Leg dynamics structure of a humanoid robot and humanoid robots

Abstract

Leg dynamics structure of a humanoid robot, characterized in that the structure comprises a step drive unit (52), a thigh body assembly (1), a lower leg body assembly (2) and a foot assembly (3) arranged at the waist of the humanoid robot and connected one after the other, wherein the thigh body assembly (1) comprises a first thigh body (11) and a second thigh body (12), wherein the lower leg body assembly (2) comprises a lower leg body (21), wherein the foot assembly (3) comprises a foot support element (31), wherein the step drive unit (52) is used to drive the first thigh body (11) to swing upwards and downwards, so that the entire leg dynamic structure is driven to swing upwards and downwards, wherein the upper part of the first thigh body (11) is provided with a hip joint drive unit (13) for driving the first thigh body (11) to swing left and right so that the entire leg dynamic structure is driven to swing left and right, wherein a first drive unit (14) is arranged between the first thigh body (11) and the second thigh body (12) to cause a relative circumferential rotation of the first thigh body (11) and the second thigh body (12), wherein a knee joint drive unit (15) is arranged on the thigh body assembly (1) or between the thigh body assembly (1) and the lower leg body assembly (2) in order to cause a relative upward and downward oscillation of the thigh body assembly (1) and the lower leg body (21), wherein an ankle drive unit is arranged on the lower leg body (21), the output end of the ankle drive unit being provided with a connecting rod, the connecting rod being connected to the foot support member (31) to drive the foot support member (31) to swing in up and down directions and left and right directions.

Description

TECHNICAL FIELD

[0001] The present invention relates to the technical field of humanoid robots, particularly to a leg dynamic structure of a humanoid robot and a humanoid robot. STATE OF THE ART

[0002] In recent years, the robot industry has developed rapidly, and humanoid robots, in particular, have become one of the hot spots in robot technology at home and abroad. The leg dynamics structure of the humanoid robot is the focus of humanoid robot design.

[0003] Furthermore, the Chinese patent (publication number CN111098951A) discloses a walking structure and a robot resembling a humanoid service robot. In the walking structure, two sets of foot links and connecting rods are arranged between the hip part and the torso part, forming a four-bar mechanism composed of the hip part, the torso part, a set of foot links, and connecting rods. The hip part is relatively immobile, and the torso part can be driven to pivot relative to the hip part via a hip steering gear, so that the connecting rod is connected to the foot link. The two foot links are respectively attached to the output shafts of the two foot steering gears, and each set of four-bar mechanisms with the corresponding foot steering gear serves as a leg.

[0004] However, the above solution uses a four-rod mechanism and a hip steering gear to realize the movement patterns of the hips and legs. The movements that can be performed are relatively limited, which cannot meet the requirements for humanoid robots to achieve various postures and movements. The anthropomorphic effect is poor, which is not conducive to the promotion and use of humanoid robots.

[0005] In addition, in the above solution, the leg dynamic structure of the humanoid robot is not reasonably designed and arranged, which makes the overall structure relatively bloated and not compact enough.

[0006] The information disclosed in the present prior art serves only as a background for understanding the inventive concept and may therefore contain information that does not represent the prior art. CONTENT OF THE PRESENT INVENTIONTechnical solutions

[0007] In view of the above problems or one of the above problems, the purpose I of the present invention is to provide a leg dynamic structure of a humanoid robot, which can meet the requirements for humanoid robots to achieve various postures and movements, thereby making the structure simple and compact.

[0008] In view of the above problems or one of the above problems, the purpose II of the present invention is to provide a humanoid robot which can meet the requirements for humanoid robots to achieve various postures and movements through its leg dynamic structure, thereby making the structure simple and compact.

[0009] In view of the above-mentioned problems or one of the above-mentioned problems, the purpose III of the present invention is to provide a leg dynamics structure of a humanoid robot and a humanoid robot. A first thigh body, a lower leg body, and a foot support member, as well as corresponding hip joint drive units, knee joint drive units, and ankle drive units, are arranged so that various anthropomorphic leg and foot movements can be performed, which can well meet the requirements for humanoid robots to achieve various postures and movements. The entire leg dynamics structure is reasonably designed and compact, thus achieving a good anthropomorphic effect, which is convenient for the promotion and use of humanoid robots.

[0010] To achieve one of the above-mentioned purposes, a first technical solution of the present invention consists in: A leg dynamics structure of a humanoid robot, the structure comprising a stepping drive unit, a thigh body assembly, a lower leg body assembly, and a foot assembly arranged at the waist of the humanoid robot and connected sequentially, the thigh body assembly comprising a first thigh body and a second thigh body, the lower leg body assembly comprising a lower leg body, the foot assembly comprising a foot support member, the stepping drive unit being used to drive the first thigh body to swing upwards and downwards, so that the entire leg dynamics structure is driven to swing upwards and downwards, wherein the upper part of the first thigh body is provided with a hip joint drive unit for driving the first thigh body to swing left and right, so that the entire leg dynamic structure is driven to swing left and right, wherein a first drive unit is arranged between the first thigh body and the second thigh body to effect a relative circumferential rotation of the first thigh body and the second thigh body, wherein a knee joint drive unit is arranged on the thigh body assembly or between the thigh body assembly and the lower leg body assembly to cause a relative upward and downward oscillation of the thigh body assembly and the lower leg body, wherein an ankle drive unit is arranged on the lower leg body, the output end of the ankle drive unit being provided with a connecting rod, the connecting rod being connected to the foot support member to drive the foot support member to swing in up and down directions and left and right directions.

[0011] After continuous research and experimentation, the present invention provides that the entire leg is driven to swing left and right by a hip joint drive unit arranged at the waist of the humanoid robot, thereby realizing the left and right movement of the humanoid robot; that the entirety of the lower leg body assembly and the foot assembly is driven to rotate about its own axis by a first drive unit arranged on the first femoral body or between the first femoral body and the second femoral body, thereby realizing the steering of the humanoid robot; that the lower leg body assembly is driven to swing up and down relative to the femoral body assembly by the knee joint drive unit, thereby realizing a bending action at the knee joint of the humanoid robot;The rocker arm and connecting rod are driven by the ankle drive unit arranged on the lower leg body, thus driving the foot assembly, thereby realizing the up-and-down and left-and-right swinging of the humanoid robot. The present invention enables various anthropomorphic leg and foot movements, which can well meet the requirements for humanoid robots to achieve various postures and movements. The entire leg dynamic structure is reasonably designed and compact, resulting in a good anthropomorphic effect, which is practical for the promotion and use of humanoid robots.

[0012] The preferred technical measure is to the first drive unit is attached to the first thigh body by a first bracket part, wherein a first axial structure for limiting the axial movement of the first drive unit and a first circumferential structure for limiting the circumferential rotation of the first drive unit are arranged between the first bracket part and the first drive unit, wherein the first axial structure and the first circumferential structure are an integrated structure or two split structures, and / or, wherein the knee joint drive unit is fastened to the second femoral body by a second bracket part, wherein a second axial structure for limiting the axial movement of the knee joint drive unit and a second circumferential structure for limiting the circumferential rotation of the knee joint drive unit are arranged between the second bracket part and the knee joint drive unit, wherein the second axial structure and the second circumferential structure are an integrated structure or two split structures, and / or, wherein the hip joint drive unit is attached to the rotating end of the step drive unit by a third bracket part, wherein a third axial structure for limiting the axial movement of the hip joint drive unit and a third circumferential structure for limiting the circumferential rotation of the hip joint drive unit are arranged between the third bracket part and the hip joint drive unit, wherein the third axial structure and the third circumferential structure are an integrated structure or two split structures, and / or, wherein the stepper drive unit is mounted to a waist and abdominal part by a sixth bracket part, wherein a sixth axial structure for limiting the axial movement of the stepper drive unit and a sixth circumferential structure for limiting the circumferential rotation of the stepper drive unit are arranged between the sixth bracket part and the stepper drive unit, wherein the sixth axial structure and the sixth circumferential structure are an integrated structure or two split structures.

[0013] The drive unit according to the invention is secured by means of a bracket part, so that the drive unit can be effectively secured to the leg body. This prevents slippage of the drive unit and, at the same time, effectively reduces the use of fasteners (screws or bolts), improving disassembly and assembly efficiency. Compared to the fixed structure of screws or bolts, the structure is more attractive.

[0014] The preferred technical measure is to the first axial structure has a first annular projection arranged on the inner ring of the first bracket part, and a first annular groove which cooperates with the first annular projection and is arranged on the first drive unit, wherein the first circumferential structure has a first projection arranged on the inner ring of the first bracket part, and a first groove which cooperates with the first projection and is arranged on the first drive unit, and / or, wherein the second axial structure comprises a second annular projection arranged on the inner ring of the second bracket part, and a second annular groove cooperating with the second annular projection and arranged on the knee joint drive unit, wherein the second circumferential structure comprises a second projection arranged on the inner ring of the second bracket part, and a second groove cooperating with the second projection and arranged on the knee joint drive unit, and / or, wherein the third axial structure comprises a third annular projection arranged on the inner ring of the third bracket part, and a third annular groove cooperating with the third annular projection and arranged on the hip joint drive unit, wherein the third circumferential structure comprises a third projection arranged on the inner ring of the third bracket part, and a third groove cooperating with the third projection and arranged on the hip joint drive unit, wherein the sixth axial structure comprises a sixth annular projection arranged on the inner ring of the sixth bracket part, and a sixth annular groove which cooperates with the sixth annular projection and is arranged on the stepper drive unit, wherein the sixth circumferential structure comprises a sixth projection arranged on the inner ring of the sixth bracket part, and a sixth groove which cooperates with the sixth projection and is arranged on the stepper drive unit.

[0015] All or optionally one or more of the first drive unit, the knee joint drive unit, the hip joint drive unit, and the stepper drive unit are attached to the first thigh body, the second thigh body, and the waist of the humanoid robot by means of a quick-detachable bracket structure. The axial and circumferential displacement of the drive unit on the thigh body is thus limited by the stop design of the projections and grooves. During disassembly, only the interlocked brackets need to be released, making disassembly convenient and quick, and securing the unit reliably.

[0016] The preferred technical measure is to the first bracket part, the second bracket part, the third bracket part and the sixth bracket part each comprise two halved and interlocked brackets, or, wherein the first bracket part, the second bracket part and the sixth bracket part are each formed in a semicircular arc shape, at the two ends of which connecting holes for mounting fastening elements are arranged, wherein the third bracket part each comprises two bracket ring bodies locked together, wherein the first thigh body, the second thigh body and the waist and abdominal part are each formed in a concave arc shape, on the end surfaces of which fitting holes for fastening fastening elements are arranged, wherein the semicircular arc-shaped structure and the concave arc-shaped structure are screwed together to form a complete wrapping structure.

[0017] Thanks to the enveloping structure, the dimensional range is not increased by adding the bracket part to the leg dynamics structure of the humanoid robot. At the same time, only half the bracket needs to be manufactured for the present invention compared to the existing ring-shaped bracket structure. This simplifies the production of the bracket part according to the invention, resulting in low manufacturing costs and a more attractive leg dynamics structure of the humanoid robot.

[0018] As a preferred technical measure, it is provided that the ankle drive unit comprises a first ankle drive unit and a second ankle drive unit, wherein the first ankle drive unit and the second ankle drive unit are arranged at the top and bottom of the lower leg body, wherein the output end of the first ankle drive unit is sequentially connected to a first rocker arm and a first linkage lever, wherein the output end of the second ankle drive unit is sequentially connected to a second rocker arm and a second linkage lever, wherein a front fork arm is formed by the first linkage lever and the second linkage lever such that a front bearing seat is movably connected to the footrest member to drive the footrest member to swing in up and down directions and left and right directions, which has a simple structure and practicability to facilitate production and manufacturing and reduce manufacturing costs, wherein the lower end of the lower leg body is provided with a rear fork arm such that the rear bearing seat is movably connected to the footrest member to complete the swinging of the footrest member in up and down directions and left and right directions by cooperating with the first linkage lever and the second linkage lever.

[0019] The preferred technical measure is to the second thigh body is provided with a heat-conducting element which is in contact with the knee joint drive unit, or, wherein an elastic protective hood is arranged on the front or back of the lower leg body for snapping into place with the lower leg body, or, wherein the sole of the foot support member is covered with a foot cushioning member, which can effectively prevent wear of the foot support member and extend the service life of the foot structure, or, wherein a heat conducting element and / or a heat dissipation element is arranged on the second thigh body and / or lower leg body and / or waist and abdominal part or their periphery, wherein the heat dissipation element is a metal sheet or a heat pipe or a cooling liquid or a metal wire or a fin, wherein the heat dissipation element is a fan or a ventilator or a heat dissipation fin, so that the heat dissipation of the second thigh body and the lower leg body can be effectively accelerated, thereby preventing normal operation from being impaired by overheating of the internal components of the second thigh body and the lower leg body, or, wherein the knee joint drive unit is mounted on the thigh body assembly such that the lower leg body assembly is driven by means of a rod-shaped structure to swing upwards and downwards relative to the thigh body assembly, or, wherein the stepper drive unit, the hip joint drive unit, the first drive unit, the knee joint drive unit, and the ankle drive unit are each a rotary motor and a motor with a reduction gear, respectively.

[0020] To achieve one of the above-mentioned purposes, a second technical solution of the present invention consists in: Leg dynamic structure of a humanoid robot, comprising a step drive unit, a first thigh body, a lower leg body and a foot support element mounted on a humanoid robot, wherein the step drive unit is used to drive the first thigh body to swing upwards and downwards, so that the entire leg dynamic structure is driven to swing upwards and downwards, wherein the first thigh body is equipped with a hip joint drive unit for driving the first thigh body to swing left and right, so that the entire leg dynamic structure is driven to swing left and right, wherein a knee joint drive unit is arranged on the first thigh body or between the first thigh body and the lower leg body in order to drive the lower leg body to swing relative to the first thigh body, wherein an ankle drive unit is arranged on the lower leg body or between the lower leg body and the foot support element in order to drive the foot support element to swing.

[0021] After continuous research and experimentation, the present invention incorporates a first thigh body, a lower leg body, and a foot support element, as well as corresponding hip joint drive units, knee joint drive units, and ankle drive units, allowing various anthropomorphic leg and foot movements to be performed, which can well meet the requirements for humanoid robots to achieve various postures and movements. The overall leg dynamic structure is reasonably designed and compact, resulting in a good anthropomorphic effect, which is convenient for the promotion and use of humanoid robots.

[0022] The preferred technical measure is to the first thigh body is connected to the knee joint drive unit via a second thigh body, wherein a first drive unit, an input port, and an output port are arranged between the first thigh body and the second thigh body to effect relative circumferential rotation of the first thigh body and the second thigh body, wherein the fixed end of the hip joint drive unit is attached to the rotating end of the step drive unit, wherein the step drive unit is mounted on the waist and abdominal part, and / or, wherein the fixed end of the first drive unit is attached to the first thigh body by a first bracket part, wherein one of the fixed ends of the first bracket part and the first drive unit is provided with a concave hole I and the other fixed end is provided with a convex body I, wherein the cross-sectional shape of the concave hole I is adapted to the cross-sectional shape of the convex body I, and / or, wherein the fixed end of the knee joint drive unit is attached to the second thigh body by a second bracket part, wherein one of the fixed ends of the second bracket part and the knee joint drive unit is provided with a concave hole II and the other fixed end is provided with a convex body II, wherein the cross-sectional shape of the concave hole II is adapted to the cross-sectional shape of the convex body II, and / or, wherein the fixed end of the hip joint drive unit is fixed to the rotating end of the step drive unit by a third bracket part, wherein one of the fixed ends of the third bracket part and the hip joint drive unit is provided with a concave hole III and the other fixed end is provided with a convex body III, wherein the cross-sectional shape of the concave hole III is adapted to the cross-sectional shape of the convex body III, or / and, wherein the fixed end of the ankle drive unit is fastened to the lower leg body by a fourth bracket part, wherein one of the fixed ends of the fourth bracket part and of the ankle drive unit is provided with a concave hole IV and the other fixed end is provided with a convex body IV, wherein the cross-sectional shape of the concave hole IV is adapted to the cross-sectional shape of the convex body IV, or wherein the fixed end of the ankle drive unit is fastened directly to the lower leg body via bolts or screws, or / and, wherein the input connection and the output connection are fastened by means of a fifth bracket part, wherein the step drive unit is mounted on the waist and abdomen part via a sixth bracket part, wherein one of the fixed ends of the sixth bracket part and the step drive unit is provided with a concave hole VI and the other fixed end is provided with a convex body VI, wherein the cross-sectional shape of the concave hole VI is adapted to the cross-sectional shape of the convex body VI.

[0023] The preferred technical measure is to The first bracket part, the second bracket part, the fourth bracket part, and the sixth bracket part are each formed in a semicircular arc shape, with connecting holes for mounting fastening elements arranged at both ends thereof. The first thigh body, the second thigh body, the lower leg body, and the waist and abdomen part are each formed in a concave arc shape or a square leaf shape, with fitting holes for attaching fastening elements arranged on their end surfaces. The semicircular arc structure and the concave arc structure are screwed together to form a complete leg-wrapping structure. Due to the leg-wrapping structure, the dimensional range is not increased by adding the bracket part in the leg dynamic structure of the humanoid robot. At the same time, only half of the bracket needs to be manufactured for the present invention compared to the existing annular bracket structure.This makes the manufacturing of the bracket part according to the invention easier, so that the manufacturing cost is low and the leg dynamic structure of the humanoid robot is more beautiful. wherein the third bracket part and the fifth bracket part each comprise two bracket ring bodies locked together, or / and, wherein the concave hole I, the concave hole II, the concave hole III, the concave hole IV and the concave hole VI are each square concave holes or circular concave holes or concave holes with a reducing diameter or trapezoidal concave holes or triangular concave holes, wherein the convex body I, the convex body II, the convex body III, the convex body IV and the convex body VI are each square convex bodies or circular convex bodies or convex bodies with a reducing diameter or trapezoidal convex bodies or triangular convex bodies. By arranging concave holes and convex bodies, axial and circumferential limitation of the drive unit is directly possible, which makes the design simpler. The number of concave holes and convex bodies can be multiple as required, further increasing the safety of limiting the drive unit. or wherein the first bracket part and / or the second bracket part and / or the third bracket part and / or the fourth bracket part and / or the fifth bracket part and / or the sixth bracket part are semicircular or ring-shaped or sector-shaped or strip-shaped are, at both ends of which connecting holes are arranged for mounting fastening elements, wherein the first thigh body and / or the second thigh body and / or the waist and abdominal part and / or the lower leg body are concave-arched or square, leaf-shaped or rod-shaped or columnar or sleeve-shaped, on the end faces of which fitting holes are arranged for fastening fastening elements, and / or, wherein the foot support element is shoe-shaped or leaf-shaped or human foot-shaped or block-shaped.

[0024] To achieve one of the above-mentioned purposes, a third technical solution of the present invention consists in: Humanoid robot, wherein the waist is provided with a above leg dynamic structure of a humanoid robot. Beneficial effects

[0025] The present invention provides a leg dynamics structure of a humanoid robot. Further, the entire leg is driven to swing left and right by a hip joint drive unit arranged at the waist of the humanoid robot, thereby realizing left and right movement of the humanoid robot. The entire lower leg body assembly and the foot assembly are driven to rotate about their own axis by a first drive unit arranged on the first femoral body or between the first femoral body and the second femoral body, thereby realizing steering of the humanoid robot. The lower leg body assembly is driven to swing up and down relative to the femoral body assembly by the knee joint drive unit, thereby realizing a bending action at the knee joint of the humanoid robot.The rocker arm and connecting rod are driven by the ankle drive unit located on the lower leg body, thus driving the foot assembly, thereby enabling the humanoid robot to swing up and down and left and right. The entire leg dynamics structure is reasonably designed and compact, which well meets the requirements of the humanoid robot for realizing various motion postures.

[0026] The present invention provides a humanoid robot with a leg dynamic structure. Furthermore, the entire leg is driven to swing left and right by a hip joint drive unit arranged at the waist of the humanoid robot, thereby realizing left and right movement of the humanoid robot. The entire lower leg body assembly and the foot assembly are driven to rotate about their own axis by a first drive unit arranged on the first femoral body or between the first femoral body and the second femoral body, thereby realizing steering of the humanoid robot. The lower leg body assembly is driven to swing up and down relative to the femoral body assembly by the knee joint drive unit, thereby realizing a bending action at the knee joint of the humanoid robot.The rocker arm and connecting rod are driven by the ankle drive unit located on the lower leg body, thus driving the foot assembly, thereby enabling the humanoid robot to swing up and down and left and right. The entire leg dynamics structure is reasonably designed and compact, which well meets the requirements of the humanoid robot for realizing various motion postures.

[0027] Furthermore, the present invention provides a first thigh body, a lower leg body, and a foot support element, as well as corresponding hip joint drive units, knee joint drive units, and ankle drive units, so that various anthropomorphic leg and foot movements can be performed, which can well meet the requirements for humanoid robots to achieve various postures and movements. The entire leg dynamic structure is reasonably designed and compact, resulting in a good anthropomorphic effect, which is practical for the promotion and use of humanoid robots.

[0028] The present invention will be explained in more detail below in conjunction with the drawings and the specific embodiments. SHORT DESCRIPTION OF THE DRAWING Fig. 1 is a schematic diagram of a bipedal structure of a leg dynamics structure of a humanoid robot according to the present invention; Fig. 2 is a schematic exploded view of a bipedal structure of a leg dynamic structure of a humanoid robot according to the present invention; Fig. 3 is a schematic diagram of an axis side of a leg dynamic structure of a humanoid robot according to the present invention; Fig. 4 is a schematic diagram of a rear axle side of a leg dynamic structure of a humanoid robot according to the present invention; Fig. 5 is a side view of a leg dynamic structure of a humanoid robot according to the present invention; Fig. 6 is a rear view of a leg dynamic structure of a humanoid robot according to the present invention; Fig. 7 is a full sectional view of a leg dynamic structure of a humanoid robot according to the present invention; Fig. 8 is an exploded view of a leg dynamic structure of a humanoid robot according to the present invention; Fig. 9 is a partially enlarged view of part B of a leg dynamic structure of a humanoid robot according to the present invention; Fig. 10 is a partially enlarged view of part C of a leg dynamic structure of a humanoid robot according to the present invention; Fig. 11 is a partially enlarged view of part D of a leg dynamic structure of a humanoid robot according to the present invention.

[0029] Reference numerals: 1. Thigh body assembly; 11. First thigh body; 12. Second thigh body; 13. Hip joint drive unit; 14. First drive unit; 15. Knee joint drive unit; 2. Lower leg body assembly; 21. Lower leg body; 22. First ankle drive unit; 23. Second ankle drive unit; 24. First rocker arm; 25. First linkage lever; 26. Second rocker arm; 27. Second linkage lever; 28. Elastic protective cover; 29. ​​Heat conducting element; 30. Rear fork arm; 3. Foot assembly; 31. Foot support element; 32. Foot cushioning element; 4. First bracket part; 41. First annular projection; 42. First annular groove; 43. First projection; 44. First groove; 45. Second annular projection; 46. ​​Second ring groove; 47. Second projection; 48. Second groove; 49. Second bracket part; 50. Front bearing seat; 51. Rear bearing seat; 52. Stepper drive unit; 53. Waist and abdomen part; 54. Sixth bracket part; 55. Sixth ring groove; 56. Sixth ring projection; 57. Sixth groove; 58. Sixth projection; 59.Input port; 60. Output port; 61. Fifth bracket part; 62. Third bracket part; 63. Connecting hole; 64. Fitting hole; 65. Third annular groove; 66. Third annular projection; 67. Third projection; 68. Third groove; 69. Heat dissipation element. DETAILED DESCRIPTION

[0030] The present invention will be further described below in conjunction with the drawings and specific embodiments. It should be noted that the embodiments or technical features described below can be arbitrarily combined to form new embodiments, provided they do not conflict.

[0031] It should be noted that the two elements may be directly connected, or an intermediate element may be present if the two elements are rigidly connected or pivotally connected. In contrast, there is no intermediate element if one element is directly referenced on another element. The terms left, right, front, back, top, bottom, and similar expressions used herein are for illustrative purposes only.

[0032] Unless otherwise defined, all technical and scientific terms used in the present invention have the same meaning as commonly understood by those skilled in the art to which this invention pertains. The terms used in the present invention are for the purpose of describing specific embodiments only and are not intended to limit the present invention.

[0033] A first specific embodiment of the leg dynamic structure of the humanoid robot according to the present invention, as shown in Fig. 1 to Fig. 11 shown: Leg dynamic structure of a humanoid robot, comprising a step drive unit 52, a first thigh body 11, a lower leg body 21 and a foot support element 31 mounted on a humanoid robot, wherein the step drive unit 52 is used to drive the first thigh body 11 to swing up and down, so that the entire leg dynamic structure is driven to swing up and down, wherein the first thigh body 11 is equipped with a hip joint drive unit 13 for driving the first thigh body 11 to swing left and right, so that the entire leg dynamic structure is driven to swing left and right, wherein a knee joint drive unit 15 is arranged on the first thigh body 11 or between the first thigh body 11 and the lower leg body 21 in order to drive the lower leg body 21 to swing relative to the first thigh body 11, wherein an ankle drive unit is arranged on the lower leg body 21 or between the lower leg body 21 and the foot support element 31 in order to drive the foot support element 31 to swing.

[0034] According to the present embodiment, it is provided that the first thigh body 11 is connected to the knee joint drive unit 15 via a second thigh body 12, wherein a first drive unit 14, an input port 59 and an output port 60 are arranged between the first thigh body 11 and the second thigh body 12 to effect a relative circumferential rotation of the first thigh body 11 and the second thigh body 12, wherein the fixed end of the hip joint drive unit 13 is attached to the rotating end of the step drive unit 52, wherein the step drive unit 52 is mounted on the waist and abdominal part 53, wherein the fixed end of the first drive unit 14 is fixed to the first thigh body 11 by a first bracket part 4, wherein one of the fixed ends of the first bracket part 4 and the first drive unit 14 is provided with a concave hole I and the other fixed end is provided with a convex body I, wherein the cross-sectional shape of the concave hole I is adapted to the cross-sectional shape of the convex body I, wherein the fixed end of the knee joint drive unit 15 is fastened to the second thigh body 12 by a second bracket part 49, wherein one of the fixed ends of the second bracket part 49 and the knee joint drive unit 15 is provided with a concave hole II and the other fixed end is provided with a convex body II, wherein the cross-sectional shape of the concave hole II is adapted to the cross-sectional shape of the convex body II, wherein the fixed end of the hip joint drive unit 13 is fixed to the rotating end of the step drive unit 52 by a third bracket part 62, wherein one of the fixed ends of the third bracket part 62 and the hip joint drive unit 13 is provided with a concave hole III and the other fixed end is provided with a convex body III, wherein the cross-sectional shape of the concave hole III is adapted to the cross-sectional shape of the convex body III, wherein the input terminal 59 and the output terminal 60 are fixed by means of a fifth bracket part 61, wherein the stepping drive unit 52 is mounted on the waist and abdomen part 53 via a sixth bracket part 54, wherein one of the fixed ends of the sixth bracket part 54 and the stepping drive unit 52 is provided with a concave hole VI and the other fixed end is provided with a convex body VI, wherein the cross-sectional shape of the concave hole VI is adapted to the cross-sectional shape of the convex body VI.

[0035] According to the present embodiment, it is provided that the first bracket part 4, the second bracket part 49, the fourth bracket part and the sixth bracket part 54 are each formed in a semicircular arc shape, at the two ends of which connecting holes 63 are arranged for the installation of fastening elements, wherein the first thigh body 11, the second thigh body 12 and the waist and abdominal part 53 are each formed in a concave arc shape or a square leaf shape, on the end faces of which fitting holes 64 are arranged for the attachment of fastening elements, wherein the semicircular arc structure and the concave arc structure are screwed together to form a complete leg wrapping structure, wherein the third bracket part 62 and the fifth bracket part 61 each comprise two bracket ring bodies locked together, where the concave hole I, the concave hole II, the concave hole III and the concave hole VI are each square concave holes, where the convex body I, the convex body II, the convex body III and the convex body VI are each square convex bodies, wherein the foot support element 31 is shaped like a human foot.

[0036] A second specific embodiment of the leg dynamic structure of the humanoid robot according to the present invention: A leg dynamics structure of a humanoid robot comprising a stepping drive unit 52, a thigh body assembly 1, a lower leg body assembly 2, and a foot assembly 3 arranged at the waist of the humanoid robot and connected in sequence. The thigh body assembly 1 includes a first thigh body 11 and a second thigh body 12. The lower leg body assembly 2 includes a lower leg body 21. The foot assembly 3 includes a foot support member 31. The stepping drive unit 52 is used to drive the first thigh body 11 to swing upwards and downwards, so that the entire leg dynamics structure is driven to swing upwards and downwards. The upper part of the first thigh body 11 is provided with a hip joint drive unit 13 for driving the first thigh body 11 to swing left and right.so that the entire leg dynamic structure is driven to swing left and right, wherein a first drive unit 14 is arranged between the first femoral body 11 and the second femoral body 12 to effect a relative circumferential rotation of the first femoral body 11 and the second femoral body 12, wherein a knee joint drive unit 15 is arranged between the femoral body assembly 1 and the lower leg body assembly 2 to effect a relative upward and downward oscillation of the femoral body assembly 1 and the lower leg body 21, wherein an ankle drive unit is arranged on the lower leg body 21, wherein a rocker arm and a connecting rod are arranged at the output end of the ankle drive unit and are connected one after the other, wherein the connecting rod is connected to the foot support element 31,to drive the foot support member 31 to swing in up and down directions and left and right directions.

[0037] According to the present exemplary embodiment, the first drive unit 14 is fastened to the first femoral body 11 by a first bracket part 4, wherein a first axial structure for limiting the axial movement of the first drive unit 14 and a first circumferential structure for limiting the circumferential rotation of the first drive unit 14 are arranged between the first bracket part 4 and the first drive unit 14, wherein the first axial structure and the first circumferential structure are an integrated structure or two split structures, wherein the knee joint drive unit 15 is fastened to the second femoral body 12 by a second bracket part 49, wherein a second axial structure for limiting the axial movement of the knee joint drive unit 15 and a second circumferential structure for limiting the circumferential rotation of the knee joint drive unit 15 are arranged between the second bracket part 49 and the knee joint drive unit 15,wherein the second axial structure and the second circumferential structure are an integrated structure or two split structures, wherein the hip joint drive unit 13 is fastened to the rotating end of the step drive unit 52 by a third bracket part 62, wherein a third axial structure for limiting the axial movement of the hip joint drive unit 13 and a third circumferential structure for limiting the circumferential rotation of the hip joint drive unit 13 are arranged between the third bracket part 62 and the hip joint drive unit 13, wherein the third axial structure and the third circumferential structure are an integrated structure or two split structures, wherein the stepper drive unit 52 is mounted to a waist and abdomen part 53 by a sixth bracket part 54, wherein a sixth axial structure for limiting the axial movement of the stepper drive unit 52 and a sixth circumferential structure for limiting the circumferential rotation of the stepper drive unit 52 are arranged between the sixth bracket part 54 and the stepper drive unit 52, wherein the sixth axial structure and the sixth circumferential structure are an integrated structure or two split structures.

[0038] According to the present embodiment, it is provided that the first axial structure has a first annular projection 41, which is arranged on the inner ring of the first bracket part 4, and a first annular groove 42, which cooperates with the first annular projection 41 and is arranged on the first drive unit 14, wherein the first circumferential structure has a first projection 43, which is arranged on the inner ring of the first bracket part 4, and a first groove 44, which cooperates with the first projection 43 and is arranged on the first drive unit 14, wherein the second axial structure has a second annular projection 45, which is arranged on the inner ring of the second bracket part 49, and a second annular groove 46, which cooperates with the second annular projection 45 and is arranged on the knee joint drive unit 15, wherein the second circumferential structure has a second projection 47, which is arranged on the inner ring of the second bracket part 49, and a second groove 48,which cooperates with the second projection 47 and is arranged on the knee joint drive unit 15,

[0039] The first drive unit 14 and the knee joint drive unit 15 are attached to the first femoral body 11 and the second femoral body 12 by means of a quick-detachable bracket structure. The axial and circumferential displacement of the first drive unit 14 on the first femoral body 11 and the axial and circumferential displacement of the knee joint drive unit 15 on the second femoral body 12 are thus limited by the stop structure of the projections and grooves. During disassembly, only the interlocked brackets need to be released, making disassembly convenient and quick, and securing the assembly reliable. wherein the third axial structure comprises a third annular projection 66 arranged on the inner ring of the third bracket part 62, and a third annular groove 65 which cooperates with the third annular projection 66 and is arranged on the hip joint drive unit 13, wherein the third circumferential structure comprises a third projection 67 arranged on the inner ring of the third bracket part 62, and a third groove 68 which cooperates with the third projection 67 and is arranged on the hip joint drive unit 13, wherein the sixth axial structure comprises a sixth annular projection 56 arranged on the inner ring of the sixth bracket part 54, and a sixth annular groove 55 which cooperates with the sixth annular projection 56 and is arranged on the stepper drive unit 52, wherein the sixth circumferential structure comprises a sixth projection 58 arranged on the inner ring of the sixth bracket part 54, and a sixth groove 57 which cooperates with the sixth projection 58 and is arranged on the stepper drive unit 52.

[0040] According to the present exemplary embodiment, it is provided that the first bracket part 4, the second bracket part 49 and the sixth bracket part 54 are each formed in a semicircular arc shape, at the two ends of which connecting holes 63 are arranged for the installation of fastening elements, wherein the first thigh body 11, the second thigh body 12 and the waist and abdominal part 53 are each formed in a concave arc shape, on the end surfaces of which fitting holes 64 are arranged for the attachment of fastening elements, wherein the semicircular arc-shaped structure and the concave arc-shaped structure are screwed together in order to form a complete wrapping structure.

[0041] According to the present embodiment, the ankle drive unit comprises a first ankle drive unit 22 and a second ankle drive unit 23, wherein the first ankle drive unit 22 and the second ankle drive unit 23 are arranged at the top and bottom of the lower leg body 21, wherein the output end of the first ankle drive unit 22 is sequentially connected to a first rocker arm 24 and a first link lever 25, wherein the output end of the second ankle drive unit 23 is sequentially connected to a second rocker arm 26 and a second link lever 27, wherein a front fork arm is formed by the first link lever 25 and the second link lever 27 such that a front bearing seat 50 is movably connected to the foot support element 31 in order to drive the foot support element 31 to swing in up and down directions and left and right directions,wherein the lower end of the lower leg body 21 is provided with a rear fork arm 30, so that the rear bearing seat 51 is movably connected to the foot support member 31 to complete the swinging of the foot support member 31 in up and down directions and left and right directions by cooperating with the first link lever 25 and the second link lever 27.,

[0042] According to the present embodiment, the second femoral body 12 is provided with a heat-conducting element 29 that is in contact with the knee joint drive unit 15, wherein an elastic protective hood 28 for engaging with the lower leg body 21 is arranged on the front or rear of the lower leg body 21, wherein the sole of the foot support element 31 is covered with a foot damping element 32, wherein the knee joint drive unit 15 is mounted on the femoral body assembly 1 such that the lower leg body assembly 2 is driven by means of a rod-shaped structure to swing upwards and downwards relative to the femoral body assembly 1, wherein the stepper drive unit 52, the hip joint drive unit 13, the first drive unit 14, the knee joint drive unit 15, and the ankle drive unit are each a rotary motor and a motor with a reduction gear, respectively.

[0043] Furthermore, it is provided that a heat conducting element 29 and / or a heat dissipating element 69 is arranged on the second thigh body 12 and / or lower leg body 21 and / or waist and abdominal part 53 or their circumference, wherein the heat conducting element 29 is a metal sheet or a heat pipe or a cooling liquid or a metal wire or a fin, wherein the heat dissipating element 69 is a fan or a ventilator or a heat dissipating fin in order to dissipate the heat of the drive unit.

[0044] A third specific embodiment of the leg dynamic structure of the humanoid robot according to the present invention: A leg dynamics structure of a humanoid robot comprising a stepping drive unit 52, a thigh lever assembly, a lower leg lever assembly, and a foot assembly 3 arranged at the waist of the humanoid robot and connected in sequence. The thigh lever assembly includes a first thigh lever and a second thigh lever. The lower leg lever assembly includes a lower leg lever. The foot assembly 3 includes a foot support member 31. The stepping drive unit 52 is used to drive the first thigh body 11 to swing upwards and downwards, thereby driving the entire leg dynamics structure to swing upwards and downwards. The upper part of the first thigh lever is provided with a hip joint motor and a reduction gear unit for driving the first thigh lever to swing left and right.so that the entire leg dynamic structure is driven to swing left and right, wherein a first motor and a reduction gear unit are arranged between the first femoral lever and the second femoral lever to effect relative circumferential rotation of the first femoral lever and the second femoral lever, wherein a knee joint motor and a reduction gear unit are arranged between the femoral lever assembly and the lower leg lever assembly to effect relative upward and downward oscillation of the femoral lever assembly and the lower leg lever assembly, wherein an ankle motor and a reduction gear unit are arranged on the lower leg lever, wherein a rocker arm and a connecting rod are arranged at the output ends of the ankle motor and the reduction gear unit, which are connected one after the other, wherein the connecting rod is connected to the foot support element 31,to drive the foot support member 31 to swing in up and down directions and left and right directions.

[0045] According to the present embodiment, it is provided that the first motor and the reduction gear unit are fastened to the first femoral lever by a first bracket arrangement, wherein a first axial structure for limiting the axial movement of the first motor and the reduction gear unit and a first circumferential structure for limiting the circumferential rotation of the first motor and the reduction gear unit are arranged between the first bracket arrangement and the first motor and the reduction gear unit, wherein the first axial structure and the first circumferential structure are an integrated structure or two split structures, wherein the knee joint motor and the reduction gear unit are fastened to the second femoral lever by a second bracket arrangement,wherein a second axial structure for limiting the axial movement of the knee joint motor and the reduction gear unit and a second circumferential structure for limiting the circumferential rotation of the knee joint motor and the reduction gear unit are arranged between the second bracket arrangement and the knee joint motor and the reduction gear unit.

[0046] According to the present embodiment, the first axial structure comprises a first annular projection 41 arranged on the inner ring of the first bracket arrangement, and a first annular groove 42 which cooperates with the first annular projection 41 and is arranged on the first motor and the reduction gear unit, wherein the first circumferential structure comprises a first projection 43 arranged on the inner ring of the first bracket arrangement, and a first groove 44 which cooperates with the first projection 43 and is arranged on the first motor and the reduction gear unit, wherein the second axial structure comprises a second annular projection 45 arranged on the inner ring of the second bracket arrangement, and a second annular groove 46 which cooperates with the second annular projection 45 and is arranged on the knee joint motor and the reduction gear unit, wherein the second circumferential structure comprises a second projection 47,which is arranged on the inner ring of the second bracket assembly, and a second groove 48 which cooperates with the second projection 47 and is arranged on the knee joint motor and the reduction gear unit.

[0047] According to the present embodiment, the first bracket assembly and the second bracket assembly are each curved in an arcuate manner. The first motor, the reduction gear unit, and the knee joint motor and the reduction gear unit are attached to the first thigh lever and the second thigh lever by means of a quickly detachable bracket assembly. The axial and circumferential displacement of the first motor and the reduction gear unit on the first thigh lever, and the axial and circumferential displacement of the knee joint motor and the reduction gear unit on the second thigh lever, are thus limited by the stop structure of the projections and grooves. During disassembly, only the mutually locked brackets need to be released, making disassembly convenient and quick, and the attachment reliable.

[0048] According to the present embodiment, it is provided that the ankle motor and the reduction gear unit comprises a first ankle motor and a reduction gear unit and a second ankle motor and a reduction gear unit, wherein the first ankle motor and the reduction gear unit and the second ankle motor and the reduction gear unit are arranged above and below on the lower leg lever, wherein the output end of the first ankle motor and the reduction gear unit is connected in succession to a first rocker arm 24 and a first linkage lever 25, wherein the output end of the second ankle motor and the reduction gear unit is connected in succession to a second rocker arm 26 and a second linkage lever 27, wherein a front fork arm is formed by the first linkage lever 25 and the second linkage lever 27,that a front bearing seat 50 is movably connected to the footrest member 31 to drive the footrest member 31 to swing in up-and-down and left-and-right directions, wherein the lower end of the lower leg lever is provided with a rear fork arm 30, so that the rear bearing seat 51 is movably connected to the footrest member 31 to complete the swinging of the footrest member 31 in up-and-down and left-and-right directions by cooperating with the first linkage lever 25 and the second linkage lever 27.

[0049] A specific embodiment of the humanoid robot according to the present invention: Humanoid robot, wherein the waist is provided with a above leg dynamic structure of a humanoid robot.

[0050] In the present application, the type of fixed connection may be screwing or welding or riveting or plugging or connection by other components, which can be selected by the person skilled in the art according to the actual situation.

[0051] Finally, it should be noted that the above embodiments serve only to illustrate the technical solution of the present invention and do not limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art will understand that the specific embodiments of the present invention can still be modified or substituted with equivalents. Any modification or equivalent substitution that does not deviate from the spirit and scope of the present invention should be covered by the scope of the claims of the present invention.

[0052] In summary, the present invention relates to the technical field of humanoid robots and discloses a leg dynamic structure of a humanoid robot and a humanoid robot. A leg dynamic structure of a humanoid robot according to the present invention, comprising a stepping drive unit, a thigh body assembly, a lower leg body assembly, and a foot assembly arranged at the waist of the humanoid robot and connected sequentially. The stepping drive unit is used to drive the entire leg dynamic structure to swing upward and downward. The thigh body assembly includes a first thigh body and a second thigh body. The lower leg body assembly includes a lower leg body. The foot assembly includes a foot support element. The upper part of the first thigh body is provided with a hip joint drive unit.To drive the entire leg dynamics structure to swing left and right, a first drive unit is arranged between the first femoral body and the second femoral body to cause relative circumferential rotation of the first femoral body and the second femoral body. The entire leg dynamics structure according to the present invention is reasonably designed and compact, which well meets the requirements of the humanoid robot for realizing various motion postures. QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] CN 111098951A

[0003]

Claims

[1] Leg dynamic structure of a humanoid robot, characterized by that the structure comprises a stepping drive unit (52), a thigh body assembly (1), a lower leg body assembly (2) and a foot assembly (3) which are arranged at the waist of the humanoid robot and connected one after the other, wherein the thigh body assembly (1) comprises a first thigh body (11) and a second thigh body (12), wherein the lower leg body assembly (2) comprises a lower leg body (21), wherein the foot assembly (3) comprises a foot support element (31), wherein the step drive unit (52) is used to drive the first thigh body (11) to swing upwards and downwards, so that the entire leg dynamic structure is driven to swing upwards and downwards, wherein the upper part of the first thigh body (11) is provided with a hip joint drive unit (13) for driving the first thigh body (11) to swing left and right so that the entire leg dynamic structure is driven to swing left and right, wherein a first drive unit (14) is arranged between the first thigh body (11) and the second thigh body (12) to cause a relative circumferential rotation of the first thigh body (11) and the second thigh body (12), wherein a knee joint drive unit (15) is arranged on the thigh body assembly (1) or between the thigh body assembly (1) and the lower leg body assembly (2) in order to cause a relative upward and downward oscillation of the thigh body assembly (1) and the lower leg body (21), wherein an ankle drive unit is arranged on the lower leg body (21), the output end of the ankle drive unit being provided with a connecting rod, the connecting rod being connected to the foot support member (31) to drive the foot support member (31) to swing in up and down directions and left and right directions. [2] Leg dynamic structure of a humanoid robot according to claim 1, characterized by , that the first drive unit (14) is fastened to the first thigh body (11) by a first bracket part (4), wherein a first axial structure for limiting the axial movement of the first drive unit (14) and a first circumferential structure for limiting the circumferential rotation of the first drive unit (14) are arranged between the first bracket part (4) and the first drive unit (14), wherein the first axial structure and the first circumferential structure are an integrated structure or two split structures, and / or, wherein the knee joint drive unit (15) is fastened to the second femoral body (12) by a second bracket part (49), wherein a second axial structure for limiting the axial movement of the knee joint drive unit (15) and a second circumferential structure for limiting the circumferential rotation of the knee joint drive unit (15) are arranged between the second bracket part (49) and the knee joint drive unit (15), wherein the second axial structure and the second circumferential structure are an integrated structure or two split structures, and / or, wherein the hip joint drive unit (13) is fastened to the rotating end of the step drive unit (52) by a third bracket part (62), wherein a third axial structure for limiting the axial movement of the hip joint drive unit (13) and a third circumferential structure for limiting the circumferential rotation of the hip joint drive unit (13) are arranged between the third bracket part (62) and the hip joint drive unit (13), wherein the third axial structure and the third circumferential structure are an integrated structure or two split structures, and / or, wherein the step drive unit (52) is mounted to a waist and belly part (53) by a sixth bracket part (54), wherein a sixth axial structure for limiting the axial movement of the step drive unit (52) and a sixth circumferential structure for limiting the circumferential rotation of the step drive unit (52) are arranged between the sixth bracket part (54) and the step drive unit (52), wherein the sixth axial structure and the sixth circumferential structure are an integrated structure or two split structures. [3] Leg dynamic structure of a humanoid robot according to claim 2, characterized by , that the first axial structure has a first annular projection (41) arranged on the inner ring of the first bracket part (4), and a first annular groove (42) which cooperates with the first annular projection (41) and is arranged on the first drive unit (14), wherein the first circumferential structure has a first projection (43) arranged on the inner ring of the first bracket part (4), and a first groove (44) which cooperates with the first projection (43) and is arranged on the first drive unit (14), or / and, wherein the second axial structure has a second annular projection (45) arranged on the inner ring of the second bracket part (49), and a second annular groove (46) which cooperates with the second annular projection (45) and is arranged on the knee joint drive unit (15), wherein the second circumferential structure has a second projection (47) arranged on the inner ring of the second bracket part (49), and a second groove (48),which cooperates with the second projection (47) and is arranged on the knee joint drive unit (15), and / or, wherein the third axial structure comprises a third annular projection (66) arranged on the inner ring of the third bracket part (62), and a third annular groove (65) which cooperates with the third annular projection (66) and is arranged on the hip joint drive unit (13), wherein the third circumferential structure comprises a third projection (67) arranged on the inner ring of the third bracket part (62), and a third groove (68) which cooperates with the third projection (67) and is arranged on the hip joint drive unit (13), wherein the sixth axial structure comprises a sixth annular projection (56) arranged on the inner ring of the sixth bracket part (54), and a sixth annular groove (55) which cooperates with the sixth annular projection (56) and is arranged on the stepper drive unit (52), wherein the sixth circumferential structure comprises a sixth projection (58) arranged on the inner ring of the sixth bracket part (54), and a sixth groove (57) which cooperates with the sixth projection (58) and is arranged on the stepper drive unit (52). [4] Leg dynamic structure of a humanoid robot according to claim 3, characterized by , that the first bracket part (4), the second bracket part (49), the third bracket part (62) and the sixth bracket part (54) each comprise two halved and interlocked brackets, or, wherein the first bracket part (4), the second bracket part (49) and the sixth bracket part (54) are each formed in a semicircular arc shape, at the two ends of which connecting holes (63) are arranged for the installation of fastening elements, wherein the third bracket part (62) in each case comprises two bracket ring bodies which are locked to one another, wherein the first thigh body (11), the second thigh body (12) and the waist and abdominal part (53) are each formed in a concave arc shape, on the end faces of which fitting holes (64) are arranged for the attachment of fastening elements, wherein the semicircular arc-shaped structure and the concave arc-shaped structure are screwed to one another in order to form a complete enveloping structure. [5] Leg dynamic structure of a humanoid robot according to one of claims 1 to 4, characterized by , that the ankle drive unit comprises a first ankle drive unit (22) and a second ankle drive unit (23), wherein the first ankle drive unit (22) and the second ankle drive unit (23) are arranged on the top and bottom of the lower leg body (21), wherein the output end of the first ankle drive unit (22) is connected in succession to a first rocker arm (24) and a first linkage lever (25), wherein the output end of the second ankle drive unit (23) is connected in succession to a second rocker arm (26) and a second linkage lever (27), wherein a front fork arm is formed by the first linkage lever (25) and the second linkage lever (27) such that a front bearing seat (50) is movably connected to the foot support element (31) to drive the foot support element (31) to swing in up and down directions and left and right directions, wherein the lower end of the lower leg body (21) is provided with a rear fork arm (30) such that the rear bearing seat (51) is movably connected to the foot support member (31) to complete the swinging of the foot support member (31) in up and down directions and left and right directions by cooperation with the first linkage lever (25) and the second linkage lever (27). [6] Leg dynamic structure of a humanoid robot according to claim 5, characterized by , that the second thigh body (12) is provided with a heat-conducting element (29) which is in contact with the knee joint drive unit (15), or, wherein an elastic protective hood (28) is arranged on the front or back of the lower leg body (21) for locking with the lower leg body (21), or, wherein the sole of the foot support element (31) is covered with a foot damping element (32), or, wherein a heat conducting element (29) and / or a heat dissipating element (69) is arranged on the second thigh body (12) and / or lower leg body (21) and / or waist and abdominal part (53) or their circumference, wherein the heat conducting element (29) is a metal sheet or a heat pipe or a cooling liquid or a metal wire or a fin, wherein the heat dissipating element (69) is a fan or a ventilator or a heat dissipating fin, or, wherein the knee joint drive unit (15) is mounted on the thigh body assembly (1) such that the lower leg body assembly (2) is driven by means of a rod-shaped structure to swing upwards and downwards relative to the thigh body assembly (1), or, wherein the stepper drive unit (52), the hip joint drive unit (13), the first drive unit (14), the knee joint drive unit (15) and the ankle drive unit are each a rotary motor or a motor with a reduction gear. [7] Leg dynamic structure of a humanoid robot, characterized by , that the structure comprises a stepper drive unit (52), a first thigh body (11), a lower leg body (21) and a foot support element (31) mounted on a humanoid robot, wherein the step drive unit (52) is used to drive the first thigh body (11) to swing upwards and downwards, so that the entire leg dynamic structure is driven to swing upwards and downwards, wherein the first thigh body (11) is equipped with a hip joint drive unit (13) for driving the first thigh body (11) to swing left and right, so that the entire leg dynamic structure is driven to swing left and right, wherein a knee joint drive unit (15) is arranged on the first thigh body (11) or between the first thigh body (11) and the lower leg body (21) in order to drive the lower leg body (21) to swing relative to the first thigh body (11), wherein an ankle drive unit is arranged on the lower leg body (21) or between the lower leg body (21) and the foot support element (31) in order to drive the foot support element (31) to swing. [8] Leg dynamic structure of a humanoid robot according to claim 7, characterized by , that the first thigh body (11) is connected to the knee joint drive unit (15) via a second thigh body (12), wherein a first drive unit (14), an input port (59) and an output port (60) are arranged between the first thigh body (11) and the second thigh body (12) to effect a relative circumferential rotation of the first thigh body (11) and the second thigh body (12), wherein the fixed end of the hip joint drive unit (13) is attached to the rotating end of the step drive unit (52), wherein the step drive unit (52) is mounted on the waist and abdominal part (53), and / or, wherein the fixed end of the first drive unit (14) is attached to the first thigh body (11) by a first bracket part (4), wherein one of the fixed ends of the first bracket part (4) and the first drive unit (14) is provided with a concave hole I and the other fixed end is provided with a convex body I, wherein the cross-sectional shape of the concave hole I is adapted to the cross-sectional shape of the convex body I, and / or, wherein the fixed end of the knee joint drive unit (15) is fastened to the second thigh body (12) by a second bracket part (49), wherein one of the fixed ends of the second bracket part (49) and of the knee joint drive unit (15) is provided with a concave hole II and the other fixed end is provided with a convex body II, wherein the cross-sectional shape of the concave hole II is adapted to the cross-sectional shape of the convex body II, and / or, wherein the fixed end of the hip joint drive unit (13) is fixed to the rotating end of the step drive unit (52) by a third bracket part (62), wherein one of the fixed ends of the third bracket part (62) and of the hip joint drive unit (13) is provided with a concave hole III and the other fixed end is provided with a convex body III, wherein the cross-sectional shape of the concave hole III is adapted to the cross-sectional shape of the convex body III, and / or, wherein the fixed end of the ankle drive unit is attached to the lower leg body (21) by a fourth bracket part, wherein one of the fixed ends of the fourth bracket part and the ankle drive unit is provided with a concave hole IV and the other fixed end is provided with a convex body IV, wherein the cross-sectional shape of the concave hole IV is adapted to the cross-sectional shape of the convex body IV, and / or, wherein the input terminal (59) and the output terminal (60) are fixed by means of a fifth bracket part (61), wherein the step drive unit (52) is mounted on the waist and abdomen part (53) via a sixth bracket part (54), wherein one of the fixed ends of the sixth bracket part (54) and the step drive unit (52) is provided with a concave hole VI and the other fixed end is provided with a convex body VI, wherein the cross-sectional shape of the concave hole VI is adapted to the cross-sectional shape of the convex body VI. [9] Leg dynamic structure of a humanoid robot according to claim 8, characterized by , that the first bracket part (4), the second bracket part (49), the fourth bracket part and the sixth bracket part (54) are each semicircular in shape, at the two ends of which connecting holes (63) are arranged for the installation of fastening elements, wherein the first thigh body (11), the second thigh body (12), the lower leg body (21) and the waist and abdominal part (53) are each concave-arched or square-leaf-shaped, on the end faces of which fitting holes (64) are arranged for the attachment of fastening elements, wherein the semicircular-arched structure and the concave-arched structure are screwed together to form a complete leg-wrapping structure, wherein the third bracket part (62) and the fifth bracket part (61) each comprise two bracket ring bodies locked together, and / or, wherein the concave hole I, the concave hole II, the concave hole III, the concave hole IV and the concave hole VI are each square concave holes or circular concave holes or concave holes with a reducing diameter or trapezoidal concave holes or triangular concave holes, wherein the convex body I, the convex body II, the convex body III, the convex body IV and the convex body VI are each square convex bodies or circular convex bodies or convex bodies with a reducing diameter or trapezoidal convex bodies or triangular convex bodies, or wherein the first bracket part (4) and / or the second bracket part (49) and / or the third bracket part (62) and / or the fourth bracket part and / or the fifth bracket part (61) and / or the sixth bracket part (54) are semicircular, annular, sector-shaped, or strip-shaped, at both ends of which connecting holes (63) are arranged for mounting fastening elements, wherein the first thigh body (11) and / or the second thigh body (12) and / or the waist and abdominal part (53) and / or the lower leg body (21) are concave-arched, square, leaf-shaped, rod-shaped, columnar, or sleeve-shaped, on the end faces of which fitting holes (64) are arranged for attaching fastening elements, and / or, wherein the foot support element (31) is shoe-shaped or leaf-shaped or human foot-shaped or block-shaped. [10] Humanoid robot, characterized bythat the waist is provided with a leg dynamic structure of a humanoid robot according to one of claims 1 to 9.

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