Leg power structure for humanoid robot and humanoid robot

Abstract

The present invention relates to the technical field of humanoid robots. Disclosed are a leg power structure for a humanoid robot and a humanoid robot. The leg power structure for a humanoid robot of

Description

The present invention relates to the technical field of humanoid robots, and in particular, to a leg power structure for a humanoid robot and a humanoid robot. BACKGROUND ART In recent years, the robotics industry develops rapidly. In particular, the humanoid robot has become one of the focuses in the field of domestic and international robotic technologies, and a leg power structure for a humanoid robot is the key of designing a humanoid robot. Moreover, the Chinese patent (publication No. CN111098951A) discloses a walking structure for a humanoid service robot and a robot. In the walking structure, two sets of foot connection members and linkage bars are provided between a hip and a trunk, and the hip, the trunk, one set of connection member and linkage bar constitute a four-bar linkage, where the hip is relatively stationary, and a hip servo can drive the trunk to swing relative to the hip, so that the linkage bar is linked to the foot connection member. The two foot connection members are fixed to output shafts of two foot servos, respectively, and each set of four-bar linkage and a corresponding foot servo act as a leg. In the solution described above, the four-bar linkage and the hip servo are used to implement a movement form of the hip and leg, but only few motions can be performed, making it impossible to satisfy the requirements of implementing various postures and motions required by the humanoid robot, resulting in a poor anthropomorphizing effect, which is not conducive to the popularization of the humanoid robot. Furthermore, in the solution described above, the design and layout of a leg power structure for the humanoid robot are insufficiently reasonable, and the overall structure thereof is cumbersome and insufficiently compact. The information disclosed in the Background Art is used only for understanding the background of the conception of the present invention, and thus may include information that does not constitute the prior art. SUMMARY OF THE INVENTION Technical Solutions To address the above problems or one of the above problems, the first objective of the present invention is to provide a leg power structure for a humanoid robot, which can satisfy the requirements of implementing various postures and motions of the humanoid robot, resulting in a simple and compact structure. To address the above problems or one of the above problems, the second objective of the present invention is to provide a humanoid robot, a leg power structure of which can satisfy the requirements of implementing various postures and motions of the humanoid robot, resulting in a simple and compact structure. To address the above problems or one of the above problems, the third objective of the present invention is to provide a leg power structure for a humanoid robot and a humanoid robot, where a first thigh member, a shank member, and a foot support member, as well as corresponding hip joint drive unit, knee joint drive unit, and ankle drive unit are provided to enable various anthropomorphic leg and foot motions, satisfying the requirements of implementing various motions and postures required by the humanoid robot, and the entire leg power structure is reasonably designed and compactly structured, resulting in a good anthropomorphizing effect, which is conducive to the popularization of the humanoid robot. In order to achieve one of the above objectives, the first technical solution of the present application is as follows: a leg power structure for a humanoid robot, including a step drive unit, a thigh member assembly, a shank member assembly, and a foot assembly that are provided at a waist of the humanoid robot and connected in sequence, where the thigh member assembly includes a first thigh member and a second thigh member, the shank member assembly includes a shank member, and the foot assembly includes a foot support member; the step drive unit is configured to drive the first thigh member to swing forward and backward, thereby driving the entire leg power structure to swing forward and backward; a hip joint drive unit is provided on an upper portion of the first thigh member, to drive the first thigh member to swing left and right, thereby driving the entire leg power structure to swing left and right; a first drive unit is provided between the first thigh member and the second thigh member, to implement relative circumferential rotation between the first thigh member and the second thigh member; a knee joint drive unit is provided on the thigh member assembly or between the thigh member assembly and the shank member assembly, to implement relative forward-backward swinging between the thigh member assembly and the shank member; an ankle drive unit is provided on the shank member, a linkage bar is provided at an output end of the ankle drive unit, and the linkage bar is connected to the foot support member, to drive the foot support member to swing in up-down and left-right directions. In the present invention, after continuous exploration and experimentation, an entire leg is driven to swing left and right by the hip joint drive unit provided at the waist of the humanoid robot, so as to implement a left-right lateral motion of the humanoid robot. An integral assembly formed by the shank member assembly and the foot assembly is driven to rotate around the axis thereof by the first drive unit provided on the first thigh member or between the first thigh member and the second thigh member, so as to implement steering of the humanoid robot. The shank member assembly is driven to swing forward and backward relative to the thigh member assembly by the knee joint drive unit, so as to implement a bending motion at the knee joint of the humanoid robot. The rocker arm and linkage bar are driven by the ankle drive unit provided on the shank member, thereby driving the foot assembly, so as to implement the swinging of the humanoid robot in the up-down and left-right directions. Therefore, in the present invention, various anthropomorphic leg and foot motions can be performed, satisfying the requirements of implementing various motions and postures required by the humanoid robot, and the entire leg power structure is reasonably designed and compactly structured, resulting in a good anthropomorphizing effect, which is conducive to the popularization of the humanoid robot. As an exemplary technical measure: the first drive unit is fixed to the first thigh member via a first clamp member; a first axial structure restricting axial movement of the first drive unit and a first circumferential structure restricting circumferential rotation of the first drive unit are provided between the first clamp member and the first drive unit; the first axial structure and the first circumferential structure either form an integrated structure or are two separate structures; or / and the knee joint drive unit is fixed to the second thigh member via a second clamp member; a second axial structure restricting axial movement of the knee joint drive unit and a second circumferential structure restricting circumferential movement of the knee joint drive unit are provided between the second clamp member and the knee joint drive unit; the second axial structure and the second circumferential structure either form an integrated structure or are two separate structures; or / and the hip joint drive unit is fixed to a rotating end of the step drive unit via a third clamp member; a third axial structure restricting axial movement of the hip joint drive unit and a third circumferential structure restricting circumferential movement of the hip joint drive unit are provided between the third clamp member and the hip joint drive unit; the third axial structure and the third circumferential structure either form an integrated structure or are two separate structures; or / and the step drive unit is assembled on a waist-abdomen member via a sixth clamp member; a sixth axial structure restricting axial movement of the step drive unit and a sixth circumferential structure restricting circumferential movement of the step drive unit are provided between the sixth clamp member and the step drive unit; the sixth axial structure and the sixth circumferential structure either form an integrated structure or are two separate structures. The drive unit of the present invention is fixed by means of the clamp member, making it possible to effectively fix the drive unit on a leg member to avoid slippage of the drive unit, and effectively reduce the number of used fasteners (screws or bolts), thereby improving detaching and mounting efficiency, and resulting in a structure more aesthetically pleasing compared with a screw or bolt fixing structure. As an exemplary technical measure: the first axial structure includes a first annular protrusion provided on an inner ring of the first clamp member and a first annular groove that is provided on the first drive unit and that matches the first annular protrusion; the first circumferential structure includes a first protrusion provided on the inner ring of the first clamp member and a first groove that is provided on the first drive unit and that matches the first protrusion; or / and the second axial structure includes a second annular protrusion provided on an inner ring of the second clamp member and a second annular groove that is provided on the knee joint drive unit and that matches the second annular protrusion; the second circumferential structure includes a second protrusion provided on the inner ring of the second clamp member and a second groove that is provided on the knee joint drive unit and that matches the second protrusion; or / and the third axial structure includes a third annular protrusion provided on an inner ring of the third clamp member and a third annular groove that is provided on the hip joint drive unit and that matches the third annular protrusion; the third circumferential structure includes a third protrusion provided on the inner ring of the third clamp member and a third groove that is provided on the hip joint drive unit and that matches the third protrusion. The sixth axial structure includes a sixth annular protrusion provided on an inner ring of the sixth clamp member and a sixth annular groove that is provided on the step drive unit and that matches the sixth annular protrusion; the sixth circumferential structure includes a sixth protrusion provided on the inner ring of the sixth clamp member and a sixth groove that is provided on the step drive unit and that matches the sixth protrusion. All or one or more of the first drive unit, the knee joint drive unit, the hip joint drive unit, and the step drive unit are fixed to the corresponding first thigh member, the second thigh member, and the waist of the humanoid robot by means of clamp structures capable of fast detaching, and thus axial and circumferential displacements of a drive unit on the leg member are limited by a stop structure composed of a protrusion and a groove. When necessary, the drive unit may be detached just by unlocking the interlocked clamps, making the detaching convenient and fast and the fixing reliable. As an exemplary technical measure: the first clamp member, the second clamp member, the third clamp member, and the sixth clamp member each includes two clamps evenly divided into halves and fitting with each other for interlocking; or the first clamp member, the second clamp member, and the sixth clamp member are each a semi-circular arc structure provided with connection holes at both ends thereof for assembling fasteners, and the third clamp member includes two clamp annuli capable of fitting with each other for interlocking; correspondingly, the first thigh member, the second thigh member, and the waist-abdomen member each have a concave arc structure provided with assembling holes for fixing the fasteners on end surfaces thereof; the semi-circular arc structure and the concave arc structure are screwed together to form a complete enclosing structure. The enclosing structure makes it possible to not increase the size of the leg power structure for the humanoid robot when the clamp member is added. At the same time, compared with an existing annular clamp structure, in the present invention, only a half of such a clamp needs to be manufactured, making the manufacturing of the clamp member of the present invention simpler, resulting in a low manufacturing cost, and making the leg power structure for the humanoid robot more aesthetically pleasing. As an exemplary technical measure: the ankle drive unit includes a first ankle drive unit and a second ankle drive unit, the first ankle drive unit and the second ankle drive unit being arranged on the shank member in the up-down direction; a first rocker arm and a first linkage bar are sequentially connected to an output end of the first ankle drive unit, a second rocker arm and a second linkage bar are sequentially connected to an output end of the second ankle drive unit, and the first linkage bar and the second linkage bar form front fork arms and are movably connected to the foot support member via a front bearing seat, to drive the foot support member to swing in the up-down and left-right directions, making structure simple, practical and easy to manufacture, and reducing the manufacturing cost. Rear fork arms are provided at a lower end of the shank member and movably connected to the foot support member via a rear bearing seat, to cooperate with the first linkage bar and the second linkage bar to complete the swinging of the foot support member in the up-down and left-right directions. As an exemplary technical measure: the second thigh member is provided with a heat conduction member in contact with the knee joint drive unit; or an elastic protection cover in snap-fit with the shank member is provided at a front side or rear side of the shank member; or a sole of the foot support member is covered with a foot cushion member, so that wearing of the foot support member can be effectively avoided, thereby prolonging the service life of the foot structure. Or a heat conduction member or / and a heat dissipation member is provided on the second thigh member, the shank member, or / and the waist-abdomen member or on the periphery thereof; the heat conduction member is a metal sheet, a heat pipe, a cooling liquid, a metal wire, or a fin; the heat dissipation member is a blower, a fan, or a heat dissipation fin, so that heat dissipation for the second thigh member and the shank member can be effectively accelerated, thereby avoiding overheating of internal components of the second thigh member and the shank member that affect normal operation thereof. Or the knee joint drive unit is assembled on the thigh member assembly, and drives the shank member assembly to swing forward and backward relative to the thigh member assembly via a bar-shaped structure; or the step 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 or a motor with a reducer. In order to achieve one of the above objectives, the second technical solution of the present application is as follows: a leg power structure for a humanoid robot, including a step drive unit, a first thigh member, a shank member, and a foot support member that are configured to be assembled on a humanoid robot, where the step drive unit is configured to drive the first thigh member to swing forward and backward, thereby driving the entire leg power structure to swing forward and backward; a hip joint drive unit is assembled on the first thigh member, to drive the first thigh member to swing left and right, thereby driving the entire leg power structure to swing left and right; a knee joint drive unit is assembled on the first thigh member or between the first thigh member and the shank member, to drive the shank member to swing relative to the first thigh member; an ankle drive unit is assembled on the shank member or between the shank member and the foot support member, to drive the foot support member to swing. In the present invention, after continuous exploration and experimentation, the first thigh member, the shank member, and the foot support member, as well as corresponding hip joint drive unit, knee joint drive unit, and ankle drive unit are provided to enable various anthropomorphic leg and foot motions, satisfying the requirements of implementing various motions and postures required by the humanoid robot, and the entire leg power structure is reasonably designed and compactly structured, resulting in a good anthropomorphizing effect, which is conducive to the popularization of the humanoid robot. As an exemplary technical measure: the first thigh member is connected to the knee joint drive unit via a second thigh member; a first drive unit, an input connection member, and an output connection member are provided between the first thigh member and the second thigh member, to implement relative circumferential rotation between the first thigh member and the second thigh member; a fixed end of the hip joint drive unit is fixed to a rotating end of the step drive unit, and the step drive unit is assembled on a waist-abdomen member; or / and a fixed end of the first drive unit is fixed to the first thigh member via a first clamp member, one of the first clamp member and the fixed end of the first drive unit is provided with a concave hole I, the other is provided with a convex body I, and the concave hole I has a sectional shape matching a sectional shape of the convex body I; or / and a fixed end of the knee joint drive unit is fixed to the second thigh member via a second clamp member, one of the second clamp member and the fixed end of the knee joint drive unit is provided with a concave hole II, the other is provided with a convex body II, and the concave hole II has a sectional shape matching a sectional shape of the convex body II; or / and the fixed end of the hip joint drive unit is fixed to the rotating end of the step drive unit via a third clamp member, one of the third clamp member and the fixed end of the hip joint drive unit is provided with a concave hole III, the other is provided with a convex body III, and the concave hole III has a sectional shape matching a sectional shape of the convex body III; or / and a fixed end of the ankle drive unit is fixed to the shank member via a fourth clamp member, one of the fourth clamp member and the fixed end of the ankle drive unit is provided with a concave hole IV, the other is provided with a convex body IV, and the concave hole IV has a sectional shape matching a sectional shape of the convex body IV; or the fixed end of the ankle drive unit is directly fixed to the shank member via a bolt or screw. Or / and the input connection member and the output connection member are fixed via a fifth clamp member; the step drive unit is assembled on the waist-abdomen member via a sixth clamp member, one of the sixth clamp member and a fixed end of the step drive unit is provided with a concave hole VI, the other is provided with a convex body IV, and the concave hole IV has a sectional shape matching a sectional shape of the convex body IV As an exemplary technical measure: the first clamp member, the second clamp member, the fourth clamp member, and the sixth clamp member are each a semi-circular arc structure provided with connection holes for assembling fasteners at both ends thereof; correspondingly, the first thigh member, the second thigh member, the shank member, and the waist-abdomen member are each a concave arc structure or square sheet structure provided with assembling holes for fixing the fasteners on end surfaces thereof; the semi-circular arc structure and the concave arc structure are screwed together to form a complete leg enclosing structure. The leg enclosing structure makes it possible to not increase the size of the leg power structure for the humanoid robot when the clamp member is added. At the same time, compared with an existing annular clamp structure, in the present invention, only a half of such a clamp needs to be manufactured, making the manufacturing of the clamp member of the present invention simpler, resulting in a low manufacturing cost, and making the leg power structure for the humanoid robot more aesthetically pleasing. The third clamp member and the fifth clamp member each include two clamp annuli capable of fitting with each other for interlocking; or / and the concave hole I, the concave hole II, the concave hole III, the concave hole IV, and the concave hole VI are each a square concave hole, a circular concave hole, a variable-diameter concave hole, a trapezoidal concave hole, or a triangular concave hole; correspondingly, the convex body I, the convex body II, the convex body 111, the convex body IV. and the convex body VI are each a square convex body, a circular convex body, a variable-diameter convex body, a trapezoidal convex body, or a triangular convex body. The drive unit can directly be axially and circumferentially limited by providing a structure composed of the concave hole and the convex body, resulting a simpler structure, and there may be a plurality of concave holes and convex bodies as required, further increasing the reliability of limiting the drive unit. Or the first clamp member, the second clamp member, the third clamp member, the fourth clamp member, or / and the fifth clamp member, and the sixth clamp member are each a semi-circular arc structure, an annular structure, a sector structure, or a strip structure provided with the connection holes for assembling the fasteners at both ends thereof; the first thigh member, the second thigh member, the waist-abdomen member, or / and the shank member is a concave arc structure, a square sheet structure, a bar-shaped structure, a columnar structure, or a sleeve structure provided with the assembling holes for fixing the fasteners on end surfaces thereof; or / and the foot support member is a shoe-shaped structure, a sheet structure, a human foot-shaped structure, or a block structure. In order to achieve one of the above objectives, the third technical solution of the present application is as follows: A humanoid robot, where the leg power structure for a humanoid robot as described above is provided at a waist thereof. Beneficial Effects In the leg power structure for a humanoid robot provided by the present invention, an entire leg is driven to swing left and right by the hip joint drive unit provided at the waist of the humanoid robot, so as to implement a left-right lateral motion of the humanoid robot. An integral assembly formed by the shank member assembly and the foot assembly is driven to rotate around the axis thereof by the first drive unit provided between the first thigh member and the second thigh member, so as to implement steering of the humanoid robot. The shank member assembly is driven to swing forward and backward relative to the thigh member assembly by the knee joint drive unit, so as to implement a bending motion at the knee joint of the humanoid robot. The rocker arm and linkage bar are driven by the ankle drive unit provided on the shank member, thereby driving the foot assembly, so as to implement the swinging of the humanoid robot in the up-down and left-right directions. The entire leg power structure is reasonably designed and compactly structured, satisfying the requirements of implementing various motions and postures required by the humanoid robot. The humanoid robot provided by the present invention has a leg power structure, where an entire leg is driven to swing left and right by the hip joint drive unit provided at the waist of the humanoid robot, so as to implement a left-right lateral motion of the humanoid robot. An integral assembly formed by the shank member assembly and the foot assembly is driven to rotate around the axis thereof by the first drive unit provided between the first thigh member and the second thigh member, so as to implement steering of the humanoid robot. The shank member assembly is driven to swing forward and backward relative to the thigh member assembly by the knee joint drive unit, so as to implement a bending motion at the knee joint of the humanoid robot. The rocker arm and linkage bar are driven by the ankle drive unit provided on the shank member, thereby driving the foot assembly, so as to implement the swinging of the humanoid robot in the up-down and left-right directions. The entire leg power structure is reasonably designed and compactly structured, satisfying the requirements of implementing various motions and postures required by the humanoid robot. Furthermore, in the present invention, the first thigh member, the shank member, and the foot support member, as well as corresponding hip joint drive unit, knee joint drive unit, and ankle drive unit are provided to enable various anthropomorphic leg and foot motions, satisfying the requirements of implementing various motions and postures required by the humanoid robot, and the entire leg power structure is reasonably designed and compactly structured, resulting in a good anthropomorphizing effect, which is conducive to the popularization of the humanoid robot. The present invention is further described in detail below with reference to the drawings and specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a schematic diagram of a double-leg structure of a leg power structure for a humanoid robot according to the present invention; FIG. 2 is a schematic exploded view of the double-leg structure of the leg power structure for a humanoid robot according to the present invention; FIG. 3 is a schematic diagram of an axial side of the leg power structure for a humanoid robot according to the present invention; FIG. 4 is a schematic diagram of a rear axial side of the leg power structure for a humanoid robot according to the present invention; FIG. 5 is a side view of the leg power structure for a humanoid robot according to the present invention; FIG. 6 is a rear view of the leg power structure for a humanoid robot according to the present invention; FIG. 7 is a full sectional view of the leg power structure for a humanoid robot according to the present invention; FIG. 8 is an exploded view of the leg power structure for a humanoid robot according to the present invention; FIG. 9 is a partial enlarged view of a portion B of the leg power structure for a humanoid robot according to the present invention; FIG. 10 is a partial enlarged view of a portion C of the leg power structure for a humanoid robot according to the present invention; and FIG. 11 is a partial enlarged view of a portion D of the leg power structure for a humanoid robot according to the present invention. List of reference signs: 1 - thigh member assembly; 11 - first thigh member; 12 -second thigh member; 13 - hip joint drive unit; 14 - first drive unit; 15 - knee joint drive unit; 2 - shank member assembly; 21 - shank member; 22 - first ankle drive unit; 23 -second ankle drive unit; 24 - first rocker arm; 25 - first linkage bar; 26 - second rocker arm; 27 - second linkage bar; 28 - an elastic protection cover; 29 - heat conduction member; 30 - rear fork arm; 3 - foot assembly; 31 - foot support member; 32 - foot cushion member; 4 - first clamp member; 41 - first annular protrusion; 42 - first annular groove; 43 - first protrusion; 44 - first groove; 45 - second annular protrusion; 46 - second annular groove; 47 - second protrusion; 48 - second groove; 49 - second clamp member; 50 - front bearing seat; 51 - rear bearing seat; 52 - step drive unit; 53 - waist-abdomen member; 54 - sixth clamp member; 55 - sixth annular groove; 56 - sixth annular protrusion; 57 - sixth groove; 58 - sixth protrusion; 59 - input connection member; 60 - output connection member; 61 -fifth clamp member; 62 - third clamp member; 63 - connection hole; 64 - assembling hole; 65 - third annular groove; 66 - a third annular protrusion; 67 - third protrusion; 68 - third groove; 69 - heat dissipation member. DETAILED DESCRIPTION OF THE EMBODIMENTS The present invention is further described below with reference to the drawings and embodiments. It should be noted that the embodiments or technical features described below may be freely combined to form new embodiments on the premise of not causing any conflict. It should be noted that when two elements are “fixedly connected” or “swingingly connected”, the two elements may be directly connected or be connected via an intermediate element. On the contrary, when an element is referred to as being “directly on” another element, there is no intermediate element. The terms “left”, “right”, “front”, “back”, “up”, and “down”, as well as similar expressions, are used herein only for the purpose of illustration. Unless otherwise defined, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the technical field of the present application. The terms used herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention. Referring to FIGS. 1-11, a first specific embodiment of a leg power structure for a humanoid robot in the present invention is as follows: a leg power structure for a humanoid robot, including a step drive unit 52, a first thigh member 11, a shank member 21, and a foot support member 31 that are configured to be assembled on a humanoid robot. The step drive unit 52 is configured to drive the first thigh member 11 to swing forward and backward, thereby driving the entire leg power structure to swing forward and backward; and a hip joint drive unit 13 is assembled on the first thigh member 11, to drive the first thigh member 11 to swing left and right, thereby driving the entire leg power structure to swing left and right. A knee joint drive unit 15 is assembled on the first thigh member 11 or between the first thigh member 11 and the shank member 21, to drive the shank member 21 to swing relative to the first thigh member 11. An ankle drive unit is assembled on the shank member 21 or between the shank member 21 and the foot support member 31, to drive the foot support member 31 to swing. In this embodiment, the first thigh member 11 is connected to the knee joint drive unit 15 via a second thigh member 12. A first drive unit 14, an input connection member 59, and an output connection member 60 are provided between the first thigh member 11 and the second thigh member 12, to implement relative circumferential rotation between the first thigh member 11 and the second thigh member 12; a fixed end of the hip joint drive unit 13 is fixed to a rotating end of the step drive unit 52, and the step drive unit 52 is assembled on a waist-abdomen member 53. A fixed end of the first drive unit 14 is fixed to the first thigh member 11 via a first clamp member 4, one of the first clamp member 4 and the fixed end of the first drive unit 14 is provided with a concave hole I, the other is provided with a convex body I, and the concave hole I has a sectional shape matching a sectional shape of the convex body I. A fixed end of the knee joint drive unit 15 is fixed to the second thigh member 12 via a second clamp member 49, one of the second clamp member 49 and the fixed end of the knee joint drive unit 15 is provided with a concave hole II, the other is provided with a convex body II, and the concave hole II has a sectional shape matching a sectional shape of the convex body II. The fixed end of the hip joint drive unit 13 is fixed to the rotating end of the step drive unit 52 via a third clamp member 62, one of the third clamp member 62 and the fixed end of the hip joint drive unit 13 is provided with a concave hole III, the other is provided with a convex body III, and the concave hole III has a sectional shape matching a sectional shape of the convex body III. The input connection member 59 and the output connection member 60 are fixed via a fifth clamp member 61. The step drive unit 52 is assembled on the waist-abdomen member 53 via a sixth clamp member 54, one of the sixth clamp member 54 and a fixed end of the step drive unit 52 is provided with a concave hole VI, the other is provided with a convex body IV, and the concave hole IV has a sectional shape matching a sectional shape of the convex body IV. In this embodiment, the first clamp member 4, the second clamp member 49, and the sixth clamp member 54 are each a semi-circular arc structure provided with connection holes 63 at both ends thereof for assembling fasteners; and correspondingly, the first thigh member 11, the second thigh member 12, and the waist-abdomen member 53 each have a concave arc structure provided with assembling holes 64 for fixing the fasteners on end surfaces thereof; the semi-circular arc structure and the concave arc structure are screwed together to form a complete leg enclosing structure. The third clamp member 62 and the fifth clamp member 61 each include two clamp annuli capable of fitting with each other for interlocking. The concave hole I, the concave hole II, the concave hole III, and the concave hole VI are each a square concave hole; and correspondingly, the convex body I, the convex body II, the convex body III, and the convex body VI are each a square convex body. The foot support member 31 is a human foot-shaped structure. A second specific embodiment of a leg power structure for a humanoid robot in the present invention is as follows: a leg power structure for a humanoid robot, including a step drive unit 52, a thigh member assembly 1, a shank member 21 assembly 2, and a foot assembly 3 that are provided at a waist of the humanoid robot and connected in sequence, where the thigh member assembly 1 includes a first thigh member 11 and a second thigh member 12, the shank member 21 assembly 2 includes a shank member 21, and the foot assembly 3 includes a foot support member 31; the step drive unit 52 is configured to drive the first thigh member 11 to swing forward and backward, thereby driving the entire leg power structure to swing forward and backward; a hip joint drive unit 13 is provided on an upper portion of the first thigh member 11, to drive the first thigh member 11 to swing left and right, thereby driving the entire leg power structure to swing left and right; a first drive unit 14 is provided between the first thigh member 11 and the second thigh member 12, to drive the first thigh member 11 and the second thigh member 12 to rotate circumferentially relative to each other; a knee joint drive unit 15 is provided between the thigh member assembly 1 and the shank member 21 assembly 2, to drive the thigh member assembly 1 and the shank member 21 assembly 2 to swing forward and backward relative to each other; an ankle drive unit is provided on the shank member 21, a rocker arm and a linkage bar connected in sequence are provided at an output end of the ankle drive unit, and the linkage bar is connected to the foot support member 31, to drive the foot support member 31 to swing in up-down and left-right directions. In this embodiment, the first drive unit 14 is fixed to the first thigh member 11 via a first clamp member 4; a first axial structure restricting axial movement of the first drive unit 14 and a first circumferential structure restricting circumferential rotation of the first drive unit 14 are provided between the first clamp member 4 and the first drive unit 14; and the first axial structure and the first circumferential structure either form an integrated structure or are two separate structures. The knee joint drive unit 15 is fixed to the second thigh member 12 via a second clamp member 49; a second axial structure restricting axial movement of the knee joint drive unit 15 and a second circumferential structure restricting circumferential movement of the knee joint drive unit 15 are provided between the second clamp member 49 and the knee joint drive unit 15; and the second axial structure and the second circumferential structure either form an integrated structure or are two separate structures. The hip joint drive unit 13 is fixed to a rotating end of the step drive unit 52 via a third clamp member 62; a third axial structure restricting axial movement of the hip joint drive unit 13 and a third circumferential structure restricting circumferential movement of the hip joint drive unit 13 are provided between the third clamp member 62 and the hip joint drive unit 13; the third axial structure and the third circumferential structure either form an integrated structure or are two separate structures. The step drive unit 52 is assembled on a waist-abdomen member 53 via a sixth clamp member 54; a sixth axial structure restricting axial movement of the step drive unit 52 and a sixth circumferential structure restricting circumferential movement of the step drive unit 52 are provided between the sixth clamp member 54 and the step drive unit 52; the sixth axial structure and the sixth circumferential structure either form an integrated structure or are two separate structures. In this embodiment, the first axial structure includes a first annular protrusion 41 provided on an inner ring of the first clamp member 4 and a first annular groove 42 that is provided on the first drive unit 14 and that matches the first annular protrusion 41; and the first circumferential structure includes a first protrusion 43 provided on the inner ring of the first clamp member 4 and a first groove 44 that is provided on the first drive unit 14 and that matches the first protrusion 43. The second axial structure includes a second annular protrusion 45 provided on an inner ring of the second clamp member 49 and a second annular groove 46 that is provided on the knee joint drive unit 15 and that matches the second annular protrusion 45; and the second circumferential structure includes a second protrusion 47 provided on the inner ring of the second clamp member 49 and a second groove 48 that is provided on the knee joint drive unit 15 and that matches the second protrusion 47. The first drive unit 14 and the knee joint drive unit 15 are fixed to the first thigh member 11 and the second thigh member 12 respectively by means of clamp structures capable of fast detaching, and axial and circumferential displacements of the first drive unit 14 on the first thigh member 11, as well as axial and circumferential displacements of the knee joint drive unit 15 on the second thigh member 12, are limited by a stop structure composed of a protrusion and a groove. When necessary, the drive unit may be detached just by unlocking the interlocked clamps, making the detaching convenient and fast and the fixing reliable. The third axial structure includes a third annular protrusion 66 provided on an inner ring of the third clamp member 62 and a third annular groove 65 that is provided on the hip joint drive unit 13 and that matches the third annular protrusion 66; the third circumferential structure includes a third protrusion 67 provided on the inner ring of the third clamp member 62 and a third groove 68 that is provided on the hip joint drive unit 13 and that matches the third protrusion 67. The sixth axial structure includes a sixth annular protrusion 56 provided on an inner ring of the sixth clamp member 54 and a sixth annular groove 55 that is provided on the step drive unit 52 and that matches the sixth annular protrusion 56; the sixth circumferential structure includes a sixth protrusion 58 provided on the inner ring of the sixth clamp member 54 and a sixth groove 57 that is provided on the step drive unit 52 and that matches the sixth protrusion 58. In this embodiment, the first clamp member 4, the second clamp member 49, and the sixth clamp member 54 are each a semi-circular arc structure provided with connection holes 63 at both ends thereof for assembling fasteners; and correspondingly, the first thigh member 11, the second thigh member 12, and the waist-abdomen member 53 each have a concave arc structure provided with assembling holes 64 for fixing the fasteners on end surfaces thereof; the semi-circular arc structure and the concave arc structure are screwed together to form a complete enclosing structure. In this embodiment, the ankle drive unit includes a first ankle drive unit 22 and a second ankle drive unit 23, the first ankle drive unit 22 and the second ankle drive unit 23 being arranged on the shank member 21 in the up-down direction; a first rocker arm 24 and a first linkage bar 25 are sequentially connected to an output end of the first ankle drive unit 22, a second rocker arm 26 and a second linkage bar 27 are sequentially connected to an output end of the second ankle drive unit 23, and the first linkage bar 25 and the second linkage bar 27 form front fork arms and are movably connected to the foot support member 31 via a front bearing seat 50, to drive the foot support member 31 to swing in the up-down and left-right directions; rear fork arms 30 are provided at a lower end of the shank member 21 and movably connected to the foot support member 31 via a rear bearing seat 51, to cooperate with the first linkage bar 25 and the second linkage bar 27 to complete the swinging of the foot support member 31 in the up-down and left-right directions. In this embodiment, the second thigh member 12 is provided with a heat conduction member 29 in contact with the knee joint drive unit 15. An elastic protection cover 28 in snap-fit with the shank member 21 is provided at a front side or rear side of the shank member 21. A sole of the foot support member 31 is covered with a foot cushion member 32. The knee joint drive unit 15 is assembled on the thigh member assembly 1, and drives the shank member 21 assembly 2 to swing forward and backward relative to the thigh member assembly 1 via a bar-shaped structure. The step 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 reducer. Furthermore, a heat conduction member 29 or / and a heat dissipation member 69 is provided on the second thigh member 12, the shank member 21, or / and the waist-abdomen member 53 or on the periphery thereof; the heat conduction member 29 is a metal sheet, a heat pipe, a cooling liquid, a metal wire, or a fin; and the heat dissipation member 69 is a blower, a fan, or a heat dissipation fin configured to dissipate heat in the drive unit. A third specific embodiment of a leg power structure for a humanoid robot in the present invention is as follows: a leg power structure for a humanoid robot, including a step drive unit 52, a thigh bar assembly, a shank bar assembly, and a foot assembly 3 that are provided at a waist of the humanoid robot and connected in sequence, where the thigh bar assembly includes a first thigh bar and a second thigh bar, the shank bar assembly includes a shank bar, and the foot assembly 3 includes a foot support member 31; the step drive unit 52 is configured to drive the first thigh member 11 to swing forward and backward, thereby driving the entire leg power structure to swing forward and backward; a hip joint motor and reducer unit is provided on an upper portion of the first thigh bar, to drive the first thigh bar to swing left and right, thereby driving the entire leg power structure to swing left and right; a first motor and reducer unit is provided between the first thigh bar and the second thigh bar, to drive the first thigh bar and the second thigh bar to rotate circumferentially relative to each other; a knee joint motor and reducer unit is provided between the thigh bar assembly and the shank bar assembly, to drive the thigh bar assembly and the shank bar assembly to swing forward and backward relative to each other; an ankle motor and reducer unit is provided on the shank bar, a rocker arm and a linkage bar connected in sequence are provided at an output end of the ankle motor and reducer unit, and the linkage bar is connected to the foot support member 31, to drive the foot support member 31 to swing in up-down and left-right directions. In this embodiment, the first motor and reducer unit is fixed to the first thigh bar via a first clamp assembly; a first axial structure restricting axial movement of the first motor and reducer unit and a first circumferential structure restricting circumferential rotation of the first motor and reducer unit are provided between the first clamp assembly and the first motor and reducer unit; and the first axial structure and the first circumferential structure either form an integrated structure or are two separate structures. The knee joint motor and reducer unit is fixed to the second thigh bar via a second clamp assembly; a second axial structure restricting axial movement of the knee joint motor and reducer unit and a second circumferential structure restricting circumferential movement of the knee joint motor and reducer unit are provided between the second clamp assembly and the knee joint motor and reducer unit. In this embodiment, the first axial structure includes a first annular protrusion 41 provided on an inner ring of the first clamp assembly and a first annular groove 42 that is provided on the first motor and reducer unit and that matches the first annular protrusion 41; and the first circumferential structure includes a first protrusion 43 provided on the inner ring of the first clamp assembly and a first groove 44 that is provided on the first motor and reducer unit and that matches the first protrusion 43. The second axial structure includes a second annular protrusion 45 provided on an inner ring of the second clamp assembly and a second annular groove 46 that is provided on the knee joint motor and reducer unit and that matches the second annular protrusion 45; and the second circumferential structure includes a second protrusion 47 provided on the inner ring of the second clamp assembly and a second groove 48 that is provided on the knee joint motor and reducer unit and that matches the second protrusion 47. In this embodiment, both the first clamp assembly and the second clamp assembly are arc clamps. The first motor and reducer unit and the knee joint motor and reducer unit are both fixed to the first thigh bar and the second thigh bar respectively by means of clamp structures capable of fast detaching, and axial and circumferential displacements of the first motor and reducer unit on the first thigh bar, as well as axial and circumferential displacements of the knee joint motor and reducer unit on the second thigh bar, are limited by a stop structure composed of a protrusion and a groove. When necessary, the motor and reducer unit may be detached just by unlocking the interlocked clamps, making the detaching convenient and fast and the fixing reliable. In this embodiment, the ankle motor and reducer unit includes a first ankle motor and reducer unit and a second ankle motor and reducer unit, the first ankle motor and reducer unit and the second ankle motor and reducer unit being arranged on the shank bar in the up-down direction; a first rocker arm 24 and a first linkage bar 25 are sequentially connected to an output end of the first ankle motor and reducer unit, a second rocker arm 26 and a second linkage bar 27 are sequentially connected to an output end of the second ankle motor and reducer unit, and the first linkage bar 25 and the second linkage bar 27 form front fork arms and are movably connected to the foot support member 31 via a front bearing seat 50, to drive the foot support member 31 to swing in the up-down and left-right directions; rear fork arms 30 are provided at a lower end of the shank bar and movably connected to the foot support member 31 via a rear bearing seat 51, to cooperate with the first linkage bar 25 and the second linkage bar 27 to complete the swinging of the foot support member 31 in the up-down and left-right directions. A specific embodiment of a humanoid robot in the present invention is as follows: a humanoid robot, where the leg power structure for a humanoid robot as described above is provided at a waist thereof. Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that the specific embodiments of the present invention may still be modified or replaced by equivalents, and any modifications or equivalent replacements that do not deviate from the spirit and scope of the present invention shall be covered by the protection scope of claims of the present invention.

Claims

1. A leg power structure for a humanoid robot, comprising:a step drive unit (52), a thigh member assembly (1), a shank member (21) assembly (2), and a foot assembly (3) that are provided at a waist of the humanoid robot and connected in sequence, wherein the thigh member assembly (1) comprises a first thigh member (11) and a second thigh member (12), the shank member (21) assembly (2) comprises a shank member (21), and the foot assembly (3) comprises a foot support member (31);the step drive unit (52) is configured to drive the first thigh member (11) to swing forward and backward, thereby driving the entire leg power structure to swing forward and backward;a hip joint drive unit (13) is provided on an upper portion of the first thigh member (11), to drive the first thigh member (11) to swing left and right, thereby driving the entire leg power structure to swing left and right;a first drive unit (14) is provided between the first thigh member (11) and the second thigh member (12), to implement relative circumferential rotation between the first thigh member (11) and the second thigh member (12);a knee joint drive unit (15) is provided on the thigh member assembly (1) or between the thigh member assembly (1) and the shank member (21) assembly (2), to implement relative forward-backward swinging between the thigh member assembly (1) and the shank member (21);an ankle drive unit is provided on the shank member (21), a linkage bar is provided at an output end of the ankle drive unit, and the linkage bar is connected to the foot support member (31), to drive the foot support member (31) to swing in up-down and left-right directions.

2. The leg power structure for a humanoid robot according to claim 1, whereinthe first drive unit (14) is fixed to the first thigh member (11) via a first clamp member (4); a first axial structure restricting axial movement of the first drive unit (14)and a first circumferential structure restricting circumferential rotation of the first drive unit (14) are provided between the first clamp member (4) and the first drive unit (14); the first axial structure and the first circumferential structure either form an integrated structure or are two separate structures;or / and the knee joint drive unit (15) is fixed to the second thigh member (12) via a second clamp member (49); a second axial structure restricting axial movement of the knee joint drive unit (15) and a second circumferential structure restricting circumferential movement of the knee joint drive unit (15) are provided between the second clamp member (49) and the knee joint drive unit (15); the second axial structure and the second circumferential structure either form an integrated structure or are two separate structures;or / and the hip joint drive unit (13) is fixed to a rotating end of the step drive unit (52) via a third clamp member (62); a third axial structure restricting axial movement of the hip joint drive unit (13) and a third circumferential structure restricting circumferential movement of the hip joint drive unit (13) are provided between the third clamp member (62) and the hip joint drive unit (13); the third axial structure and the third circumferential structure either form an integrated structure or are two separate structures;or / and the step drive unit (52) is assembled on a waist-abdomen member (53) via a sixth clamp member (54); a sixth axial structure restricting axial movement of the step drive unit (52) and a sixth circumferential structure restricting circumferential movement of the step drive unit (52) are provided between the sixth clamp member (54) and the step drive unit (52); the sixth axial structure and the sixth circumferential structure either form an integrated structure or are two separate structures.

3. The leg power structure for a humanoid robot according to claim 2, whereinthe first axial structure comprises a first annular protrusion (41) provided on an inner ring of the first clamp member (4) and a first annular groove (42) that is provided on the first drive unit (14) and that matches the first annular protrusion (41); the first circumferential structure comprises a first protrusion (43) provided on the inner ring of the first clamp member (4) and a first groove (44) that is provided on the first drive unit (14) and that matches the first protrusion (43);or / and the second axial structure comprises a second annular protrusion (45) provided on an inner ring of the second clamp member (49) and a second annular groove (46) that is provided on the knee joint drive unit (15) and that matches the second annular protrusion (45); the second circumferential structure comprises a second protrusion (47) provided on the inner ring of the second clamp member (49) and a second groove (48) that is provided on the knee joint drive unit (15) and that matches the second protrusion (47);or / and the third axial structure comprises a third annular protrusion (66) provided on an inner ring of the third clamp member (62) and a third annular groove (65) that is provided on the hip joint drive unit (13) and that matches the third annular protrusion (66); the third circumferential structure comprises a third protrusion (67) provided on the inner ring of the third clamp member (62) and a third groove (68) that is provided on the hip joint drive unit (13) and that matches the third protrusion (67);the sixth axial structure comprises a sixth annular protrusion (56) provided on an inner ring of the sixth clamp member (54) and a sixth annular groove (55) that is provided on the step drive unit (52) and that matches the sixth annular protrusion (56); the sixth circumferential structure comprises a sixth protrusion (58) provided on the inner ring of the sixth clamp member (54) and a sixth groove (57) that is provided on the step drive unit (52) and that matches the sixth protrusion (58).

4. The leg power structure for a humanoid robot according to claim 3, whereinthe first clamp member (4), the second clamp member (49), the third clamp member (62), and the sixth clamp member (54) each comprises two clamps evenly divided into halves and fitting with each other for interlocking;or the first clamp member (4), the second clamp member (49), and the sixth clamp member (54) are each a semi-circular arc structure provided with connection holes (63) at both ends thereof for assembling fasteners, and the third clamp member (62) comprises two clamp annuli capable of fitting with each other for interlocking; correspondingly, the first thigh member (11), the second thigh member (12), and the waist-abdomen member (53) each have a concave arc structure provided with assembling holes (64) for fixing the fasteners on end surfaces thereof; the semi-circular arc structure and the concave arcstructure are screwed together to form a complete enclosing structure.

5. The leg power structure for a humanoid robot according to any one of claims 1-4, wherein the ankle drive unit comprises a first ankle drive unit (22) and a second ankle drive unit (23), the first ankle drive unit (22) and the second ankle drive unit (23) being arranged on the shank member (21) in the up-down direction;a first rocker arm (24) and a first linkage bar (25) are sequentially connected to an output end of the first ankle drive unit (22), a second rocker arm (26) and a second linkage bar (27) are sequentially connected to an output end of the second ankle drive unit (23), and the first linkage bar (25) and the second linkage bar (27) form front fork arms and are movably connected to the foot support member (31) via a front bearing seat (50), to drive the foot support member (31) to swing in the up-down and left-right directions;rear fork arms (30) are provided at a lower end of the shank member (21) and movably connected to the foot support member (31) via a rear bearing seat (51), to cooperate with the first linkage bar (25) and the second linkage bar (27) to complete the swinging of the foot support member (31) in the up-down and left-right directions.

6. The leg power structure for a humanoid robot according to claim 5, whereinthe second thigh member (12) is provided with a heat conduction member (29) in contact with the knee joint drive unit (15);or an elastic protection cover (28) in snap-fit with the shank member (21) is provided at a front side or rear side of the shank member (21);or a sole of the foot support member (31) is covered with a foot cushion member (32);or a heat conduction member (29) or / and a heat dissipation member (69) is provided on the second thigh member (12), the shank member (21), or / and the waist-abdomen member (53) or on the periphery thereof; the heat conduction member (29) is a metal sheet, a heat pipe, a cooling liquid, a metal wire, or a fin; the heat dissipation member (69) is a blower, a fan, or a heat dissipation fin;or the knee joint drive unit (15) is assembled on the thigh member assembly (1), andZ1drives the shank member (21) assembly (2) to swing forward and backward relative to the thigh member assembly (1) via a bar-shaped structure;or the step 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 reducer.

7. A leg power structure for a humanoid robot, comprising:a step drive unit (52), a first thigh member (11), a shank member (21), and a foot support member (31) that are configured to be assembled on a humanoid robot, whereinthe step drive unit (52) is configured to drive the first thigh member (11) to swing forward and backward, thereby driving the entire leg power structure to swing forward and backward;a hip joint drive unit (13) is assembled on the first thigh member (11), to drive the first thigh member (11) to swing left and right, thereby driving the entire leg power structure to swing left and right;a knee joint drive unit (15) is assembled on the first thigh member (11) or between the first thigh member (11) and the shank member (21), to drive the shank member (21) to swing relative to the first thigh member (11);an ankle drive unit is assembled on the shank member (21) or between the shank member (21) and the foot support member (31), to drive the foot support member (31) to swing.

8. The leg power structure for a humanoid robot according to claim 7, whereinthe first thigh member (11) is connected to the knee joint drive unit (15) via a second thigh member (12);a first drive unit (14), an input connection member (59), and an output connection member (60) are provided between the first thigh member (11) and the second thigh member (12), to implement relative circumferential rotation between the first thigh member (11) and the second thigh member (12); a fixed end of the hip joint drive unit (13) is fixed to a rotating end of the step drive unit (52), and the step drive unit (52) isassembled on a waist-abdomen member (53);or / and a fixed end of the first drive unit (14) is fixed to the first thigh member (11) via a first clamp member (4), one of the first clamp member (4) and the fixed end of the first drive unit (14) is provided with a concave hole I, the other is provided with a convex body I, and the concave hole I has a sectional shape matching a sectional shape of the convex body I;or / and a fixed end of the knee joint drive unit (15) is fixed to the second thigh member (12) via a second clamp member (49), one of the second clamp member (49) and the fixed end of the knee joint drive unit (15) is provided with a concave hole II, the other is provided with a convex body II, and the concave hole II has a sectional shape matching a sectional shape of the convex body II;or / and the fixed end of the hip joint drive unit (13) is fixed to the rotating end of the step drive unit (52) via a third clamp member (62), one of the third clamp member (62) and the fixed end of the hip joint drive unit (13) is provided with a concave hole III, the other is provided with a convex body III, and the concave hole III has a sectional shape matching a sectional shape of the convex body III;or / and a fixed end of the ankle drive unit is fixed to the shank member (21) via a fourth clamp member, one of the fourth clamp member and the fixed end of the ankle drive unit is provided with a concave hole IV, the other is provided with a convex body IV, and the concave hole IV has a sectional shape matching a sectional shape of the convex body IV;or / and the input connection member (59) and the output connection member (60) are fixed via a fifth clamp member (61);the step drive unit (52) is assembled on the waist-abdomen member (53) via a sixth clamp member (54), one of the sixth clamp member (54) and a fixed end of the step drive unit (52) is provided with a concave hole VI, the other is provided with a convex body IV, and the concave hole IV has a sectional shape matching a sectional shape of the convex body IV.

9. The leg power structure for a humanoid robot according to claim 8, whereinthe first clamp member (4), the second clamp member (49), the fourth clamp member, and the sixth clamp member (54) are each a semi-circular arc structure provided with connection holes (63) for assembling fasteners at both ends thereof; correspondingly, the first thigh member (11), the second thigh member (12), the shank member (21), and the waist-abdomen member (53) are each a concave arc structure or square sheet structure provided with assembling holes (64) for fixing the fasteners on end surfaces thereof; the semi-circular arc structure and the concave arc structure are screwed together to form a complete leg enclosing structure;the third clamp member (62) and the fifth clamp member (61) each comprise two clamp annuli capable of fitting with each other for interlocking;or / and the concave hole I, the concave hole II, the concave hole III, the concave hole IV, and the concave hole VI are each a square concave hole, a circular concave hole, a variable-diameter concave hole, a trapezoidal concave hole, or a triangular concave hole; correspondingly, the convex body I, the convex body II, the convex body III, the convex body IV, and the convex body VI are each a square convex body, a circular convex body, a variable-diameter convex body, a trapezoidal convex body, or a triangular convex body;or the first clamp member (4), the second clamp member (49), the third clamp member (62), the fourth clamp member, or / and the fifth clamp member (61), and the sixth clamp member (54) are each a semi-circular arc structure, an annular structure, a sector structure, or a strip structure provided with the connection holes (63) for assembling the fasteners at both ends thereof; the first thigh member (11), the second thigh member (12), the waist-abdomen member (53), or / and the shank member (21) is a concave arc structure, a square sheet structure, a bar-shaped structure, a columnar structure, or a sleeve structure provided with the assembling holes (64) for fixing the fasteners on end surfaces thereof;or / and the foot support member (31) is a shoe-shaped structure, a sheet structure, a human foot-shaped structure, or a block structure.

10. A humanoid robot, wherein the leg power structure for a humanoid robot according to any one of claims 1-9 is provided at a waist thereof.

Images