Leg structure of humanoid robot and humanoid robot

Abstract

The utility model discloses a leg structure and humanoid robot of humanoid robot belong to humanoid robot field, solved the problem that the stability of humanoid robot after standing is poor, the technical scheme of solving this problem mainly includes thigh mechanism, shank mechanism and foot end, thigh mechanism is rotatively connected with shank mechanism, thigh mechanism is equipped with the motor for driving shank mechanism swing, when the leg structure is in the upright state, shank mechanism keeps vertical, thigh mechanism is relative to shank mechanism and forms the angle of clamping with shank mechanism and leans forward, and the front side of shank mechanism forms the support of motor. In the utility model, thigh mechanism is relative to shank mechanism and leans forward, can make the gravity center of whole humanoid robot more forward, and then can improve the stability of humanoid robot after standing.

Description

Technical Field

[0001] This utility model demonstrates the leg structure of a humanoid robot and the humanoid robot itself, belonging to the field of humanoid robot technology. Background Technology

[0002] With the rapid development of artificial intelligence technology and its deep integration with the traditional robotics industry, humanoid robots have a higher degree of simulation. As the most important supporting and moving parts of the robot, the leg structure of humanoid robots has received increasing attention and research. The research on the leg structure not only has great scientific significance, but also shows great potential in practical applications.

[0003] In existing humanoid robots, when the robot is in an upright position, both the thigh and lower leg mechanisms are vertical. The robot's torso is directly above the thigh mechanism, while the lower leg mechanism is connected to the heel of the foot. Therefore, when the humanoid robot is standing, its center of gravity is closer to the heel of the foot, meaning the robot's center of gravity is further back, making it prone to falling backward and resulting in particularly poor stability when standing. Utility Model Content

[0004] The purpose of this invention is to solve the problem of poor stability of humanoid robots when standing. To this end, a leg structure and humanoid robot are provided. The thigh mechanism is tilted forward relative to the lower leg mechanism, which can make the center of gravity of the entire humanoid robot more forward, thereby improving the stability of the humanoid robot when standing.

[0005] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: The leg structure of the humanoid robot includes a thigh mechanism, a lower leg mechanism, and a foot. The thigh mechanism is rotatably connected to the lower leg mechanism. The thigh mechanism is equipped with a motor for driving the lower leg mechanism to swing. When the leg structure is in an upright position, the lower leg mechanism remains vertical. The thigh mechanism is tilted forward relative to the lower leg mechanism and forms an angle with the lower leg mechanism. The front side of the lower leg mechanism supports the motor.

[0006] The beneficial effects of using this utility model are: In this invention, when the leg structure is in an upright position, the lower leg mechanism is upright, while the thigh mechanism is tilted forward relative to the lower leg mechanism, so that the top of the thigh mechanism is in front of the lower leg mechanism. The humanoid robot's torso is positioned directly above the top of the thigh mechanism. Therefore, the center of gravity of the entire humanoid robot is closer to the front of the robot's feet. Shifting the center of gravity forward allows the leg structure to provide more reliable support for the torso, reducing the possibility of the humanoid robot falling backward and improving its stability when standing. Furthermore, when the thigh and lower leg mechanisms form an angle, the hinge points of the thigh and lower leg mechanisms abut against each other, limiting the thigh mechanism from continuing to rotate forward relative to the lower leg mechanism, thereby making the thigh mechanism... The thigh and lower leg mechanisms can form a positioning system. In the upright position, the contact point between the thigh and lower leg mechanisms can provide reliable support for the thigh mechanism, thereby reducing the stress on the hinge point and lowering the possibility of damage due to stress concentration. This makes the connection between the thigh and lower leg mechanisms more stable and reliable, significantly improving the service life of the leg structure. Secondly, the contact point does not bear the rotational motion of the thigh and lower leg mechanisms, so it has better support performance and can withstand greater weight. This helps to reduce the weight requirements of the torso, allowing the torso to assemble more components and thus improve the functionality of the humanoid robot. Alternatively, the torso can also install larger battery modules, thereby improving the humanoid robot's endurance.

[0007] Preferably, the motor includes a motor body and a gearbox. One end of the gearbox has a coaxial adapter for outputting torque. The lower leg mechanism includes a lower leg body, with a hinge seat formed at the top of the lower leg body that connects to the adapter. A baffle is provided on the front side of the gearbox, abutting against the hinge seat to limit the forward tilt angle of the thigh mechanism. Using the aforementioned technical solution, the abutment between the baffle and the hinge seat forms the contact point between the thigh and lower leg mechanisms. That is, when the leg structure is in an upright position, the lower leg mechanism can limit the thigh mechanism from continuing to rotate forward, while also providing reliable support for the thigh mechanism. This disperses the pressure on the hinge point between the hinge seat and the gearbox, reducing the possibility of damage to the hinge point and ensuring smooth rotation of both the thigh and lower leg mechanisms. It also extends the service life of the leg structure. Furthermore, the abutment between the baffle and the hinge seat reduces wear on the gearbox, providing some protection and helping to extend the gearbox's service life.

[0008] Preferably, the gearbox includes a housing and a connecting part fixed to the top of the housing. The housing is cylindrical, and the connecting part is connected to the bottom of the motor body. The bottom of the baffle extends to the front of the housing, and the top of the baffle extends to the edge of the connecting part. Using the aforementioned technical solution, the baffle is located on the front of the housing, which can shield the housing and reduce the possibility of the housing directly entering the viewer's field of vision, thus improving the aesthetics of the leg structure. Furthermore, the bottom of the baffle is connected to the housing, and the top is connected to the connecting part, forming a triangular structure with the housing and the connecting part. This significantly improves the stability of the baffle, allowing it to withstand greater forces. The baffle and the hinge seat form a more stable support point, thus significantly improving the positioning stability of the thigh and lower leg mechanisms. Additionally, the connection between the connecting part and the bottom of the motor body, with the bottom of the baffle extending to the edge of the connecting part, ensures better integrity between the front side of the connecting part and the front side of the motor body, further enhancing aesthetics.

[0009] Preferably, the hinge seat includes a base plate and a first side plate and a second side plate disposed on both sides of the base plate. One end of the gearbox is connected to the first side plate via an adapter, and the other end is rotatably connected to the second side plate. The front end of the base plate abuts against a baffle to limit the forward tilt angle of the thigh mechanism. Using the aforementioned technical solution, the first and second side plates bear the torque output when the thigh mechanism and the lower leg mechanism rotate relative to each other, while the base plate bears the weight of the thigh mechanism when the leg structure is standing. This allows for a more even distribution of force on the hinge seat, preventing the possibility of breakage due to stress concentration, improving the connection stability between the thigh mechanism and the lower leg mechanism, and extending the service life of the hinge seat.

[0010] Preferably, the base plate is arc-shaped, with the horizontal distance between its front and rear ends being less than the diameter of the gearbox, and the distance between the front end of the base plate and the rotation axis of the gearbox being greater than the distance between the rear end of the base plate and the rotation axis of the gearbox. Using the aforementioned technical solution, since the front end of the base plate supports the baffle, the pressure of the thigh mechanism on the lower leg mechanism mainly acts on the front end of the base plate, thereby reducing the arc length of the base plate and allowing the thigh and lower leg mechanisms to have a larger rotation angle, while also reducing the weight of the lower leg mechanism. Furthermore, the larger distance between the front end of the base plate and the rotation axis of the gearbox allows the front end of the base plate to be higher in the vertical direction, enabling the lower leg mechanism to provide stronger support to the base plate, thus increasing the load-bearing capacity of the front end of the base plate. The base plate can withstand more weight, which helps improve the support performance of the lower leg mechanism.

[0011] Preferably, the gearbox has a groove at the end away from the adapter, the sidewall of the groove is annular and close to the edge of the gearbox, and the second side plate has a convex ring extending along the axial direction of the gearbox. The convex ring is embedded in the groove and rotatably engages with the groove, and a bushing is fitted between the convex ring and the groove. With the aforementioned technical solution, the sidewall of the groove is close to the edge of the gearbox, meaning the inner diameter of the groove is close to the diameter of the gearbox, giving the groove a larger inner diameter. The gearbox is rotatably connected to the hinge seat through the engagement of the groove and the convex ring. The rotating shaft formed by the gearbox has a larger diameter. The larger the diameter of the rotating shaft, the smaller the force on the gearbox, allowing the gearbox to withstand greater external forces and reducing the possibility of gearbox damage. This, in turn, improves the strength of the hinge joint between the thigh and lower leg mechanisms.

[0012] Preferably, the first side plate and the base plate are an integral structure. The base plate has an assembly groove on the side facing away from the first side plate, and the second side plate is detachably installed in the assembly groove. The bottom wall of the assembly groove supports the second side plate. Using the aforementioned technical solution, the adapter is fixedly connected to the first side plate, and the adapter directly transmits torque to the first side plate. Therefore, the first side plate experiences a relatively large force. Making the first side plate and the base plate an integral structure enhances the strength of the first side plate, reduces the possibility of damage, and allows the first side plate to withstand greater torque. Furthermore, the detachable connection between the second side plate and the base plate facilitates the assembly of the gearbox and the hinge seat, improving the assembly efficiency. It also makes the assembly of the first side plate, the second side plate, and the gearbox more compact, thereby improving the assembly stability of the gearbox and the hinge seat and preventing deformation or breakage of the first and second side plates due to the forced installation of the gearbox. Secondly, the assembly groove supports the second side plate, improving its load-bearing capacity and thus increasing the connection stability between the hinge seat and the gearbox.

[0013] Preferably, the angle between the thigh mechanism and the lower leg mechanism is A, and 10°≤A≤20°. Using the aforementioned technical solution allows for a more reasonable distribution of the humanoid robot's center of gravity, which helps improve the stability of the leg structure when standing. However, when A<10°, the forward tilt angle of the thigh is small, and the center of gravity of the humanoid robot is relatively far back, still presenting a possibility of tipping backward. When A>20°, the forward tilt angle of the thigh is too large, and the pressure on the lower leg mechanism will be more concentrated at the contact point between the thigh and lower leg mechanisms, leading to potential damage to the lower leg mechanism due to stress concentration. The humanoid robot is also prone to tipping forward due to its center of gravity being too far back and forth, also exhibiting instability.

[0014] Preferably, the thigh mechanism includes a thigh body with a hinge end at its top that hinges to the hip of the humanoid robot. The thigh body is connected to the top of a motor and forms the thigh mechanism with the motor. An angle is formed between the hinge end and the motor. When the leg structure is in an upright position, the hinge end is parallel to the lower leg mechanism. By adopting the aforementioned technical solution, the parallel alignment of the hinge end with the lower leg mechanism ensures that the torso above the thigh mechanism remains vertical when the leg structure is in an upright position. This prevents the humanoid robot's center of gravity from shifting too far forward, resulting in a more stable and aesthetically pleasing standing posture.

[0015] Preferably, the thigh body further includes a bending portion formed at the bottom of the thigh body, the bottom end of the bending portion being connected to the top end of the motor, and the hinge end forming an angle with the motor through the bending portion.

[0016] This utility model also demonstrates a humanoid robot, which includes a torso and a leg structure rotatably connected to the torso, wherein the leg structure adopts the leg structure described in any of the above.

[0017] Other features and advantages of this utility model will be disclosed in detail in the following specific embodiments and accompanying drawings. Attached Figure Description

[0018] The present invention will be further described below with reference to the accompanying drawings: Figure 1 This is a schematic diagram of the leg structure of the humanoid robot of this utility model; Figure 2 This is a side view of the leg structure of the humanoid robot of this utility model. Figure 3 This is an exploded view of the thigh mechanism and the lower leg mechanism in the leg structure of the humanoid robot of this utility model; Figure 4 This is a side view of the connection between the thigh mechanism and the lower leg mechanism in the leg structure of the humanoid robot of this utility model; Figure 5 This is a side view of the thigh mechanism in the leg structure of the humanoid robot of this utility model; Figure 6 This is a schematic diagram of the hinge seat in the leg structure of the humanoid robot of this utility model; Figure 7 This is an exploded view of the hinge seat in the leg structure of the humanoid robot of this utility model; Figure 8 This is a structural schematic diagram of the humanoid robot of this utility model.

[0019] Reference numerals: 1. Thigh mechanism; 10. Motor; 101. Motor body; 102. Gearbox; 1021. Groove; 1022. Housing; 1023. Connecting part; 1024. Baffle; 103. Adapter; 11. Thigh body; 111. Hinge end; 112. Bending part; 2. Lower leg mechanism; 20. Hinge seat; 201. Base plate; 2013. Assembly groove; 202. First side plate; 2021. Positioning groove; 203. Second side plate; 2031. Protruding ring; 3. Foot end; 4. Torso; 41. Hip; 5. Arm. Detailed Implementation

[0020] The technical solutions of the present utility model will be explained and described below with reference to the accompanying drawings. However, the following embodiments are only preferred embodiments of the present utility model and not all of them. Other embodiments obtained by those skilled in the art based on the embodiments in the implementation methods without creative effort are all within the protection scope of the present utility model.

[0021] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "clockwise", "counterclockwise", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model 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 utility model.

[0022] In this utility model, unless otherwise explicitly 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 of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0023] Example 1: like Figures 1 to 7As shown in the figure, this embodiment illustrates a leg mechanism for a humanoid robot, including a thigh mechanism 1, a lower leg mechanism 2, and a foot end 3. The thigh mechanism 1 includes a thigh body 11 and a motor 10. The top end of the thigh body 11 is hinged to the hip 41 of the humanoid robot, and the motor 10 is fixed to the bottom end of the thigh body 11. The bottom of the motor 10 is provided with an adapter 103 for outputting torque. The lower leg mechanism 2 includes a lower leg body and a motor 10. The top end of the lower leg mechanism 2 forms a hinge seat 20, and the motor 10 of the lower leg body is fixed to the bottom end of the lower leg body. After assembly, the motor 10 of the thigh mechanism 1 and the hinge seat 20 of the lower leg mechanism 2 are rotatably connected. The adapter 103 outputs torque to the hinge seat 20 so that the lower leg mechanism 2 can rotate relative to the thigh mechanism 1. The motor 10 of the lower leg mechanism 2 is rotatably connected to the foot end 3. The motor 10 of the lower leg mechanism 2 outputs torque to the foot end 3 so that the foot end 3 can swing relative to the lower leg mechanism 2. When the leg structure is in an upright state, the lower leg mechanism 2 remains vertical, the thigh mechanism 1 leans forward relative to the lower leg mechanism 2 and forms an angle with the lower leg mechanism 2, and the front side of the lower leg mechanism 2 supports the motor 10 to limit the thigh mechanism 1 from continuing to rotate forward relative to the lower leg mechanism 2, so that the thigh mechanism 1 and the lower leg mechanism 2 are reliably positioned.

[0024] In this embodiment, when the leg structure is in an upright position, the lower leg mechanism 2 is upright, while the thigh mechanism 1 is tilted forward relative to the lower leg mechanism 2, so that the top of the thigh mechanism 1 is in front of the lower leg mechanism 2. The humanoid robot's torso 4 is positioned directly above the top of the thigh mechanism 1. Therefore, the center of gravity of the entire humanoid robot is closer to the front of the humanoid robot's foot 3. Shifting the center of gravity forward allows the leg structure to provide more reliable support for the torso 4, reducing the possibility of the humanoid robot falling backward and helping to improve the stability of the humanoid robot when standing. In addition, when the thigh mechanism 1 and the lower leg mechanism 2 form an angle, the hinge of the thigh mechanism 1 and the lower leg mechanism 2 will abut against each other, restricting the thigh mechanism 1 from continuing to rotate forward relative to the lower leg mechanism 2, thereby making the thigh mechanism 1... Leg 1 and lower leg 2 can form a positioning system. In the upright state, the contact point between thigh 1 and lower leg 2 can provide reliable support for thigh 1, thereby reducing the stress on the hinge point and lowering the possibility of damage due to stress concentration. This makes the connection between thigh 1 and lower leg 2 more stable and reliable, significantly improving the service life of the leg structure. Secondly, the contact point does not bear the rotational motion of thigh 1 and lower leg 2, so it has better support performance and can withstand greater weight. This helps to reduce the weight requirements of torso 4, allowing torso 4 to assemble more components and thus improve the functionality of the humanoid robot. Alternatively, torso 4 can also install a larger battery module, thereby improving the humanoid robot's endurance.

[0025] Regarding the specific structure of thigh mechanism 1 and lower leg mechanism 2, as follows: Figure 1 and Figure 2 As shown, in this embodiment, the motor 10 of the thigh mechanism 1 is connected to the bottom end of the thigh body 11. The overall size of the motor 10 of the thigh mechanism 1 is similar to that of the thigh body 11. The motor 10 of the thigh mechanism 1 serves as an extension of the thigh body 11. That is, the thigh mechanism 1 is formed after the thigh body 11 and the motor 10 are connected. The structure of the lower leg mechanism 2 is similar to that of the thigh mechanism 1. The motor 10 of the lower leg mechanism 2 is also connected to the bottom end of the lower leg body. The motor 10 of the lower leg mechanism 2 also serves as an extension of the lower leg body. The motor 10 of the thigh mechanism 1 and the motor 10 of the lower leg mechanism 2 use the same motor 10 structure.

[0026] Specifically, such as Figure 3 As shown, in this embodiment, the motor 10 includes a motor 10 body and a gearbox 102. One end of the gearbox 102 is coaxially provided with an adapter 103 for outputting torque. The top of the lower leg body forms a hinge seat 20. The gearbox 102 is rotatably connected to the hinge seat 20, and the adapter 103 is fixedly connected to the hinge seat 20. The adapter can rotate relative to the gearbox 102. When the motor 10 body starts, it transmits torque to the adapter 103, causing the adapter 103 to rotate. The rotation of the adapter 103 causes the hinge seat 20 to rotate, thereby achieving relative rotation between the thigh mechanism 1 and the lower leg mechanism 2. Additionally, the front side of the gearbox 102 is provided with a baffle 1024, which abuts against the front side of the hinge seat 20 to limit the forward tilt angle of the thigh mechanism 1. The baffle 1024 abuts against the hinge seat 20 to form the contact point between the thigh mechanism 1 and the lower leg mechanism 2. When the leg structure is in an upright position, the lower leg mechanism 2 can restrict the thigh mechanism 1 from continuing to rotate forward, and at the same time, it can provide reliable support for the thigh mechanism 1. This disperses the pressure on the hinge point between the hinge seat 20 and the gearbox 102, reduces the possibility of damage to the hinge point between the hinge seat 20 and the gearbox 102, ensures that the thigh mechanism 1 and the lower leg mechanism 2 can maintain smooth and unobstructed rotation, and also extends the service life of the leg structure. In addition, the baffle 1024 abuts against the hinge seat 20, which can reduce the wear of the hinge seat 20 on the gearbox 102, and can play a certain protective role for the gearbox 102, which helps to extend the service life of the gearbox 102.

[0027] Regarding the specific structure of the motor 10, in this embodiment, the gearbox 102 is provided with a rotating shaft and a reduction mechanism. The rotating shaft and the adapter 103 are coaxially arranged. The output end of the motor 10 body extends into the gearbox 102. The axial direction of the output end of the motor 10 body is perpendicular to the axial direction of the rotating shaft. The output end of the motor 10 body extends into the gearbox 102 and is connected to the rotating shaft through a bevel gear. The output end of the reduction mechanism is provided with an inertia disk. The adapter 103 is fixed to the inertia disk. The rotating shaft transmits torque to the adapter 103 through the reduction mechanism.

[0028] Specifically, such as Figure 3 As shown, in this embodiment, the gearbox 102 includes a housing 1022 and a connecting part 1023 fixed to the top of the housing 1022. The overall structure of the housing 1022 is cylindrical. The connecting part 1023 is connected to the bottom end of the motor body 101. After the connecting part 1023 is connected to the motor body 101, the peripheral side of the connecting part 1023 is flush with the peripheral side of the motor body 101. The bottom end of the baffle 1024 extends to the front side of the housing 1022, and the top end of the baffle 1024 extends to the edge of the connecting part 1023. The baffle 1024 is located on the front side of the housing 1022. The baffle 1024 can shield the housing 1022, reducing the possibility of the housing 1022 directly entering the human field of vision, which helps to improve the aesthetics of the leg structure. Aesthetics; In addition, the bottom end of the baffle 1024 is connected to the housing 1022, and the top end is connected to the connecting part 1023. The baffle 1024, housing 1022 and connecting part 1023 form a triangular structure, which can significantly improve the stability of the baffle 1024 and enable the baffle 1024 to withstand greater forces. The baffle 1024 and the hinge seat 20 can form a more stable support point, which can significantly improve the positioning stability of the thigh mechanism 1 and the lower leg mechanism 2. In addition, the connecting part 1023 is connected to the bottom end of the motor body 101. The bottom end of the baffle 1024 extends to the edge of the connecting part 1023, which can make the front side of the connecting part 1023 and the front side of the motor body 101 have better integrity, which helps to improve the aesthetics.

[0029] Specifically, such as Figure 2 As shown, in this embodiment, the included angle between the thigh mechanism 1 and the lower leg mechanism 2 is A, and 10°≤A≤20°, which makes the center of gravity distribution of the humanoid robot more reasonable and helps to improve the stability of the leg structure when standing. When A<10°, the forward tilt angle of the thigh is small, and the center of gravity distribution of the humanoid robot is relatively far back, and there is still a possibility of falling backward. When A>20°, the forward tilt angle of the thigh is too large, and the pressure on the lower leg mechanism 2 will be more concentrated at the contact point between the thigh mechanism 1 and the lower leg mechanism 2, which will make the lower leg mechanism 2 prone to damage due to stress concentration. The humanoid robot is also prone to falling forward due to the center of gravity being too far back and forth, which also has the defect of being unstable when standing.

[0030] Specifically, such as Figure 2 and Figure 5 As shown, in this embodiment, the top of the thigh body 11 forms a hinge end that is hinged to the hip 41 of the humanoid robot, and the bottom of the thigh body 11 forms a bent portion 112 that is connected to the motor 10. The bottom end of the bent portion 112 is connected to the top of the motor 10. The hinge end 111 forms an angle with the motor 10 through the bent portion 112. When the leg structure is in an upright state, the hinge end 111 is parallel to the lower leg mechanism 2. The hinge end 111 is parallel to the lower leg mechanism 2. When the leg structure is in an upright state, it can ensure that the torso 4 on the upper side of the thigh mechanism 1 remains vertical, thereby preventing the center of gravity of the humanoid robot from being too far forward, so that the humanoid robot has a more stable and aesthetically pleasing standing posture.

[0031] Specifically, such as Figure 3 In this embodiment, the hinge seat 20 includes a base plate 201 and a first side plate 202 and a second side plate 203 disposed on both sides of the base plate 201. When the thigh mechanism 1 and the lower leg mechanism 2 are assembled, the housing 1022 of the gearbox 102 is rotatably mounted between the first side plate 202 and the second side plate 203. One end of the gearbox 102 has a connecting member 103 fixedly connected to the first side plate 202, and the other end of the gearbox 102 is rotatably connected to the second side plate 203. When the motor 10 starts, the connecting member 103 rotates relative to the housing 1022 under the drive of the motor 10. The connecting member 103 drives the entire assembly to hinge through the first side plate 202. The seat 20 rotates around the gearbox 102, thereby realizing the swing of the lower leg mechanism 2 relative to the thigh mechanism 1. The front end of the base plate 201 abuts against the baffle 1024 to limit the forward tilt angle of the thigh mechanism 1. The first side plate 202 and the second side plate 203 are used to bear the torque output when the thigh mechanism 1 and the lower leg mechanism 2 rotate relative to each other, while the base plate 201 is used to bear the weight of the thigh mechanism 1 when the leg structure is standing. This makes the overall force of the hinge seat 20 more uniform, avoids the possibility of the hinge seat 20 breaking due to stress concentration, improves the connection stability between the thigh mechanism 1 and the lower leg mechanism 2, and also extends the service life of the hinge seat 20.

[0032] Specifically, such as Figure 4As shown, in this embodiment, the base plate 201 is arc-shaped. The distance between the rear end of the base plate 201 and the rotation axis of the gearbox 102 is d1, and the distance between the front end of the base plate 201 and the rotation axis of the gearbox 102 is d2, where d2 > d1. The horizontal distance between the front and rear ends of the base plate 201 is less than the diameter of the gearbox 102. Let the diameter of the gearbox 102 be D, then d1 + d2 < D. Since the front end of the base plate 201 supports the baffle 1024, the pressure of the thigh mechanism 1 on the lower leg mechanism 2 mainly acts on the base plate 2. The front end of 01 can reduce the arc length of the base plate 201, allowing the thigh mechanism 1 and the lower leg mechanism 2 to have a larger rotation angle, while also reducing the weight of the lower leg mechanism 2; in addition, the distance between the front end of the base plate 201 and the rotation axis of the gearbox 102 is larger, allowing the front end of the base plate 201 to be higher in the height direction, so that the lower leg mechanism 2 can provide stronger support for the base plate 201, thereby increasing the load-bearing capacity of the front end of the base plate 201. The base plate 201 can bear more weight, which helps to improve the support performance of the lower leg mechanism 2.

[0033] Specifically, such as Figure 3 and Figure 6 As shown, in this embodiment, the gearbox 102 has a groove 1021 at the end away from the adapter 103. The sidewall of the groove 1021 is annular and close to the edge of the gearbox 102. The second side plate 203 has a protruding ring 2031 on the side facing the first side plate 202. The protruding ring 2031 extends along the axial direction of the gearbox 102. After the gearbox 102 is assembled with the hinge seat 20, the protruding ring 2031 extends into the groove 1021 and forms a rotational fit with the groove 1021 through the bushing. The sidewall of the groove 1021 is close to the gearbox 102. The inner diameter of the groove 1021 is close to the diameter of the gearbox 102, giving the groove 1021 a larger inner diameter. The gearbox 102 is rotatably connected to the hinge seat 20 through the cooperation of the groove 1021 and the convex ring 2031. The rotating shaft formed by the gearbox 102 has a larger diameter. The larger the diameter of the rotating shaft, the smaller the force on the gearbox 102, enabling the gearbox 102 to withstand greater external forces and reducing the possibility of damage to the gearbox 102. This can improve the strength of the hinge between the thigh mechanism 1 and the lower leg mechanism 2.

[0034] Specifically, such as Figure 7As shown, in this embodiment, the first side plate 202 and the bottom plate 201 are an integral structure. The bottom plate 201 has an assembly groove 2013 on the side facing away from the first side plate 202. The second side plate 203 is detachably connected to the assembly groove 2013 by bolts. After the second side plate 203 is installed into the assembly groove 2013, the bottom wall of the assembly groove 2013 provides support for the second side plate 203. During the assembly process of the gearbox 102 and the hinge seat 20, the second side plate 203 is first disassembled so that one end of the gearbox 102 is fixedly connected to the first side plate 202 through the adapter 103. Then, the second side plate 203 is installed into the assembly groove 2013 so that the convex ring 2031 of the second side plate 203 and the groove 1021 of the gearbox 102 form a rotational engagement. Since the adapter 103 directly transmits the torque to the first side plate 202, the force on the first side plate 202 is relatively large. The first side plate 202 and the base plate 201 are integrated into one structure, which can enhance the strength of the first side plate 202, reduce the possibility of damage to the first side plate 202, and enable the first side plate 202 to withstand greater torque. In addition, the second side plate 203 is detachably connected to the base plate 201, which can facilitate the assembly of the gearbox 102 and the hinge seat 20, help improve the assembly efficiency of the gearbox 102 and the hinge seat 20, and at the same time make the assembly of the first side plate 202, the second side plate 203 and the gearbox 102 more compact, thereby improving the assembly stability of the gearbox 102 and the hinge seat 20, and also preventing the first side plate 202 and the second side plate 203 from deforming or breaking due to the forced installation of the gearbox 102. Secondly, the assembly groove 2013 provides support for the second side plate 203, which can improve the load-bearing capacity of the second side plate 203, thereby increasing the connection stability between the hinge seat 20 and the gearbox 102.

[0035] Example 2: like Figure 8 As shown in the figure, this embodiment illustrates a humanoid robot, which includes a torso 4, a hip 41 at the bottom of the torso 4, and leg structures rotatably connected to both sides of the hip 41. The leg structures adopt the leg structure described in Embodiment 1.

[0036] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Those skilled in the art should understand that this utility model includes, but is not limited to, the content described in the accompanying drawings and the specific embodiments above. Any modifications that do not depart from the functional and structural principles of this utility model will be included within the scope of the claims.

Claims

1. The leg structure of a humanoid robot, characterized in that, It includes a thigh mechanism, a lower leg mechanism, and a foot end. The thigh mechanism and the lower leg mechanism are rotatably connected. The thigh mechanism is equipped with a motor for driving the lower leg mechanism to swing. When the leg structure is in an upright state, the lower leg mechanism remains vertical. The thigh mechanism is tilted forward relative to the lower leg mechanism and forms an angle with the lower leg mechanism. The front side of the lower leg mechanism supports the motor.

2. The leg structure of the humanoid robot according to claim 1, characterized in that, The motor includes a motor body and a gearbox. One end of the gearbox is coaxially provided with an adapter for outputting torque. The lower leg mechanism includes a lower leg body. The top of the lower leg body forms a hinge seat that connects to the adapter. A baffle is provided on the front side of the gearbox. The baffle abuts against the hinge seat to limit the forward tilt angle of the thigh mechanism.

3. The leg structure of the humanoid robot according to claim 2, characterized in that, The gearbox includes a housing and a connecting part fixed to the top of the housing. The housing is cylindrical, and the connecting part is connected to the bottom of the motor body. The bottom of the baffle extends to the front side of the housing, and the top of the baffle extends to the edge of the connecting part.

4. The leg structure of the humanoid robot according to claim 2, characterized in that, The hinge seat includes a base plate and a first side plate and a second side plate disposed on both sides of the base plate. One end of the gearbox is connected to the first side plate through an adapter, and the other end is rotatably connected to the second side plate. The front end of the base plate abuts against a baffle to limit the forward tilt angle of the thigh mechanism.

5. The leg structure of the humanoid robot according to claim 4, characterized in that, The base plate is arc-shaped, and the horizontal distance between the front and rear ends of the base plate is less than the diameter of the gearbox. The distance between the front end of the base plate and the rotation axis of the gearbox is greater than the distance between the rear end of the base plate and the rotation axis of the gearbox.

6. The leg structure of the humanoid robot according to claim 4, characterized in that, The gearbox has a groove at the end away from the adapter. The sidewall of the groove is annular and close to the edge of the gearbox. The second side plate has a convex ring extending along the axial direction of the gearbox. The convex ring is embedded in the groove and rotates with the groove. A bushing is assembled between the convex ring and the groove.

7. The leg structure of the humanoid robot according to claim 4, characterized in that, The first side plate and the bottom plate are an integral structure. The bottom plate has an assembly groove on the side facing away from the first side plate. The second side plate can be detachably installed in the assembly groove, and the bottom wall of the assembly groove supports the second side plate.

8. The leg structure of the humanoid robot according to claim 1, characterized in that, The included angle between the thigh mechanism and the calf mechanism is A, and 10°≤A≤20°.

9. The leg structure of the humanoid robot according to claim 1, characterized in that, The thigh mechanism includes a thigh body, the top of which has a hinge end that is hinged to the hip of the humanoid robot. The thigh body is connected to the top of a motor and forms the thigh mechanism with the motor. An angle is formed between the hinge end and the motor. When the leg structure is in an upright state, the hinge end is parallel to the lower leg mechanism.

10. The leg structure of the humanoid robot according to claim 9, characterized in that, The thigh body also includes a bending section, which is formed at the bottom of the thigh body. The bottom end of the bending section is connected to the top end of the motor, and the hinge end forms an angle with the motor through the bending section.

11. A humanoid robot, characterized in that, The humanoid robot includes a torso and a leg structure rotatably connected to the torso, wherein the leg structure adopts the leg structure as described in any one of claims 1 to 10.

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