double-row angular contact bearing 10 and the shaft of the lateral swing universal joint 8 are fixed together by an interference fit. The outer side of the double-row angular contact bearing 10 is fixed by a bearing retainer ring 38 to prevent the double-row angular contact bearing 10 from falling off the shaft of the lateral swing universal joint 8.

[0064] Figure 15 This diagram illustrates a partial structural schematic of the leg structure of a humanoid robot according to one embodiment of this application. Figure 15 As shown, the thigh pull rod 7 and the third fisheye bearing 13 of the second linear joint module 3 are connected together by the fifth pin 30 to form the fifth hinge. The fourth fisheye bearing 14 of the second linear joint module 3 and the second thigh support plate 24 are connected by the second long pin 25 to form the seventh hinge.

[0065] Figure 16 This diagram illustrates a partial structural schematic of the leg structure of a humanoid robot according to one embodiment of this application. Figure 16 As shown, the hip connecting plate 26 and the hip tie rod 27 are connected together by the third pin 28 to form the third hinge. The hip tie rod 27 and the thigh tie rod 7 are connected together by the fourth pin 29 to form the fourth hinge. The thigh tie rod 7 and the third fisheye bearing 13 of the second linear joint module 3 are connected together by the fifth pin 30 to form the fifth hinge 5. The thigh tie rod 7 is connected to the first thigh fixation seat 17 and the second thigh fixation seat 18 by the first long pin 31 to form the sixth hinge.

[0066] Figure 17 This diagram illustrates a partial structural schematic of the leg structure of a humanoid robot according to one embodiment of this application. Figure 17 As shown, the hip connection plate 26 is fixed together with the hip universal joint 6 by a threaded connection.

[0067] Figure 18 This diagram illustrates a partial structural schematic of the leg structure of a humanoid robot according to one embodiment of this application. Figure 18 As shown, the double-row angular contact bearing 10 is embedded in the groove of the hip joint 5, and the outer ring of the double-row angular contact bearing 10 is fixed to the hip joint 5 by an interference fit. A bearing cap 37 is installed on the outside of the double-row angular contact bearing 10, and the bearing cap 37 is fixed to the hip joint 5 by a threaded connection to prevent the double-row angular contact bearing 10 from falling out of the groove of the hip joint 5.

[0068] Figure 19a for Figure 18 Side view, Figure 19b For along Figure 19a A cross-sectional view of AA. (See diagram below.) Figure 19a , Figure 19b As shown, the first joint shaft 21 is embedded in a groove of the hip joint 5 and fixed to the hip joint 5 by a threaded connection. The first joint shaft 21 is embedded in the inner ring of the first angular contact bearing 33, and the first joint shaft 21 and the inner ring of the first angular contact shaft 33 are fixed together by an interference fit. The first angular contact bearing 33 is embedded in a groove of the hip universal joint 6, and the outer ring of the first angular contact bearing 33 and the hip universal joint 6 are fixed together by an interference fit. The second joint shaft 22 is embedded in another groove of the hip joint 5 and fixed to the hip joint 5 by a threaded connection. The second joint shaft 22 is embedded in the inner ring of the second angular contact bearing 34, and the second joint shaft 22 and the inner ring of the second angular contact bearing 34 are fixed together by an interference fit. The second angular contact bearing 34 is embedded in another groove of the hip universal joint 6, and the outer ring of the second angular contact bearing 34 and the hip universal joint 6 are fixed together by an interference fit.

[0069] Figure 20a This diagram shows a partial structural schematic of the leg structure of a humanoid robot according to one embodiment of the present application. Figure 20b for Figure 20a Side view, Figure 20c For along Figure 20b A cross-sectional view of BB. (See attached image.) Figure 20a , Figure 20b , Figure 20c As shown, the third joint shaft 19 is embedded in the groove of the first thigh fixation seat 17 and fixed to the first thigh fixation seat 17 by a threaded connection. The third joint shaft 19 is embedded in the inner ring of the third angular contact bearing 35, and the third joint shaft 19 and the inner ring of the third angular contact bearing 35 are fixed together by an interference fit. The third angular contact bearing 35 is embedded in one groove of the hip universal joint 6, and the outer ring of the third angular contact bearing 35 and the hip universal joint 6 are fixed together by an interference fit. The fourth joint shaft 20 is embedded in the groove of the second thigh fixation seat 18 and fixed to the second thigh fixation seat 18 by a threaded connection. The fourth joint shaft 20 is embedded in the inner ring of the fourth angular contact bearing 36, and the fourth joint shaft 20 and the inner ring of the fourth angular contact bearing 36 are fixed together by an interference fit. The fourth angular contact bearing 36 is embedded in another groove of the hip universal joint 6, and the outer ring of the fourth angular contact bearing 36 and the hip universal joint 6 are fixed together by an interference fit.

[0070] Based on the leg structure described above, this application also proposes a humanoid robot that includes the leg structure described above.

[0071] It will be apparent to those skilled in the art that this application is not limited to the details of the exemplary embodiments described above, and that this application can be implemented in other specific forms without departing from the spirit or essential characteristics of this application. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of this application is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be embraced within this application. No reference numerals in the claims should be construed as limiting the scope of the claims. Furthermore, it is clear that the word "comprising" does not exclude other units or steps, and the singular does not exclude the plural. Multiple units or devices recited in the apparatus claims may also be implemented by a single unit or device in software or hardware. Terms such as "first," "second," etc., are used to indicate names and do not indicate any particular order.

Claims

1. A leg structure for a humanoid robot, wherein, The leg structure includes a first joint motor (1), a first linear joint module (2), a second linear joint module (3), a hip mounting base (4), a hip joint (5), a hip universal joint (6), a thigh tie rod (7), a side swing universal joint (8), a thigh fixing structure (9), multiple joint shafts, multiple angular contact bearings, and a double-row angular contact bearing (10). The stator of the first joint motor (1) is connected to the hip mounting base (4), the rotor of the first joint motor (1) is connected to the hip joint (5), the first fisheye bearing of the first linear joint module (2) is connected to the lateral universal joint (8), the second fisheye bearing of the first linear joint module (2) is connected to the thigh fixing structure (9), the outer ring of the double-row angular contact bearing (10) is fixedly connected to the hip joint (5), the inner ring of the double-row angular contact bearing (10) is fixedly connected to the front convex shaft of the lateral universal joint (8), and the third fisheye shaft of the second linear joint module (3) is... The first linear joint module (2) is connected to the thigh pull rod (7), the thigh pull rod (7) is connected to the thigh fixing structure (9), the fourth fisheye bearing of the second linear joint module (3) is connected to the thigh fixing structure (9), each of the plurality of joint shafts is fixedly connected to the hip joint (5) or the thigh fixing structure (9), a joint shaft is embedded in the inner ring of each of the plurality of angular contact bearings, and the outer ring of each angular contact bearing is embedded in a groove of the hip universal joint (6). Both the first linear joint module (2) and the second linear joint module (3) include planetary roller screws.

2. The leg structure according to claim 1, wherein, The first joint motor (1) is used to rotate its rotor after receiving a motion signal, and drive the legs of the humanoid robot to make lateral movement through the hip joint (5).

3. The leg structure according to claim 1, wherein, The first fisheye bearing of the first linear joint module (2) is connected to the side swing universal joint (8) through the first pin (15) to form the first hinge.

4. The leg structure according to claim 3, wherein, The leg structure also includes a side-swing fixing member (32), the second fisheye bearing of the first linear joint module (2) is connected to the side-swing fixing member (32) through a second pin (16) to form a second hinge, and the side-swing fixing member (32) is fixedly connected to the thigh fixing structure (9).

5. The leg structure according to claim 4, wherein, The first linear joint module (2) is used to extend or shorten its guide rod after receiving a motion signal, and drive the legs of the humanoid robot to roll through the first hinge and the second hinge.

6. The leg structure according to claim 1, wherein, The thigh fixation structure (9) includes a first thigh fixation seat (17) and a second thigh fixation seat (18); Among them, the third joint shaft (19) of the plurality of joint shafts is embedded in the groove of the first thigh fixation seat (17), and the fourth joint shaft (20) is embedded in the groove of the second thigh fixation seat (18).

7. The leg structure according to claim 6, wherein, The plurality of joint axes also includes a first joint axis (21) embedded in a first groove of the hip joint (5) and a second joint axis (22) embedded in a second groove of the hip joint (5).

8. The leg structure according to claim 6, wherein, The thigh fixation structure (9) also includes a first thigh support plate (23); One end of the first thigh support plate (23) is fixedly connected to the first thigh fixing seat (17), and the other end is fixedly connected to the second thigh fixing seat (18). The first thigh support plate (23) is arranged around the guide rod of the second linear joint module (3).

9. The leg structure according to claim 6, wherein, The thigh fixation structure (9) also includes a second thigh support plate (24); The fourth fisheye bearing of the second linear joint module (3) is connected to the second thigh support plate (24) through the second long pin (25) to form a seventh hinge. The seventh hinge is used to drive the fourth fisheye bearing to rotate around the second long pin (25) when the guide rod of the second linear joint module (3) extends or retracts.

10. The leg structure according to claim 6, wherein, The leg structure also includes a hip connection plate (26) and a hip tie rod (27); The hip connecting plate (26) is fixedly connected to the hip universal joint (6). The hip connecting plate (26) and the hip tie rod (27) are connected by a third pin (28) to form a third hinge. The hip tie rod (27) and the thigh tie rod (7) are connected by a fourth pin (29) to form a fourth hinge. The thigh tie rod (7) and the third fisheye bearing of the second linear joint module (3) are connected by a fifth pin (30) to form a fifth hinge. The thigh tie rod (7) is connected by a first thigh fixing seat (17) and a second thigh fixing seat (18) to form a sixth hinge through a first long pin (31). The hip connecting plate (26), the hip tie rod (27), the thigh tie rod (7), the first thigh fixing seat (17), and the second thigh fixing seat (18) form a linkage mechanism through the third hinge, the fourth hinge, the fifth hinge, and the sixth hinge.

11. The leg structure according to claim 10, wherein, The second linear joint module (3) is used to extend or shorten its guide rod after receiving a motion signal, and drive the humanoid robot's legs to perform pitching motion through the linkage mechanism.

12. A humanoid robot, wherein, The humanoid robot comprises the leg structure as described in any one of claims 1 to 11.

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