A humanoid robotic leg and a humanoid robot

Abstract

This utility model discloses a humanoid robotic leg and a humanoid robot. The robotic leg includes a thigh mechanism, a lower leg mechanism, and a foot mechanism that are rotatably connected in sequence. In an upright position, the thigh mechanism tilts forward relative to the vertical lower leg mechanism, forming an angle, and is supported and limited by the front side of the lower leg mechanism. Each joint connection is equipped with a drive motor and a hinge seat. The motor body of the drive motor and the gearbox are tightly connected through the insertion and engagement of a radial boss and a connecting groove. The gearbox serves as the pivot of the hinge seat, and its connecting parts transmit torque through a buffer pad, while the outer periphery is protected by a support pad to reduce wear. The ankle support of the foot mechanism is rotatably connected to the foot mechanism through an independent pivot mechanism to transmit impact force and protect the ankle motor. The toe assembly of the foot mechanism achieves passive cushioning and push-off assistance through a rotating pair and an elastic device. A humanoid robot, including the humanoid robotic leg described above, is also disclosed. This utility model improves standing stability, joint connection reliability, and motion efficiency.

Description

Technical Field

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

[0002] Humanoid robots represent a cutting-edge research area in robotics. Their humanoid robotic legs, as core components for support and movement, directly determine the robot's stability, flexibility, and energy consumption. However, existing humanoid robot leg designs still suffer from numerous shortcomings in structure, actuation, and cushioning, making it difficult to simultaneously meet the requirements of stability, reliability, and lightweight design.

[0003] Firstly, regarding overall posture stability, in a traditional humanoid robot standing upright, the thigh and lower leg mechanisms are typically vertically aligned, causing the robot's center of gravity projection to be biased towards the back of the heels. This easily leads to backward tilting and instability, resulting in poor standing stability. Especially during dynamic walking or load changes, insufficient center of gravity management significantly increases the difficulty of control and the risk of falls.

[0004] Secondly, regarding the joint connection structure, the thigh mechanism is hinged to the lower leg mechanism, and the lower leg mechanism is hinged to the foot. Hinge axes are formed at the hinge points of the thigh and lower leg mechanisms, and the lower leg mechanism and the foot. Taking the thigh and lower leg mechanisms as an example, they can rotate around their hinge axes. During the operation of the humanoid robot, the lower leg mechanism not only needs to swing around the hinge axes but also needs to withstand the pressure from the thigh mechanism. In existing technology, the lower leg mechanism supports the thigh mechanism only through the rotational engagement of the hinge axis and the shaft hole. However, the width of the shaft hole itself is small, and the pressure of the hinge axis mainly acts on the bottom surface of the shaft hole. Therefore, the supporting area of ​​the shaft hole on the hinge axis is very small, resulting in a large load per unit area on the shaft hole, which makes the shaft hole prone to deformation. Furthermore, during the movement of the humanoid robot, the hinge axis also rotates relative to the shaft hole, generating additional forces on the shaft hole, thus exacerbating the deformation of the shaft hole and affecting the normal operation of the leg mechanism.

[0005] Regarding drive motors, robot joints typically employ a combination of a motor and a gearbox, secured with bolts. To ensure connection strength, large-diameter, high-strength bolts and heavy flange structures are often required, leading to increased radial and axial dimensions and weight of the drive unit. This contradicts the design goals of high power density and compactness in robot joints. Furthermore, the rigid connection between the motor and gearbox is prone to loosening or damage under frequent impact loads, affecting overall reliability.

[0006] Regarding foot mechanisms, common robot ankle joint designs have two main problems: First, they use direct motor drive, where the motor output shaft directly bears the impact force and bending moment from the ground. This places extremely high demands on the structural strength of the motor and the precision of the bearings, resulting in heavy, costly, and easily damaged motors. Second, they use complex multi-joint buffer structures, such as split arches, cross-axis toes, and multiple elastic components (e.g., a humanoid mechanical foot for humanoid robots disclosed in CN118928586A). While this improves terrain adaptability, it introduces drawbacks such as a large number of parts, complex structure, heavy weight, long force transmission path, and increased control difficulty, resulting in low buffering efficiency and high maintenance costs.

[0007] Therefore, there is an urgent need in this field for an integrated solution that can fundamentally improve the overall stability, joint connection reliability, drive unit compactness, and foot cushioning efficiency of humanoid robotic legs, thereby achieving highly stable, highly reliable, lightweight, and low-energy-consumption humanoid motion performance. Utility Model Content

[0008] The purpose of this invention is to provide a humanoid robotic leg and a humanoid robot that can at least partially solve the defects of the prior art.

[0009] To solve the above-mentioned technical problems, this utility model is achieved through the following technical solution: A humanoid robotic leg includes a thigh mechanism, a lower leg mechanism, and a foot mechanism that are rotatably connected from top to bottom. Each adjacent mechanism is provided with a joint connection mechanism. The joint connection structure includes a drive motor located on the upper mechanism and a hinge seat located on the lower mechanism. When the humanoid robotic leg is in an upright position, the lower leg mechanism remains vertical, the thigh mechanism leans forward relative to the lower leg mechanism and forms an acute angle with the lower leg mechanism, and the front side of the lower leg mechanism supports the drive motor. The drive motor includes a motor body, a gearbox, and a connector with a connecting groove. Both the motor body and the gearbox are provided with connecting bosses that protrude radially outward along the motor shaft. After the two connecting bosses are engaged, they are inserted into the connecting groove together. The connector is fixedly connected to the motor body and the gearbox to limit the relative displacement of the motor body and the gearbox in the mating direction. The gearbox is rotatably connected to the hinge seat. The output end of the gearbox is equipped with an adapter for transmitting motor torque to the hinge seat. A buffer pad is provided on the torque transmission path. The buffer pad filters the mutual impact between the adapter and the hinge seat during the torque transmission process. A support pad is provided between the outer periphery of the gearbox and the hinge seat. The hinge seat forms a sliding support for the gearbox through the support pad. The foot mechanism includes a foot mechanism, an ankle support, and an ankle motor. The ankle support is fixedly connected to a corresponding hinge seat. The ankle support is also rotatably connected to the foot mechanism through a rotating shaft mechanism to transmit the impact force borne by the foot mechanism to the ankle support. The ankle motor drives the foot mechanism to rotate relative to the ankle support. The foot mechanism includes an instep assembly, a heel assembly, a toe assembly, and an elastic device. The toe assembly is connected to the front end of the instep assembly via a first revolute joint. The two ends of the elastic device are respectively connected to the rear of the toe assembly and between the instep assembly or the heel assembly. When the toe assembly rotates relative to the instep assembly, the elastic device is stretched or compressed to provide cushioning.

[0010] In the aforementioned humanoid robotic leg, the hinged base includes a base plate and a first side plate and a second side plate disposed on both sides of the base plate. The adapter is drivenly connected to the first side plate, and the second side plate is rotatably connected to the end of the gearbox away from the adapter. A support pad is fixed to the base plate and forms a sliding support for the outer surface of the gearbox. The upper surface of the support pad forms a support surface, and the outer surface of the gearbox and the support surface are arc surfaces centered on the rotation axis of the gearbox. The outer surface of the gearbox contacts and adheres to the support surface. The support pad is fixed to the base plate and forms a sliding support for the outer surface of the gearbox. The upper surface of the support pad forms a support surface, and the outer surface of the gearbox and the support surface are arc surfaces centered on the rotation axis of the gearbox. The outer surface of the gearbox contacts and adheres to the support surface. The sliding fit between the support pad and the outer surface of the gearbox effectively reduces friction between the gearbox and the support pad during movement. This sliding support method allows the gearbox to rotate more smoothly, reducing energy loss and improving the humanoid robot's motion efficiency, thus extending its endurance. It also reduces heat and wear caused by friction, contributing to a longer service life for the gearbox and hinge. Both the support surface and the outer surface of the gearbox are arc-shaped and closely fitted. The support pad guides the gearbox, ensuring it rotates at the predetermined position, reducing the possibility of deviation or jamming during movement, and making the rotation of the gearbox and hinge smoother. Furthermore, the close fit of the two arc-shaped surfaces effectively absorbs vibrations generated during gearbox rotation, helping to reduce noise during humanoid robot operation. Secondly, the tight fit between the gearbox and the support pad ensures that the load from the gearbox to the support pad is continuously and evenly transmitted. The support pad can better distribute the pressure exerted by the first limb on the second limb, reducing the possibility of damage to the gearbox or hinge due to localized stress concentration.

[0011] In the aforementioned humanoid robotic leg, the surface of the base plate is provided with a mounting groove, and a support pad is detachably installed in the mounting groove, with the upper surface of the support pad protruding from the surface of the base plate. Embedding the support pad into the mounting groove reduces the assembly gap between the hinge seat and the gearbox, making the assembly of the first and second limbs more compact. Furthermore, the detachable connection between the support pad and the mounting groove facilitates easy replacement of the support pad, ensuring reliable and effective sliding support for the gearbox. Additionally, the support pad's support for the gearbox disperses the pressure on the first and second side plates, allowing for smoother rotation of the gearbox relative to the first and second side plates, reducing the likelihood of deformation due to excessive pressure, and helping to extend the service life of the hinge seat. Moreover, the support pad's elevation above the surface of the base plate ensures that the gearbox only contacts the support pad, preventing sliding friction between the base plate and the gearbox, reducing the possibility of damage to the base plate due to friction, and significantly extending the service life of the base plate.

[0012] In the aforementioned humanoid robotic leg, the base plate has two limiting grooves distributed along the rotation direction, located on both sides of the mounting groove. The support pad has protruding extensions on both sides; after the support pad is installed into the mounting groove, the extensions embed into the limiting grooves. The cooperation between the extensions and the limiting grooves increases the contact area between the support pad and the hinge seat, reducing the possibility of the support pad wobbling and improving the positioning stability of the support pad.

[0013] In the aforementioned humanoid robotic leg, the gearbox has a rotating groove at the end furthest from the adapter. The sidewall of the rotating groove is annular and close to the edge of the gearbox. A second side plate has a protruding ring extending axially along the gearbox. The protruding ring is embedded in the rotating groove and rotatably engages with it. A bushing is fitted between the protruding ring and the rotating groove. The sidewall of the rotating groove is close to the edge of the gearbox, meaning the inner diameter of the rotating groove is close to the diameter of the gearbox, giving the rotating groove a larger inner diameter. The gearbox is rotatably connected to the hinge seat through the engagement of the rotating groove and the protruding ring. The rotating shaft formed by the gearbox has a larger diameter. The larger the diameter of the rotating shaft, the smaller the force exerted on the gearbox, allowing it to withstand greater external forces and reducing the possibility of damage. This, in turn, improves the strength of the hinge between the first and second limbs.

[0014] In the aforementioned humanoid robotic leg, the first side plate and the base plate are an integral structure, while the second side plate is detachably connected to the base plate. The adapter is fixedly connected to the first side plate, directly transmitting torque to it. Therefore, the first side plate experiences a relatively large force. Integrating the first side plate and the base plate as an integral structure enhances the strength of the first side plate, reduces the likelihood of damage, and allows it 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 assembly efficiency. It also allows for a more compact assembly of the first and second side plates with the gearbox, enhancing assembly stability and preventing deformation or breakage of the first and second side plates due to the forced installation of the gearbox.

[0015] In the aforementioned humanoid robotic leg, the base plate has an assembly groove on the side facing away from the first side plate. A second side plate is detachably installed in the assembly groove, and the bottom wall of the assembly groove provides support for the second side plate. This support from the assembly groove improves the load-bearing capacity of the second side plate, thereby increasing the connection stability between the hinge seat and the gearbox.

[0016] In the aforementioned humanoid robotic leg, one of the adapter and the hinge seat has several protruding protrusions spaced circumferentially, while the other has a positioning groove for the protrusions to be inserted. The adapter and the hinge seat achieve an anti-rotation fit through the interlocking of the protrusions and the positioning groove. A buffer pad is filled between the sidewalls of the protrusions and the positioning groove. During the rotation of the adapter, the hinge seat is rotated by the abutting fit between the protrusions and the sidewalls of the positioning groove. The fit between the protrusions and the positioning groove increases the contact area between the adapter and the hinge seat, thereby dispersing the force between them and making the stress distribution more uniform, reducing the possibility of stress concentration and damage to the adapter and the hinge seat. Furthermore, since the adapter and the hinge seat mainly transmit power through the protrusions and the positioning groove, filling the space between the sidewalls of the protrusions and the positioning groove with a buffer pad can effectively reduce the impact force on the protrusions and the positioning groove, reduce the possibility of damage to the protrusions and the positioning groove, and significantly extend the service life of the adapter and the hinge seat.

[0017] In the aforementioned humanoid robotic leg, the buffer pad includes several buffer blocks. Buffer blocks are fixed to both sides of the protrusion in the rotation direction of the adapter. After the adapter is embedded in the positioning groove, the buffer blocks are confined between the sidewalls of the protrusion and the positioning groove. The torque transmission between the adapter and the hinge seat mainly occurs between the sidewalls of the protrusion and the positioning groove. Placing the buffer pad between the sidewalls of the protrusion and the positioning groove effectively absorbs the impact force transmitted between the adapter and the hinge seat, significantly improving the utilization rate and buffering effect of the buffer pad. Furthermore, it reduces the axial distance between the protrusion and the positioning groove, making the assembly between the adapter and the hinge seat more compact and contributing to improved assembly stability.

[0018] In the aforementioned humanoid robotic leg, the buffer pad further includes a connecting ring, which is coaxially arranged with the adapter. Buffer blocks are circumferentially spaced on the outer periphery of the connecting ring, and the connecting ring and buffer blocks form an integral structure. This integral structure makes the entire buffer pad a single unit, reducing assembly difficulty and improving assembly efficiency. Furthermore, since all buffer blocks are connected to the connecting ring, the connecting ring can distribute the force on the buffer blocks, making the force more even across all blocks and preventing damage to any single block due to excessive force, thus improving the buffer pad's cushioning performance.

[0019] In the aforementioned humanoid robotic leg, a rotating shaft is provided inside the gearbox. The rotating shaft is connected to the output end of the motor body via a bevel gear transmission. One end of the rotating shaft is connected to an inertia disk via a reduction mechanism. The adapter is coaxially arranged with and fixedly connected to the inertia disk.

[0020] In the aforementioned humanoid robotic leg, connecting ears are provided at both ends of the connecting groove along the docking direction between the motor body and the gearbox. These connecting ears are detachably connected to the corresponding motor body and gearbox via bolts. As an extension of the connecting member, the connecting ears provide an ideal installation position for the bolts. The tightening force of the bolts not only secures the connecting member but also further presses the two connecting bosses tightly within the connecting groove, eliminating potential gaps and forming a pre-tightened, more rigid whole.

[0021] In the aforementioned humanoid robotic leg, a first fixing groove is formed on the end face of the motor body, and a second fixing groove is formed on the end face of the gearbox. The drive motor also includes a connecting piece, which is inserted into the first and second fixing grooves, and has threaded holes adapted to the bolts. The connecting piece spans the mating surfaces of the motor body and the gearbox, and the bolts apply pressure through the holes on the connecting piece. The connecting piece converts this concentrated pressure into a uniform surface pressure on the entire fixing groove. The force-bearing area is greatly increased, and the load per unit area is significantly reduced, effectively protecting the housings of the motor and gearbox.

[0022] In the aforementioned humanoid robotic leg, the sidewalls of the motor body and the gearbox are respectively provided with clearance grooves, and the connecting lugs of the connector are accommodated within the corresponding clearance grooves. The clearance grooves specifically provided on the sidewalls of the motor body and gearbox, with the connecting lugs of the connector housed within these grooves, ensure that the connecting lugs and their bolts, after installation, will not exceed the original outer contour of the motor housing. This maintains a reduction in the radial dimension of the motor, and the motor's outer contour is a continuous and regular cylindrical surface, greatly facilitating the integration of the motor with other components, reducing interference risks that need to be considered during design and assembly, and providing greater freedom for the overall layout of the robot joints.

[0023] In the aforementioned humanoid robotic leg, the two connecting bosses are a first boss and a second boss, respectively. The connecting groove has a first groove wall and a second groove wall arranged opposite to each other along the docking direction. The first groove wall abuts against the end face of the first boss away from the second boss, and the second groove wall abuts against the end face of the second boss away from the first boss. Through the double-groove wall design of the connecting groove, the axial tensile force between the motor body and the gearbox is directly converted into surface contact pressure between the connecting piece and the boss, achieving extremely high axial stiffness and impact resistance, while effectively protecting the bolts used for fixing.

[0024] In the aforementioned humanoid robotic leg, the first groove wall and the end face of the first boss away from the second boss are in surface contact, and the second groove wall and the end face of the second boss away from the first boss are in surface contact. Surface contact distributes the tensile force evenly across the entire contact surface, minimizing the stress per unit area. This is the most effective way to prevent material fatigue and avoid structural failure, especially for robot motors that need to withstand long-term, repeated impact loads; it is a fundamental guarantee for ensuring their long lifespan and high reliability.

[0025] In the aforementioned humanoid robotic leg, the end face of the first boss facing away from the second boss is a first inclined surface, and the end face of the second boss facing away from the first boss is a second inclined surface, such that the thickness of the first and second bosses after docking gradually decreases in the direction away from the center of the drive motor; the first groove wall is a third inclined surface adapted to the first inclined surface, and the second groove wall is a fourth inclined surface adapted to the second inclined surface, making the connecting groove have a structure with a large opening and a small interior. When installing the connector, precise alignment is not required, as the inclined surfaces will automatically guide the connector to slide into the correct position. Under the action of bolt preload, the inclined surface fit can naturally pull the motor body and gearbox to the tightest state, simplifying the assembly process and ensuring the uniformity of preload.

[0026] In the aforementioned humanoid robotic leg, a baffle is provided on the front side of the gearbox of the drive motor in the joint connection mechanism between the thigh and lower leg mechanisms. The baffle abuts against the hinge seat to limit the forward tilt angle of the thigh mechanism. The abutment between the baffle and the hinge seat forms the contact point between the thigh and lower leg mechanisms. That is, when the humanoid robotic leg is in an upright position, the lower leg mechanism can restrict 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 humanoid robotic leg. Furthermore, the baffle abutting against the hinge seat reduces wear on the gearbox, providing some protection and helping to extend the gearbox's service life.

[0027] In the aforementioned humanoid robotic leg, 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. The baffle, located at the front of the housing, can shield the housing, reducing the possibility of the housing directly entering the human's field of vision, thus improving the aesthetics of the humanoid robotic leg. Furthermore, the bottom of the baffle connects to the housing, and the top connects 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, further 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.

[0028] In the aforementioned humanoid robotic leg, the articulation 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. The first and second side plates are used to bear the torque output when the thigh mechanism and the lower leg mechanism rotate relative to each other, while the base plate is used to bear the weight of the thigh mechanism when the humanoid robotic leg is standing. This allows the overall stress on the articulation seat to be more even, avoiding 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 articulation seat.

[0029] In the aforementioned humanoid robotic leg, the base plate is arc-shaped, with the horizontal distance between its front and rear ends being 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. Because the front end of the base plate supports the baffle, the pressure of the thigh mechanism on the lower leg mechanism is mainly concentrated at the front end of the base plate. This reduces the arc length of the base plate, allowing the thigh and lower leg mechanisms to have larger rotation angles, 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. This increases the load-bearing capacity of the front end of the base plate, allowing it to withstand more weight and improving the support performance of the lower leg mechanism.

[0030] In the aforementioned humanoid robotic leg, the angle between the thigh mechanism and the lower leg mechanism is A, and 10°≤A≤20°. This allows for a more reasonable distribution of the humanoid robot's center of gravity, contributing to improved stability. However, when A<10°, the forward tilt angle of the thigh is small, resulting in a relatively rearward center of gravity distribution, still presenting a possibility of tipping backward. Conversely, when A>20°, the forward tilt angle of the thigh is too large, concentrating more pressure on the lower leg mechanism at the contact point between the thigh and lower leg mechanisms. This can lead to stress concentration and potential damage to the lower leg mechanism, and the humanoid robot may also tip forward due to an excessively forward-leaning center of gravity, resulting in instability.

[0031] In the aforementioned humanoid robotic leg, 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 drive motor, forming the thigh mechanism together with the drive motor. An angle is formed between the hinge end and the drive motor. When the humanoid robotic leg is in an upright position, the hinge end is parallel to the lower leg mechanism. The parallelism between the hinge end and the lower leg mechanism ensures that the torso above the thigh mechanism remains vertical when the humanoid robotic leg is in an upright position, thereby preventing the humanoid robot's center of gravity from shifting too far forward and giving the humanoid robot a more stable and aesthetically pleasing standing posture.

[0032] In the aforementioned humanoid robotic leg, the thigh body further includes a bending portion, which is formed at the bottom of the thigh body. The bottom end of the bending portion is connected to the top end of the motor, and the hinge end forms an angle with the drive motor through the bending portion.

[0033] In the aforementioned humanoid robotic leg, the foot mechanism has an upward-opening cavity for accommodating the ankle motor. An ankle support covers the opening of the cavity, forming a space with the foot mechanism to house and protect the ankle motor. The cavity maximizes the use of space on the foot mechanism, improving space utilization and making the entire foot mechanism more compact in both vertical and longitudinal directions. This helps lower the robot's center of gravity and enhances the overall structural compactness and aesthetics. Furthermore, the cavity effectively prevents accidental collisions and impacts from the sides and below, providing basic mechanical protection for the motor. The ankle support covering the cavity provides a crucial physical barrier from above, effectively preventing accidental falling objects or impacts from above, or debris kicked up by the robot during movement from directly striking the motor. Meanwhile, the ankle support itself is the main load-bearing component. When it covers the opening of the placement cavity and is connected to the foot mechanism through the pivot mechanism, the two together form a stable L-shaped or door frame-shaped composite structure. This structure greatly enhances the bending and torsional stiffness of the ankle joint connection area when subjected to impact force and bending moment, reduces local deformation, and thus improves the structural stability and motion accuracy of the entire foot mechanism.

[0034] In the aforementioned humanoid robotic leg, the placement cavity is located between the instep assembly and the heel assembly. Impact forces transmitted from the toes or heel can be directly and smoothly transferred to the upper ankle support through the robust structure of the instep and heel assemblies, without generating additional bending moments or torques due to the motor being fixed in a relatively weak or off-center position. This significantly enhances the overall structural rigidity and stability of the foot. Furthermore, placing the placement cavity in this location brings the center of gravity of the entire foot closer to the arch, closely resembling the physiological structure of the human foot. This makes lifting and swinging the leg more effortless and agile for the robot, improving gait efficiency. When standing and walking, the center of gravity projection is more likely to fall within the support surface formed by the foot, enhancing both static and dynamic stability.

[0035] In the aforementioned humanoid robotic leg, the rear bottom of the instep assembly and the front top of the heel assembly are connected via a second revolute joint. The heel assembly has a first limiting portion, and the instep assembly has a second limiting portion. The second limiting portion abuts against the first limiting portion to limit the upward rotation of the instep assembly relative to the heel assembly. The cooperation of the first and second limiting portions ensures that the foot will not collapse and become unstable when the robot pushes off the ground or stands, providing a reliable support structure for the entire leg.

[0036] In the aforementioned humanoid robotic leg, the pivot mechanism includes at least one first connecting portion disposed on the foot mechanism, and at least one second connecting portion disposed on the ankle support and rotatably engaging with the first connecting portion. The rotatable engagement of the first and second connecting portions forms a short and efficient impact force transmission path, directly transmitting the impact borne by the foot mechanism to the ankle support, completely bypassing the ankle motor.

[0037] In the aforementioned humanoid robotic leg, there are two of both the first and second connecting portions, and they are spaced apart along the rotation axis of the foot mechanism relative to the ankle support. The two spaced-apart connecting portions constitute a stable biaxial support structure. This structure effectively resists the overturning moment generated by the foot mechanism under stress, preventing it from jamming or slightly misaligning relative to the ankle support. Compared to single-axis support, the biaxial support structure significantly enhances the bending and torsional stiffness of the ankle joint around its rotation axis, ensuring the accuracy and smoothness of joint movement when subjected to complex ground reaction forces, thereby improving the robot's dynamic balance capability.

[0038] In the aforementioned humanoid robotic leg, one of the first connecting part and the second connecting part is a connecting shaft, and the other is a connecting hole adapted to the connecting shaft; the connecting shaft is coaxially connected to the output shaft of the ankle motor. The rotational motion of the motor output shaft is directly transmitted to the connecting shaft, which serves as a load-bearing component, thereby driving the joint to rotate. This completely eliminates any intermediate transmission links such as gears, belts, and connecting rods, achieving a direct drive effect. This not only eliminates transmission backlash and ensures extremely high motion control precision but also avoids energy loss caused by intermediate transmissions, improving transmission efficiency.

[0039] In the aforementioned humanoid robotic leg, the foot mechanism is provided with an upwardly extending first connector, and the first connecting portion is disposed on the first connector; the ankle support is provided with a downwardly extending second connector, and the second connecting portion is disposed on the second connector; the first connector and the second connector are arranged side by side along the axial direction of the ankle motor output shaft. By arranging the connectors extending towards each other side by side, a highly rigid force frame is constructed within a limited space to resist bending moments under complex working conditions.

[0040] In the aforementioned humanoid robotic leg, the rotation axes of the lower leg mechanism and the foot mechanism are spatially perpendicular to the rotation axis between the foot mechanism and the ankle support. This allows the robot's foot to simulate the complex movements of a human ankle, not only swinging up and down to adapt to slopes, but also tilting left and right to maintain foot contact on uneven or sloping ground. This significantly enhances the robot's mobility and terrain adaptability, representing a crucial step towards achieving stable, anthropomorphic walking.

[0041] In the aforementioned humanoid robotic leg, a third limiting part is provided on each side of the rotation axis between the foot mechanism and the ankle support, and a fourth limiting part is provided on each ankle support. The contact between the third and fourth limiting parts restricts the left and right rotation angle of the foot mechanism relative to the ankle support around the rotation axis. When the rotation angle reaches its limit, the limiting parts transmit a huge force through hard contact between the metal components, physically preventing further rotation. This effectively protects the motor from stalling and burning out, the transmission components from overload damage, and the joint structure itself from plastic deformation. This ensures that the robot's foot posture is strictly limited within the safe range allowed by the mechanical design, preventing motion instability caused by abnormal joint angles.

[0042] In the aforementioned humanoid robotic leg, the second end of the elastic device is connected to the connection point between the instep assembly and the heel assembly. By utilizing the existing connection point between the instep and heel as a mounting point, there is no need to design and manufacture additional mounting brackets or complex connection structures for the elastic device. This reduces the number of parts, lowers the overall weight and complexity of the foot, and perfectly aligns with the goals of lightweight and low cost in robot design.

[0043] In the aforementioned humanoid robotic leg, the first revolute joint is located in the middle of the instep assembly and the toe assembly. The center of rotation is located in the middle, ensuring that the lever arm from the point of application of the elastic force (at the rear of the toe assembly) to the center of rotation is relatively balanced with the lever arm from the point of application of the ground reaction force (at the front of the toe assembly) to the center of rotation. This balanced torque relationship allows the elastic device to generate sufficient torque to drive the toe rotation with relatively small deformation, resulting in higher energy conversion efficiency and less effort.

[0044] In the aforementioned humanoid robotic leg, the first rotating joint includes a transfer groove disposed on the toe assembly and a transfer part disposed on the instep assembly and extending into the transfer groove. The transfer part is rotatably connected to the groove wall of the transfer groove via a rotating shaft. The cross-sectional structure of the groove opening is smaller inside and larger outside to limit the range of motion of the transfer part within the groove, thereby limiting the rotation amplitude of the toe assembly relative to the instep assembly.

[0045] In the aforementioned humanoid robotic leg, the elastic device is suspended below the instep assembly, and its horizontal height is higher than the ground contact plane of the toe and heel assemblies to avoid contact with the ground. Placing the elastic device above the ground reduces the likelihood of the robot colliding, tripping, or being squeezed by obstacles such as the ground, stones, and gaps when walking, turning, or going up and down stairs. This effectively prevents performance degradation or breakage of the elastic device due to wear and corrosion, significantly extending its service life and reducing maintenance requirements.

[0046] A humanoid robot was also disclosed, including the humanoid robotic legs described in any of the above embodiments.

[0047] Compared with the prior art, the advantages of this utility model are: 1. Regarding system stability and compactness: By designing the thigh mechanism to tilt forward, the robot's center of gravity shifts forward when standing, fundamentally solving the core problem of traditional humanoid robots easily tilting backward and becoming unstable. Integrating the drive motor itself as part of the limb and the joint's pivot point achieves a high degree of integration between structural load-bearing and driving functions, eliminating the need for external, bulky linkage transmission mechanisms, greatly shortening the force flow path, and reducing size and weight.

[0048] 2. Multiple reliability enhancements at the joint connection: The connection between the motor body and the gearbox is transformed from the traditional bolt-supported shear resistance mode to a mechanical interlocking mode where the boss end face directly bears pressure / tension. This allows the connecting bolts to only serve a pre-tightening function, enabling the use of smaller sizes and achieving a thinner connecting flange structure. This resolves the contradiction between connection strength and structural dimensions, minimizing the size and weight of the drive unit while ensuring ultra-high reliability. A support pad is placed between the gearbox and the hinge seat, transforming sliding friction into a wear-controllable sliding pair, significantly improving the durability and smoothness of the joint during long-term operation.

[0049] 3. In terms of power transmission and impact resistance: The adapter, through the buffer pad and hinge seat, achieves smooth torque transmission, absorbing high-frequency impacts, reducing wear, and avoiding the destructive stress caused by rigid connections. In the foot, the load-bearing path and drive path are creatively decoupled. An independent, robust pivot mechanism directly transmits ground impact force to the ankle support and upper structure, creating the main load-bearing path. The ankle motor only provides drive torque and is isolated from the impact force path, thus receiving effective protection. Passive, efficient heel-toe cushioning and push-off assistance are achieved through a toe elastic device, simulating human gait with low energy consumption and natural response. Attached Figure Description

[0050] Figure 1 This is a schematic diagram of the connection structure between the thigh mechanism and the lower leg mechanism in a humanoid robotic leg according to this utility model; Figure 2 This is an exploded view showing the connection between the thigh mechanism and the lower leg mechanism in this utility model; Figure 3 This is a schematic diagram of the hinge seat in this utility model; Figure 4 This is an exploded view of the hinge seat in this utility model; Figure 5 This is a schematic diagram of the support pad structure in this utility model; Figure 6 This is a schematic diagram of the gearbox structure in this utility model; Figure 7 This is a schematic diagram of the thigh mechanism in this utility model. Figure 1 ; Figure 8 This is a schematic diagram of the structure of the buffer pad in this utility model; Figure 9 This is a perspective view of the drive motor in this utility model; Figure 10 The explosion of the drive motor in this utility model Figure 1 ; Figure 11 The explosion of the drive motor in this utility model Figure 2 ; Figure 12 This is a top view of the drive motor in this utility model; Figure 13 for Figure 12 Sectional view of AA; Figure 14 The explosion of the drive motor in this utility model Figure 3 ; Figure 15 This is a perspective view of a humanoid robotic leg according to the present invention; Figure 16 This is a front view of a humanoid robotic leg according to this utility model; Figure 17 This is a rear view of the connection between the thigh mechanism and the lower leg mechanism in this utility model; Figure 18 This is a schematic diagram of the thigh mechanism in this utility model. Figure 2 ; Figure 19 This is a perspective view of the foot mechanism of this utility model; Figure 20 This is an exploded view of the foot mechanism in this utility model; Figure 21 This is a perspective view of the foot mechanism of this utility model; Figure 22 This is a front view of the foot mechanism in this utility model; Figure 23 This is an exploded view of the foot mechanism in this utility model; Figure 24 This is a schematic diagram of the toe component in this utility model; Figure 25 This is a schematic diagram of the instep assembly in this utility model; Figure 26 This is a schematic diagram of the heel component in this utility model; Figure 27This is a schematic diagram of the connection structure between the lower leg mechanism and the foot mechanism in this utility model; Figure 28 This is a perspective view of the humanoid robot of this utility model. Detailed Implementation

[0051] The embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0052] A humanoid robotic leg includes a thigh mechanism 1, a lower leg mechanism 300 and a foot mechanism 3 that are rotatably connected from top to bottom. Each adjacent mechanism is provided with a joint connection mechanism. The joint connection structure includes a drive motor 10 located on the upper mechanism and a hinge seat 20 located on the lower mechanism. When the humanoid robotic leg is in an upright position, the lower leg mechanism 300 remains vertical, the thigh mechanism 1 leans forward relative to the lower leg mechanism 300 and forms an acute angle with the lower leg mechanism 300, and the front side of the lower leg mechanism 300 supports the drive motor 10. The drive motor 10 includes a motor body 110, a gearbox 120, and a connector 130 with a connecting groove 131. Both the motor body 110 and the gearbox 120 are provided with connecting bosses that protrude radially outward along the motor shaft. After the two connecting bosses are engaged, they are inserted into the connecting groove 131. The connector 130 is fixedly connected to the motor body 110 and the gearbox 120 to limit the relative displacement of the motor body 110 and the gearbox 120 in the mating direction. The gearbox 120 is rotatably connected to the hinge seat 20. The output end of the gearbox 120 is provided with a converter 103 for transmitting motor torque to the hinge seat 20. A buffer pad 104 is provided on the torque transmission path. The buffer pad 104 filters the mutual impact between the converter 103 and the hinge seat 20 during the torque transmission process. A support pad 22 is provided between the outer periphery of the gearbox 120 and the hinge seat 20. The hinge seat 20 forms a sliding support for the gearbox 120 through the support pad 22. The foot mechanism 3 includes a foot mechanism, an ankle support 400, and an ankle motor 410. The ankle support 400 is fixedly connected to a corresponding hinge seat. The ankle support 400 is also rotatably connected to the foot mechanism through a rotating shaft mechanism to transmit the impact force borne by the foot mechanism to the ankle support 400 through the rotating shaft mechanism. The ankle motor 410 drives the foot mechanism to rotate relative to the ankle support 400. The foot mechanism includes an instep assembly 210, a heel assembly 220, a toe assembly 230, and an elastic device 250. The toe assembly 230 is connected to the front end of the instep assembly 210 via a first rotating joint 240. The two ends of the elastic device 250 are respectively connected to the rear of the toe assembly 230 and between the instep assembly 210 or the heel assembly 220. When the toe assembly 230 rotates relative to the instep assembly 210, the elastic device 250 is stretched or compressed to provide cushioning.

[0053] This utility model mainly improves the humanoid robotic legs in the following aspects: 1. The gearbox 120 of the drive motor 10 is rotatably connected to the hinge seat 20 and serves as the rotating shaft of the hinge seat 20; 2. A buffer pad 104 is provided between the adapter of the drive motor 10 and the hinge seat 20; 3. The motor body 110 of the drive motor 10 is connected to the gearbox 120 by a connector 130; 4. When the humanoid robotic leg is in an upright position, the thigh mechanism 1 is tilted forward relative to the lower leg mechanism 300 and forms an acute angle with the lower leg mechanism 300. 5. The ankle support and foot mechanism are rotatably connected to form a force-bearing path, and the ankle motor is only responsible for driving the foot mechanism to swing. 6. An elastic device is installed in the foot mechanism to simulate the tendons of the human foot.

[0054] The following will provide examples to illustrate the improvements mentioned above. Example 1:

[0055] like Figures 1 to 7 As shown in the embodiment for the first improvement, a humanoid robotic leg includes a thigh mechanism 1, a lower leg mechanism 300, and a foot mechanism 3, which are rotatably connected from top to bottom. Joint connection mechanisms are provided between the thigh mechanism 1 and the lower leg mechanism 300, and between the lower leg mechanism 300 and the foot mechanism 3. The joint connection structure includes a drive motor 10 mounted on the upper mechanism and a hinge seat 20 mounted on the lower mechanism. Specifically, the joint connection mechanism connecting the thigh mechanism 1 and the lower leg mechanism 300 has a drive motor 10 mounted on the thigh mechanism 1 and a hinge seat mounted on the lower leg mechanism 300; the joint connection mechanism connecting the lower leg mechanism 300 and the foot mechanism 3 also has a drive motor 10 mounted on the lower leg mechanism 300 and a hinge seat mounted on the foot mechanism 3.

[0056] Since this improvement focuses on the connection between the drive motor and the hinge base, for ease of explanation, the upper mechanism will be named the first limb 11 and the lower mechanism will be named the second limb 21.

[0057] A drive motor 10 is fixed to the first limb 11, and a hinge seat 20 is provided at one end of the second limb 21. The drive motor 10 is rotatably connected to the hinge seat 20 to achieve the hinge connection between the first limb 11 and the second limb 21. The drive motor 10 includes a motor body 110 and a gearbox 120. The gearbox 120 includes a housing, a rotating shaft and a reduction mechanism are provided inside the housing, and the housing and the rotating shaft are coaxially arranged. A converter 103 for outputting torque is coaxially arranged at one end of the housing. The rotating shaft is transmitted to the converter 103 through the reduction mechanism. The rotation of the rotating shaft drives the converter 103 to rotate, so that the converter 103 can rotate relative to the housing to realize the torque of the converter 103. The output is provided by the adapter 103, which is fixedly connected to the hinge seat 20. The hinge seat 20 rotates synchronously with the adapter 103. The gearbox 120 is rotatably connected to the hinge seat 20. The gearbox 120 serves as the pivot of the hinge seat 20. When the motor body 110 drives the adapter 103 to rotate, the adapter 103 drives the hinge seat 20 to rotate around the gearbox 120. In addition, a support pad 22 is provided between the outer periphery of the gearbox 120 and the hinge seat 20. The hinge seat 20 provides sliding support to the gearbox 120 through the support pad 22. The support pad 22 separates the outer side of the gearbox 120 from the hinge seat 20, preventing direct contact between the outer side of the gearbox 120 and the hinge seat 20.

[0058] In this embodiment, a support pad 22 is provided between the outer periphery of the gearbox 120 and the hinge seat 20. The hinge seat 20 provides sliding support to the gearbox 120 through the support pad 22. The support pad 22 increases the contact area between the hinge seat 20 and the gearbox 120, thereby effectively dispersing the pressure on the hinge joint between the hinge seat 20 and the gearbox 120. The support pad 22 serves as the main load-bearing component supporting most of the weight of the first limb 11, significantly reducing the pressure on the hinge joint. The hinge joint primarily bears the rotational engagement between the gearbox 120 and the hinge seat 20, making the force distribution at the hinge joint more even, reducing the possibility of damage to the hinge joint between the hinge seat 20 and the gearbox 120, ensuring smooth and unobstructed rotation of the first limb 11 and the second limb 21, and extending the service life of the humanoid robot. Furthermore, the support pad 22 can simulate the meniscus of the human knee joint, also having the functions of cushioning, shock absorption, joint stabilization, and joint lubrication, enabling the humanoid robot to... The first limb 21 offers several advantages. First, it provides a higher degree of realism, enabling the humanoid robot to simulate more human functions. Second, the support pad 22 prevents sliding friction between the gearbox 120 and the hinge seat 20, reducing the likelihood of wear due to sliding and extending their service life. Third, the torque output from the adapter 103 can be directly transmitted to the second limb, eliminating the need for linkages or other transmission structures. This significantly shortens the torque transmission distance, reduces energy loss during power transmission, and provides a strong foundation for the high-speed, high-frequency operation of the second limb 21. Furthermore, eliminating the transmission structure saves space, reduces the overall size of the first limb 11, making it more aesthetically pleasing, and also reduces its weight, decreasing the energy consumed during robot operation and improving its endurance. It also reduces assembly precision and difficulty.

[0059] Regarding the specific structure of the first limb 11 and the second limb 21, as follows: Figure 1 and Figure 2As shown, in this embodiment, the first limb 11 is the thigh mechanism 1 of the humanoid robot, and the second limb 21 is the lower leg mechanism 2 of the humanoid robot. It includes a thigh body and a drive motor 10. The drive motor 10 is fixed to the bottom end of the thigh body. The overall size of the drive motor 10 is similar to that of the thigh body. The drive motor 10 serves as an extension of the thigh body. That is, the thigh body and the drive motor 10 are connected to form the thigh mechanism 1. The thigh mechanism 1 is rotatably connected to the top end of the lower leg mechanism 2 through the gearbox 120 of the drive motor 10. The structure of the lower leg mechanism 2 is similar to that of the thigh mechanism 1. The lower leg mechanism 2 also includes a lower leg body and a drive motor 10. The top end of the lower leg body forms a hinge seat 20 that is rotatably connected to the gearbox 120. The drive motor 10 of the lower leg mechanism 2 is fixed to the bottom end of the lower leg body. The drive motor 10 of the lower leg mechanism 2 also serves as an extension of the lower leg body. The thigh mechanism 1 and the lower leg mechanism 2 use the same drive motor 10.

[0060] It is understandable that in other embodiments, the first limb 11 may also be the lower leg mechanism 2 of the humanoid robot, and the second limb 21 may be the foot mechanism 3 of the humanoid robot; or, the first limb 11 may also be the hip 41 of the humanoid robot, and the second limb 21 may be the thigh mechanism 1 of the humanoid robot; or, the first limb 11 may also be the torso 4 of the humanoid robot, and the second limb 21 may be the upper arm of the humanoid robot; or, the first limb 11 may also be the upper arm of the humanoid robot, and the second limb 21 may be the forearm of the humanoid robot.

[0061] Specifically, in this embodiment, the gearbox 120 is fixed to the bottom end of the motor body 110. The overall structure of the gearbox 120 is cylindrical. The output end of the motor body 110 extends into the gearbox 120 and is connected to the rotating shaft for transmission. The axial direction of the rotating shaft is perpendicular to the axial direction of the output end of the motor body 110. The output end is connected to the rotating shaft for transmission through a bevel gear. The rotating shaft is connected to an inertia disk through a reduction mechanism. The adapter 103 is fixedly connected to the inertia disk. The adapter 103 rotates synchronously with the inertia disk. One end of the gearbox 120 is rotatably connected to one side of the hinge seat 20 through the adapter 103, and the other end is directly rotatably connected to the hinge seat 20.

[0062] Specifically, in this embodiment, the upper surface of the support pad 22 forms a support surface. The outer surface of the gearbox 120 and the support surface are arc surfaces centered on the rotation axis of the gearbox 120. The outer surface of the gearbox 120 contacts and adheres to the support surface. The support pad 22 and the outer surface of the gearbox 120 slide together, effectively reducing the friction between the gearbox 120 and the support pad 22 during movement. This sliding support method allows the gearbox 120 to rotate more smoothly, reducing energy loss, improving the motion efficiency of the humanoid robot, and helping to extend the endurance of the humanoid robot. It also reduces heat and wear caused by friction, helping to extend the service life of the gearbox 120 and the hinge seat 20. In addition, both the support surface and the outer surface of the gearbox 120 are arc surfaces and remain in contact. The support pad 22 guides the gearbox 120, ensuring it rotates at a predetermined position and reducing the possibility of deviation or jamming during movement. This makes the rotation of the gearbox 120 and the hinge seat 22 smoother. Furthermore, the two arc surfaces effectively absorb vibrations generated during gearbox 120 rotation, helping to reduce noise during humanoid robot operation. Additionally, the tight fit between the gearbox 120 and the support pad 22 ensures continuous and even load transfer, allowing the support pad 22 to better distribute the pressure exerted by the first limb 11 on the second limb 21, reducing the possibility of damage to the gearbox 120 or hinge seat 22 due to localized stress concentration.

[0063] Specifically, in this embodiment, the central angle of the support surface is not less than the maximum rotation angle between the first limb 11 and the second limb 21. This structural design enables the support surface to cover the entire rotation range of the gearbox 120, ensuring that the gearbox 120 always maintains contact with the support surface during rotation. The support pad 22 can form a stable and reliable sliding support for the gearbox 120.

[0064] Specifically, such as Figure 3 As shown, the hinge seat 20 in this embodiment includes a base plate 201 and a first side plate 202 and a second side plate 203 disposed on opposite sides of the base plate 201. When the first limb 11 and the second limb 21 are assembled, the housing of the gearbox 120 is rotatably installed between the first side plate 202 and the second side plate 203. The adapter 103 at one end of the gearbox 120 is fixedly connected to the first side plate 202, and the other end of the gearbox 120 is rotatably connected to the second side plate 203. When the drive motor 10 is started, the adapter 103 rotates relative to the housing under the drive of the drive motor 10. The adapter 103 drives the entire hinge seat 20 to rotate around the gearbox 120 through the first side plate 202, thereby realizing the swing of the second limb 21 relative to the first limb 11.

[0065] In addition, the upper surface of the base plate 201 in this embodiment is provided with a mounting groove 2011. The support pad 22 is detachably installed in the mounting groove 2011 by bolts or screws. The upper surface of the support pad 22 facing the gearbox 120 is an arc surface, which is adapted to the outer surface of the gearbox 120 so that the support pad 22 can maintain a better fit with the gearbox 120. This increases the contact area between the support pad 22 and the gearbox 120, improves the support effect of the support pad 22 on the gearbox 120, and can further disperse the load on the first side plate 202 and the second side plate 203. The pressure exerted makes the rotation of the gearbox 120 relative to the first side plate 202 and the second side plate 203 smoother, reducing the possibility of deformation of the first side plate 202 and the second side plate 203 due to excessive pressure, and helping to extend the service life of the hinge seat 20. In addition, the upper surface of the base plate 201 in this embodiment is also an arc surface. When the support pad 22 is installed into the mounting groove 2011, the upper surface of the support pad 22 is flush with or slightly higher than the upper surface of the base plate 201, which can reduce the pressure between the hinge seat 20 and the gearbox 120. The assembly gap allows for a more compact assembly of the first limb 11 and the second limb 21; secondly, the support pad 22 is detachably connected to the mounting groove 2011, facilitating the replacement of the support pad 22 and ensuring reliable and effective sliding support for the gearbox 120; furthermore, both the upper surfaces of the support pad 22 and the base plate 201 are arc-shaped and of similar height, enhancing the integrity of the support pad 22 and the base plate 201 and improving the aesthetics of the hinge seat 20; and the support pad 22, being higher than the surface of the base plate 201, ensures that the gearbox 120 only contacts the support pad 22. The support pad 22 maintains contact, preventing sliding friction between the base plate 201 and the gearbox 120, reducing the possibility of damage to the base plate 201 due to friction, and significantly extending the service life of the base plate 201. It should be noted that the support pad 22 in this embodiment is made of wear-resistant alloy steel, copper alloy, aluminum alloy, or titanium alloy. The support pad made of alloy has higher hardness and wear resistance, and can withstand high loads and frequent friction, thereby enabling the support pad 22 to maintain a longer service life and significantly reducing the replacement frequency of the support pad 22.

[0066] It is understandable that, in other embodiments, the support pad 22 may also be fixed to the outer surface of the gearbox 120.

[0067] It is understandable that in other embodiments, the upper surface of the base plate 201 may also be an arc surface or a slope or other structures. Since the support pad 22 will form a sliding support for the gearbox 120, the structure of the base plate 201 does not interfere with the rotation of the gearbox 120 and is not limited to an arc surface.

[0068] Specifically, such as Figure 4 and Figure 5As shown, in this embodiment, the base plate 201 is also provided with two limiting grooves 2012. The length direction of the limiting grooves 2012 is distributed along the rotation direction of the gearbox 120. The two limiting grooves 2012 are respectively located on both sides of the mounting groove 2011. The depth of the limiting grooves 2012 is greater than the depth of the mounting groove 2011. The support pad 22 has protruding extensions 221 on both sides. After the support pad 22 is installed into the mounting groove 2011, the extensions 221 are embedded into the limiting grooves 2012. The support pad 22 is connected to the limiting grooves 2012 through the extensions 221. The combination of the support pad 22 and the hinge seat 20 increases the contact area between the support pad 22 and the hinge seat 20, reduces the possibility of the support pad 22 shaking, and helps to improve the positioning stability of the support pad 22. The mounting groove 2011 is provided with a threaded hole, and bolts or screws pass through the support pad 22 and are threadedly connected to the threaded hole in the mounting groove 2011, thereby realizing the detachable connection between the support pad 22 and the mounting groove 2011. The cooperation between the limiting groove 2012 and the extension 221 can reduce the number of bolts or screws used, making it simpler and more convenient to fix the support pad 22 to the base plate 201.

[0069] Regarding the specific structure of the adapter 103 and the first side plate 202, as follows: Figure 2 and Figure 3 As shown, in this embodiment, the adapter 103 has several protruding protrusions 1031 on the side facing away from the gearbox 120. The protrusions 1031 are distributed circumferentially. The first side plate 202 has a mounting groove 2011 on the side facing the second side plate 203. The mounting groove 2011 matches the protrusions 1031. After one end of the gearbox 120 is connected to the first side plate 202, the protrusions 1031 are embedded in the mounting groove 2011. The protrusions 1031 have connecting holes 1032. Fasteners pass through the first side plate 202 and are threadedly connected to the connecting holes 1032, thereby realizing the fixed connection between the adapter 103 and the first side plate 202. The fasteners can improve the connection stability between the adapter 103 and the first side plate 202 and reduce the friction between the adapter 103 and the first side plate 202. The possibility of relative wobbling of plate 202 is reduced, making the connection between adapter 103 and first side plate 202 more stable and the torque transmission more accurate and reliable. In addition, the fastener connects the protrusion 1031 and the first side plate 202 in the axial direction, while the adapter 103 drives the first side plate 202 to rotate by circumferential rotation. Therefore, the torque on the fastener is smaller during torque transmission, reducing the possibility of fastener damage. Secondly, the connecting hole 1032 is set on the protrusion 1031. The protrusion 1031 itself has better strength due to its greater thickness. Therefore, the protrusion 1031 can provide reliable support for the fastener, reducing the possibility of damage to the connecting hole 1032, so that the adapter 103 and the first side plate 202 can form a reliable connection.

[0070] Regarding the specific structure of the gearbox 120 and the second side plate 203, as follows: Figure 4and Figure 6 As shown, in this embodiment, the gearbox 120 has a rotating groove 1021 at the end away from the adapter 103. The sidewall of the rotating groove 1021 is annular and close to the edge of the gearbox 120. 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 120. After the gearbox 120 is assembled with the hinge seat 20, the protruding ring 2031 extends into the rotating groove 1021 and forms a rotating fit with the rotating groove 1021 through the bushing. The sidewall of the rotating groove 1021 is close to the gearbox 120. The inner diameter of the rotating groove 1021 is close to the diameter of the gearbox 120, so that the rotating groove 1021 has a larger inner diameter. The gearbox 120 is rotatably connected to the hinge seat 20 through the cooperation of the rotating groove 1021 and the convex ring 2031. The rotating shaft formed by the gearbox 120 has a larger diameter. The larger the diameter of the rotating shaft, the smaller the force on the gearbox 120, so that the gearbox 120 can withstand greater external forces, reduce the possibility of damage to the gearbox 120, and thus improve the strength of the hinge joint of the first limb 11 and the second limb 21.

[0071] Specifically, such as Figure 4As 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 120 and the hinge seat 20, the second side plate 203 is first disassembled so that one end of the gearbox 120 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 forms a rotational engagement with the rotation groove 1021 of the gearbox 120. 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, which enhances the strength of the first side plate 202, reduces the possibility of damage to the first side plate 202, and enables 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 facilitates the assembly of the gearbox 120 and the hinge seat 20, helps to improve the assembly efficiency of the gearbox 120 and the hinge seat 20, and also makes the assembly of the first side plate 202, the second side plate 203 and the gearbox 120 more compact, thereby improving the assembly stability of the gearbox 120 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 120. 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 120. Example 2:

[0072] like Figures 2 to 4 , Figures 6 to 8 As shown in the embodiment for the second improvement, in this embodiment, the upper mechanism is still named the first limb 11 and the lower mechanism is named the second limb 21.

[0073] The driving mechanism includes a drive motor 10 fixed to the first limb 11 and a hinge seat 20 disposed at the end of the second limb 21. The drive motor 10 and the hinge seat 20 are rotatably connected, thereby realizing the hinge between the first limb 11 and the second limb 21. The output end of the drive motor 10 is provided with a converter 103 for outputting torque. The converter 103 has a torque output end, and the hinge seat 20 has a torque input end. The converter 103 transmits the torque of the drive motor 10 to the hinge seat 20 through the concave-convex cooperation between the torque output end and the torque input end. The drive motor 10 starts. The motor body 110 drives the adapter 103 to rotate, thereby realizing the torque output of the adapter 103. A buffer pad 104 is provided on the torque transmission path between the torque output end and the torque input end. The buffer pad 104 filters the mutual impact between the adapter 103 and the hinge seat 20 during the torque transmission process. When the motor body 110 drives the adapter 103 to rotate, the adapter 103 outputs torque and drives the hinge seat 20 to rotate through the buffer pad 104. During the process of the adapter 103 driving the buffer pad 104 to rotate, the buffer pad 104 is squeezed between the adapter 103 and the hinge seat 20.

[0074] In this embodiment, the adapter 103 has a torque output end, and the hinge seat 20 has a torque input end. A buffer pad 104 is provided on the torque transmission path between the torque output end and the torque input end. The buffer pad 104 can reduce the impact force between the adapter 103 and the hinge seat 20, reduce the wear caused by the impact force, and thus significantly extend the service life of the adapter 103 and the hinge seat 20, giving the humanoid robot better operating performance. In addition, the buffer pad 104 is disposed between the torque output end of the adapter 103 and the torque input end of the hinge seat 20, and the buffer pad 104 can absorb the impact force between the adapter 103 and the hinge seat. The impact force generated by the torque transmission between the first limb 11 and the second limb 21 can withstand greater impact force at the connection point, which can significantly improve the impact resistance of the humanoid robot and provide a foundation for the high-frequency and high-speed operation of the humanoid robot, thereby comprehensively improving the performance of the humanoid robot. Secondly, the adapter 103 directly transmits the torque to the hinge seat 20 without the need for transmission structures such as linkages, which can greatly shorten the torque transmission distance, reduce energy loss in the power transmission process, and make the torque transmission more accurate and reliable. This helps to improve the control performance of the drive motor 10 on the second limb 21, making the movement of the second limb 21 more flexible and precise.

[0075] Regarding the specific structure of the first limb 11 and the second limb 21, in this embodiment, the first limb 11 is the thigh mechanism 1 of the humanoid robot, and the second limb 21 is the lower leg mechanism 2 of the humanoid robot. It includes a thigh body and a drive motor 10. The drive motor 10 is fixed to the bottom end of the thigh body. The overall size of the drive motor 10 is similar to that of the thigh body. The drive motor 10 serves as an extension of the thigh body. That is, the thigh body and the drive motor 10 are connected to form the thigh mechanism 1. The thigh mechanism 1 is rotatably connected to the top end of the lower leg mechanism 2 through the gearbox 120 of the drive motor 10. The structure of the lower leg mechanism 2 is similar to that of the thigh mechanism 1. The lower leg mechanism 2 also includes a lower leg body and a drive motor 10. The top end of the lower leg body forms a hinge seat 20 that is rotatably connected to the gearbox 120. The drive motor 10 of the lower leg mechanism 2 is fixed to the bottom end of the lower leg body. The drive motor 10 of the lower leg mechanism 2 also serves as an extension of the lower leg body. The thigh mechanism 1 and the lower leg mechanism 2 use the same drive motor 10.

[0076] It should be noted that in this embodiment, the drive mechanism is located at the connection between the thigh mechanism 1 and the lower leg mechanism 2. It is understood that in other embodiments, the drive mechanism may also be located at the connection between other components and the drive motor 10. For example, the drive mechanism may be located at the connection between the humanoid robot's hip 41 and the thigh mechanism 1, where the first limb 11 is the humanoid robot's hip 41 and the second limb 21 is the humanoid robot's thigh mechanism 1. Alternatively, the drive mechanism may be located at the connection between the humanoid robot's lower leg mechanism 2 and the foot mechanism 3, where the first limb 11 is the humanoid robot's lower leg mechanism 2 and the second limb 21 is the humanoid robot's foot mechanism 3. Alternatively, the drive mechanism may be located at the connection between the humanoid robot's torso 4 and the upper arm, where the first limb 11 is the humanoid robot's torso 4 and the second limb 21 is the humanoid robot's upper arm. Alternatively, the drive mechanism may be located at the connection between the humanoid robot's upper arm and forearm, where the first limb 11 is the humanoid robot's upper arm and the second limb 21 is the humanoid robot's forearm.

[0077] Specifically, in this embodiment, the drive motor 10 includes a motor body 110 and a gearbox 120. The gearbox 120 includes a housing, inside which a rotating shaft and a reduction mechanism are provided. The housing and the rotating shaft are coaxially arranged. One end of the housing is coaxially provided with a converter 103 for outputting torque. The rotating shaft is connected to the converter 103 via the reduction mechanism. The rotation of the rotating shaft drives the converter 103 to rotate, allowing the converter 103 to rotate relative to the housing, thereby realizing the torque output of the converter 103. The gearbox 120 is fixed to the motor body 110. At the bottom, the overall structure of the housing is cylindrical. The output end of the motor body 110 extends into the gearbox 120 and is connected to the rotating shaft for transmission. The axial direction of the rotating shaft is perpendicular to the axial direction of the output end of the motor body 110. The output end is connected to the rotating shaft for transmission through a bevel gear. The rotating shaft is connected to an inertia disk through a reduction mechanism. The adapter 103 is fixedly connected to the inertia disk. The adapter 103 rotates synchronously with the inertia disk. One end of the gearbox 120 is rotatably connected to one side of the hinge seat 20 through the adapter 103, and the other end is directly rotatably connected to the hinge seat 20.

[0078] Specifically, 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 first limb 11 and the second limb 21 are assembled, the housing of the gearbox 120 is rotatably installed between the first side plate 202 and the second side plate 203. The adapter 103 at one end of the gearbox 120 is fixedly connected to the first side plate 202, and the other end of the gearbox 120 is rotatably connected to the second side plate 203. When the drive motor 10 is started, the adapter 103 rotates relative to the housing under the drive of the drive motor 10. The adapter 103 drives the entire hinge seat 20 to rotate around the gearbox 120 through the first side plate 202, thereby realizing the swing of the second limb 21 relative to the first limb 11.

[0079] Specifically, in this embodiment, the adapter 103 has several protruding protrusions 1031 on the side facing away from the gearbox 120. These protrusions 1031 are the torque output ends, and are spaced circumferentially. The first side plate 202 has a positioning groove 2021 on the side facing the second side plate 203. This positioning groove 2021 is the torque input end. The size of the protrusions 1031 is smaller than the size of the positioning groove 2021. After the protrusions 1031 are embedded in the positioning groove 2021, there is a gap between the sidewalls of the protrusions 1031 and the positioning groove 2021. A buffer pad 104 fills the gap between the protrusions 1031 and the groove wall of the positioning groove 2021. The protrusions 1031 and the buffer pad 104, combined with the positioning groove 2021, achieve a concave-convex fit, so that the adapter 103 and the first side plate 202 form an anti-rotation fit. During the rotation of the adapter 103, the protrusions 1031 and the buffer pad 104... The sidewall of the positioning groove 2021 engages to drive the hinge seat 20 to rotate. The engagement of the protrusion 1031 with the positioning groove 2021 increases the contact area between the adapter 103 and the hinge seat 20, thereby dispersing the force between them and making the stress distribution more uniform. This reduces the possibility of stress concentration leading to damage to the adapter 103 and hinge seat 20. Furthermore, since the adapter 103 and hinge seat 20 primarily transmit power through the protrusion 1031 and positioning groove 2021, filling the space between the protrusion 1031 and the sidewall of the positioning groove 2021 with the buffer pad 104 effectively reduces the impact force on the protrusion 1031 and positioning groove 2021, lowering the likelihood of damage and significantly extending the service life of the adapter 103 and hinge seat 20.

[0080] It should be noted that the buffer pad 104 described in this embodiment is made of elastic rubber, polyurethane, or silicone.

[0081] It is understandable that in other embodiments, the protrusion 1031 may also be disposed on the end face of the hinge seat 20 facing the adapter 103, and the corresponding positioning groove 2021 may be disposed on the end face of the adapter 103 facing the hinge seat 20.

[0082] Specifically, in this embodiment, the buffer pad 104 includes several buffer blocks 1041. Buffer blocks 1041 are fixed on both sides of the protrusion 1031 in the rotation direction of the adapter 103. After the adapter 103 is inserted into the positioning groove 2021, the buffer blocks 1041 are confined between the protrusion 1031 and the sidewalls of the positioning groove 2021. That is, there are two buffer blocks 1041 in the same positioning groove 2021, and the two buffer blocks 1041 are respectively located on both sides of the protrusion 1031 and abut against the two sidewalls of the positioning groove 2021. The torque transmission between the adapter 103 and the hinge seat 20 is mainly... If the impact occurs between the sidewall of the protrusion 1031 and the sidewall of the positioning groove 2021, placing the buffer pad 104 between the sidewall of the protrusion 1031 and the sidewall of the positioning groove 2021 can effectively absorb the impact force transmitted between the adapter 103 and the hinge seat 20, significantly improving the utilization rate of the buffer pad 104 and enhancing its buffering effect. In addition, it can also reduce the axial distance between the protrusion 1031 and the positioning groove 2021, making the assembly between the adapter 103 and the hinge seat 20 more compact and helping to improve the assembly stability of the adapter 103 and the hinge seat 20.

[0083] Regarding the specific structure of the buffer pad 104, as follows: Figure 8 As shown, in this embodiment, the buffer pad 104 includes a connecting ring 1042 and buffer blocks 1041. The buffer blocks 1041 are distributed at intervals along the circumference of the connecting ring 1042 on the outer periphery of the connecting ring 1042, and the buffer blocks 1041 and the connecting ring 1042 are an integral structure. The buffer pad 104 has a plum blossom-shaped structure. When the buffer pad 104 is installed on the adapter 103, the connecting ring 1042 and the adapter 103 are coaxially arranged, and the connecting ring 1042 and the buffer blocks 1041 are... The integrated structure makes the entire buffer pad 104 a single unit, which reduces the assembly difficulty of the buffer pad 104 and helps to improve the assembly efficiency of the buffer pad 104. In addition, all buffer blocks 1041 are connected to the connecting ring 1042. The connecting ring 1042 can distribute the force on the buffer block 1041, making the force on all buffer blocks 1041 more even, preventing one buffer block 1041 from being damaged due to excessive force, and helping to improve the buffering performance of the buffer pad 104.

[0084] It is understandable that in other embodiments, the buffer pad 104 may also be wrapped around the outer surface of the protrusion 1031. After the protrusion 1031 is embedded in the positioning groove 2021, the buffer pad 104 fits against the groove wall of the positioning groove 2021. The buffer pad 104 wraps around the protrusion 1031, which can prevent the protrusion 1031 from having direct contact with the positioning groove 2021, thereby effectively reducing the wear of the protrusion 1031 and the positioning groove 2021, and further improving the service life of the protrusion 1031 and the positioning groove 2021.

[0085] To improve the connection stability between the adapter 103 and the first side plate 202, in this embodiment, the protrusion 1031 is provided with a connecting hole 1032 in the axial direction of the adapter 103. The protrusion 1031 is connected to the hinge seat 20 by a fastener. The fastener can improve the connection stability between the adapter 103 and the first side plate 202, reduce the possibility of relative wobbling between the adapter 103 and the first side plate 202, and make the connection between the adapter 103 and the first side plate 202 more stable and the torque transmission more accurate and reliable. In addition, the fastener provides support to the protrusion in the axial direction. Block 1031 is connected to the first side plate 202, and the adapter 103 drives the first side plate 202 to rotate by circumferential rotation. Therefore, during torque transmission, the torque on the fastener is small, reducing the possibility of fastener damage. Secondly, the connecting hole 1032 is set on the protrusion 1031. The protrusion 1031 itself has better strength due to its larger thickness. Therefore, the protrusion 1031 can provide reliable support for the fastener, reducing the possibility of connecting hole 1032 damage, so that the adapter 103 and the first side plate 202 can form a reliable connection.

[0086] Specifically, in this embodiment, the gearbox 120 is provided with a groove at the end away from the adapter 103. The sidewall of the groove is annular and close to the edge of the gearbox 120. The second side plate 203 is provided with 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 120. After the gearbox 120 is assembled with the hinge seat 20, the protruding ring 2031 extends into the groove and forms a rotational fit with the groove through the bushing. The sidewall of the groove is close to the edge of the gearbox 120, that is, the inner diameter of the groove is close to the diameter of the gearbox 120, so that the groove has a larger inner diameter. The gearbox 120 is rotatably connected to the hinge seat 20 through the fit between the groove and the protruding ring 2031. The rotating shaft formed by the gearbox 120 has a larger diameter. The larger the diameter of the rotating shaft, the smaller the force on the gearbox 120, so that the gearbox 120 can withstand greater external force, reduce the possibility of damage to the gearbox 120, and thus improve the strength of the hinge joint between the first limb 11 and the second limb 21.

[0087] Specifically, 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 120 and the hinge seat 20, the second side plate 203 is first disassembled so that one end of the gearbox 120 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 forms a rotational engagement with the groove of the gearbox 120. 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 is integrally formed with the base plate 201, which enhances its strength, reduces the possibility of damage, and allows it to withstand greater torque. Furthermore, the second side plate 203 is detachably connected to the base plate 201, facilitating the assembly of the gearbox 120 and the hinge seat 20. This improves assembly efficiency and makes the assembly of the first side plate 202, second side plate 203, and gearbox 120 more compact, thus enhancing assembly stability and preventing deformation or breakage due to forced installation of the gearbox 120. Additionally, the assembly groove 2013 supports the second side plate 203, improving its load-bearing capacity and further increasing the connection stability between the hinge seat 20 and gearbox 120. Example 3:

[0088] like Figures 9 to 14 As shown in the embodiment for the third improvement, the drive motor includes a motor body 110 and a gearbox 120. The motor body 110 has a motor shaft 113 extending toward the gearbox 120. After the motor shaft 113 extends into the gearbox 120, it connects with the drive gear inside the gearbox 120. Power is output to the output shaft of the gearbox 120 through the meshing gear set inside the gearbox 120. To facilitate the connection between the motor body 110 and the gearbox 120, the connection end face of both the motor body 110 and the gearbox 120 is generally made into a plane.

[0089] The motor body 110 has a first boss 111 protruding radially outward along the motor shaft 113 at its end, and the gearbox 120 has a second boss 121 protruding radially outward along the motor shaft 113 at its end. The first boss 111 and the second boss 121 are mated together. In this embodiment, the mating of the first boss 111 and the second boss 121 means that the end face of the first boss 111 facing the second boss 121 abuts against the end face of the second boss 121 facing the first boss 111.

[0090] In the traditional installation method, bolt holes 150 are made on the first boss 111 and the second boss 121. The motor body 110 and the gearbox 120 are connected together by bolts 150 passing through the bolt holes along the motor shaft 113. This requires the first boss 111 and the second boss 121 to protrude outward by a sufficient length to ensure that the first boss 111 and the second boss 121 have sufficient strength after the bolt holes 150 are made. This setting increases the outward protrusion length of the first boss 111 and the second boss 121, resulting in a larger diameter of the entire motor.

[0091] In this embodiment, the drive motor further includes a connector 130. The connector 130 has a connecting groove 131. A first boss 111 and a second boss 121 are inserted into the connecting groove 131. The groove wall of the connecting groove 131 cooperates with the first boss 111 and the second boss 121 to limit the relative displacement of the motor body 110 and the gearbox 120 in the mating direction. The connector 130 connects the motor body 110 and the gearbox 120. In this embodiment, for ease of description, the motor body 110 is defined as above and the gearbox 120 as below. After the first boss 111 and the second boss 121 are mated, they are inserted into the connecting groove 131. The upward-facing surface of the first boss 111 abuts against the top surface of the connecting groove 131, and the downward-facing surface of the second boss 121 abuts against the bottom surface of the connecting groove 131. The connector 130 prevents the motor body 110 and the gearbox 120 from separating in the vertical direction.

[0092] When the motor is subjected to axial impact force, the axial impact force is borne and transmitted by the end faces of the first boss 111 and the second boss 121 that directly abut against each other; when the motor is subjected to axial tension force, the force is transmitted by the groove wall of the connector 130 abutting against the first boss 111 and the second boss 121. In this way, as long as the connector 130 and the bosses have sufficient strength, compared to setting bolt holes 150 on the bosses for bolt connection, the length of the bosses extending radially along the motor shaft 113 can be significantly reduced, thereby reducing the overall radial dimension of the motor. Furthermore, the connection point between the connector 130 and the motor body 110 or gearbox 120 only needs to ensure the relative position of the connector 130 and the motor body 110 or gearbox 120, and does not need to bear the impact or tension force on the motor.

[0093] Furthermore, along the docking direction of the motor body 110 and the gearbox 120, that is, along the vertical direction, connecting ears 132 are respectively provided at both ends of the connecting groove 131. The connecting ears 132 are detachably connected to the corresponding motor body 110 and gearbox 120 by bolts 150. The width of the connecting ears 132 can be the same as the width of the connecting groove 131, and the length of the connecting ears 132 should be determined according to the strength of the connecting member 130 to ensure that the connecting ears 132 will not deform after the bolts 150 pass through. As an extension of the connecting member 130, the connecting ears 132 provide an ideal installation position for the bolts 150. The tightening force of the bolts 150 not only fixes the connecting member 130, but also further enables the connecting member 130 to apply a radially inward abutting force to the first boss 111 and the second boss 121 from multiple directions, pressing the first boss 111 and the second boss 121 in the connecting groove 131, eliminating potential gaps, and forming a pre-tightened, more rigid whole. During assembly, the motor body 110 and gearbox 120 can be initially positioned by the boss and the connecting groove 131. At this time, the relative positions of the two have been determined. Then, the bolts 150 on the connecting lug 132 can be tightened to complete the final fixation.

[0094] Furthermore, the motor body 110 has a first fixing groove 112 on its end face, and the gearbox 120 has a second fixing groove 122 on its end face. The motor also includes a connecting piece 140, which is inserted into the first fixing groove 112 and the second fixing groove 122. The connecting piece 140 has a threaded hole 141 that matches the bolt 150. That is, the length of the connecting piece 140 is equal to the sum of the depths of the first fixing groove 112 and the second fixing groove 122, so that the end faces of the motor body 110 and the gearbox 120 can fit together completely. Directly tapping and screwing the bolt 150 into the thin-walled housing of the motor body 110 or the gearbox 120 will cause the preload and working load of the bolt 150 to be highly concentrated around the threaded hole 141, which can easily lead to the housing material being crushed or cracked, especially on light metal materials such as aluminum alloys. The connecting piece 140 spans the mating surfaces of the motor body 110 and the gearbox 120, and the bolt 150 applies pressure through the threaded hole 141 on the connecting piece 140. The connecting piece 140 converts this pressure into uniform surface pressure on the groove walls of the first fixing groove 112 and the second fixing groove 122, greatly increasing the force-bearing area and significantly reducing the load per unit area, effectively protecting the housings of the motor and gearbox 120. In addition, the connecting piece 140 effectively functions as an internal flange. Because the connecting piece 140 is positioned within the fixing groove, the motor body 110 and gearbox 120 do not need to be designed with heavy flange faces to provide thread support, thus achieving a high-strength connection while maintaining a compact and lightweight overall shape.

[0095] In the above embodiment, each connecting lug 132 is provided with two bolts 150, and the corresponding first fixing groove 112, second fixing groove 122, and connecting piece 140 are also provided in twos, that is, each connecting piece 140 is provided with two threaded holes 141. One threaded hole 141 is connected to the bolt 150 passing through the motor body 110, and the other threaded hole 141 is connected to the bolt 150 passing through the gearbox 120. By adopting a double bolt 150 design on each connecting lug 132, a high degree of redundancy and balanced load distribution of the connection structure are achieved, thereby greatly improving the failure resistance, stability, and safety of the entire connection system. Providing two bolts 150 on a single connecting lug 132 forms a double insurance; even in extreme cases, if one bolt 150 fails due to fatigue or accident, the other bolt 150 can still continue to bear the load, preventing the connection structure from collapsing instantly. This provides valuable safety redundancy for the robot when performing critical tasks, avoiding catastrophic consequences. In addition, a single bolt 150 can cause load concentration and may cause slight warping of the connecting lug 132 due to torque. The symmetrical arrangement of the two bolts 150 can distribute the load evenly on the connecting lug 132 and the connecting piece 140. This balanced load distribution effectively suppresses the warping deformation of the connecting lug 132 and ensures that the connecting groove 131 and the boss always maintain a tight surface contact, thereby maintaining the high rigidity and stability of the entire connection structure and further extending the fatigue life of the system.

[0096] Furthermore, after connection via bolt 150, the head of bolt 150 can easily protrude from the motor body 110 or gearbox 120, affecting the motor's dimensions or potentially causing interference with other components. Therefore, clearance grooves 160 are provided on the side walls of the motor body 110 and gearbox 120, with the connecting lug 132 of the connector 130 housed within the corresponding clearance groove 160. By providing clearance grooves 160 on the housing, the connector 130 is completely concealed, minimizing the impact of the connection structure on the overall motor dimensions and ultimately achieving an extremely compact design.

[0097] Components such as bolts 150, nuts, or connecting lugs 132 inevitably protrude from the motor body, increasing the space occupied by the device and potentially interfering with other parts in confined spaces. To address this, clearance grooves 160 are specially provided on the side walls of the motor body 110 and gearbox 120, concealing the connecting lugs 132 of the connector 130 within these grooves. This design ensures that the connecting lugs 132 and their bolts 150, after installation, do not extend beyond the original outer contour of the motor housing. This greatly facilitates the integration of the motor with other components, reduces interference risks that need to be considered during design and assembly, and provides greater freedom for the overall layout of the robot joints.

[0098] Based on the above embodiments, the first boss 111, the second boss, and the connector 130 form a connection structure. Multiple connection structures are evenly distributed circumferentially around the motor shaft 113. In this embodiment, four sets of connection structures are actually provided. By arranging multiple evenly distributed connection structures circumferentially, symmetrical and uniform load distribution is achieved, thereby significantly improving the coaxiality, overall rigidity, and torsional resistance of the connection. Traditional connection methods, using a small number of bolts 150, are prone to uneven force distribution or machining errors, leading to eccentricity between the motor body 110 and the gearbox 120 axis, affecting transmission accuracy and bearing life. Now, through multiple connection structures evenly distributed circumferentially around the motor shaft 113, the motor body 110 and gearbox 120 are clamped and positioned from multiple directions. This multi-point, symmetrical constraint method can automatically average machining and assembly errors, forcing the motor body 110 and gearbox 120 to maintain a high degree of coaxiality. Furthermore, in this structure, the torque output by the motor and the reaction torque from the external load are shared by all the connecting structures. This significantly increases the torsional section modulus of the entire connection system, enabling it to transmit much greater torque than single-point or few-point connections. This is a crucial performance indicator for robot joint motors that require frequent starts, stops, and reversals.

[0099] In this embodiment, the end face of the motor body 110 is provided with a positioning boss 114 extending toward the gearbox 120, and the end face of the gearbox 120 is provided with a positioning groove 123 that mates with the positioning boss 114. In the circumferential direction surrounding the axis of the motor shaft 113, the positioning boss 114 and the first boss 111 can be spaced apart, and the positioning groove 123 and the second boss 121 can also be spaced apart. Through the cooperation of the positioning boss 114 and the positioning groove 123, the motor body 110 and the gearbox 120 are further positioned in the circumferential direction surrounding the axis of the motor shaft 113, preventing relative rotation between them in the circumferential direction. When assembling the motor body 110 and the gearbox 120, inserting the positioning boss 114 into the positioning groove 123 instantly completes the high-precision alignment of the motor body 110 and the gearbox 120. This ensures perfect alignment of all subsequent connection structures from the source, laying a solid foundation for achieving high coaxiality.

[0100] Based on the above embodiments, the connecting groove 131 has a first groove wall 1311 and a second groove wall 1312 arranged opposite to each other along the docking direction. The first groove wall 1311 abuts against the end face of the first boss 111 away from the second boss 121, and the second groove wall 1312 abuts against the end face of the second boss 121 away from the first boss 111. Through the double groove wall design of the connecting groove 131, the axial tensile force between the motor body 110 and the gearbox 120 is directly converted into the contact pressure between the connector 130 and the boss, achieving extremely high axial stiffness and impact resistance, while effectively protecting the bolts 150 used for fixing.

[0101] Furthermore, the end face of the first groove wall 1311 opposite to the end face of the first boss 111 and the end face of the second boss 121 opposite to the end face of the second groove wall 1312 and the end face of the second boss 121 opposite to the end face of the first boss 111 is in surface contact. This maximizes the contact area of ​​the connecting surfaces, thereby achieving optimal stress distribution and significantly improving the fatigue resistance and long-term reliability of the connection structure. Surface contact evenly distributes tensile force across the entire contact surface, minimizing the stress per unit area. This is the most effective way to prevent material fatigue and avoid structural failure, especially for robot motors that need to withstand long-term, repeated impact loads. This is the fundamental guarantee for ensuring their long lifespan and high reliability.

[0102] Furthermore, the end face of the first boss 111 facing away from the second boss 121 is a first inclined surface 1111, and the end face of the second boss 121 facing away from the first boss 111 is a second inclined surface 1211, so that the thickness of the first boss 111 and the second boss 121 after docking gradually decreases in the direction away from the center of the drive motor; the first groove wall 1311 is a third inclined surface adapted to the first inclined surface 1111, and the second groove wall 1312 is a fourth inclined surface adapted to the second inclined surface 1211, so that the connecting groove 131 has a structure with a large opening and a small interior. When installing the connector 130, no precise alignment is required, and the inclined surfaces will automatically guide the connector 130 to slide into the correct position. Under the preload of the bolt 150, the inclined surface fit can naturally pull the motor body 110 and the gearbox 120 to the tightest state, simplifying the assembly process and ensuring the uniformity of preload.

[0103] During installation, the motor body 110 and gearbox 120 are assembled vertically. The connecting piece 140 is inserted into the second fixing groove 122, and the output shaft of the motor body 110 is aligned with the connecting hole of the gearbox 120. At the same time, the positioning boss 114 on the bottom surface of the motor body 110 is aligned with the positioning groove 123 on the top surface of the gearbox 120. The positioning boss 114 is inserted into the positioning groove 123, and the connecting piece 140 is also inserted into the first fixing groove 112. After the initial docking of the motor body 110 and the gearbox 120 is completed, the bottom surface of the first boss 111 and the top surface of the second boss 121 are tightly fitted together. Subsequently, the connecting groove 131 of the connector 130 is pushed radially inward toward the first boss 111 and the second boss 121, so that the first boss 111 and the second boss 121 are inserted into the connecting groove 131. During insertion, since the first boss 111, the second boss 121 and the groove wall of the connecting groove 131 are all inclined surfaces, precise alignment is not required to insert the outer ends of the first boss 111 and the second boss 121 into the connecting groove 131. As the connector 130 is pushed radially toward the center of the motor, the inclined surfaces can automatically complete the alignment of the connecting groove 131. After the connecting groove 131 is pushed to the bottom, the bolt 150 passes through the connecting ear 132 of the connector 130 and engages with the threaded groove of the connecting piece 140 to achieve a fixed connection between the connector 130 and the motor body 110 and the gearbox 120, thus completing the motor assembly.

[0104] This utility model's drive motor systematically resolves the inherent contradictions between strength, size, and reliability in traditional motor connection schemes through a highly collaborative and innovative design. It abandons the heavy flanges and through bolts 150, instead employing a compact external connection structure. Through surface contact, the axial load is directly borne by the structural components, achieving a high-strength connection with zero radial increment. The uniform circumferential distribution of multiple connection points, coupled with independent high-precision positioning references, ensures excellent coaxiality, overall rigidity, and torsional resistance between the motor and gearbox 120. Simultaneously, through detailed optimizations such as the connecting piece 140, double bolts 150, and clearance groove 160, this solution achieves high reliability and ease of maintenance while protecting the thin-walled shell and avoiding stress concentration. Ultimately, it constructs an integrated connection system that balances extreme compactness, ultra-high strength, dynamic self-locking, and long-term reliability, perfectly meeting the application requirements of high power density and high dynamic response, such as in robotics. Example 4:

[0105] like Figures 15 to 18As shown in the embodiment for the fourth improvement, the humanoid robotic leg includes a thigh mechanism 1, a lower leg mechanism 2, and a foot mechanism 3. The thigh mechanism 1 includes a thigh body and a drive motor 10. The top of the thigh body is hinged to the hip 41 of the humanoid robot, and the drive motor 10 is fixed to the bottom of the thigh body. The bottom of the drive motor 10 has a converter 103 for outputting torque. The lower leg mechanism 2 includes a lower leg body and a drive motor 10. The top of the lower leg mechanism 2 forms a hinge seat 20, and the drive motor 10 of the lower leg body is fixed to the bottom of the lower leg body. After assembly, the drive motor 10 of the thigh mechanism 1 is rotatably connected to the hinge seat 20 of the lower leg mechanism 2, and the converter... The component 103 outputs torque to the hinge seat 20 so that the lower leg mechanism 2 can rotate relative to the thigh mechanism 1. The drive motor 10 of the lower leg mechanism 2 is rotatably connected to the foot mechanism 3. The drive motor 10 of the lower leg mechanism 2 outputs torque to the foot mechanism 3 so that the foot mechanism 3 can swing relative to the lower leg mechanism 2. When the humanoid robot leg 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 drive 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.

[0106] In this embodiment, when the humanoid robotic leg is in an upright position, the lower leg mechanism 2 is also 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 mechanism 3. Shifting the center of gravity forward allows the humanoid robotic leg 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 point of the thigh mechanism 1 and the lower leg mechanism 2 will abut against each other, limiting the thigh mechanism 1 from continuing to rotate forward relative to the lower leg mechanism 2, thereby making the thigh... Mechanism 1 and lower leg mechanism 2 can form a positioning system. In the upright state, the contact point between thigh mechanism 1 and lower leg mechanism 2 can provide reliable support for thigh mechanism 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 mechanism 1 and lower leg mechanism 2 more stable and reliable, significantly improving the service life of the humanoid robot leg. Secondly, the contact point does not bear the rotational motion of thigh mechanism 1 and lower leg mechanism 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 endurance of the humanoid robot.

[0107] 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 drive motor 10 of the thigh mechanism 1 is connected to the bottom end of the thigh body. The overall size of the drive motor 10 of the thigh mechanism 1 is similar to the size of the thigh body. The drive motor 10 of the thigh mechanism 1 serves as an extension of the thigh body. That is, the thigh mechanism 1 is formed after the thigh body and the drive motor 10 are connected. The structure of the lower leg mechanism 2 is similar to that of the thigh mechanism 1. The drive motor 10 of the lower leg mechanism 2 is also connected to the bottom end of the lower leg body. The drive motor 10 of the lower leg mechanism 2 also serves as an extension of the lower leg body. The drive motor 10 of the thigh mechanism 1 and the drive motor 10 of the lower leg mechanism 2 use the same structure.

[0108] Specifically, in this embodiment, the drive motor 10 includes a drive motor 10 body and a gearbox 120. One end of the gearbox 120 is coaxially provided with a converter 103 for outputting torque. The top end of the lower leg body forms a hinge seat 20. The gearbox 120 is rotatably connected to the hinge seat 20, and the converter 103 is fixedly connected to the hinge seat 20. The converter can rotate relative to the gearbox 120. When the drive motor 10 body starts, the drive motor 10 body transmits torque to the converter 103, causing the converter 103 to rotate. The rotation of the converter 103 causes the hinge seat 20 to rotate, thereby realizing the relative rotation of the thigh mechanism 1 and the lower leg mechanism 2. In addition, a baffle 1024 is provided on the front side of the gearbox 120. The baffle 1024 abuts against the front side of the hinge seat 20 to limit the forward tilt of the thigh mechanism 1. The angle, through the abutment of the baffle 1024 and the hinge seat 20, forms the contact point between the thigh mechanism 1 and the lower leg mechanism 2. That is, when the humanoid robot leg is in an upright state, 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, thereby dispersing the pressure on the hinge point between the hinge seat 20 and the gearbox 120, reducing the possibility of damage to the hinge point between the hinge seat 20 and the gearbox 120, ensuring that the thigh mechanism 1 and the lower leg mechanism 2 can maintain smooth rotation, and also extending the service life of the humanoid robot leg; in addition, by using the baffle 1024 to abut against the hinge seat 20, the wear of the hinge seat 20 on the gearbox 120 can be reduced, which can play a certain protective role for the gearbox 120 and help extend the service life of the gearbox 120.

[0109] Regarding the specific structure of the drive motor 10, in this embodiment, the gearbox 120 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 drive motor 10 extends into the gearbox 120. The axial direction of the output end of the drive motor 10 is perpendicular to the axial direction of the rotating shaft. The output end of the drive motor 10 extends into the gearbox 120 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.

[0110] Specifically, in this embodiment, the gearbox 120 includes a housing 1022 and a connecting portion 1023 fixed to the top of the housing 1022. The overall structure of the housing 1022 is cylindrical. The connecting portion 1023 is connected to the bottom end of the motor body 110. After the connecting portion 1023 is connected to the main body of the drive motor 10, the peripheral side surface of the connecting portion 1023 is flush with the peripheral side surface of the main body of the drive motor 10. 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 portion 1023. The baffle 1024 is located on the front side of the housing 1022 and can shield the housing 1022, reducing the possibility of the housing 1022 directly entering the human's field of vision, which helps to improve the humanoid robot. The aesthetics of the legs are improved; 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 110. 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 110 have better integrity, which helps to improve the aesthetics.

[0111] Specifically, such as Figure 16 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 humanoid robot's legs 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.

[0112] Specifically, in this embodiment, the top of the thigh body forms a hinge end that is hinged to the hip 41 of the humanoid robot, and the bottom of the thigh body forms a bent portion 112 that is connected to the drive motor 10. The bottom end of the bent portion 112 is connected to the top of the drive motor 10. The hinge end 111 forms an angle with the drive motor 10 through the bent portion 112. When the humanoid robot leg 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 humanoid robot leg 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.

[0113] Specifically, 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 120 is rotatably mounted between the first side plate 202 and the second side plate 203. One end of the gearbox 120 has a connecting member 103 fixedly connected to the first side plate 202, and the other end of the gearbox 120 is rotatably connected to the second side plate 203. When the drive motor 10 starts, the connecting member 103 rotates relative to the housing 1022 under the drive of the drive motor 10. The connecting member 103 drives the entire assembly through the first side plate 202. The hinge seat 20 rotates around the gearbox 120, thereby enabling the lower leg mechanism 2 to swing 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 humanoid robot leg is standing. This makes the overall force on 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.

[0114] Specifically, such as Figure 17As 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 120 is d1, and the distance between the front end of the base plate 201 and the rotation axis of the gearbox 120 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 120. Let the diameter of the gearbox 120 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 120 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.

[0115] Specifically, in this embodiment, the gearbox 120 has a rotating groove 1021 at the end away from the adapter 103. The sidewall of the rotating groove 1021 is annular and close to the edge of the gearbox 120. 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 120. After the gearbox 120 is assembled with the hinge seat 20, the protruding ring 2031 extends into the rotating groove 1021 and forms a rotating engagement with the rotating groove 1021 through a bushing. The sidewall of the rotating groove 1021 is close to the gearbox. The edge of 120, i.e., the inner diameter of the rotating groove 1021, is close to the diameter of the gearbox 120, so that the rotating groove 1021 has a larger inner diameter. The gearbox 120 is rotatably connected to the hinge seat 20 through the cooperation of the rotating groove 1021 and the convex ring 2031. The rotating shaft formed by the gearbox 120 has a larger diameter. The larger the diameter of the rotating shaft, the smaller the force on the gearbox 120, so that the gearbox 120 can withstand greater external forces, reducing the possibility of damage to the gearbox 120, and thus improving the strength of the hinge between the thigh mechanism 1 and the lower leg mechanism 2. Example 5:

[0116] See Figures 19 to 27 In the embodiments for improvements 5 and 6, the foot mechanism includes a foot mechanism, an ankle support 400, and an ankle motor 410. The ankle support is fixedly connected to the corresponding hinge seat. The foot mechanism is mainly used to contact the ground, which is equivalent to the human foot. The ankle support 400 is responsible for connecting the foot mechanism and the lower leg. The ankle motor 410 is responsible for driving the foot mechanism to swing left and right relative to the ankle support 400 in the forward direction, so as to realize the eversion and inversion movements of the foot mechanism.

[0117] The ankle support 400 is generally located above the foot mechanism. The ankle support 400 is rotatably connected to the foot mechanism through a rotating mechanism, so that the impact force borne by the foot mechanism is transmitted to the ankle support 400 through the rotating shaft mechanism 420. That is, the impact force generated by the foot mechanism contacting the ground is transmitted to the rotating shaft mechanism 420, and then from the rotating shaft mechanism 420 to the ankle support 400 for upward transmission, forming a force-bearing path.

[0118] The housing 411 of the ankle motor 410 is fixed to the adhesive tape mechanism or the ankle support 400, and the output shaft 412 of the ankle motor 410 is connected to the other. Thus, when the ankle motor 410 is working, it can drive the foot mechanism to rotate relative to the ankle support 400, achieving ankle eversion and inversion movements. In this embodiment, the ankle motor 410 provides driving torque purely through its housing 411 and output shaft 412 connection, and is isolated from the main impact force transmission path. This reduces the strength requirements of the ankle motor 410, allowing it to be made smaller and lighter.

[0119] The foot mechanism includes an instep assembly 210, a heel assembly 220, a toe assembly 230, and an elastic device 250. The heel assembly 220 is connected to the rear end of the instep assembly 210, and the toe assembly 230 is connected to the front end of the instep assembly 210 through a first rotating joint 240. The heel assembly 220 and the toe assembly 230 are in contact with the ground as two force points. The instep assembly 210 is like a bridge built on the heel assembly 220 and the toe assembly 230. Therefore, in this embodiment, the rear bottom surface of the instep assembly 210 is connected to the front top surface of the heel assembly 220, and the front bottom surface of the instep assembly 210 is rotatably connected to the top surface of the toe assembly 230.

[0120] The first connecting end of the elastic device 250 is connected to the rear of the toe assembly 230, and the second connecting end of the elastic device 250 is connected to the instep assembly 210 or the heel assembly 220. Since the toe assembly 230 is connected to the instep assembly 210 via the first revolute joint 240, the toe assembly 230 can rotate relative to the instep assembly 210, creating an effect similar to a toe. When the toe assembly 230 rotates relative to the instep assembly 210, the elastic device 250 is stretched or compressed to provide cushioning. In other words, the elastic device 250 functions similarly to a plantar fascia. The elastic device 250 can be a component with elastic deformation and the ability to generate restoring force, such as a compression spring, tension spring, or rubber band. In this embodiment, for ease of explanation, a tension spring will be used as an example of the elastic device 250, and the elastic device 250 will be stretched to provide cushioning when the toe assembly 230 rotates relative to the instep assembly 210.

[0121] When the footwork contacts the ground, the toe assembly 230 rotates upward around the first revolute joint 240 due to the ground reaction force, stretching the elastic device 250. This process absorbs impact energy and stores elastic potential energy. During the push-off phase, the elastic device 250 releases the stored energy, assisting the toes in rotating downward, forming a natural push-off motion. This passive, elastically driven rotation perfectly replicates the essence of human walking.

[0122] Furthermore, the foot mechanism is provided with a placement cavity 270 for accommodating the ankle motor 410. Since the foot mechanism also mainly serves as a load-bearing mechanism, it can be made into a hollow design according to the mechanical performance requirements. Therefore, the placement cavity 270 can be set without affecting the mechanical performance of the foot mechanism. The ankle motor 410 is placed in the placement cavity 270, thereby changing the ankle motor 410 from being externally mounted to being embedded in the foot mechanism. This makes the foot mechanism closer to the structure of the human foot, maximizing the utilization of the internal space of the foot mechanism and improving space utilization.

[0123] Furthermore, the placement cavity 270, as a cavity, can also protect the ankle motor 410 from side and / or bottom collisions and bumps, providing basic mechanical protection for the motor. In addition, by placing the ankle motor 410 inside the receiving cavity, the power and signal cables of the ankle motor 410 can also be planned along the direction of the placement cavity 270, thereby achieving neat cable management and avoiding cable messiness, tangling, or being pulled.

[0124] The placement cavity 270 opens upwards, towards the ankle support 400. The ankle support 400 covers the opening of the placement cavity 270. Together with the foot mechanism, the ankle support 400 forms a space to accommodate and protect the ankle motor 410, essentially acting as a cover for the placement cavity 270. While the foot mechanism protects the bottom and sides of the ankle motor 410, the ankle support 400 at least protects the top of the ankle motor 410. Depending on its structure, the ankle support 400 can also protect the sides of the ankle motor 410. By covering the opening of the placement cavity 270, the ankle support 400 provides a crucial physical barrier from above, effectively preventing accidental drops, impacts, or debris kicked up by the robot during movement from directly striking the motor. Meanwhile, the ankle support 400 itself is the main load-bearing component. When it covers the opening of the placement cavity 270 and is connected to the foot mechanism through the pivot mechanism 420, the two together form a stable L-shaped or door frame-shaped composite structure. This structure greatly enhances the bending and torsional stiffness of the ankle joint connection area when subjected to impact force and bending moment, reduces local deformation, and thus improves the structural stability and motion accuracy of the entire foot mechanism.

[0125] Specifically, the placement cavity 270 is located between the instep assembly 210 and the heel assembly 220. Following a general approach, the opening of the placement cavity 270 is usually fixed. If the size of the placement cavity 270 is close to the size of the ankle motor 410, installation will be very inconvenient. Increasing the size of the placement cavity 270 to facilitate installation would result in an increase in the size of the foot mechanism.

[0126] In this embodiment, the instep assembly 210 and the heel assembly 220 are designed to rotate relative to each other. The instep assembly 210 and the heel assembly 220 are connected by a second revolute joint 260, meaning there is a pivot connecting the instep assembly 210 and the heel assembly 220. Therefore, the second end of the elastic device 250 can also be directly hung on this pivot to fix the second end of the elastic device 250. In other words, the second end of the elastic device 250 is connected to the connection point between the instep assembly 210 and the heel assembly 220. In the humanoid foot mechanism, the instep assembly 210 is typically a structure mounted on top of the heel assembly 220 and the toe assembly 230. The connection point between the instep assembly 210 and the heel assembly 220 is naturally higher than the ground contact plane of the toe assembly 230 and the heel assembly 220. Connecting the upper end of the elastic device 250 to this point means that its starting point is set at a higher position. This ensures that the elastic device 250 maintains a sufficient safe distance from the ground in its natural state. By utilizing the existing connection point between the instep assembly 210 and the heel assembly 220 as a mounting point, there is no need to design and manufacture additional mounting brackets or complex connection structures for the elastic device 250. This reduces the number of parts, lowers the overall weight and complexity of the foot, and perfectly aligns with the goals of lightweight and low cost in robot design. If a second revolute joint 260 is not provided to connect the instep assembly 210 and the heel assembly 220, the second end of the elastic device 250 can be fixed to the connection point between the instep assembly 210 and the heel assembly 220 by welding or bonding.

[0127] In this embodiment, the rotation axis of the second rotary joint 260 is arranged in the left-right direction, which is perpendicular to the direction in which the output shaft 412 of the ankle motor 410 is usually arranged front-back. When the instep assembly 210 and the heel assembly 220 rotate relative to each other, more space is made in the direction of the axis of the output shaft 412 of the ankle motor 410, making it easier for the output shaft 412 of the ankle motor 410 to enter the placement cavity 270 and rotatably connect with the foot mechanism or the ankle support 400. When the ankle motor 410 is placed into the placement cavity 270, the relative rotation of the instep assembly 210 and the heel assembly 220 can enlarge the opening of the placement cavity 270, thereby significantly increasing the actual operating opening of the placement cavity 270. This provides ample operating space and visual access for placing the ankle motor 410 and its wiring harness into the cavity, performing positioning and fastening operations, greatly simplifying the process, reducing assembly difficulty and time costs, and facilitating subsequent inspection and maintenance.

[0128] Since the rear bottom of the instep assembly 210 and the front top of the heel assembly 220 are connected by a second revolute joint 260, it is necessary to prevent the arch of the foot from collapsing when the robot stands. That is, when the robot stands, the instep assembly 210 and the heel assembly 220 need to maintain a certain relative position for support. Therefore, a first limiting part 221 is provided on the heel assembly 220, and a second limiting part 211 is provided on the instep assembly 210. The second limiting part 211 abuts against the first limiting part 221 to limit the upward rotation of the instep assembly 210 relative to the heel assembly 220. In this embodiment, the first limiting part 221 is located at the top front end of the heel assembly 220 next to the second rotating joint 260, and the second limiting part 211 is located at the bottom rear end of the instep assembly 210 next to the second rotating joint 260. That is, the bottom rear end of the instep assembly 210 extends slightly towards the heel assembly 220 to form the second limiting part 211, which abuts against the top front end of the heel assembly 220, limiting the upward rotation of the instep assembly 210. The cooperation of the first limiting part 221 and the second limiting part 211 ensures that the foot will not collapse and become unstable when the robot pushes off the ground or stands, providing a reliable support structure for the entire leg. When the instep tends to lean backward, the limiting parts immediately make contact, providing rigid support and directly transmitting torque to the heel and the ground. This ensures that during the support phase, the foot mechanism can provide a stable and reliable platform to bear weight, which is the foundation for achieving a stable gait (especially static standing).

[0129] Based on the above embodiment, the first revolute joint 240 is located at the middle of the instep assembly 210 and the toe assembly 230, that is, the front end of the foot assembly is rotatably connected to the middle of the toe assembly 230. When the toe touches the ground, the ground reaction force acts on the front end of the toe. This force generates a torque around the first revolute joint 240 (fulcrum) that causes the toe to rotate upward. At the same time, the elastic device 250 is connected to the rear of the toe, generating a tensile torque that resists rotation. If the hinge point is too far forward (close to the front end of the toe), the lever arm is very short, requiring a large ground impact force to drive the toe to rotate, resulting in a sluggish cushioning response, and the deformation of the elastic device 250 will be very small, resulting in poor cushioning effect. If the hinge point is too far back (close to the instep), the lever arm is very long, the toe rotation is too sensitive, which may lead to poor stability, and the deformation of the elastic device 250 will be too large, possibly exceeding its normal operating range. The hinge point in the middle allows the lever arm length from the point of force application (the front of the toe) to the fulcrum (the first rotating joint 240), and from the fulcrum to the point of force application (the connection point of the elastic device 250 at the toe) to reach a balance. A small ground impact can effectively initiate the rotation of the toe and the deformation of the elastic device 250. The response is rapid, and the impact kinetic energy can be absorbed more fully and smoothly by the elastic device 250 (stored as potential energy) and effectively released (rebound) during the push-off phase, which helps with walking and improves energy efficiency.

[0130] Furthermore, the first rotating joint 240 includes a transition groove 231 disposed on the toe assembly 230 and a transition portion 212 disposed on the instep assembly 210 and extending into the transition groove 231. The transition portion 212 is rotatably connected to the groove wall of the transition groove 231 via a rotating shaft, thus enabling the toe assembly 230 to rotate relative to the instep assembly 210. The cross-sectional structure of the opening of the transition groove 231 is designed to be smaller inside and larger outside to limit the range of motion of the transition portion 212 within the groove, thereby limiting the rotation amplitude of the toe assembly 230 relative to the instep assembly 210. The transition groove 231 serves as both a bearing seat constituting the rotating joint and a limiting mechanism. When the toe rotates to a preset angle, the transition portion 212 contacts the inner wall of the opening of the transition groove 231, and the movement is immediately stopped, thereby limiting the rotation of the toe assembly 230 relative to the instep assembly 210 within the preset angle. This solution uses a purely mechanical, passive limiting method to control the rotation of the toe component 230 relative to the instep component 210. By utilizing the shape of the slot, it precisely limits the toe rotation angle, ensuring that each step is within the designed safety range and improving the consistency and predictability of the gait.

[0131] Furthermore, there are two sets of first revolute joints 240, spaced apart. For example, the two sets of first revolute joints 240 are located on the left and right sides of the toe assembly 230 in the width direction, respectively, and the rotation axes of the two sets of first revolute joints 240 coincide. If there is only one transition part 212 (single-sided support), when the toe is subjected to force, the rotating shaft and the entire hinge structure act like a cantilever beam, with the root (support point) bearing a huge bending moment, which is prone to deformation, wear, or even failure. The two transition parts 212 with coincident axes form a double support point, which changes the working mode of the rotating shaft from a cantilever beam to a simply supported beam. The load is evenly distributed on the two support points, which greatly improves the bending stiffness, torsional stiffness, and overall stability of the revolute joint. This is crucial for robot feet that need to withstand complex ground impacts.

[0132] Based on the above embodiment, the elastic device 250 is suspended below the instep assembly 210, and its horizontal height is higher than the ground contact plane of the toe assembly 230 and the heel assembly 220 to avoid contact between the elastic device 250 and the ground. The first end of the elastic device 250 can be connected to a position slightly above the tail of the toe assembly 230, so that the side of the elastic device 250 near the toe assembly 230 is higher than the ground. The second end of the elastic device 250 is connected at the intersection of the heel assembly 220 and the instep assembly 210, where the horizontal height of the instep assembly 210 is higher than that of the heel assembly 220. That is, the second end is connected to a position slightly above the front end of the heel assembly 220, similarly ensuring that the side of the elastic device 250 near the heel assembly 220 is higher than the ground. By placing the elastic device 250 above the ground plane, the possibility of the robot being collided with, tripped over, or squeezed by obstacles such as the ground, stones, and gaps when walking, turning, or going up and down stairs is reduced. This effectively prevents the elastic device 250 from experiencing performance degradation or breakage due to wear and corrosion, significantly extending its service life and reducing maintenance requirements.

[0133] The instep assembly 210, toe assembly 230, and heel assembly 220 of the entire foot mechanism can all adopt a hollow structure to reduce the overall weight. The specific location and size of the hollow structure can be generated through methods such as topology optimization to mimic the shape of a biological skeleton, cleverly distributing the material along the paths that bear the most stress. While significantly reducing weight, the structure retains or even optimizes its strength and stiffness in key directions, achieving both lightness and strength.

[0134] Based on the above embodiments, the pivot mechanism 420 includes at least one first connecting part 421 disposed on the foot mechanism, and at least one second connecting part 422 disposed on the ankle support 400 and rotatably engaged with the first connecting part 421.

[0135] Specifically, the instep assembly 210 is provided with an upwardly extending first connector 290, and the heel assembly 220 is also provided with an upwardly extending first connector 290. The two first connectors 290 are arranged in a front-to-back interval, and each first connector 290 is provided with a first connecting portion 421. The ankle support 400 is provided with a downwardly extending second connector 450, and a second connecting portion 422 is disposed on the second connector 450. The first connector 290 and the corresponding second connector 450 are arranged side by side along the axial direction of the output shaft 412 of the ankle motor 410 to avoid interference when the ankle support 400 is installed with the foot mechanism, and also to reduce the gap between the first connecting portion 421 and the second connecting portion 422 in the axial direction of the output shaft 412 of the ankle motor 410.

[0136] Traditional designs typically use a single centralized connection point (such as a single bearing housing) to connect the ankle support 400. This design, however, creates two upwardly extending, spaced-ahead connections on the foot mechanism, forming a two-point supported ankle structure when connected to the ankle support 400. When the robot walks or turns on uneven ground, the foot experiences significant torsional loads. A single-point connected ankle relies on a single connection structure to resist all torsion, easily becoming a weak point in rigidity. The two-point support structure in this design, with its spaced-ahead arrangement, forms a stable torque, effectively resisting torsional moments and significantly improving the rigidity of the ankle and even the entire leg. This architecture allows the instep assembly 210 and heel assembly 220 to be mechanically relatively independent, connected by a common ankle support 400, yet capable of movement around the pivot mechanism 420.

[0137] One of the first connecting part 421 and the second connecting part 422 is a connecting shaft, and the other is a connecting hole adapted to the connecting shaft. The cylindrical connecting shaft and the connecting hole have surface contact or line contact, with a large contact area. When the foot mechanism is subjected to huge vertical impact forces and bending moments, this kind of fit can evenly distribute the load on the entire contact surface of the shaft and the hole, thereby providing excellent compressive and bending strength. This is a crucial characteristic for robot feet that need to withstand repeated impacts, ensuring the durability of the pivot mechanism 420 itself.

[0138] In this embodiment, the first connecting part 421 is a connecting shaft, and the second connecting part 422 is a connecting hole. The connecting shaft is coaxially connected to the output shaft 412 of the ankle motor 410. The rotational motion of the motor output shaft 412 is directly transmitted to the connecting shaft, which serves as a load-bearing component, thereby driving the joint to rotate. This completely eliminates any intermediate transmission links such as gears, belts, and connecting rods. This not only eliminates transmission backlash and ensures extremely high motion control precision, but also avoids energy loss caused by intermediate transmissions, thus improving transmission efficiency. The ankle motor 410 can be very compactly arranged on one side of the connecting shaft or directly fitted onto the connecting shaft, minimizing the size of the entire drive unit. At the same time, this structure ensures that the line of action of the driving force passes precisely through the rotation center of the joint, avoiding additional loads caused by eccentric torque, ensuring smooth movement and a long service life of the components.

[0139] Based on the aforementioned pivot mechanism 420, this embodiment includes two sets of first connecting parts 421 and second connecting parts 422. Both the first connecting parts 421 and second connecting parts 422 are spaced apart along the rotation axis of the foot mechanism relative to the ankle support 400. In other words, the two sets of first connecting parts 421 and second connecting parts 422 are spaced apart, allowing impact force to be transmitted through the two spaced connecting parts. This effectively distributes the load across two load-bearing points, avoiding stress concentration and significantly reducing the load borne by a single connecting part, thereby reducing the risk of wear and fatigue damage. This results in a longer service life and higher reliability for the entire pivot mechanism 420 when subjected to repeated impacts, making it particularly suitable for robot applications requiring high durability.

[0140] The spacing between the two sets of first connecting parts 421 and second connecting parts 422 in the direction of rotation naturally defines a framed central space between the foot mechanism and the ankle support 400. This space is precisely the accommodating space for the ankle motor 410, which not only saves space and makes the structure very compact, but also places the motor between two sturdy support points, which is equivalent to being protected by a structural door frame, further enhancing its safety.

[0141] Since the ankle motor 410 controls the left-right swing of the foot mechanism relative to the ankle support 400, if the foot mechanism is suddenly subjected to excessive force, it will swing left and right. If the swing amplitude is too large, it will exceed the control limit of the ankle motor 410 and cause damage to the ankle motor 410. Therefore, along both sides of the rotation axis between the foot mechanism and the ankle support 400, a third limiting part 280 is provided on the foot mechanism, and a fourth limiting part 440 is provided on the ankle support 400. The contact between the third limiting part 280 and the fourth limiting part 440 limits the left-right rotation angle of the foot mechanism relative to the ankle support 400 around the rotation axis. The third limiting part 280 and the fourth limiting part 440 provided on both sides constitute an absolutely reliable hardware safety barrier that does not rely on a control system. In abnormal situations such as control program errors, sensor malfunctions, or sudden external strong impacts (such as stepping into a hole and landing hard), when the rotation angle reaches its limit, the limiting part transmits a huge force through hard contact between the metal components, physically preventing further rotation, thereby effectively protecting the motor from stalling and burning out, the transmission components from overload damage, and the joint structure itself from plastic deformation.

[0142] During assembly, the instep assembly 210 and heel assembly 220 are rotated relative to each other to open the opening of the placement cavity 270. The ankle motor 410 is then placed into the placement cavity 270. The ankle bracket 400 is lowered to the assembly position, causing the instep assembly 210 and heel assembly 220 to return to their original positions. The second limiting part 211 abuts against the first limiting part 221, and the foot mechanism returns to its state of use. The connecting shaft on the foot mechanism mates with the connecting hole on the ankle bracket 400. The output shaft 412 of the ankle motor 410 is assembled with the connecting shaft. The housing 411 of the ankle motor 410 is fixed on the ankle bracket 400. Finally, the ankle bracket 400 is connected to the robot's lower leg mechanism 300 to complete the entire installation. When the robot moves, the impact force from the bottom surface on the foot mechanism is transmitted to the ankle support 400 through the rotating shaft mechanism 420, and then transmitted upward through the ankle support 400. The ankle motor 410 mainly controls the left and right swing of the foot mechanism to realize the inversion and eversion of the foot mechanism. Example 6:

[0143] like Figure 28 As shown, a humanoid robot is also disclosed, which adopts any of the above-mentioned humanoid robotic legs. By integrating the high-performance humanoid robotic legs, the humanoid robot has achieved unprecedented overall motion performance, stability and energy efficiency, realizing a qualitative change from local component innovation to global system performance breakthrough.

[0144] Humanoid robots can achieve faster walking speeds, more agile turning, higher jump heights, and greater leap distances, with more natural, fluid, and human-like movements. Multiple measures protect the most vulnerable and expensive drive units, and robust mechanical structures and hard limits prevent overload damage. This allows the robot to withstand long-term, high-intensity tasks, significantly reducing failure rates and maintenance costs, and improving uptime and task success rates. Furthermore, the robot can achieve a heel-toe gait similar to humans, significantly reducing walking energy consumption, resulting in a more natural and fluid posture. Passive cushioning in the feet allows the robot to maintain better balance and stability when facing uneven terrain.

[0145] The above description is only a specific embodiment of the present utility model, but the technical features of the present utility model are not limited thereto. Any changes or modifications made by those skilled in the art within the scope of the present utility model are covered by the patent scope of the present utility model.

Claims

1. A humanoid robotic leg, comprising a thigh mechanism, a lower leg mechanism, and a foot mechanism rotatably connected from top to bottom, characterized in that: Each adjacent mechanism is provided with a joint connection mechanism, which includes a drive motor located on the upper mechanism and a hinge seat located on the lower mechanism. When the humanoid robotic leg is in an upright position, the lower leg mechanism remains vertical, the thigh mechanism leans forward relative to the lower leg mechanism and forms an acute angle with the lower leg mechanism, and the front side of the lower leg mechanism supports the drive motor. The drive motor includes a motor body, a gearbox, and a connector with a connecting groove. Both the motor body and the gearbox are provided with connecting bosses that protrude radially outward along the motor shaft. After the two connecting bosses are engaged, they are inserted into the connecting groove together. The connector is fixedly connected to the motor body and the gearbox to limit the relative displacement of the motor body and the gearbox in the mating direction. The gearbox is rotatably connected to the hinge seat. The output end of the gearbox is equipped with an adapter for transmitting motor torque to the hinge seat. A buffer pad is provided on the torque transmission path. The buffer pad filters the mutual impact between the adapter and the hinge seat during the torque transmission process. A support pad is provided between the outer periphery of the gearbox and the hinge seat. The hinge seat forms a sliding support for the gearbox through the support pad. The foot mechanism includes a foot mechanism, an ankle support, and an ankle motor. The ankle support is fixedly connected to a corresponding hinge seat. The ankle support is also rotatably connected to the foot mechanism through a rotating shaft mechanism to transmit the impact force borne by the foot mechanism to the ankle support. The ankle motor drives the foot mechanism to rotate relative to the ankle support. The foot mechanism includes an instep assembly, a heel assembly, a toe assembly, and an elastic device. The toe assembly is connected to the front end of the instep assembly via a first revolute joint. The two ends of the elastic device are respectively connected to the rear of the toe assembly and between the instep assembly or the heel assembly. When the toe assembly rotates relative to the instep assembly, the elastic device is stretched or compressed to provide cushioning.

2. The humanoid robotic leg as described in claim 1, characterized in that, The hinge base includes a base plate and a first side plate and a second side plate disposed on opposite sides of the base plate. The adapter is connected to the first side plate in a transmission manner, and the second side plate is rotatably connected to the end of the gearbox away from the adapter. The support pad is fixed on the base plate and forms a sliding support for the outer surface of the gearbox. The upper surface of the support pad forms a support surface, and the outer surface of the gearbox and the support surface are arc surfaces with the rotation axis of the gearbox as the center. The outer surface of the gearbox contacts and fits against the support surface.

3. The humanoid robotic leg as described in claim 2, characterized in that, The base plate has an installation groove on its surface. The support pad can be detachably installed in the installation groove. The upper surface of the support pad protrudes from the surface of the base plate. The base plate has two limiting grooves distributed along the rotation direction. The two limiting grooves are located on both sides of the installation groove. The support pad has outwardly protruding extensions on both sides. After the support pad is installed into the installation groove, the extensions are embedded in the limiting grooves.

4. The humanoid robotic leg as described in claim 1, characterized in that, The gearbox has a rotating groove at the end away from the adapter. The sidewall of the rotating 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 rotating groove and rotates with the rotating groove. A bushing is assembled between the convex ring and the rotating groove.

5. The humanoid robotic leg as described in claim 2, characterized in that, The first side plate and the bottom plate are an integral structure, and the second side plate and the bottom plate are detachably connected. The bottom 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.

6. The humanoid robotic leg as described in claim 1, characterized in that, One of the adapter and the hinge seat is provided with several protruding protrusions, which are circumferentially spaced. The other is provided with a positioning groove for the protrusions to be inserted. The adapter and the hinge seat achieve anti-rotation fit through the convex-concave fit between the protrusions and the positioning groove. The buffer pad is filled between the sidewalls of the protrusions and the positioning groove.

7. A humanoid robotic leg as described in claim 6, characterized in that, The buffer pad includes several buffer blocks. In the rotation direction of the adapter, buffer blocks are fixed on both sides of the protrusion. After the protrusion is embedded in the positioning groove, the buffer blocks are restricted between the protrusion and the side wall of the positioning groove. The buffer pad also includes a connecting ring. The connecting ring is coaxially arranged with the adapter. The buffer blocks are circumferentially distributed on the outer periphery of the connecting ring. The connecting ring and the buffer blocks are an integral structure.

8. The humanoid robotic leg as described in claim 1, characterized in that, The gearbox is equipped with a rotating shaft, which is connected to the output end of the motor body via a bevel gear transmission. One end of the rotating shaft is connected to an inertia disk via a reduction mechanism. The adapter is coaxially arranged with the inertia disk and fixedly connected.

9. A humanoid robotic leg as described in claim 1, characterized in that, Along the docking direction between the motor body and the gearbox, each end of the connecting groove is provided with a connecting lug, which is detachably connected to the corresponding motor body and gearbox by bolts.

10. A humanoid robotic leg as described in claim 9, characterized in that, The motor body has a first fixing groove on its end face, the gearbox has a second fixing groove on its end face, the drive motor also includes a connecting piece, the connecting piece is inserted into the first fixing groove and the second fixing groove, and the connecting piece has a threaded hole that matches the bolt.

11. A humanoid robotic leg as described in claim 9, characterized in that, The side wall of the motor body and the side wall of the gearbox are respectively provided with clearance grooves, and the connecting lug of the connector is placed in the corresponding clearance groove.

12. The humanoid robotic leg as described in claim 1, characterized in that, The two connecting bosses are a first boss and a second boss, and the connecting groove has a first groove wall and a second groove wall that are arranged opposite to each other along the docking direction. The first groove wall abuts against the end face of the first boss away from the second boss, and the second groove wall abuts against the end face of the second boss away from the first boss.

13. A humanoid robotic leg as described in claim 12, characterized in that, The first groove wall and the end face of the first boss away from the second boss are in surface contact, and the second groove wall and the end face of the second boss away from the first boss are in surface contact.

14. A humanoid robotic leg as described in claim 12, characterized in that, The end face of the first boss away from the second boss is a first inclined surface, and the end face of the second boss away from the first boss is a second inclined surface, so that the thickness of the first boss and the second boss after docking gradually decreases in the direction away from the center of the drive motor; the first groove wall is a third inclined surface adapted to the first inclined surface, and the second groove wall is a fourth inclined surface adapted to the second inclined surface, so that the connecting groove has a structure with a large opening and a small interior.

15. A humanoid robotic leg as described in claim 1, characterized in that, In the joint connection mechanism between the thigh mechanism and the lower leg mechanism, a baffle is provided on the front side of the gearbox of the drive motor. The baffle abuts against the hinge seat to limit the forward tilt angle of the thigh mechanism.

16. A humanoid robotic leg as described in claim 15, 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.

17. A humanoid robotic leg as described in claim 15, characterized in that, The hinge seat includes a base plate and a first side plate and a second side plate disposed on opposite 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. The base plate is arc-shaped. 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.

18. A humanoid robotic leg as described in 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 drive motor and forms the thigh mechanism with the drive motor. An angle is formed between the hinge end and the drive motor. When the humanoid robot leg is in an upright state, the hinge end is parallel to the lower leg mechanism. The thigh body also includes a bending part, which is formed at the bottom of the thigh body. The bottom end of the bending part is connected to the top of the motor. The hinge end forms an angle with the drive motor through the bending part.

19. A humanoid robotic leg as described in claim 1, characterized in that, The foot mechanism has an upward-facing cavity for accommodating the ankle motor. The ankle support covers the opening of the cavity and together with the foot mechanism, forms a space for accommodating and protecting the ankle motor. The cavity is located between the instep assembly and the heel assembly.

20. A humanoid robotic leg as described in claim 1 or 19, characterized in that, The rear bottom of the instep assembly is connected to the front top of the heel assembly via a second rotating joint; the heel assembly is provided with a first limiting part, and the instep assembly is provided with a second limiting part, the second limiting part abutting against the first limiting part to limit the upward rotation of the instep assembly relative to the heel assembly.

21. A humanoid robotic leg as described in claim 1, characterized in that, The pivot mechanism includes at least one first connecting part disposed on the foot mechanism, and at least one second connecting part disposed on the ankle support and rotatably engaging with the first connecting part.

22. A humanoid robotic leg as described in claim 21, characterized in that, There are two of each of the first and second connecting parts, and they are spaced apart along the rotation axis of the foot mechanism relative to the ankle support.

23. A humanoid robotic leg as described in claim 21 or 22, characterized in that, One of the first connecting part and the second connecting part is a connecting shaft, and the other is a connecting hole adapted to the connecting shaft; the connecting shaft is coaxially connected to the output shaft of the ankle motor.

24. A humanoid robotic leg as described in claim 21, characterized in that, The foot mechanism is provided with an upwardly extending first connector, and the first connecting part is disposed on the first connector; the ankle support is provided with a downwardly extending second connector, and the second connecting part is disposed on the second connector; the first connector and the second connector are arranged side by side along the axial direction of the ankle motor output shaft.

25. A humanoid robotic leg as described in claim 1, characterized in that, Along both sides of the rotation axis of the foot mechanism and the ankle support, the foot mechanism is provided with a third limiting part, and the ankle support is provided with a fourth limiting part; the abutment of the third limiting part and the fourth limiting part restricts the left and right rotation angle of the foot mechanism relative to the ankle support around the rotation axis.

26. The humanoid robotic leg as described in claim 1, characterized in that, The first rotating joint is disposed in the middle of the instep assembly and the toe assembly. The first rotating joint includes a connecting groove disposed on the toe assembly and a connecting part disposed on the instep assembly and extending into the connecting groove. The connecting part and the groove wall of the connecting groove are rotatably connected by a rotating shaft. The cross-section of the groove opening is constructed to be smaller inside and larger outside to limit the range of motion of the connecting part in the groove, thereby limiting the rotation amplitude of the toe assembly relative to the instep assembly.

27. A humanoid robotic leg as described in claim 1, characterized in that, The elastic device is suspended below the instep assembly, and its horizontal height is higher than the ground contact plane of the toe assembly and heel assembly to avoid contact between the elastic device and the ground.

28. A humanoid robot, characterized in that, Includes the humanoid robotic legs as described in any one of claims 1 to 27.

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