Leg structure and humanoid robot

Abstract

This utility model belongs to the field of robotics technology and discloses a leg mechanism and a humanoid robot. The leg mechanism includes a waist support and two leg units. A separate leg unit is designed for the humanoid robot, comprising a hip module, a leg module, and a foot module. The hip module includes a hip support, a fixed support, and a first drive component. The leg and foot modules are assembled on the hip support. The first drive component is fixed to the fixed support and is connected to the hip support via a transmission connection. When the first drive component drives the hip support to rotate, it can cause the leg module to rotate relative to the waist support, ensuring the leg module's mobility. By detachably connecting the fixed support of the leg unit to the waist support, the fixed support can be removed from the waist support, allowing for the individual disassembly of the entire leg unit. This effectively reduces the difficulty of leg assembly and disassembly and improves maintenance convenience.

Description

Technical Field

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

[0002] Humanoid robots are intelligent robots designed using biomimicry, possessing a body structure similar to humans, thus enabling them to mimic human appearance and behavior. As high-precision devices, the failure of even one component in a humanoid robot can trigger a chain reaction leading to shutdown; therefore, the ease of assembly and disassembly of humanoid robots is becoming increasingly important.

[0003] In existing technologies, both legs of humanoid robots are connected to the waist, and the legs cannot be assembled or disassembled separately, resulting in high difficulty and cost of disassembly, assembly, and maintenance.

[0004] Therefore, there is an urgent need to provide a leg mechanism and humanoid robot to improve the convenience of leg disassembly and maintenance. Utility Model Content

[0005] The purpose of this invention is to provide a leg mechanism and a humanoid robot to improve the convenience of leg disassembly and maintenance.

[0006] To achieve this objective, the present invention adopts the following technical solution:

[0007] This utility model provides a leg mechanism, including a waist support and two leg units. Each leg unit includes a hip module, a leg module, and a foot module. The hip module includes a hip support, a fixed support, and a first driving member. The foot module is connected to the hip support through the leg module. The fixed support is detachably connected to the waist support. The first driving member is fixed to the fixed support and is drively connected to the hip support. The first driving member is used to drive the hip support to rotate relative to the waist support.

[0008] As an optional technical solution for the leg mechanism, the leg module includes a thigh and a calf, the thigh is detachably connected to the hip support, the thigh and the calf are rotatably connected, and the end of the calf away from the thigh is rotatably connected to the foot module.

[0009] As an optional technical solution for the leg mechanism, the thigh includes a main leg body, a second drive member, and a hip rotation support. One end of the main leg body is connected to the second drive member through the hip rotation support, and the other end of the main leg body is connected to the lower leg. The second drive member is fixed to the hip support and is used to drive the hip rotation support to rotate relative to the hip support.

[0010] As an optional technical solution for the leg mechanism, the main leg body includes a thigh shell and a third drive member. The third drive member is fixed to the hip spin bracket, the thigh shell is connected to the third drive member, and the third drive member is used to drive the thigh shell to rotate relative to the hip spin bracket.

[0011] And / or, the leg module further includes a limiting plate and a buffer pad, the main leg body includes a thigh shell and a fourth drive member, the thigh shell is connected to the lower leg through a knee joint, one side of the thigh shell is connected to the fourth drive member, the limiting plate is connected to the other side of the thigh shell through the buffer pad, the fourth drive member is used to drive the knee joint to rotate, and the limiting plate is used to limit the connection flange at the output end of the fourth drive member.

[0012] As an optional technical solution for the leg mechanism, the thigh is detachably connected to the lower leg, and / or the lower leg is detachably connected to the foot module.

[0013] As an optional technical solution for the leg mechanism, the thigh has a thigh shell, which is detachably connected and combined with a thigh outer shell and a thigh inner shell arranged along a first direction;

[0014] And / or, the lower leg has a lower leg shell, which is detachably connected and combined from a lower leg front shell and a lower leg rear shell arranged along a second direction, wherein the first direction is perpendicular to the second direction.

[0015] As an alternative technical solution for the leg mechanism, the thigh also includes a shielding shell, which is snap-fitted to the inner shell of the thigh.

[0016] As an optional technical solution for the leg mechanism, the lower leg includes a lower leg shell, an adjustment drive component, a transmission link, and an ankle. One end of the lower leg shell is connected to the thigh, and the other end is connected to the foot module through the ankle. The adjustment drive component is disposed in the lower leg shell. One end of the transmission link is pulsatorically connected to the adjustment drive component, and the other end is rotatably connected to the ankle. The adjustment drive component drives the transmission link to move, thereby causing the ankle to rotate.

[0017] As an optional technical solution for the leg mechanism, the lower leg also includes a mounting bracket, and the adjustment drive component is detachably connected to the lower leg housing via the mounting bracket;

[0018] And / or, the leg module further includes a joint bearing and a bearing cap, the transmission link is rotatably connected to the ankle via the joint bearing, one end of the joint bearing abuts against the groove wall of the transmission link, and the bearing cap is detachably fixed to the transmission link to block the other end of the joint bearing.

[0019] As an optional technical solution for the leg mechanism, the foot module includes a sole and an upper, with a reinforcing plate embedded in the sole, and the sole is connected to the upper and the leg module.

[0020] This utility model provides a humanoid robot, which includes a torso and upper limb mechanism and the aforementioned leg mechanism, with the torso and upper limb mechanism connected to a waist support.

[0021] Beneficial effects:

[0022] This invention provides a leg mechanism comprising a lumbar support and two leg units. Each leg unit includes a hip module, a leg module, and a foot module. The hip module includes a hip support, a fixed support, and a first drive component. The foot module is connected to the hip support via the leg module. The fixed support is detachably connected to the lumbar support. The first drive component is fixed to the fixed support and is drively connected to the hip support, driving the hip support to rotate relative to the lumbar support. This design utilizes a separate leg unit for a humanoid robot, incorporating a hip module, a leg module, and a foot module. The hip module includes a hip support, a fixed support, and a first drive component. The leg and foot modules are assembled onto the hip support. The first drive component is fixed to the fixed support and drively connected to the hip support. When the first drive component drives the hip support to rotate, it can cause the leg module to rotate relative to the lumbar support, ensuring the leg module's mobility. By detachably connecting the fixed support of the leg unit to the lumbar support, the fixed support can be removed from the lumbar support, allowing for the individual disassembly of the entire leg unit. This effectively reduces the difficulty of leg assembly and disassembly and improves maintenance convenience.

[0023] This utility model provides a humanoid robot, which includes a torso and upper limb mechanism and a leg mechanism. The torso and upper limb mechanism are connected to a waist support, and each leg unit of the leg mechanism can be completely detached from the waist support for easy maintenance. Attached Figure Description

[0024] Figure 1 This is a partial structural schematic diagram of the humanoid robot provided in this embodiment of the utility model;

[0025] Figure 2 This is an exploded view of the leg unit provided in this embodiment of the utility model;

[0026] Figure 3 This is an exploded view of the hip module provided in this embodiment of the present invention;

[0027] Figure 4 This is a partial exploded view of the hip module and thigh provided in this embodiment of the utility model;

[0028] Figure 5This is a schematic diagram of the structure of the thigh shell, limiting plate, and buffer pad provided in this embodiment of the utility model;

[0029] Figure 6 This is a partial disassembled view of the lower leg provided in an embodiment of this utility model;

[0030] Figure 7 This is an exploded view of the adjustment drive component and mounting bracket provided in an embodiment of this utility model;

[0031] Figure 8 This is a structural schematic diagram of the transmission connecting rod, spherical bearing, bearing cover, and fastener provided in the embodiment of this utility model;

[0032] Figure 9 This is an exploded view of the foot module provided in an embodiment of this utility model.

[0033] In the picture:

[0034] 1. Leg unit; 2. Lumbar support;

[0035] 10. Hip module; 11. Hip support; 12. Fixation bracket; 13. First drive component;

[0036] 20. Leg module;

[0037] 21. Thigh; 21a. Main leg body; 210. Thigh shell; 211. Thigh outer shell; 212. Thigh inner shell; 213. Sheath shell; 214. Second drive unit; 215. Hip spin support; 216. Third drive unit; 217. Fourth drive unit; 218. Connecting flange; 219. Thigh connecting rod;

[0038] 22. Lower leg; 220. Lower leg shell; 221. Lower leg front shell; 222. Lower leg rear shell; 223. Adjustment drive component; 223a. Fifth drive component; 223b. Sixth drive component; 224. Transmission link; 224a. First link; 224b. Second link; 225. Rotary flange; 226. Ankle; 227. Mounting bracket;

[0039] 231. Limiting plate; 232. Buffer pad;

[0040] 241. Spherical plain bearing; 242. Bearing cap; 243. Fastener;

[0041] 30. Foot module; 31. Sole; 311. Reinforcing plate; 32. Upper. Detailed Implementation

[0042] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, not the entire structure.

[0043] In the description of this utility model, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; 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; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0044] In this invention, unless otherwise explicitly 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.

[0045] In the description of this embodiment, the terms "upper," "lower," "left," and "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, 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. In addition, the terms "first" and "second" are only used for distinction in description and have no special meaning.

[0046] like Figures 1 to 3As shown, this embodiment provides a leg mechanism and a humanoid robot. The humanoid robot includes a torso and upper limb mechanism and a leg mechanism. The torso and upper limb mechanism are connected to the waist support 2 of the leg mechanism. The leg mechanism includes the waist support 2 and two leg units 1. Each leg unit 1 includes a hip module 10, a leg module 20, and a foot module 30. The hip module 10 includes a hip support 11, a fixed support 12, and a first drive member 13. The foot module 30 is connected to the hip support 11 through the leg module 20. The fixed support 12 is detachably connected to the waist support 2. The first drive member 13 is fixed to the fixed support 12 and is drively connected to the hip support 11. The first drive member 13 is used to drive the hip support 11 to rotate relative to the waist support 2.

[0047] A separate leg unit 1 is designed for the humanoid robot, along with a hip module 10, a leg module 20, and a foot module 30. The hip module 10 includes a hip support 11, a fixed support 12, and a first drive component 13. The leg module 20 and the foot module 30 are assembled on the hip support 11. The first drive component 13 is fixed to the fixed support 12 and is connected to the hip support 11 via a transmission connection. When the first drive component 13 drives the hip support 11 to rotate, it can drive the leg module 20 to rotate relative to the waist support 2, ensuring the mobility of the leg module 20. By detachably connecting the fixed support 12 of the leg unit 1 to the waist support 2, the fixed support 12 can be removed from the waist support 2, thus completing the individual disassembly of the entire leg unit 1. This effectively reduces the difficulty of disassembling and assembling the leg and improves the convenience of maintenance.

[0048] In this embodiment, the first direction is the X direction, the second direction is the Y direction, and the third direction is the Z direction, which is the length direction of the leg unit 1. The X, Y, and Z directions intersect at a point and are perpendicular to each other. The two leg units 1 are spaced apart along the X direction. The hip bracket 11 is connected to the leg module 20 on one side and to the first drive member 13 on the other side. The fixed bracket 12 is located between the hip bracket 11 and the first drive member 13. The hip bracket 11 can rotate relative to the fixed bracket 12 around the Y direction under the drive of the first drive member 13. The waist bracket 2 is provided with two receiving holes and two sets of mounting holes. The two receiving holes are respectively used to receive the first drive members 13 of the two leg units 1. The six mounting holes in each set are arranged at intervals on the outer periphery of the receiving holes for locking with screws. Each fixed bracket 12 is fixed to the waist bracket 2 by six screws, and the first drive member 13 is inserted into the corresponding receiving hole.

[0049] Furthermore, the leg module 20 includes a thigh 21 and a calf 22. The thigh 21 is detachably connected to the hip support 11, and the thigh 21 and the calf 22 are rotatably connected. The end of the calf 22 away from the thigh 21 is rotatably connected to the foot module 30.

[0050] By detachably connecting the thigh 21 to the hip support 11, if the first drive component 13 does not need to be disassembled according to the actual situation, the thigh 21, lower leg 22 and foot module 30 can be directly removed from the hip support 11. If the hip module 10 is to be maintained separately, the fixed bracket 12 can be removed from the waist support 2 and the thigh 21 can be removed from the hip module 10. The disassembly and assembly are more diverse and flexible, providing convenience for actual maintenance.

[0051] Specifically, the thigh 21 includes a main leg body 21a, a second drive member 214, and a hip rotation support 215. One end of the main leg body 21a is connected to the second drive member 214 through the hip rotation support 215, and the other end of the main leg body 21a is connected to the lower leg 22. The second drive member 214 is fixed on the hip support 11 and is used to drive the hip rotation support 215 to rotate relative to the hip support 11.

[0052] A second drive member 214 and a hip spin support 215 are provided between the main leg body 21a and the hip support 11. The second drive member 214 drives the hip spin support 215 to rotate, thereby driving the main leg body 21a to rotate and improving the movement flexibility of the thigh 21.

[0053] In this embodiment, the second drive member 214 is detachably fixed to the hip support 11 by screws, and the hip spin support 215 can rotate relative to the hip support 11 in the Z direction under the drive of the second drive member 214.

[0054] See Figure 1 , Figure 4 and Figure 5 Furthermore, the main leg body 21a includes a thigh shell 210 and a third drive member 216. The third drive member 216 is fixed to the hip spin bracket 215. The thigh shell 210 is connected to the third drive member 216. The third drive member 216 is used to drive the thigh shell 210 to rotate relative to the hip spin bracket 215.

[0055] In this embodiment, the top end of the hip spin support 215 is connected to the second drive member 214, and the bottom end of the hip spin support 215 is connected to the third drive member 216; the thigh shell 210 rotates relative to the hip spin support 215 around the X-axis under the drive of the third drive member 216.

[0056] To drive the movement of the lower leg 22, the main leg body 21a also includes a fourth drive member 217. The thigh shell 210 is connected to the lower leg 22 through the knee joint, and the thigh shell 210 is connected to the fourth drive member 217. The fourth drive member 217 is used to drive the knee joint to rotate.

[0057] To limit the extreme position of the knee joint, the leg module 20 also includes a limiting plate 231 and a buffer pad 232. The fourth drive unit 217 is connected to one side of the thigh housing 210, and the limiting plate 231 is connected to the other side of the thigh housing 210 through the buffer pad 232. The limiting plate 231 is used to limit the connection flange 218 at the output end of the fourth drive unit 217.

[0058] Compared to using hard materials such as aluminum alloy or stainless steel as limiting features, installing a limiting plate 231 on the thigh shell 210 and setting a buffer pad 232 can limit the range of motion while providing a certain buffering effect, preventing the thigh shell 210 and the limiting plate 231 from being damaged when subjected to a large instantaneous impact.

[0059] In this embodiment, there are two limiting plates 231. The two limiting plates 231 are respectively connected to the thigh shell 210 through the buffer pad 232. The two limiting plates 231 are used to cooperate with the limiting connection flange 218 to limit the range of motion of the knee joint. The buffer pad 232 is made of rubber.

[0060] In this embodiment, the main leg body 21a also includes a thigh link 219. The connecting flange 218 at the output end of the fourth drive member 217 is rotatably connected to the top end of the thigh link 219, and the bottom end of the thigh link 219 is connected to the lower leg 22 via a knee joint. When the fourth drive member 217 is activated, the connecting flange 218 rotates and pulls the top end of the thigh link 219, thereby causing the knee joint and the lower leg 22 to rotate.

[0061] Specifically, the thigh shell 210 is detachably connected and assembled from a thigh outer shell 211 and a thigh inner shell 212 arranged along the X direction. Designing the thigh shell 210 as a left-right split thigh outer shell 211 and thigh inner shell 212 simplifies the structure of individual parts, making it easier to disassemble and maintain, as well as to facilitate mass production and mold making.

[0062] Among them, the main leg bodies 21a of the two leg units 1 have thigh shells 211 on the side opposite to each other in the X direction, and the main leg bodies 21a of the two leg units 1 have inner thigh shells 212 on the side close to each other in the X direction; both the thigh shells 211 and the inner thigh shells 212 are made of metal; the thigh shells 211 and the inner thigh shells 212 are fastened together and locked by screws to form an internal thigh space, which is used to accommodate the third drive member 216, the fourth drive member 217, the thigh connecting rod 219, the limiting plate 231, and the buffer pad 232, etc.

[0063] In this embodiment, the third driving member 216 and the fourth driving member 217 are both fixed to the inner thigh shell 212; each limiting plate 231 is connected to the outer thigh shell 211 through a buffer pad 232.

[0064] Optionally, the thigh shell 210 further includes a cover shell 213, which is snap-fitted to the inner thigh shell 212. In this embodiment, the cover shell 213 is made of materials including but not limited to plastic; the cover shell 213 is located on the side of the inner thigh shell 212 away from the corresponding outer thigh shell 211; the outer peripheral edge of the cover shell 213 is provided with multiple latching protrusions at intervals, and the inner thigh shell 212 has latching grooves corresponding to the latching protrusions. In other embodiments, screws can also be used to fix the cover shell 213 to the inner thigh shell 212.

[0065] When the third drive unit 216 and the fourth drive unit 217 are installed on the inner thigh shell 212, multiple screw holes should be designed on the inner thigh shell 212 to allow for multiple screws to be used for fixing. A snap-fit ​​cover shell 213 is designed on the inner thigh shell 212. The cover shell 213 is easy to install and remove, and as an external decorative part, it can effectively cover the screw holes on the inner thigh shell 212 and part of the internal thigh structure, preventing the internal thigh structure from being exposed, making the thigh 212 more complete and humanoid.

[0066] Reference Figure 1 and Figure 6 The lower leg 22 includes a lower leg housing 220, an adjustment drive component 223, a transmission link 224, and an ankle 226. One end of the lower leg housing 220 is connected to the thigh 21 via the knee joint, and the other end of the lower leg housing 220 is connected to the foot module 30 via the ankle 226. The adjustment drive component 223 is disposed in the lower leg housing 220. One end of the transmission link 224 is connected to the adjustment drive component 223 and the other end is rotatably connected to the ankle 226. The adjustment drive component 223 drives the transmission link 224 to move, thereby causing the ankle 226 to rotate.

[0067] A transmission link 224 is used to connect the adjustment drive component 223 and the ankle 226. The adjustment drive component 223 drives the transmission link 224 to move, which in turn drives the ankle 226 to rotate, thereby realizing the movement of the foot module 30.

[0068] In this embodiment, the adjustment drive 223 includes a fifth drive 223a and a sixth drive 223b, and the transmission link 224 includes a first link 224a and a second link 224b. The fifth drive 223a and the sixth drive 223b are spaced apart along the Z direction on the lower leg housing 220, and the sixth drive 223b is located between the fifth drive 223a and the ankle 226. The rotating flange 225 of the fifth drive 223a is rotatably connected to the top end of the second link 224b, and the bottom end of the second link 224b is rotatably connected to the ankle 226 through an adapter. The rotating flange (not shown) of the sixth drive 223b is rotatably connected to the top end of the first link 224a, and the bottom end of the first link 224a is rotatably connected to the ankle 226 through an adapter. The ankle 226 is fixed to the adapter and rotatably connected to the lower leg housing 220 through the adapter.

[0069] Among them, the first driving component 13, the second driving component 214, the third driving component 216, the fourth driving component 217, the fifth driving component 223a and the sixth driving component 223b all include motors.

[0070] The adjustment drive component 223 adopts a dual-motor, dual-linkage collaborative design. The rigid structure of the link ensures motion accuracy under high load, while simulating the fine movements of the human body, especially foot posture, converting rotational motion into linear or compound motion, thus ensuring motion stability.

[0071] When the first link 224a and the second link 224b pull the adapter downwards simultaneously, the ankle 226 drives the foot module 30 to complete the lifting action; when the first link 224a and the second link 224b pull the adapter upwards simultaneously, the ankle 226 drives the foot module 30 to complete the pressing action; when one of the first link 224a and the second link 224b pulls upwards and the other pulls downwards, the ankle 226 drives the foot module 30 to complete the inversion or eversion action.

[0072] Optionally, the lower leg 22 also includes a mounting bracket 227, and the adjustment drive component 223 is detachably connected to the lower leg housing 220 via the mounting bracket 227. By designing a separate mounting bracket 227 to fix the adjustment drive component 223, and then detachably mounting the adjustment drive component 223 and the mounting bracket 227 together to the lower leg housing 220, installation is flexible, disassembly is convenient, the structure of the lower leg housing 220 is simplified, and the individual processing difficulty of the lower leg housing 220 and the mounting bracket 227 is reduced.

[0073] See Figure 6 and Figure 7 In this embodiment, the fifth driving member 223a and the sixth driving member 223b are respectively fixed to the lower leg housing 220 by the mounting bracket 227; the mounting bracket 227 has a ring structure, and the outer periphery of the fifth driving member 223a and the sixth driving member 223b are fixed to the mounting bracket 227 by screws; the mounting bracket 227 is provided with mounting through holes and is fixed to the lower leg housing 220 by screws.

[0074] Optionally, the lower leg 22 has a lower leg shell 220, which is detachably connected and assembled from a lower leg front shell 221 and a lower leg rear shell 222 arranged along the Y direction. Designing the lower leg shell 220 as a front-to-back split lower leg front shell 221 and lower leg rear shell 222 simplifies the structure of individual parts, making it easier to disassemble and maintain, as well as to facilitate mass production mold opening.

[0075] Optionally, the thigh 21 and the lower leg 22 are detachably connected. In this embodiment, the thigh shell 210 is detachably connected to the lower leg front shell 221 via a knee joint. The specific structure of the knee joint and the specific detachable connection method can be designed according to existing technology. The detachable design between the thigh 21 and the lower leg 22 allows for individual maintenance of either the thigh 21 or the lower leg 22, enabling the separate maintenance of faulty modules or components, reducing maintenance difficulty, and effectively shortening disassembly and maintenance time.

[0076] In this embodiment, the front calf shell 221 is made of metal, and the rear calf shell 222 is made of materials including but not limited to plastic. The front calf shell 221 and the rear calf shell 222 are fastened together and locked with screws to form an internal space for the calf. This internal space accommodates the fifth drive member 223a, the sixth drive member 223b, and the transmission connecting rod 224, etc. The fifth drive member 223a and the sixth drive member 223b are both fixed to the front calf shell 221. The rear calf shell 222 is snapped onto or fixed to the front calf shell 221 with screws. The front calf shell 221 has a semi-enclosed structure with high overall strength, and there are no exposed screw holes on the outer surface of the front calf shell 221 and the rear calf shell 222 after they are fastened together.

[0077] See Figure 8 Optionally, the leg module 20 also includes a joint bearing 241 and a bearing cover 242. The transmission link 224 is rotatably connected to the ankle 226 via the joint bearing 241. One end of the joint bearing 241 abuts against the groove wall of the transmission link 224. The bearing cover 242 is detachably fixed to the transmission link 224 to block the other end of the joint bearing 241.

[0078] Compared to other methods such as directly using screws for limiting or using elastic retaining rings for fixing the shaft, using bearing cap 242 to achieve axial fixation of spherical bearing 241 is simple in process and highly reliable.

[0079] In this embodiment, taking the first connecting rod 224a as an example, both ends of the first connecting rod 224a are provided with grooves for installing the spherical bearing 241. The top end of the first connecting rod 224a is rotatably connected to the rotating flange of the sixth drive member 223b through the spherical bearing 241, and the bottom end of the first connecting rod 224a is rotatably connected to the ankle 226 through the spherical bearing 241. The first connecting rod 224a is also provided with a receiving groove, which is connected to the groove and is provided in a one-to-one correspondence. The receiving groove is used to receive the bearing cover 242. The bearing cover 242 is fixed to the receiving groove by fasteners 243. The bearing cover 242 is partially placed in the receiving groove and partially extends to the groove to block the spherical bearing 241. The fasteners 243 are screws.

[0080] Correspondingly, the two ends of the second link 224b are also provided with grooves and receiving slots for installing the spherical bearing 241 and the bearing cover 242. The top end of the second link 224b is rotatably connected to the rotating flange 225 of the fifth drive member 223a through the spherical bearing 241, and the bottom end of the second link 224b is rotatably connected to the ankle 226 through the spherical bearing 241.

[0081] See Figure 1 , Figure 2 and Figure 9 The foot module 30 includes a sole 31 and an upper 32. A reinforcing plate 311 is embedded in the sole 31, and the sole 31 is connected to the upper 32 and the leg module 20. The reinforcing plate 311 embedded in the sole 31 can effectively support the dynamic load generated during the movement of the humanoid robot, making it suitable for handling or outdoor operations.

[0082] Optionally, the lower leg 22 is detachably connected to the foot module 30. In this embodiment, the upper 32 is connected to the sole 31, and the sole 31 is fixed to the ankle 226 by screws. By detachably connecting the lower leg 22 to the foot module 30, the lower leg 22 and the foot module 30 can be disassembled and assembled separately, facilitating maintenance.

[0083] In this embodiment, the reinforcing plate 311 is an aluminum plate; the aluminum plate is hot-pressed together with the shoe sole 31 as an insert, and then bonded to the shoe sole 31 through a shoe last. Using an aluminum plate as an insert can extend the service life of the humanoid robot due to its fatigue resistance, and it is also compatible with the hot-pressing process, reducing subsequent assembly steps.

[0084] The humanoid robot provided in this embodiment treats the two leg units 1 as separate units, which can be assembled with the waist support 2 respectively. The leg unit 1 is further divided into a hip module 10, a thigh 21, a lower leg 22, and a foot module 30, which greatly facilitates assembly, disassembly, and maintenance. The thigh shell 210 and the lower leg shell 220 are both load-bearing components and external parts. The thigh shell 210 includes a left-right split thigh outer shell 211 and a thigh inner shell 212. The lower leg shell 220 includes a front lower leg shell 221 and a rear lower leg shell 222, which simplifies the structure of individual parts and facilitates mass production and mold making. The thigh 21 also has a shielding shell 213. Both the shielding shell 213 and the lower leg rear shell 222 are made of plastic and can both serve to shield screw holes and internal structures, effectively improving the anthropomorphism of the leg unit 1.

[0085] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make various obvious changes, readjustments, and substitutions without departing from the protection scope of this utility model. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A leg mechanism, characterized in that, The device includes a lumbar support (2) and two leg units (1). Each leg unit (1) includes a hip module (10), a leg module (20), and a foot module (30). The hip module (10) includes a hip support (11), a fixed support (12), and a first drive member (13). The foot module (30) is connected to the hip support (11) through the leg module (20). The fixed support (12) is detachably connected to the lumbar support (2). The first drive member (13) is fixed to the fixed support (12) and is connected to the hip support (11) in a transmission manner. The first drive member (13) is used to drive the hip support (11) to rotate relative to the lumbar support (2).

2. The leg mechanism according to claim 1, characterized in that, The leg module (20) includes a thigh (21) and a calf (22). The thigh (21) is detachably connected to the hip support (11). The thigh (21) and the calf (22) are rotatably connected. The end of the calf (22) away from the thigh (21) is rotatably connected to the foot module (30).

3. The leg mechanism according to claim 2, characterized in that, The thigh (21) includes a main leg body (21a), a second drive member (214), and a hip spin support (215). One end of the main leg body (21a) is connected to the second drive member (214) through the hip spin support (215), and the other end of the main leg body (21a) is connected to the lower leg (22). The second drive member (214) is fixed on the hip support (11) and is used to drive the hip spin support (215) to rotate relative to the hip support (11).

4. The leg mechanism according to claim 3, characterized in that, The main leg body (21a) includes a thigh shell (210) and a third drive member (216). The third drive member (216) is fixed to the hip spin support (215). The thigh shell (210) is connected to the third drive member (216). The third drive member (216) is used to drive the thigh shell (210) to rotate relative to the hip spin support (215). And / or, the leg module (20) further includes a limiting plate (231) and a buffer pad (232). The main leg body (21a) includes a thigh shell (210) and a fourth drive member (217). The thigh shell (210) is connected to the lower leg (22) through the knee joint. The fourth drive member (217) is connected to one side of the thigh shell (210). The limiting plate (231) is connected to the other side of the thigh shell (210) through the buffer pad (232). The fourth drive member (217) is used to drive the knee joint to rotate. The limiting plate (231) is used to limit the connecting flange (218) at the output end of the fourth drive member (217).

5. The leg mechanism according to claim 2, characterized in that, The thigh (21) is detachably connected to the calf (22), and / or the calf (22) is detachably connected to the foot module (30).

6. The leg mechanism according to claim 2, characterized in that, The thigh (21) has a thigh shell (210), which is detachably connected and combined from a thigh outer shell (211) and a thigh inner shell (212) arranged along a first direction; And / or, the lower leg (22) has a lower leg shell (220) which is detachably connected and combined from a lower leg front shell (221) and a lower leg rear shell (222) arranged along a second direction, the first direction being perpendicular to the second direction.

7. The leg mechanism according to claim 6, characterized in that, The thigh (21) also includes a cover shell (213), which is snapped to the inner thigh shell (212).

8. The leg mechanism according to claim 2, characterized in that, The lower leg (22) includes a lower leg housing (220), an adjustment drive (223), a transmission link (224), and an ankle (226). One end of the lower leg housing (220) is connected to the thigh (21), and the other end is connected to the foot module (30) through the ankle (226). The adjustment drive (223) is disposed on the lower leg housing (220). One end of the transmission link (224) is connected to the adjustment drive (223), and the other end is rotatably connected to the ankle (226). The adjustment drive (223) drives the transmission link (224) to move, thereby causing the ankle (226) to rotate.

9. The leg mechanism according to claim 8, characterized in that, The lower leg (22) also includes a mounting bracket (227), and the adjustment drive (223) is detachably connected to the lower leg housing (220) through the mounting bracket (227). And / or, the leg module (20) further includes a joint bearing (241) and a bearing cover (242), the transmission link (224) is rotatably connected to the ankle (226) through the joint bearing (241), one end of the joint bearing (241) abuts against the groove wall of the transmission link (224), and the bearing cover (242) is detachably fixed to the transmission link (224) to block the other end of the joint bearing (241).

10. The leg mechanism according to any one of claims 1-9, characterized in that, The foot module (30) includes a sole (31) and an upper (32). The sole (31) is embedded with a reinforcing plate (311). The sole (31) is connected to the upper (32) and the leg module (20).

11. A humanoid robot, characterized in that, It includes a torso and upper limb mechanism and a leg mechanism as described in any one of claims 1-10, wherein the torso and upper limb mechanism is connected to the lumbar support (2).

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