CN116946280A

CN116946280A - Biped robot, humanoid robot and robot

Info

Publication number: CN116946280A
Application number: CN202311072094.9A
Authority: CN
Inventors: 赵国增; 陈健; 沈悰
Original assignee: Shenzhen Zhuji Power Technology Co ltd
Current assignee: Shenzhen Zhuji Power Technology Co ltd
Priority date: 2023-08-23
Filing date: 2023-08-23
Publication date: 2023-10-27

Abstract

The application relates to the technical field of robots, which belongs to the technical field of robots and comprises a machine body, two leg assemblies arranged on one side of the machine body, and a leg swinging joint fixed on the other side, wherein the leg swinging joint is provided with a leg swinging rotating shaft along the horizontal direction, the leg swinging joint is used for driving the leg assemblies to swing around the leg swinging rotating shaft, the leg assemblies comprise a leg structure and a leg rotating joint, the leg rotating joint is a leg rotating shaft along the vertical direction, and the leg rotating joint is used for driving the leg structure to rotate around the leg rotating shaft; the leg structure comprises thigh and thigh joints for driving the thigh to rotate, shank and shank joints for driving the shank to rotate, and feet and foot joints. The biped robot has the advantages that the robot body, the leg assemblies and the joint modules are reasonably arranged, the whole structure is simple and portable, the control is easy during walking, the energy consumption is low, and the disassembly and the assembly and the later maintenance are facilitated.

Description

Biped robot, humanoid robot and robot

Technical Field

The application belongs to the technical field of robots, and relates to a biped robot, a humanoid robot and a robot.

Background

In robotics, humanoid bipedal robots are an important type of robotics. In the biped robot, the leg structure comprises thighs, calves and feet, and corresponding actuating devices such as joint modules or push rods, and the thighs, the calves and the feet are driven to rotate or swing through the mutual cooperation of the joint modules or the push rods, so that walking motion similar to human motions is completed.

In the related art, as disclosed in patent application CN114030537a and 2022.02.11, the patent name is a bipedal robot, which includes a thigh, a shank, a foot, and a thigh joint, a swing leg joint, and a knee joint driving module and an ankle joint driving module, which are dual electric putter mechanisms. Therefore, although the robot can walk on feet, the joint module and the electric push rod mechanism are matched to serve as a walking actuating part of the robot, so that the robot is complex in product structure, low in bionic degree and difficult to assemble, disassemble and maintain.

The patent application with publication number CN116001945A and publication number 2023.04.25 and with patent name of leg structure and bipedal robot comprises thigh and shank of leg structure and six joint modules including thigh joint, shank joint, leg swinging joint, leg rotating joint and foot joint. Although bipedal walking can be realized, the joint modules are more, the control difficulty is higher, and the walking energy consumption is higher. In addition, the six joint modules are mounted, and the six joint modules have the problems of complex structure, low bionic degree and difficult disassembly, assembly and maintenance.

Therefore, the bipedal robot in the related art has the problems of high control difficulty, high energy consumption, complex structure and difficult disassembly and maintenance due to more arrangement of the joint module and the electric push rod mechanism.

Disclosure of Invention

The application provides a biped robot and a humanoid robot, and aims to solve the problems of high control difficulty, high energy consumption, complex structure and difficult disassembly and maintenance of the biped robot in the prior art.

In one aspect, the present application provides a bipedal robot comprising a body, two leg assemblies arranged mirror symmetrically on one side of the body, and a swing leg joint fixedly disposed on the other side of the body opposite to the leg assemblies; the leg swinging joint is provided with a leg swinging rotating shaft along the horizontal direction and is used for driving the leg assembly to swing around the leg swinging rotating shaft; the leg assembly includes a leg structure and a rotary leg joint; the leg rotating joint is used for driving the leg structure to rotate around the leg rotating shaft; the leg structure comprises a thigh, a thigh joint for driving the thigh to rotate, a shank joint for driving the shank to rotate, a foot and a foot joint for driving the foot and changing the included angle between the foot and the shank.

In one scheme, the leg assembly is divided into an upper mass part with an upper mass point and a lower mass part with a lower mass point by taking the horizontal plane of the swing leg rotation axis as a boundary, wherein the mass of the upper mass point is greater than zero and less than or equal to the mass of the lower mass point; the distance from the swing leg rotating shaft to the upper mass point is an upper force arm, the distance from the swing leg rotating shaft to the lower mass point is a lower force arm, and the length of the upper force arm is greater than zero and less than or equal to the length of the lower force arm; and the upper mass part and the lower mass part synchronously and reversely swing by taking the swing leg rotating shaft as an axis, and at least part of the upper mass part is positioned above the horizontal plane where the swing leg rotating shaft is positioned in the swinging process.

In one aspect, the thigh joint is disposed on a side of the thigh opposite an end of the shank; the lower leg joint is arranged at one end of the thigh opposite to the lower leg and opposite to the other side of the thigh joint, and the height of the lower leg joint is consistent with the height of the thigh joint in the vertical direction; the foot joint is arranged on one end of the lower leg close to the thigh and is on the same side with the thigh joint; wherein the sum of the mass of the thigh joint and the foot joint is not less than 60% of the mass of the shank joint and not more than 140% of the mass of the shank joint.

In another aspect, the present application provides a humanoid robot including the biped robot described above as a lower limb.

In another aspect, the present application provides a robot, including the humanoid robot described above.

The application has the beneficial effects that:

the biped robot has the advantages that the robot body, the leg assemblies and the joint modules are reasonably arranged, the whole structure is simple and portable, the control is easy during walking, the energy consumption is low, and the disassembly and the assembly and the later maintenance are facilitated.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIGS. 1 and 2 are schematic views of a conventional robot structure in the prior art;

FIG. 3 is a schematic view of a bipedal robot in accordance with one embodiment of the application;

FIG. 4 is an exploded view of a bipedal robot in accordance with one embodiment of the application;

FIG. 5 is a schematic view of a bipedal robot in accordance with one embodiment of the application;

FIG. 6 is an exploded view of the joints of a bipedal machine in accordance with one embodiment of the application;

FIG. 7 is a right side schematic view of a bipedal machine in accordance with one embodiment of the application;

FIG. 8 is a schematic front view of a bipedal machine in accordance with one embodiment of the application;

FIG. 9 is a schematic diagram of a bipedal robot leg assembly after leg swing in accordance with one embodiment of the application;

FIG. 10 is a schematic front view of FIG. 9;

FIG. 11 is a diagram illustrating a force analysis of a bipedal robot leg assembly during leg swing in accordance with one embodiment of the present application;

FIG. 12 is a schematic view of a partial explosion of a bipedal robot in accordance with one embodiment of the application;

FIG. 13 is a schematic view of the partial structural connection of a bipedal robot leg assembly in accordance with one embodiment of the application;

FIG. 14 is a right side schematic view of FIG. 13;

FIG. 15 is an exploded view of FIG. 13;

FIG. 16 is a right side schematic view of FIG. 15;

FIG. 17 is a schematic view of a first connector according to an embodiment of the present application;

FIG. 18 is a schematic view of a second connector according to an embodiment of the present application;

FIG. 19 is a schematic view showing the engagement of the first connector with the leg joint according to an embodiment of the present application;

FIG. 20 is a left side schematic view of FIG. 19;

FIG. 21 is a schematic view of a portion of a leg assembly engagement in accordance with an embodiment of the present application;

FIG. 22 is a schematic view of a portion of a leg assembly engagement in accordance with an embodiment of the present application;

FIG. 23 is an exploded view of a bipedal robot in accordance with one embodiment of the application;

FIG. 24 is a schematic front view of a bipedal robot in accordance with one embodiment of the application;

FIG. 25 is a schematic illustration of a swing leg of two leg assemblies in accordance with one embodiment of the application;

FIG. 26 is a schematic illustration of a swing leg of two leg assemblies in accordance with one embodiment of the application;

FIG. 27 is a schematic illustration of a swing leg of two leg assemblies in accordance with one embodiment of the application;

FIG. 28 is a schematic view of a rotor structure according to an embodiment of the present application;

FIG. 29 is a schematic view of a connection of a rotor in an embodiment of the application;

FIG. 30 is a schematic view of a first connector according to an embodiment of the present application;

FIG. 31 is a schematic top view of a first connector according to an embodiment of the present application;

FIG. 32 is a schematic view of a second connector according to an embodiment of the present application;

FIG. 33 is a schematic view of a partial connection structure in an embodiment of the present application;

FIG. 34 is a schematic view illustrating the mating of the first connector and the second connector according to an embodiment of the present application;

FIG. 35 is a schematic view of a leg assembly configuration in accordance with an embodiment of the application;

FIG. 36 is a schematic view of a bipedal robot in accordance with one embodiment of the application;

FIG. 37 is a schematic view of the installation of a calf drive assembly in accordance with an embodiment of the application;

FIG. 38 is a schematic view of the installation of a foot drive assembly in an embodiment of the present application;

FIG. 39 is a schematic diagram of thigh structure in an embodiment of the application;

FIG. 40 is a schematic view of a calf stop installation in an embodiment of the application;

FIG. 41 is a schematic view of a lower leg limiter in accordance with one embodiment of the present application;

FIG. 42 is a schematic view of a shank coupling cavity in accordance with an embodiment of the application;

FIG. 43 is a schematic view of the lower leg structure in an embodiment of the application;

FIG. 44 is a schematic view of a foot attachment arrangement in accordance with one embodiment of the present application;

FIG. 45 is a schematic front view of a foot in an embodiment of the application;

FIG. 46 is a schematic view of a foot structure in an embodiment of the application;

FIG. 47 is a schematic view of a foot in one embodiment of the application projected in its width direction;

FIG. 48 is a schematic view of a swing leg stop installation in accordance with one embodiment of the application;

FIG. 49 is a schematic view of a swing leg stop according to an embodiment of the present application;

FIG. 50 is a schematic view of a first and second wire frame installation in an embodiment of the application;

FIG. 51 is an exploded view of FIG. 50;

FIG. 52 is a schematic view of a first wiring rack configuration in an embodiment of the application;

FIG. 53 is a schematic view of a second wiring rack configuration in an embodiment of the application;

FIG. 54 is a schematic diagram of a cable arrangement in an embodiment of the application;

FIG. 55 is a schematic front view of an embodiment of the present application;

FIG. 56 is a schematic view of a first connector coupled to a fuselage in accordance with an embodiment of the present application;

FIG. 57 is a schematic view of a first connector coupled to a fuselage in accordance with an embodiment of the present application;

FIG. 58 is an enlarged view of FIG. 57 at I;

FIG. 59 is a schematic view of a first connector coupled to a fuselage in accordance with an embodiment of the present application;

FIG. 60 is an enlarged view at II of FIG. 59;

FIG. 61 is a schematic view of a first connector coupled to a fuselage in accordance with an embodiment of the present application;

FIG. 62 is an enlarged view at III of FIG. 61;

FIG. 63 is a schematic view of a spline shaft installation in an embodiment of the present application;

the reference numerals in the drawings are as follows: 1. a machine body, 11 and a fixing frame; 111. a first via; 1111. a boss; 112. a bearing; 113. a bearing end cap; 1131. an end cap through hole; 114. an end cap mounting hole; 115. a fastener; 116. a spline shaft; 12. a fixed platform;

2. a leg assembly; 2a, left leg assembly; 2b, right leg assembly; 21. a leg structure; 211. thigh; 2111. a first cavity; 2112. the lower leg is connected with the cavity; 2113. a shank connecting portion; 21131. a first shank coupling hole; 2114. a second calf spacing surface; 2115. a transitional cambered surface;

2116. A first wire distribution frame; 21161. a first frame body; 21162. a first wiring fixing portion; 21163. an upper wiring support part; 21164. a first wiring avoiding surface; 21165. a first wiring fixing block; 21166. a second wiring avoiding surface;

2117. a second wire distribution frame; 21171. a second frame body; 21172. a wiring avoidance unit; 21173. a second wiring fixing portion;

212. thigh joints; 2121. thigh joint housing; 2122. thigh joint rear cover;

213. a lower leg; 2131. a shank body; 21311. a third cavity; 2132. an upper support part; 21321. a foot joint support; 21322. thigh connecting parts; 21323. a shank rocker connecting hole; 21324. thigh connecting holes; 21325. a second cavity; 2134. a foot connection; 21341. foot connecting holes; 21342. a limit flange; 21343. foot limiting surfaces;

214. a lower leg joint;

215. a foot; 2151. a heel portion; 21511. a heel surface; 2152. toe portion; 21521. toe surface; 21522. a foot rocker connecting hole; 2153. a second shank coupling hole; 2154. a foot mounting slot;

216. foot joints;

217. a lower leg limiter; 2171. a shank limiter body; 2172. a lower leg limit part; 2173. thigh avoiding grooves; 2174. a first calf spacing surface; 2175. mounting holes of the shank limiting parts;

218. A weight-reducing through hole;

22. a leg-rotating joint; 221. a rear cover of the leg-rotating joint; 222. a rotary leg joint housing;

23. a switching disc; 231. thigh joint connection parts;

24. a lower leg transmission assembly; 241. a first crank; 242. a lower leg rocker;

25. a foot drive assembly; 251. a second crank; 252. a foot rocker;

3. leg swinging joints; 3a, left leg swing joint; 3b, right leg swing joint; 31. leg swing limiting pieces; 311. swing leg avoiding groove; 312. a second swing leg limiting surface;

4. a first connecting piece, 41 and a first carrier plate; 411. leg swing joint connection parts; 4111. a first swing leg limit surface; 4112. end surfaces of leg swinging joint connecting parts; 4113. a step; 4114. a clamp spring groove; 4115. clamping springs; 4116. trepanning;

412. a socket; 4121. a plug-in groove;

42. a second carrier plate; 421. a rotary leg joint mounting part; 4211. a rotary leg joint mounting surface; 4212. a second via; 42121. leg rotating limit grooves; 42122. a first mating surface; 42123. a first leg limit surface;

43. a fixed shaft; 44. a connecting seat; 441. a through hole; 442. avoiding the cambered surface;

5. a second connector; 51. a first connection plate; 511. leg rotation limiting parts; 5111 a second mating surface; 5112. a second leg-turning limiting surface; 52. a second connecting plate; 521. a third via;

Wherein the limiting axis A is a swing leg rotating shaft; defining an axis B as a leg rotating shaft; defining an axis C as the output axis of the thigh joint; defining an axis D as the output axis of the calf joint; defining an axis E as a first mating surface radial; defining F as a second via radial direction; defining an axis G as a left swing leg rotation axis; defining an axis H as a right swing leg rotation axis; defining an axis I as a first web radial direction; defining a direction j as the radial direction of the leg swinging joint; defining an axis K as a hinge shaft axis; defining an axis L as the hinge axis radial direction; defining the X direction as a horizontal direction; defining the Y direction as a vertical direction; defining a plane alpha as a horizontal plane in which the swing leg rotation axis (A) is located; the limiting plane gamma is the leg joint installation surface.

Detailed Description

The following describes in further detail the embodiments of the present application with reference to the drawings and examples. The following examples are illustrative of the application and are not intended to limit the scope of the application. Likewise, the following examples are only some, but not all, of the examples of the present application, and all other examples, which a person of ordinary skill in the art would obtain without making any inventive effort, are within the scope of the present application.

Reference in the specification to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application. Those of skill in the art will explicitly and implicitly appreciate that the described embodiments of the application may be combined with other embodiments.

Please refer to fig. 1 and fig. 2, which are schematic structural diagrams of two robots in the related art. As shown in fig. 1, the bipedal robot product includes a thigh 1002, a shank 1003, a foot 1006 of a leg structure, and includes a thigh joint 1005, a swing leg joint 1001, and a knee joint driving module 1004 and an ankle joint driving module 1007 which are dual electric putter mechanisms. Therefore, the robot is driven by the joint modules and the electric push rod mechanism in a matched mode to realize bipedal walking, but the joint modules and the electric push rod mechanism are matched to serve as a robot walking actuating part, so that the robot product is complex in structure, low in bionic degree and difficult to assemble, disassemble and maintain.

As further shown in fig. 2, the bipedal robot includes a thigh 2002, a shank 2003, and a foot 2008 having a leg structure, and six joint modules including a thigh joint 2004, a shank joint 2005, a swing leg joint 2001, a leg joint 2006, and a foot joint 2007. The biped robot has more joint modules, higher control difficulty and higher walking energy consumption. In addition, the six joint modules are mounted, and the six joint modules have the problems of complex structure, low bionic degree and difficult disassembly, assembly and maintenance.

In order to solve the above-mentioned problems of the bipedal robot product in the prior art, the present application provides the following embodiments.

Referring to fig. 3-4, in some embodiments, the present application provides a bipedal robot comprising: the body 1, two leg assemblies 2 which are arranged in mirror symmetry on one side of the body 1, and a swing leg joint 3 which is fixedly arranged on the other side of the body 1 opposite to the leg assemblies 2.

The swing leg joint 3 has a swing leg rotation axis a along a horizontal direction, and the swing leg joint 3 is used for driving the leg assembly 2 to swing around the swing leg rotation axis a. The leg assembly 2 includes a leg structure 21 and a rotary leg joint 22; the leg rotation joint 22 a leg rotation axis B along the vertical direction, and the leg rotation joint 22 is used for driving the leg structure 21 to rotate around the leg rotation axis B.

The leg structure 21 includes a thigh 211, a thigh joint 212 for driving the thigh to rotate, a shank 213, a shank joint 214 for driving the shank 213 to rotate, and a foot joint 216 for driving the foot and changing the angle between the foot and the shank 213.

Therefore, in this embodiment, the leg assembly 2 and the swing leg joint 3 are disposed on both sides of the body 1, and the leg assembly 2 is driven to swing by providing one swing leg joint 3, and simultaneously, the leg structure 21 is driven to rotate by providing one swing leg joint 22, so that the thigh 211, the shank 213 and the foot are driven by one joint of the thigh joint 212, the shank joint 214 and the foot joint 216, respectively. So, when dismantling, with leg assembly 2 dismantlement pendulum leg joint 3's output can realize whole leg assembly 2 dismantlement, perhaps with leg structure 21 dismantles from changeing leg joint 22's output, can dismantle leg structure 21, whole dismantlement process is convenient quick, also does benefit to dismouting and later maintenance.

In addition, in the present embodiment, five joint modules including the swing leg joint 3, the swing leg joint 22, the thigh joint 212, the shank joint 214, and the foot joint 216 are included, and as the actuating component of the robot, bipedal walking motion can be realized, compared with the mode of setting more joint modules or setting a push rod motor, the actuating component is relatively less, walking control is easier, and energy consumption is lower.

Referring to fig. 5-11, in some embodiments, the bipedal robot of the present application divides the leg assembly 2 into an upper mass portion M with an upper mass point, bounded by a horizontal plane α in which the swing leg rotation axis a is located _c And a lower mass part M with lower particles _b The mass of the upper particles is greater than zero and less than or equal to the mass of the lower particles. The distance from the swing leg rotating shaft A to the upper mass point is an upper force arm L2, the distance from the swing leg rotating shaft A to the lower mass point is a lower force arm L1, and the length of the upper force arm L2 is greater than zero and less than or equal to the length of the lower force arm L1.

Wherein the upper mass part M _c And lower mass part M _b Synchronously and reversely swinging by taking swinging leg rotating shaft A as shaft, and at least partially feeding mass part M in swinging process _c Is located above the horizontal plane alpha of the swing leg rotation axis A as shown in figures 9, 10 and 11.

In this embodiment, the mass of the leg assembly 2 is divided into an upper mass portion M by a leg swinging rotation axis A _c And lower mass part M _b Upper mass part M during leg swinging _c And lower mass part M _b Synchronized counter swing, such that upon swing of the leg assembly 2, the upper mass portion M swings in opposite directions _c For the lower mass part M _b The swing process of the leg assembly 2 forms buffering, the swing moment of inertia of the leg assembly 2 and the required output moment of the swing leg joint 3 are effectively reduced, namely, the moment of inertia and moment of the leg assembly 2 are optimized, and the requirement on the swing leg joint 3 is reduced.

Specifically, during leg swinging, because the rotational inertia of the leg assembly 2 is smaller, the output torque requirement on the leg swinging joint 3 is smaller, and similarly, during leg falling, the torque requirement output by the leg swinging joint 3 for overcoming gravity is smaller, so that the control difficulty during leg swinging is effectively reduced, and the leg structure 21 is easier to "lift and put lightly". In another aspect, it is apparent that under the same walking condition, the energy consumption of the swing leg joint 3 can be reduced, or under the same type selection condition, the swing leg joint 3 can be of a smaller type to meet the requirements, thereby facilitating the miniaturization of the robot and reducing the cost.

In this embodiment, please refer to fig. 11, which illustrates a force analysis diagram of a bipedal robot in the prior art and the solution of this embodiment during leg swing.

As shown in the illustration of figure 11 of the drawings,

moment calculation:

moment of the biped robot in the traditional technology in the leg swinging state a:

T ₀ ＝G ₀ ×cosβ×L ₀ ；

G ₀ ＝M _a g；

moment of the biped robot in the leg swinging state a:

T ₁ ＝G ₁ ×cosβ×L ₁ -G ₂ ×cosβ×L ₂ ；

G ₁ ＝M _b g；

G ₂ ＝M _c g；

wherein M is _a Is the mass of the conventional robot leg structure 21; g ₀ Is M _a Is defined by the weight of the container; f (F) ₀ Is G ₀ Tangential component force during swinging; l (L) ₀ Is a leg swinging arm of a traditional robot;

M _b is the lower mass part in this embodiment; g ₁ Is M _b Is defined by the weight of the container; f (F) ₁ Is G ₁ Tangential component force during oscillation, L ₁ Is the lower arm of force of this embodiment;

M _c is the upper mass part in this embodiment; g ₂ Is M _c Is defined by the weight of the container; f (F) ₂ Is G ₂ Tangential component force during oscillation, L ₂ Is the lower arm of force of this embodiment;

g is the gravity coefficient;

wherein M is _a ＝M _b +M _c ，G ₀ ＝G ₁ +G ₂ ，L ₀ ＝L ₁ +L ₂ ；

Thus, the moment in the swing leg state a of the present embodiment is:

T ₁ ＝T ₀ -cosβ×(G ₀ ×L ₂ +G ₂ ×L ₀ )；

obviously, under the same swing angle a, the leg assembly 2 of the present application swings the leg by a required moment T ₁ Less than the moment required to swing the legs of the conventional robotic leg structure 21.

And (3) calculating the moment of inertia:

the moment of inertia of the robot in the prior art for realizing the motion process a is as follows:

the moment of inertia for realizing the motion process a in this embodiment is:

Obviously, the moment of inertia I of the leg assembly 2 of the present application, given the same course of movement a ₁ Less than the moment of inertia I of the conventional robot leg structure 21 ₀ 。

In this example, further, the above formula is taken into consideration for verification.

For example, the design movement process a is that the side leg is lifted by 15 degrees, namely a=15 degrees, beta=75 degrees and L ₀ ＝1.2m，M _a ＝40k g，L ₁ ＝1m，L ₂ ＝0.2m，M _b ＝30kg，M _c =10 kg, calculated as follows:

the conventional robot leg structure 21 realizes a movement process a:

the required moment is as follows:

T ₀ ＝G ₀ ×cosβ×L ₀ ＝M _a g×cosβ×L ₀ ＝40×9.8×cos15°×1.2

＝454.3N·m

the moment of inertia is:

the robot leg structure 21 in the present embodiment realizes a movement process a:

the required moment is as follows:

T ₁ ＝G ₁ ×cosβ×L ₁ -G ₂ ×cosβ×L ₂ ＝cos15°(30×9.8×1-10×9.8×0.2)＝266.2N·m

the moment of inertia is:

in summary, the bipedal robot leg assembly 2 of the present application has a moment of force reduced by 41.40% and a moment of inertia reduced by 47.22% during the same swing leg process (a) as the conventional robot leg structure 21.

In general, the swing leg inertia and moment of the leg structure 21 of the biped robot are effectively optimized in the embodiment, the torque requirement in the swing leg process is reduced, and the 'light lifting and light releasing' of the leg structure 21 is easier to realize, so that the control difficulty and energy consumption of the biped robot are reduced, and the applicability of the robot is improved.

In some embodiments, the upper mass portion M is known from the above formula _c The closer the mass of (c) is to the lower mass portion M _b Upper mass part M of the swing process of the leg assembly 2 _c For the lower mass part M _b The more obvious the cushioning effect, i.e. the swing leg moment T ₁ And moment of inertia I ₁ Smaller.

Thus, in this example, the upper mass part M _c Comprising the following steps: leg turning jointPart of the mass or the whole mass of the section 22. Alternatively, the total mass of the knuckle 22, the partial mass of the thigh 211, and at least a partial mass of the thigh joint 212. Alternatively, the total mass of the knuckle 22, the partial mass of the thigh 211, at least part of the thigh joint 212, and at least part of the shank joint 214.

Thus, the upper mass part M _c The mass of the upper mass point of (2) is larger than zero and is most close to the lower mass part M _b Is used to determine the mass of the lower dot, the effects of reducing the swing leg moment and reducing the moment of inertia can be better realized.

In some embodiments, the lower mass portion M _b Comprising the following steps: the partial mass of the knuckle 22 and the total mass of the thigh 211, shank 213, foot 215, thigh joint 212, shank joint 214 and foot joint 216. Alternatively, the partial masses of the thigh 211 and thigh joint 212 and the total masses of the shank 213, foot 215, shank joint 214, and foot joint 216. Alternatively, the partial masses of thigh 211, thigh joint 212 and shank joint 214 and the total masses of shank 213, foot 215 and foot joint 216.

Under the precondition, the lower quality part M is ensured _b Not completely including the mass of the entire leg assembly 2, avoiding that the mass of the entire leg assembly 2 is concentrated entirely below the swing leg rotation axis a of the swing leg joint 3, shifting the mass of the leg assembly 2 up to the upper side of the swing leg rotation axis a as much as possible, i.e., to form the upper mass portion M _c . In this way, the upper mass portion M can be reduced to the maximum extent _c And lower mass part M _b The effects of reducing the swing leg moment and reducing the moment of inertia can be better achieved.

Referring to fig. 12-17, in some embodiments, the bipedal robot leg structure 21 includes a first connecting member 4, the first connecting member 4 includes a first carrier plate 41 and a second carrier plate 42 integrally formed, and a leg swinging joint 411 is disposed on the first carrier plate 41.

The output end of the swing leg joint 3 is fixedly connected with the swing leg joint connecting portion 411, and the swing leg joint 3 is used for driving the first connecting piece 4 to rotate by taking the swing leg rotating shaft a as an axis.

The second carrier plate 42 is configured with a leg joint mounting portion 421, and the leg joint 22 is fixedly provided to the leg joint mounting portion 421. After the knuckle is fixed to the knuckle mount 421, at least part of the mass of the knuckle 22 is set above the swing leg rotation axis a.

That is, by the arrangement and limitation of the first connecting piece 4, the mass of the partial leg joint 22 is positioned above the leg swinging rotation axis A to form an upper mass part M _c Through the upper mass part M during leg swinging _c Relative lower mass part M _b The swing is reversed, so that the swing leg moment of the leg assembly 2 is optimized, and the effects of reducing the swing leg moment and the moment of inertia are achieved.

Referring to fig. 14-17, in some embodiments, a leg joint mounting surface 4211 (plane γ) is configured on the leg joint mounting portion 421, and the leg joint mounting surface 4211 (plane γ) is located above the swing leg rotation axis a in the axial direction of the leg rotation axis B of the leg joint 22.

After the leg joint 22 is fixedly provided on the leg joint mounting portion 421, the leg joint 22 is attached to or higher than the leg joint mounting surface 4211 (plane γ) so that the entire mass of the leg joint 22 is positioned above the swing leg rotation axis a to form the upper mass portion M _c Is a part of the same.

Upper mass part M _c When swinging around the swing leg rotation axis a, the entire mass of the swing leg joint 22 is located above the horizontal plane α of the swing leg rotation axis a.

Thus, by mounting the knuckle 22 on the knuckle mounting surface 4211 (plane γ) of the first link 4, it is ensured that the entire mass of the knuckle 22 is disposed above the swing leg rotation axis a, forming the upper mass portion M _c And at this time the upper mass part M _c Including the total mass of the knuckle 22, increases the upper mass portion M _c The mass of (2) is reduced by the upper mass part M _c And lower mass part M _b Better optimizing the swing leg moment of the leg assembly 2 and further improving the aforementioned effect of reducing swing leg moment and moment of inertia.

As an example, as shown in fig. 17, the first carrier plate 41 and the second carrier plate 42 may be disposed vertically, the leg joint mounting surface 4211 (plane γ) is disposed parallel to the horizontal plane α where the swing leg rotation axis a is located, and the leg rotation axis B and the swing leg rotation axis a are disposed vertically, so that the installation and the cooperation of the leg joint 22, the swing leg joint 3, and the first connecting member 4 are simpler and more convenient, and the joint selection and the manufacture of the first connecting member 4 are facilitated.

Referring to fig. 12, in some embodiments, the output axis C of the thigh joint 212 and the swing leg rotation axis a are disposed substantially perpendicular to each other and lie on a same plane, such as plane α. One end of the thigh 211 is fixed to the output end of the thigh joint 212 such that a partial mass of the thigh joint 212 and a partial mass of the thigh 211 are located above the swing leg rotation axis A, forming an upper mass part M together with the entire mass of the swing leg joint 3 _c Is a part of the same.

Upper mass part M _c When swinging around the swing leg rotation axis a, the total mass of the swing leg joint 3, the partial mass of the thigh joint 212, and the partial mass of the thigh 211 are located above the horizontal plane α where the swing leg rotation axis a is located.

In this way, the partial mass of the thigh joint 212, the partial mass of the thigh 211, and the total mass of the leg joint 3 are positioned above the leg rotation axis A to collectively form the upper mass portion M _c Further increasing the upper mass portion M _c And the mass of (2) and the upper mass part M are reduced _c And lower mass part M _b Further optimizing the swing leg moment of the leg assembly 2 and improving the aforementioned effect of reducing swing leg moment and moment of inertia.

Referring to fig. 12-18, in some embodiments, the bipedal robot of the present application further comprises: the second connecting piece 5, the second connecting piece 5 includes perpendicular and integrated into one piece's first connecting plate 51 and second connecting plate 52, and first connecting plate 51 sets up the one end at second connecting plate 52.

The first carrier plate 41 has a second through hole 4212 formed therein, and the first connection plate 51 is connected to the output end of the leg joint 22 through the second through hole 4212. The second connecting plate 52 is provided with a third through hole 521, and the axis of the third through hole 521 is perpendicular to the swing leg rotation axis a and is located on the same plane, specifically, all the planes α.

The thigh joint 212 is fixed to one side of the second connection plate 52, the output end of the thigh joint 212 extends to the other side of the second connection plate 52 with respect to the thigh joint 212 through the third through hole 521, the thigh 211 is fixed to the output end of the thigh joint 212 such that the output axis C of the thigh joint 212 and the swing leg rotation axis a are located on the same plane α, i.e. such that the partial mass of the top of the thigh 211 and the partial mass of the thigh joint 212 are located above the swing leg rotation axis a, forming an upper mass portion M _c Is a part of the same.

Wherein, as an example, first connecting piece 4 and second connecting piece 5 are integrated into one piece's component, and structural strength is big, and is more firm, and easy dismouting.

Referring to fig. 3, 4, 28 and 29, in some embodiments, the present application further includes a adapter plate 6, where the adapter plate 6 is flange-shaped, and a thigh joint 212 connecting portion is configured in the middle, and the thigh joint 212 connecting portion passes through the third through hole 521 and is connected to an output end of the thigh joint 212, and the thigh 211 is fixed on the other side of the adapter plate 6 opposite to the thigh joint 212 connecting portion, so that the adapter plate 6 is driven to rotate relative to the second connecting member 5 by the thigh joint 212, and the thigh 211 is driven to swing back and forth.

Referring to fig. 12, in some embodiments, a calf joint 214 is disposed on the other side of the thigh 211 relative to the thigh joint 212, with the output axis D of the calf joint 214 being disposed coaxially with the output axis C of the thigh joint 212 such that a portion of the calf joint 214 mass is disposed above the swing leg axis of rotation a to form an upper mass portion M along with the total mass of the swing leg joint 22, a portion of the thigh joint 212 mass, and a portion of the thigh 211 mass _c Is a part of the same.

Upper mass part M _c When swinging around the swing leg rotation axis a, the total mass of the swing leg joint 22, the partial mass of the thigh joint 212, the partial mass of the thigh 211, and the partial mass of the shank joint 214 are located above the horizontal plane α where the swing leg rotation axis a is located.

Thus, by disposing the mass of a portion of the shank joint 214 above the swing leg rotation axis A, the weight of the shank joint is reducedThe partial mass of the thigh joint 212, the partial mass of the thigh 211 and the total mass of the leg pendulum joint 3 together form an upper mass part M _c To a greater extent increase the upper mass part M _c And the mass of (2) and the upper mass part M are reduced _c And lower mass part M _b The swing leg moment of the leg assembly 2 is further optimized, and the effect of reducing the swing leg moment and the moment of inertia is improved.

Referring to fig. 19 and 20, in some embodiments, a socket 412 is disposed at an end of the leg joint connecting portion 411 opposite to the leg joint 3, a socket slot 4121 is configured on the socket 412, the socket 412 may be formed by milling or integrally casting to form a socket slot 4121 with an open top or an open upper and lower side, and an end of the first carrier plate 41 opposite to the second carrier plate 42 is inserted into the socket slot 4121, so that the first carrier plate 41 is connected with the socket 412 through plugging. As an example, a jackscrew may be provided on the socket 412, and further fastening between the first carrier plate 41 and the socket 412 may be performed by the jackscrew, so as to ensure stable and firm connection.

When the robot is disassembled, the first carrier plate 41 of the first connecting piece 4 is pulled away from the inserting groove 4121 of the inserting seat 412, and the whole leg assembly 2 of the robot can be disassembled without disassembling other structures such as the leg swinging joint 3, so that the disassembling process is more convenient and quick.

Referring to fig. 21, in some embodiments, the bipedal robot of the application further comprises: a first connector 4 and a second connector 5.

The first connector 4 includes a fixed shaft 43 and a connecting seat 44. The fixed shaft 43 is fixedly connected with an output flange of the swing leg joint 3, a swing leg joint mounting part 421 is constructed on the connecting seat 44, the swing leg joint mounting part 421 is positioned above the swing leg rotation axis a, and the swing leg joint 22 is fixedly arranged on the swing leg joint mounting part 421.

The second connecting piece 5, the connecting seat 44 is configured with a through hole 441, one end of the second connecting piece 5 passes through the through hole 441 to be fixedly connected with the output flange of the rotary leg joint 22, and the other end is fixedly connected with the thigh 211 joint.

In this example, the fixed shaft 43 and the connection base 44 are connected to each otherIs vertically arranged, and after the rotary leg joint 22 is fixedly arranged on the rotary leg joint mounting part 421, the rotary leg joint 22 is enabled to have the whole mass above the rotary leg swinging shaft A to form an upper mass part M _c Is connected with the lower mass part M during leg swinging _b The swing is reversed together, so that the effects of reducing the swing leg moment and the moment of inertia of the leg assembly 2 are realized.

Further, as shown in fig. 22, the connecting seat 44 in this embodiment is provided with a thigh avoiding arc surface 442 on a side close to the thigh 211, the thigh avoiding arc surface 442 is configured on the bottom side surface of the connecting seat 44, the thigh avoiding arc surface 442 is concentrically arranged with the arc-shaped outer peripheral surface of the top end of the thigh 211, and when in installation, the top end of the thigh 211 is closer to the connecting seat 44, and the assembly of the leg assembly 2 is more compact.

Referring to fig. 10 and 11, in some embodiments, the upper mass portion M _c In the swing of the upper arm L2 and the vertical direction within the angle a of 0-30 DEG, thus, even if the upper mass part M is in the swing leg process _c Swing to the limit position can also ensure that all or part of the mass of the swing leg joint 22 is maintained above the horizontal plane alpha of the swing leg rotation axis A, and ensure that the mass of the leg assembly 2 can form the upper mass part M within the swing range _c And lower mass part M _b Thereby ensuring the achievement of the purpose and effect of reducing the swing leg moment of the leg assembly 2 and reducing the moment of inertia. Meanwhile, the problem that overload and failure are caused by overlarge swing range and overlarge output torque of the swing leg joint 3 are required is avoided.

In some embodiments, the upper mass portion M _c The specific value of the included angle a between the upper arm L2 and the vertical direction may be: 0 degree, 5 degrees to 10 degrees, 15 degrees, 20 degrees to 25 degrees, 30 degrees, etc.

In some embodiments, the upper mass portion M _c Swing in the range of 0-15 degrees between the upper arm L2 and the vertical direction, so that, during the swing of the leg, even the upper mass part M _c Swing to the limit position can also ensure the total or partial mass of the rotary leg joint 22, the partial mass of the thigh joint 212, and the partial mass of the thigh 211 toAnd the partial mass of the shank joint 214 can be maintained above the horizontal plane alpha of the swing leg rotation axis A, ensuring that the mass of the leg assembly 2 can form a relatively sufficient upper mass portion M within the swing range _c And lower mass part M _b Thereby ensuring that the aims and effects of reducing the swing leg moment of the leg assembly 2 and reducing the moment of inertia are better achieved. Meanwhile, the problem that overload and failure are caused by overlarge swing range and overlarge output torque of the leg swinging joint 3 can be avoided, and the walking stability of the robot is ensured.

In some embodiments, the upper mass portion M _c The specific value of the included angle a between the upper arm L2 and the vertical direction may be: 0 degree, 2 degrees to 5 degrees, 7.5 degrees, 8 degrees to 12 degrees, 15 degrees, etc.

Referring to fig. 23-27, in some embodiments, two leg assemblies 2 of the bipedal robot of the present application are divided into a left leg assembly 2a and a right leg assembly 2b. The swing leg joint 3 is divided into a left swing leg joint 3a and a right swing leg joint 3b. The swing leg rotation axis a is divided into a left swing leg rotation axis G and a right swing leg rotation axis H.

Wherein the left leg assembly 2a has an upper left mass portion M bounded by a horizontal plane α in which the left swing leg rotation axis G is located _c1 Upper left arm L ₂₁ Lower left mass part M _b1 Left lower arm L ₁₁ 。

The right leg assembly 2b has an upper right mass portion M bounded by a horizontal plane α at which the right swing leg rotation axis H lies _c2 Upper right arm L ₂₂ Lower right mass part M _b2 Lower right arm L ₁₂ 。

When walking, the left leg unit 2a and the right leg unit 2b are in an initial state in which they are perpendicular to the ground in the vertical direction, and the left leg unit 2a swings relative to the vertical direction by being driven by the left swing leg joint 3a and swinging about the left swing leg rotation axis G. The right leg assembly 2b is driven by a right leg swinging joint 3b to swing left and right relative to the vertical direction by taking a right leg swinging rotating shaft H as an axis, wherein the left upper mass part M _c1 And lower left mass part M _b1 And synchronously and reversely swinging. Upper right mass part M _c2 And lower right mass part M _b2 And synchronously and reversely swinging. Thus, at the same timeThe swing leg moment arm and the moment of inertia of the left leg assembly 2a and the right leg assembly 2b are optimized, and the effect of reducing the swing leg moment and the moment of inertia of the leg assembly 2 is realized.

The upper left mass part M _c1 And lower left mass part M _b1 Upper right mass part M _c2 And lower right mass part M _b2 The description of (a) is based on dividing the two leg assemblies 2 into a left leg assembly 2a and a right leg assembly 2b, and is intended to enable a person skilled in the art to more clearly understand the different fitting attitudes of the two leg assemblies 2 for the distinguishing description. Wherein the upper left mass part M _c1 And lower left mass part M _b1 Namely the upper mass portion M of the left-hand leg assembly 2 defined in this embodiment _c And lower mass part M _b . Also, the upper right mass part M _c2 And lower right mass part M _b2 Namely the upper mass portion M of the right-hand leg assembly 2 defined in this embodiment _c And lower mass part M _b 。

Referring to fig. 23 and 24, the upper left mass portion M is limited by the range of the angle a _c1 Comprising the following steps: the left leg joint 22a is of full mass. Alternatively, the total mass of the left leg joint 22a, the partial mass of the left thigh 211a, and at least the partial mass of the left thigh joint 212 a. Alternatively, the total mass of left leg joint 22a, the partial mass of left thigh 211a, at least a portion of the mass of left thigh joint 212a, and at least a portion of the mass of left calf joint 214 a.

Wherein the lower left mass part M _b1 Comprising the following steps: the total mass of left thigh 211a, left calf 213a, left foot 215a, left thigh joint 212a, left calf joint 214a, and left foot joint 216 a. Alternatively, the partial masses of left thigh 211a and left thigh joint 212a and the total masses of left calf 213a, left foot 215a, left calf joint 214a, and left foot joint 216 a. Alternatively, the partial masses of left thigh 211a, left thigh joint 212a, and left shank joint 214a, and the total mass of left shank 213a, left foot 215a, and left foot joint 216 a.

Referring to fig. 23 and 24, the upper right mass portion is limited by the range of the angle aM _c1 Comprising the following steps: the right leg joint 22b is of full mass. Alternatively, the total mass of the right leg joint 22b, the partial mass of the right thigh 211b, and at least a partial mass of the right thigh joint 212 b. Alternatively, the total mass of the right rotary leg joint 22b, the partial mass of the right thigh 211b, at least part of the mass of the right thigh joint 212b, and at least part of the mass of the right calf joint 214 b.

Wherein the lower right mass part M _b1 Comprising the following steps: the total mass of the right thigh 211b, right calf 213b, right foot 215b, right thigh joint 212b, right calf joint 214b, and right foot joint 216 b. Alternatively, the partial masses of right thigh 211b and right thigh joint 212b, and the total masses of right calf 213b, right foot 215b, right calf joint 214b, and right foot joint 216 b. Alternatively, the partial masses of right thigh 211b, right thigh joint 212b, and right calf joint 214b, and the total mass of right calf 213b, right foot 215b, and right foot joint 216 b.

Referring to fig. 24 and 25, in some embodiments, the lower left mass portion M is when the bipedal robot walks _b1 And lower right mass part M _b2 Swing in opposite directions by an angle as a in fig. 25 ₁ And a ₂ For example, expanding toward the sides of the robot or contracting toward the middle, respectively, the upper left mass part M _c1 And an upper right mass part M _c2 Following the respective lower mass portion M _c The swing of the left leg unit 2a and the right leg unit 2b is made to swing in opposite directions so that the left leg unit 2a and the right leg unit 2b are simultaneously opened to the outside or contracted to the middle, and both the left leg unit 2a and the right leg unit 2b can reduce the aforementioned purpose and effect of swing moment and moment of inertia of the leg unit 2 during swing.

Meanwhile, the robot can walk in a posture of opening the two leg assemblies 2 or contracting the two leg assemblies 2, so that walking postures are enriched. In addition, because the left leg assembly 2a and the right leg assembly 2b can both have the aforementioned effect of reducing the swing leg moment and the moment of inertia of the leg assembly 2, the swing leg process is easier to control, and the walking gesture of the leg structure 21 is easier to switch and adjust, or in the process of switching the gesture, the output torque requirements on the left swing leg joint 3a and the right swing leg joint 3b are lower, that is, the energy consumption in the process of switching the gesture is reduced.

Referring to fig. 24 and 26, in some embodiments, the lower left mass portion M is when the bipedal robot walks _b1 And lower right mass part M _b2 Swing in the same direction, upper left mass part M _c1 And an upper right mass part M _c2 Swing in the same direction by an angle as a in fig. 26 ₁ And a ₂ If the left leg assembly 2a and the right leg assembly 2b swing to the left side or the right side together, the left leg assembly 2a and the right leg assembly 2b can swing to one side at the same time, and the purpose and effect of reducing the swing moment and the moment of inertia of the leg assembly 2 can be achieved during the swing process.

Meanwhile, the robot can walk in a posture that the whole robot is slightly inclined to the left or the right, and the walking posture is enriched. In addition, because the left leg assembly 2a and the right leg assembly 2b can both have the aforementioned effect of reducing the swing leg moment and the moment of inertia of the leg assembly 2, the swing leg process is easier to control, i.e. the walking gesture of the leg structure 21 is easier to be switched and adjusted, or the output torque requirements on the left swing leg joint 3a and the right swing leg joint 3b are lower in the gesture switching process, i.e. the energy consumption in the gesture switching process is reduced.

Referring to fig. 24 and 27, in one embodiment, the lower left mass portion M is when the bipedal robot walks _b1 And an upper left mass part M _c1 Non-swinging, lower right mass part M _b2 And an upper right mass part M _c2 Swing left and right relative to the vertical direction by an angle as a in fig. 27 ₂ I.e. the left leg assembly 2a is stationary and the right leg assembly 2b is relatively swung. Alternatively, the lower right mass part M _b2 And an upper right mass part M _c2 Non-swinging, lower left mass part M _b1 And an upper left mass part M _c1 Swing left and right relative to the vertical direction by an angle as a in fig. 27 ₁ I.e. the right leg assembly 2b is stationary and the left leg assembly 2a is relatively swung. So that the left leg assembly 2a and the right leg assembly 2b are swung separately, i.e., the left leg assembly 2a swings with respect to the right leg assembly 2b, or the right leg assembly 2b swings with respect to the left leg assembly 2a, respectively. Also, during the swinging, leftBoth the leg assembly 2a and the right leg assembly 2b achieve the aforementioned objectives and effects of reducing the swing leg moment and moment of inertia of the leg assembly 2.

Meanwhile, the robot can be switched under the gesture that the left leg component 2a and the right leg component 2b swing independently, so that the walking gesture of the robot is enriched, and the robot is suitable for more application scenes.

In addition, because the left leg assembly 2a and the right leg assembly 2b can both have the aforementioned effect of reducing the swing leg moment and the moment of inertia of the leg assembly, the swing leg process is easier to control, i.e. the posture of the leg structure 21 is easier to switch and adjust, or the output torque requirements on the left swing leg joint 3a and the right swing leg joint 3b are lower in the process of switching the postures, i.e. the energy consumption in the process of switching the postures is reduced.

Referring to fig. 3 and 4, in some embodiments, the fuselage 1 comprises: the fixing frame 11, the fixing frame 11 is arranged along a vertical plane vertical to the swing leg rotation axis A, the two leg assemblies 2 are arranged on one side of the fixing frame 11 in a mirror symmetry mode, and the swing leg joint 3 is fixed on the other side of the fixing frame 11 relative to the leg assemblies 2.

The mount 11 is configured with a first via hole 111, the swing leg joint 3 is fixed to the mount 11, and the swing leg joint connection 411 is connected to the output end of the swing leg joint 3 through the first via hole 111, thereby fixing the leg assembly 2 to the output end of the swing leg joint 3.

In this embodiment, the swing leg joint 3 of two leg assemblies 2 can be installed simultaneously by a fixing frame 11, and the structure is simple and stable. Meanwhile, the swing leg joint 3 is fixed on the fixing frame 11, the first connecting piece 4 is directly connected to the output end of the swing leg joint 3, and when the swing leg joint is detached, the whole leg assembly 2 can be detached only by separating the swing leg joint connecting part 411 of the first connecting piece 4 from the output end of the swing leg joint 3, the swing leg joint 3 is not required to be detached, and the swing leg assembly is easy to detach.

Referring to fig. 3 and 4, in some embodiments, the fuselage 1 further comprises: the fixed platform 12, the projection of fixed platform 12 and mount 11 on the vertical plane parallel to swing leg axis of rotation A is roughly perpendicular, sets up the reinforcing plate between fixed platform 12 and the mount 11 and links. The fixed platform 12 is used for carrying modules such as a power supply, a circuit board, an actuating mechanism and the like, and extends the fixed platform 12 towards one side where the leg assemblies 2 are arranged, so that the weight of each module carried on the upper side of the fixed platform is relatively located above the two leg assemblies 2, which is beneficial to balancing the center of gravity of the robot and guaranteeing the stability of the robot.

Referring to fig. 48 and 49, in some embodiments, the first carrier plate 41 is configured with two first swing leg limiting surfaces 4111 that are parallel to each other in the axial direction of the swing leg rotation axis a; a leg joint connection end face 4112 is defined between the two first leg limiting surfaces 4111, the leg joint connection end face 4112 is in a circular arc shape in an upward projection along the leg rotation axis a, and the leg joint connection end face 4112 is located on a circumferential surface surrounding the leg rotation axis a.

Wherein, this embodiment still includes: the swing leg limiting piece 31 is approximately constructed in a half-moon shape, a half-moon-shaped inner notch part is defined as a swing leg avoiding groove 311, the end parts at two ends of the swing leg limiting piece 31 are respectively defined as a second swing leg limiting surface 312, and the second swing leg limiting surface 312 is on the same side as the swing leg avoiding groove 311; the two ends of the avoiding groove are respectively connected with the two second swing leg limiting surfaces 312.

The swing leg limiting member 31 is fixed on the fixed frame 11 at one side corresponding to the swing leg joint connection portion 411, the end face 4112 of the swing leg joint connection portion is embedded in the swing leg avoiding groove 311, and projections of the first swing leg limiting surface 4111 and the second swing leg limiting surface 312 in a horizontal direction perpendicular to the swing leg rotation axis a are at least partially overlapped.

In this embodiment, during the leg swinging process, the first connecting piece 4 is driven by the leg swinging joint 3, or when the first connecting piece rotates to a limited angle left or right, the adjacent first leg swinging limiting surface 4111 abuts against the second leg swinging limiting surface 312, so as to prevent the first connecting piece 4 from rotating to an excessive position. Therefore, the swing angle range of the first connecting piece 4 is limited, namely, the swing angle of the swing leg assembly 2 driven by the swing leg joint 3 is limited, the problem that the robot structure is damaged due to the fact that the swing leg angle of the robot is too far in an abnormal state is effectively prevented, and the safety and the walking stability of the robot are guaranteed.

As an example, the projection of the inner side wall of the swing leg avoidance groove 311 in the axial direction of the swing leg rotation axis a is in a semicircular arc concentric with the end face 4112 of the swing leg joint connection part, when the swing leg avoidance groove is installed, the swing leg joint connection part 411 and the swing leg limiting member 31 can be more compactly matched, and the end face 4112 of the swing leg joint connection part is not easy to interfere with the swing leg avoidance groove 311 in the rotation process of the first connecting member 4, so that the swing leg action of the robot is ensured to be stable and smooth.

As an example, the two first swing leg limiting surfaces 4111 and the two second swing leg limiting surfaces 312 are symmetrically disposed on the vertical plane where the swing leg rotation axis a is located, so that the angle at which the left and right sides of the leg assembly 2 can swing is easily limited to the same angle range, and the installation and the manufacture of the first connecting member 4 and the swing leg limiting member 31 are easily performed.

Referring to fig. 30-33, in some embodiments, the second via 4212 is a circular through hole disposed at a position corresponding to the output end flange of the leg joint 22, the hole wall of the second via 4212 is located on one circumferential surface of the leg rotating shaft B, and a leg limiting groove 42121 recessed along the radial direction of the second via 4212 is disposed on the hole wall of the second via 4212.

As shown in fig. 32, the first connecting plate 51 has a substantially disk shape, and the outer wall of the first connecting plate 51 is provided with a rotation leg stopper 511 protruding in the radial direction of the first connecting plate 51.

As shown in fig. 34, after the first connection plate 51 is embedded in the second via hole 4212, the first connection plate 51 is in flange connection with the output end of the leg joint 22, and the first connection plate 51 and the second via hole 4212 are coaxially arranged, a radial dimension of a portion of the second via hole 4212 where the leg rotation limiting groove 42121 is not provided is greater than a radial dimension of a portion of the first connection plate 51 where the leg rotation limiting portion 511 is not provided, the leg rotation limiting portion 511 is embedded in the limiting groove, and a radial dimension of the leg rotation limiting portion 511 is smaller than a radial dimension of the leg rotation limiting groove 42121.

In this embodiment, when the leg structure 21 is driven to rotate by the leg joint 22, the leg structure 21 is driven to rotate by driving the second connecting piece 5, at this time, the leg limiting portion 511 swings in the limiting groove relatively, and the setting size of the limiting groove is determined according to the actual leg limiting angle requirement of the leg structure 21. When the leg rotating limiting part 511 is abutted against the side wall of the limiting groove, the leg rotating limiting part cannot rotate continuously, so that a limiting effect is formed in the leg rotating process, the problem that the leg structure 21 is damaged due to the fact that the leg structure is rotated too far under abnormal conditions is avoided, and the reliability of the robot structure is guaranteed.

As an example, as shown in fig. 31, a first fitting surface 42122 and two second leg rotation limiting surfaces 5112 respectively located at both ends of the first fitting surface 42122 are defined by the leg rotation limiting groove 42121, and the two second leg rotation limiting surfaces 5112 are respectively configured on both ends of the first fitting surface 42122 and extend in the radial direction of the first fitting surface 42122.

The leg limiting portion 511 includes a second mating surface 5111 and two second leg limiting surfaces configured at two ends of the second mating surface 5111, and the two second leg limiting surfaces are respectively configured at two ends of the second mating surface 5111 and extend along a radial direction of the first connecting plate 51.

When the leg structure 21 is driven to rotate by the leg joint 22, the second leg limiting surface 5112 of the leg limiting portion 511 abuts against the second leg limiting surface on the leg limiting groove 42121 to limit the rotation angle of the second connector 5, so as to prevent the leg structure 21 from rotating beyond a certain position under abnormal conditions.

Simultaneously, the leg rotating limiting part 511 and the leg rotating limiting groove 42121 are in surface contact with each other through the second leg rotating limiting surface 5112 and the second leg rotating limiting surface during limiting, so that the problem that stress concentration is easy to damage is avoided, and the reliability of the robot structure is guaranteed.

In addition, the projection of the first mating surface 42122 on the axis direction of the rotating leg rotation axis B is in an arc shape concentric with the second through hole 4212, and the projection of the second mating surface 5111 on the axis direction of the rotating leg rotation axis B is in an arc shape concentric with the second through hole 4212 plate, so that the interference between the rotating leg limiting portion 511 and the rotating leg limiting groove 42121 is effectively prevented.

As an example, the arc length of the second mating surface 5111 on the projection of the axis of rotation B of the swing leg is smaller than the arc length of the first mating surface 42122, the first mating surface 5111 is concentric with the second mating surface 5112 after the swing leg stopper 511 is inserted into the swing leg stopper groove 42121, and the second swing leg stopper surface 5112 at least partially overlaps with the second swing leg stopper surface in the rotation direction of the swing leg joint 22.

As an example, the angle e between the two second leg rotation limiting faces 5112 on the projection along the axial direction of the second via hole 4212 is 60 degrees to 90 degrees, and the rotation range of the leg structure 21 can be limited to a suitable range. Two opposite leg rotating limiting grooves 42121 are formed in the hole wall of the second through hole 4212, and when only one leg rotating limiting part 511 is arranged on the second connecting piece 5, the leg rotating limiting part 511 can be matched with any one leg rotating limiting groove 42121, so that the first connecting piece 4 can be used in the leg structure 21 on the left side or the right side of the robot, limiting requirements are met, and the robot is easy to interchange.

Referring to fig. 35 and 36, in some embodiments, thigh joint 212 is disposed on a side of thigh 211 opposite one end of shank 213; the lower leg joint 214 is provided at one end of the thigh 211 with respect to the lower leg 213, and the lower leg joint 214 with respect to the other side of the thigh joint 212 coincides with the height of the thigh joint 212 in the vertical direction.

The foot joint 216 is disposed on an end of the lower leg 213 near the thigh 211, and is on the same side as the thigh 211 joint. Wherein the sum of the mass of the thigh joint 212 and the foot joint 216 is not less than 60% of the mass of the shank joint 214 and not more than 140% of the mass of the shank joint 214. It may be preferred that the sum of the mass of the thigh joint 212 and the foot joint 216 is not less than 85% of the mass of the shank joint 214 and not more than 115% of the mass of the shank joint 214.

In some embodiments, the ratio of the sum of the masses of thigh joint 212 and foot joint 216 to the mass of calf joint 214 can be 60%, 65% -75%, 85%, 88% -98%, 100%, 105% -110%, 115%, 120% -130%, 140%, etc. In this embodiment, the thigh joint 212 and the foot joint 216 are disposed opposite to each other on the same side of the leg structure 21, and the shank joint 214 is disposed opposite to the other side of the leg structure 21, so that the sum of the masses of the thigh joint 212 and the foot joint 216 is adjusted to be similar to the mass of the shank joint 214, and even if the difference between the masses mounted on the two sides of the leg structure 21 is small, it is ensured that the mass of the two sides of the single leg of the leg structure 21 approaches equilibrium, and the weight of the leg structure 21 is substantially centered on the center plane of the leg structure 21. Therefore, the masses at the two sides of the leg structure 21 have similar inertia in the running process of the robot, so that the problem that the lateral deflection is generated on the leg structure 21 due to unbalanced mounting masses at the two sides is avoided, and the robot is ensured to run more stably.

Referring to fig. 37 and 38, in some embodiments, the present application further includes: a calf drive assembly 7 for connecting the calf joint 214 and the calf 213 and transmitting the driving force of the calf joint 214 to the calf 213, and a foot drive assembly 8 for connecting the foot joint 216 and the foot and transmitting the driving force of the foot joint 216 to the foot.

Wherein a first cavity 2111 is configured in thigh 211; the lower leg transmission assembly 7 is embedded in the first cavity 2111, so that the lower leg transmission assembly 7 is hidden in the thigh 211, interference with the outside is avoided, the safety is better, the leg structure of the robot is more compact, and the miniaturized development of the robot is facilitated.

Specifically, the calf drive assembly 7 includes a first crank 71 and a calf rocker 72; the first crank 71 is fixed on an output end flange of the shank joint 214, one end of the shank rocker 72 is hinged with the first crank 71, the hinge point is eccentrically arranged relative to the output axis of the shank joint 214, and the other end of the shank rocker 72 is hinged with the shank 213; the shank joint 214 drives the first crank 71 to rotate, so as to drive the shank rocker 72 to act, and further drive the shank 213 to swing back and forth relative to the thigh 211.

In some embodiments, as shown in fig. 36 and 37, the lower leg 213 and the thigh 211 have a hinge point, the hinge point of the lower leg rocker 72 and the lower leg 213 is located above the hinge point of the lower leg 213 and the thigh 211 in the vertical direction, so that the lower leg 213 is divided into an upper section and a lower section of arms by taking the hinge point of the lower leg 213 and the thigh 211 as a boundary, and the lower leg rocker 72 drives the entire lower leg 213 to rotate relative to the thigh 211 through the upper side arm, so that the rotatable range is larger.

As an example, the lower leg 213 includes a lower leg body 2131 and an upper support portion 2132, the upper support portion 2132 is integrally formed at an upper end of the lower leg body 2131, the upper support portion 2132 includes a foot joint support portion 21321, and a thigh link portion 21322 integrally formed on the other side of the foot joint support portion 21321 with respect to the lower leg body 2131.

As shown in fig. 43, the thigh connecting portion 21322 is provided with a thigh connecting hole 21323 and a thigh connecting hole 21324, the thigh connecting hole 21323 is located above the thigh connecting hole 21324 in the vertical direction, the thigh rocker 72 is hinged to the thigh 213 at the position of the thigh connecting hole 21323, the thigh 211 is hinged to the thigh 213 at the position of the thigh connecting hole 21324, and the hinge point of the thigh rocker 72 and the thigh 213 is located above the hinge point of the thigh 213 and the thigh 211 in the vertical direction, so that the thigh 213 is divided into two arms.

Referring to fig. 39 and 42, in some embodiments, a lower end of the thigh 211 is configured with a shank coupling cavity 2112, the shank coupling cavity 2112 dividing the lower end of the thigh 211 into two shank coupling portions 2113, the two shank coupling portions 2113 being configured with a first shank coupling hole 21131. Thigh link 21322 is embedded in shank link cavity 2112 and is hinged with first shank link hole 21131 through thigh link hole 21324, thereby realizing the hinged connection of thigh 211 and shank 213, and thigh 211 and shank 213 are connected through thigh link 21322 and shank link cavity 2112 cooperation, make thigh 211 and shank 213 more compact cooperation, do benefit to the miniaturized development of robot.

Referring to fig. 39-42, in some embodiments, the shank coupling portion 2113 is configured with two second shank limiting surfaces 2114 parallel to the axial direction of the first shank coupling hole 21131 on each side of the first shank coupling hole 21131, and a substantially circular arc-shaped transition arc surface 2115 is provided between the two second shank limiting surfaces 2114. The present embodiment further includes a lower leg limiter 217, where the lower leg limiter 217 includes a lower leg limiter body 2171 and two lower leg limiter portions 2172, the two lower leg limiter portions 2172 are respectively disposed at two ends of the lower leg limiter body 2171, and the lower leg limiter body 2171 and the two lower leg limiter portions 2172 are integrally formed.

Wherein, the top surfaces of the two lower leg limiting portions 2172 are respectively configured with a substantially circular arc-shaped thigh avoiding groove 2173, and the thigh avoiding groove 2173 divides the top surface of the lower leg limiting portion 2172 into two first lower leg limiting surfaces 2174.

The lower leg stopper 217 is fixed to the thigh link 21322, and after the thigh link 21322 is fitted into the lower leg link cavity 2112, the transition arc surface 2115 is fitted into the thigh relief groove 2173, and the projection of the second lower leg stopper 2114 and the first lower leg stopper 2174 on a plane parallel to the axial direction of the first lower leg link hole 21131 at least partially overlap.

Therefore, during rotation of the lower leg 213, the rotatable range of the lower leg 213 relative to the thigh 211 is limited by the lower leg limiter 217, specifically, when the included angle of the lower leg 213 relative to the thigh 211 is too large or too small, the adjacent first lower leg limiting surface 2174 and second lower leg limiting surface 2114 can abut against each other to prevent the lower leg 213 from continuing to rotate, so as to avoid the problem that the lower leg 213 cannot be bent and stretched normally due to excessive rotation of the lower leg 213 under the abnormal condition of the robot.

As an example, the projection of the thigh avoidance groove 2173 and the transition cambered surface 2115 on the axial direction of the first shank connecting hole 21131 are concentric, and the radial dimension of the transition cambered surface 2115 is smaller than the radial dimension of the thigh avoidance groove 2173, so that the shank limiter 217 and the thigh 211 can be tightly matched and are not easy to interfere, and the compactness and the miniaturization of the leg structure 21 and the robot are facilitated.

As an example, the lower leg limiter body 2171 and the two lower leg limiter portions 2172 are respectively configured with a plurality of lower leg limiter mounting holes 2175, and the lower leg limiter 217 is fixed on the thigh connecting portion 21322 through the plurality of lower leg limiter mounting holes 2175 and corresponding threaded fasteners, wherein the screws on the lower leg limiter 2172 are mainly used for counteracting the vertical stress of the lower leg limiter 217 when the lower leg limiter 217 performs a limiting function, that is, counteracting the impact force generated when the first lower leg limiter surface 2174 and the second lower leg limiter surface 2114 abut against each other, and the screws on the lower leg limiter body 2171 are mainly used for connecting and fixing with the thigh connecting portion 21322.

Referring to fig. 38, in some embodiments, the foot drive assembly 8 includes a second crank 81 and a foot rocker 82; the second crank 81 is fixed on an output end flange of the foot joint 216, one end of the foot rocker 82 is hinged with the second crank 81, and a hinge point is eccentrically arranged relative to an output axis of the foot joint 216, and the other end of the foot rocker 82 is hinged with the foot, wherein the foot joint 216 drives the second crank 81 to rotate, so that the foot rocker 82 is driven to act, and the foot is driven to change an included angle between the foot rocker and the lower leg 213.

The foot rocker 82 is completely covered by the lower leg 213 on the projection on the vertical plane perpendicular to the radial direction of the foot joint 216, i.e., the foot rocker 82 is relatively hidden in the lower leg 213, and no interference with the outside occurs during the movement, so that the safety is better.

As an example, the foot joint 216 is fixed on one side of the foot joint support 21321 and on the same side as the thigh joint 212, the second cavity 21325 having a substantially circular shape projected in the axial direction of the foot joint 216 is configured in the foot joint support 21321, the third cavity 21311 is configured in the shank body 2131, the third cavity 21311 penetrates the front side of the shank body 2131, and the upper end of the third cavity 21311 communicates with the second cavity 21325.

The second crank 81 is embedded in the second cavity 21325, at least a portion of the foot rocker 82 is embedded in the third cavity 21311, and the upper end of the foot rocker 82 extends into the second cavity 21325 to be hinged with the second crank 81, so that the foot rocker 82 is hidden in the lower leg 213 and cannot interfere with the outside.

Referring to fig. 35 and 36, in some embodiments, the leg structure 21 has a vertical center plane, and the calf drive assembly 7 and the foot drive assembly 8 are located in the vertical center plane of the leg structure 21, that is, the calf drive assembly 7 and the foot drive assembly 8 are all disposed along the vertical center plane of the leg structure 21, so that the gravitational moment applied to the calf drive assembly 7 and the foot drive assembly 8 does not generate a lateral component force, which is beneficial to improving the overall stability of the robot. At the same time, no lateral component force is generated in the transmission process, and the stability of the leg structure 21 during the action is further improved.

Referring to fig. 46, in some embodiments, the foot 215 includes an integrally formed heel portion 2151, a toe portion 2152, and a heel face 21511 formed on the heel portion 2151 and a toe face 21521 formed on the toe portion 2152. The angle b between the heel surface 21511 and the toe surface 21521 is greater than or equal to 90 degrees and less than 180 degrees, such that the foot 215 is generally triangular in its widthwise projection. Wherein, the foot 215 is through integrated into one piece's heel portion 2151 and toe portion 2152, and through setting up heel face 21511 and toe face 21521 and spacing for right angle or obtuse angle with the contained angle between heel face 21511 and the toe face 21521, makes the whole triangle-shaped that is of foot 215, forms a simple structure, the great foot structure of intensity, satisfies the stability demand of robot walking.

Further, as shown in fig. 45-47, in this embodiment, foot 215 further includes a second shank attachment hole 2153 configured at the intersection of heel portion 2151 and toe portion 2152, and a foot rocker attachment hole 21522 configured at toe portion 2152. The second calf connection holes 2153 are parallel to the projection of the axial direction of the foot rocker connection holes 21522 in the vertical direction. The second shank coupling aperture 2153 is adapted to hinge with the shank 213 and the foot rocker coupling aperture 21522 is adapted to hinge with the foot rocker 82. Thus, when the robot walks, the foot 215 rotates under the pulling of the foot rocking bar 82, and rotates around the second shank connecting hole 2153, and the leg driving is more labor-saving. In addition, the impact force generated by the ground contact of the foot 215 in the walking process of the robot is concentrated to the position of the second shank connecting hole 2153 through the triangular foot 215 and is transmitted to the shank 213, so that the foot rocker 82 cannot be directly impacted, and the problem that the foot transmission assembly 8 is impacted and damaged is avoided.

As an example, the area of the heel surface 21511 on the vertical projection is smaller than the area of the toe surface 21521, i.e., the length dimension of the heel portion 2151 is smaller than the length dimension of the toe portion 2152, so as to form a foot with a larger heel end and a smaller toe end, which has a high degree of bionic activity, and the toe portion 2152 has a larger rotatable angle range, i.e., the angle adjustment range of the foot 215 is larger, the foot lifting and dropping are more flexible, and the stability and flexibility of the robot are improved during walking.

Referring to fig. 46, in some embodiments, the top of the foot 215 is configured with a foot-mounting groove 2154, with the foot-mounting groove 2154 being projected in a vertical direction to overlap the heel surface 21511 and the toe surface 21521, respectively, and a second calf-connecting hole 2153 is disposed on the area where the foot-mounting groove 2154 is configured, corresponding to the foot-rocker-connecting hole 21522. The calf 213 is provided with a foot link 2134 on the other end opposite the foot joint 216, the foot link 2134 being configured with a foot link aperture 21341.

The other ends of the foot connecting portion 2134 and the foot rocking lever 82 opposite to the second crank 81 are embedded in the foot installation groove 2154, the foot connecting portion 2134 is hinged to the second calf connecting hole 2153 through the foot connecting hole 21341, and the foot rocking lever 82 is hinged to the foot rocking lever connecting hole 21522.

In one aspect, the foot 215 mates with the calf 213 and foot rocker 82 through the location of the mounting slots, making the mating structure overall more compact. On the other hand, the foot rocking bar 82 is directly connected to the center position of the foot 215, and during the robot walking, the foot rocking bar 82 directly pulls the foot at the center position of the foot 215, without generating a component force in the left-right direction, and the stability of the elevator robot walking. In addition, the foot rocking bar 82 does not generate a left-right direction when pulling feet, so that the extrusion and shearing actions on hinge parts such as copper sleeves and the like on hinge parts are reduced, and the loss of the parts is reduced.

As an example, as shown in fig. 44 and 45, the lower leg 213 is configured with a limit flange 21342 on an end near the foot connecting portion 2134, and the limit flange 21342 is configured with a foot limit surface 21343, and a projection of the foot limit surface 21343 in the vertical direction at least partially overlaps the toe surface 21521. When the foot 215 is lifted, the foot 215 rotates relative to the lower leg 213, and when the foot 215 rotates to the maximum position, the toe surface 21521 of the foot 215 is abutted against the foot limiting surface 21343, so that the lower leg 213 limits the rotation range of the foot 215 through the foot limiting surface 21343, and the problems of blocking, damage and the like caused by the over-rotation of the foot 215 are avoided.

As an example, the body 1, the thigh 211, the shank 213 and the foot 215 are respectively provided with a plurality of weight-reducing through holes 218, which reduces the overall mass of the robot, is beneficial to the weight reduction and miniaturization of the robot, and particularly can reduce the weight of the leg assembly 2 and reduce the walking energy consumption.

Referring to fig. 56, in some embodiments, a bearing 112 is disposed in the first via hole 111, the swing leg joint portion 411 is in a cylindrical shaft shape, and the swing leg joint portion 411 passes through an inner ring of the bearing 112, so that the swing leg joint portion 411 is rotatably connected with the fixing frame 11 through the bearing 112. During walking, the bearing 112 is utilized to bear the heavy moment born by the robot leg when lifted, so that the radial load born by the swing leg joint 3 is reduced, the problem that the swing leg joint 3 is easy to damage due to the larger radial load is avoided, and the operation safety of the swing leg joint 3 is ensured.

As an example, as shown in fig. 57 and 58, in some embodiments, a first step 4113 is configured on the outer peripheral surface of the leg joint connection 411, and a side surface of the step 4113 abuts against a side of the inner ring of the bearing 112 facing away from the leg joint 3. The outer peripheral surface of the connecting shaft is also provided with a clamp spring groove 4114, the clamp spring groove 4114 is provided with a clamp spring, the clamp spring props against one side of the bearing 112, which is close to the swing leg joint 3, and the swing leg joint connecting part 411 is rotatably connected with the fixing frame 11 through the bearing 112.

As an example, as shown in fig. 59 and 60, in some embodiments, a bearing end cover 113 of a bearing end cover 113 is disposed between the fixing frame 11 and the swing leg joint 3, and the bearing end cover 113 abuts against a side of an outer ring of the bearing 112 near the swing leg joint 3. The bearing end cover 113 is provided with a plurality of end cover through holes 1131 corresponding to the positions of the mounting holes of the swing leg joints 3. The fixing frame 11 is provided with a plurality of end cover mounting holes 114 corresponding to the mounting holes of the swing leg joint 3.

The present embodiment further includes a fastener 115, where the fastener 115 sequentially passes through the end cover mounting hole 114 and the end cover through hole 1131 from the other side of the fixing frame 11 opposite to the swing leg joint 3 and then is screwed with the mounting hole of the swing leg joint, and a boss 1111 capable of propping against one side of the outer ring of the bearing 112, which is away from the swing leg joint 3, is disposed in the first through hole 111, so that the swing leg joint connecting portion 411 is rotatably connected with the fixing frame 11 through the bearing 112.

As an example, referring to fig. 61-63, in some embodiments, further comprising: and the spline shaft 116, and the spline shaft 116 is fixedly connected with an output flange of the swing leg joint. The swing leg joint portion 411 is provided with a sleeve hole 4116 along the axial direction thereof, and the inner side wall of the sleeve hole 4116 is provided with a key groove matched with the spline shaft 116. The spline is inserted into the key groove of the sleeve hole 4116, so that the swing leg joint 411 can only move along the axial direction of the swing leg rotation shaft relative to the spline shaft 116, and the swing leg joint 411 is rotatably connected with the fixing frame 11 through the bearing 112. The impact force generated during such walking is received by the bearing 112, rather than directly striking the swing leg joint 3.

As an example, the bearings 112 are angular contact ball bearings, crossed roller bearings, etc. capable of bearing axial and radial loads, and the bearings 112 are used to bear axial impact generated when the robot falls down during the running process, so as to further protect the swing leg joint 3 module and prevent the damage of the swing leg joint 3 module.

Referring to fig. 50-55, in some embodiments, the present application further includes a first wiring rack 2116 and a second wiring rack 2117.

As shown in fig. 51 and 52, the first wiring frame 2116 includes a first frame 21161, a first wiring fixing portion 21162 configured at one end of the first frame 21161, and an upper wiring supporting portion 21163 configured at the other end of the first frame 21161 opposite to the first wiring fixing portion 21162; the thigh joint 212 has a thigh joint housing 2121, and a first wiring fixing portion 21162 is mounted on the thigh joint housing 2121, and the first wiring frame 2116 rotates following the leg structure 21 when the leg structure 21 is driven to rotate by the rotary leg joint 22.

As shown in fig. 51 and 53, the second wiring frame 2117 includes a second frame 21171, a wiring escape portion 21172 configured at one end of the second frame 21171, and a second wiring fixing portion 21173 configured at one end of the wiring escape portion 21172 remote from the second frame 21171, the second wiring fixing portion 21173 being attached to the thigh 211, the second wiring frame 2117 following the rotation of the thigh 211 when the thigh joint 212 drives the thigh 211 to rotate.

Therein, as shown in fig. 54, a part of the cables of the bipedal robot are arranged and fixed along the outer surfaces of the first and second wiring frames 2116 and 2117.

In this embodiment, through setting up first distribution frame and second distribution frame, the cable that makes the robot can rational arrangement and effectively fix, and the cable takes place the problem of swing or drunkenness when avoiding the robot walking, is difficult for sending out the interference with robot self moving part or external world, makes robot security higher, and stability is better.

Further, as shown in fig. 52, the projection of the upper wiring support portion 21163 on a vertical plane perpendicular to the radial direction of the thigh joint 212 is perpendicular to the first frame 21161; one end of the upper wiring support portion 21163 remote from the first frame 21161 extends to the upper side of the knuckle 22. The knuckle 22 has a knuckle housing 222 with a gap left between the upper wiring support 21163 and the knuckle housing 222 so that the upper wiring support 21163 does not contact the knuckle housing 222 when the first wiring frame 2116 rotates following the leg structure 21.

In this way, the cables can be arranged along the surface of the upper support portion 2132, so that the cables can be bent upward relative to the first frame body 21161 to route the support portion 21163, thereby improving flexibility in cable arrangement.

In some implementations, as shown in fig. 52 and 55, the upper wiring support portion 21163 is provided with a first wiring escape surface 21164 on the other end with respect to the first frame 21161, the knuckle 22 further has a knuckle rear cover 221, the first wiring escape surface 21164 is an arc surface concentric with the outer peripheral surface of the knuckle rear cover 221, and the inner diameter dimension of the first wiring escape surface 21164 is larger than the outer diameter dimension of the knuckle rear cover 221, so that the first wiring escape surface 21164 does not come into contact with the outer peripheral surface of the knuckle rear cover 221 when the first wiring frame 2116 rotates following the leg structure 21.

In this embodiment, by providing the first wiring avoidance surface 21164, the upper wiring support portion 21163 is more compact in cooperation with the rotation leg joint 22, space is reasonably utilized, and the upper wiring support portion 21163 does not interfere with the rotation leg joint 22 when the robot leg rotates.

In some embodiments, as shown in fig. 52, the first wiring fixing portion 21162 includes two first wiring fixing blocks 21165 which are mirror-symmetrically configured on the first wiring frame 2116, and the second wiring relief surface 21166 is configured on the first wiring fixing blocks 21165. The thigh joint 212 further includes a thigh joint rear cover 2122, and the second wiring relief surface 21166 is formed in an arc shape concentric with the outer peripheral surface of the thigh joint rear cover 2122. The inner diameter dimension of the second wiring escape surface 21166 is larger than the outer diameter dimension of the thigh joint rear cover 2122, and after the two first wiring fixing blocks 21165 are mounted on the thigh joint housing 2121, the second wiring escape surface 21166 is not in contact with the thigh joint rear cover 2122.

In this example, the two symmetrical first wiring fixing blocks 21165 are connected with the thigh joint housing 2121, so that the first wiring frame 2116 is firmly installed, and the second wiring avoiding surface 21166 is arranged, so that the two first wiring fixing blocks 21165 are tightly matched with the thigh joint rear cover 2122, the space is reasonably utilized, and the structure is more compact.

In some embodiments, as shown in fig. 53, the second wiring fixing portion 21173 is mounted on the thigh 211 at the lower side of the thigh joint 212, the wiring avoiding portion 21172 extends from the second wiring fixing portion 21173 in the direction away from the thigh 211 along the axial direction of the thigh joint 212, the wiring avoiding portion 21172 is perpendicular to the projection of the second frame body 21171 on the vertical plane perpendicular to the radial direction of the thigh joint 212, the second frame body 21171 extends in the direction close to the first wiring frame 2116, and a gap is left between the wiring avoiding portion 21172 and the second frame body 21171 and the thigh joint housing 2121, respectively, so that when the second wiring frame 2117 rotates following the thigh 211, the fixing portion and the second frame body 21171 do not contact the thigh joint housing 2121, avoiding interference.

Illustratively, the first wiring fixing portion 21162, the first frame body 21161, and the upper wiring support portion 21163 on the first wiring frame 2116 are integrally formed, and the second wiring fixing portion 21173, the wiring relief portion 21172, and the second wiring frame 2117 on the second wiring frame 2117 are integrally formed, so that the assembly is easy and the structural strength is high.

As an example, part of the cables of the biped robot are sequentially arranged along the outer surfaces of the wiring avoidance portion 21172, the second frame body 21171, the first frame body 21161 and the upper wiring support portion 21163 and are fixed in a binding mode, so that the cables can be stably and compactly arranged along the legs, interference with leg moving parts or the outside is not easy to occur, and safety is high.

In another embodiment, a humanoid robot includes the biped robot described above as a lower limb.

In another embodiment, a robot comprises the humanoid robot described above.

The foregoing is merely a preferred embodiment of the present application, and it should be noted that modifications and substitutions can be made by those skilled in the art without departing from the technical principles of the present application, and these modifications and substitutions should also be considered as being within the scope of the present application.

Claims

1. A biped robot, comprising:

fuselage, two leg assemblies arranged mirror-symmetrically on one side of said fuselage, and

a swing leg joint fixedly arranged at the other side of the body relative to the leg assembly;

the leg swinging joint is provided with a leg swinging rotating shaft along the horizontal direction and is used for driving the leg assembly to swing around the leg swinging rotating shaft;

The leg assembly includes a leg structure and a rotary leg joint;

the leg rotating joint is used for driving the leg structure to rotate around the leg rotating shaft;

the leg structure comprises a thigh, a thigh joint for driving the thigh to rotate, a shank joint for driving the shank to rotate, a foot and a foot joint for driving the foot and changing the included angle between the foot and the shank.

2. The bipedal robot of claim 1, wherein:

dividing the leg assembly into an upper mass part with an upper mass point and a lower mass part with a lower mass point by taking the horizontal plane of the swing leg rotation axis as a boundary, wherein the mass of the upper mass point is greater than zero and less than or equal to that of the lower mass point;

the distance from the swing leg rotating shaft to the upper mass point is an upper force arm, the distance from the swing leg rotating shaft to the lower mass point is a lower force arm, and the length of the upper force arm is greater than zero and less than or equal to the length of the lower force arm;

and the upper mass part and the lower mass part synchronously and reversely swing by taking the swing leg rotating shaft as an axis, and at least part of the upper mass part is positioned above the horizontal plane where the swing leg rotating shaft is positioned in the swinging process.

3. The bipedal robot of claim 2, wherein the robot is configured to,

the upper mass portion includes:

part or all of the mass of the leg joint, or

The total mass of the rotary leg joint, the partial mass of the thigh and at least the partial mass of the thigh joint, or

The total mass of the knuckle, the partial mass of the thigh, at least part of the thigh joint and at least part of the shank joint.

4. The bipedal robot of claim 3, wherein the robot further comprises a robot arm,

the lower mass portion includes:

a partial mass of the rotary leg joint and a total mass of the thigh, the shank, the foot, the thigh joint, the shank joint, and the foot joint, or

The partial masses of the thigh and the thigh joint and the total mass of the shank, the foot, the shank joint and the foot joint, or

The partial masses of the thigh, thigh and shank joints and the total mass of the shank, sufficient and foot joints.

5. The bipedal robot of claim 4, further comprising:

the first connecting piece comprises a first bearing plate and a second bearing plate which are integrally formed, and a leg swinging joint connecting part is arranged on the first bearing plate;

The output end of the swing leg joint is fixedly connected with the swing leg joint connecting part, and the swing leg joint is used for driving the first connecting piece to rotate by taking the swing leg rotating shaft as an axis;

the second bearing plate is provided with a rotary leg joint installation part, and the rotary leg joint is fixedly arranged on the rotary leg joint installation part;

after the rotary leg joint is fixed on the rotary leg joint installation part, at least part of the mass of the rotary leg joint is above the swing leg rotation shaft.

6. The bipedal robot of claim 5, wherein the robot further comprises a base,

a leg joint mounting surface is constructed on the leg joint mounting part, and is positioned above the leg swinging rotating shaft in the axial direction of the leg rotating shaft;

after the rotary leg joint is fixedly arranged on the rotary leg joint installation part, the rotary leg joint is attached to or higher than the rotary leg joint installation surface, so that the whole mass of the rotary leg joint is positioned above the swing leg rotation shaft to form a part of the upper mass part;

when the upper mass part swings around the swing leg rotating shaft, the whole mass of the swing leg joint is located above the horizontal plane where the swing leg rotating shaft is located.

7. The bipedal robot of claim 6, wherein the robot further comprises a gripper,

the first bearing plate and the second bearing plate are mutually perpendicular, the leg rotating joint mounting surface and the horizontal plane where the leg swinging rotating shaft is located are arranged in parallel, and the leg swinging rotating shaft are mutually perpendicular.

8. The bipedal robot of claim 7, wherein the robot is configured to,

the output axis of the thigh joint is arranged substantially perpendicular to the swing leg rotation axis and on a same plane, and one end of the thigh is fixed on the output end of the thigh joint, so that the partial mass of the thigh joint and the partial mass of the thigh are positioned above the swing leg rotation axis and form a part of the upper mass part together with the total mass of the swing leg joint;

when the upper mass part swings around the swing leg rotating shaft, all the mass of the swing leg joint, part of the mass of the thigh joint and part of the mass of the thigh are positioned above the horizontal plane where the swing leg rotating shaft is positioned.

9. The bipedal robot of claim 8, further comprising:

the second connecting piece comprises a first connecting plate and a second connecting plate which are perpendicular and are integrally formed, and the first connecting plate is arranged at one end of the second connecting plate;

The second bearing plate is provided with a second through hole, and the first connecting plate passes through the second through hole and is connected to the output end of the rotary leg joint;

a third through hole is formed in the second connecting plate, and the axis of the third through hole is perpendicular to the swing leg rotating shaft and is positioned on the same plane;

the thigh joint is fixed on one side of the second connecting plate, the output end of the thigh joint extends to the other side of the second connecting plate opposite to the thigh joint through the third through hole, and the thigh is connected with the output end of the thigh joint.

10. The bipedal robot of claim 9, wherein the robot is configured to,

the thigh joint connecting part passes through the third through hole and then is connected with the output end of the thigh joint, and the thigh is fixed on the other side of the transfer plate relative to the thigh joint connecting part, so that the transfer plate is driven by the thigh joint to rotate relative to the second connecting piece, and further the thigh is driven to swing back and forth.

11. The bipedal robot of claim 10, wherein the robot is configured to,

The lower leg joint is arranged on the other side of the thigh relative to the thigh joint, and the output axis of the lower leg joint is arranged coaxially with the output axis of the thigh joint, so that part of the mass of the lower leg joint is arranged on the swing leg rotating shaft, and forms part of the upper mass part together with the whole mass of the swing leg joint, the partial mass of the thigh joint and the partial mass of the thigh;

when the upper mass part swings around the swing leg rotating shaft, all the mass of the swing leg joint, the partial mass of the thigh and the partial mass of the shank joint are all located above the horizontal plane where the swing leg rotating shaft is located.

12. The bipedal robot of claim 5, wherein a socket is provided at an end of the leg joint connecting portion opposite to the leg joint, a socket groove is formed in the socket, and an end of the first carrier plate opposite to the second carrier plate is inserted into the socket groove, so that the first carrier plate is connected to the socket by plugging.

13. The bipedal robot of claim 4, wherein the robot further comprises a pair of arms,

Further comprises:

a first connector and a second connector;

the first connecting piece comprises a fixed shaft and a connecting seat; the fixed shaft is fixedly connected with the swing leg joint output flange, a swing leg joint installation part is constructed on the connecting seat, the swing leg joint installation part is positioned on the swing leg rotation shaft, and the swing leg joint is fixedly arranged on the swing leg joint installation part;

the second connecting piece, be constructed with a through-hole on the connecting seat, the one end of second connecting piece passes the through-hole with leg joint output flange fixed connection, the other end with thigh joint fixed connection.

14. The bipedal robot of claim 13, wherein the robot is configured to,

the connecting seat is provided with a thigh avoiding cambered surface at one side close to the thigh.

15. The bipedal robot of any one of claims 2 to 14, wherein,

the upper mass part swings in the range that the included angle between the upper force arm and the vertical direction is 0-30 degrees.

16. The bipedal robot of claim 15, wherein the robot is configured to,

the upper mass part swings in the range that the included angle between the upper force arm and the vertical direction is 0-15 degrees.

17. The bipedal robot of claim 16, wherein the two leg assemblies are split into a left leg assembly and a right leg assembly;

The leg swinging joints are divided into a left leg swinging joint and a right leg swinging joint;

the swing leg rotating shafts are divided into a left swing leg rotating shaft and a right swing leg rotating shaft;

the left leg component takes the left upper mass part, the left upper force arm, the left lower mass part and the left lower force arm of the horizontal plane of the left swing leg rotating shaft as a boundary;

the right leg component takes the right upper mass part, the right upper force arm, the right lower mass part and the right lower force arm of the horizontal plane where the right swing leg rotating shaft is positioned as a boundary;

when walking, the left leg assembly and the right leg assembly are in an initial state in a state of being vertical to the ground along the vertical direction;

the left leg assembly is driven by the left swing leg joint and swings left and right relative to the vertical direction by taking the left swing leg rotating shaft as an axis, wherein the left upper mass part and the left lower mass part synchronously and reversely swing;

the right leg assembly is driven by the right swing leg joint and swings leftwards and rightwards relative to the vertical direction by taking the right swing leg rotating shaft as an axis, wherein the right upper mass part and the right lower mass part synchronously and reversely swing.

18. The bipedal robot of claim 17, wherein the robot is configured to,

when walking, the left lower mass part and the right lower mass part swing in opposite directions, and the left upper mass part and the right upper mass part swing in opposite directions, so that the left leg assembly and the right leg assembly are simultaneously opened outwards or contracted towards the middle.

19. The bipedal robot of claim 17, wherein the robot is configured to,

when walking, the left lower mass part and the right lower mass part swing in the same direction, and the left upper mass part and the right upper mass part swing in the same direction, so that the left leg assembly and the right leg assembly swing to one side at the same time.

20. The bipedal robot of claim 17, wherein the robot is configured to,

when walking, the left lower mass part and the left upper mass part do not swing, and the right lower mass part and the right upper mass part swing leftwards and rightwards relative to the vertical direction; or (b)

The lower right mass portion and the upper right mass portion do not oscillate, and the lower left mass portion and the upper left mass portion oscillate left and right with respect to the vertical direction;

thereby swinging the left leg assembly relative to the right leg assembly or the right leg assembly relative to the left leg assembly.

21. The bipedal robot of claim 5, wherein the body comprises:

the fixing frame is arranged along a vertical surface perpendicular to the swing leg rotating shaft;

the two leg assemblies are arranged on one side of the fixed frame in a mirror symmetry mode, and the leg swinging joint is fixed on the other side of the fixed frame opposite to the leg assemblies;

The leg swinging joint connecting part penetrates through the first through hole to be connected to the output end of the leg swinging joint, so that the leg assembly is fixed to the output end of the leg swinging joint.

22. The bipedal robot of claim 21, wherein the body further comprises:

the fixing platform is approximately perpendicular to the projection of the fixing frame on a vertical plane parallel to the swing leg rotating shaft, extends towards one side where the leg assembly is arranged, and is connected with the fixing frame through a reinforcing plate.

23. The bipedal robot of claim 21, wherein the base is configured to support the robot,

the first bearing plate is provided with two first swing leg limiting surfaces which are mutually parallel in the axial direction of the swing leg rotating shaft; a leg joint connecting part end surface is limited between the two first leg limiting surfaces, the projection of the leg joint connecting part end surface upwards along the leg rotating shaft is arc-shaped, and the leg joint connecting part end surface is positioned on a circumferential surface surrounding the leg rotating shaft;

Further comprises:

the swing leg limiting piece is approximately in a half-moon shape, the half-moon-shaped inner notch part is defined as a swing leg avoiding groove, the end parts at two ends of the swing leg limiting piece are respectively defined as second swing leg limiting surfaces, and the second swing leg limiting surfaces are on the same side as the swing leg avoiding groove; two ends of the avoidance groove are respectively connected with two second swing leg limiting surfaces;

the swing leg limiting piece is fixed on one side of the fixing frame corresponding to the swing leg joint connecting portion, the end face of the swing leg joint connecting portion is embedded in the swing leg avoiding groove, and projections of the first swing leg limiting surface and the second swing leg limiting surface in the horizontal direction perpendicular to the swing leg rotating shaft are at least partially overlapped.

24. The bipedal robot of claim 23, wherein a projection of an inner side wall of the swing leg avoiding groove on an axis of the swing leg rotation axis is in a semicircular arc shape concentric with an end surface of the swing leg joint connection portion.

25. The bipedal robot of claim 24, wherein the two first swing leg stop surfaces and the two second swing leg stop surfaces are each symmetrically disposed about a vertical plane in which the swing leg rotation axis is disposed.

26. The bipedal robot of claim 9, wherein the second through hole is a circular through hole arranged at a position corresponding to an output end flange of the rotary leg joint, a hole wall of the second through hole is positioned on a circumferential surface surrounding the rotary leg rotating shaft, and a rotary leg limiting groove recessed along a radial direction of the second through hole is arranged on the hole wall of the second through hole;

the first connecting plate is disc-shaped, and the outer wall of the first connecting plate is provided with a leg rotating limiting part protruding along the radial direction of the first connecting plate;

the first connecting plate is embedded into the second through hole and then is connected with the output end flange of the rotating leg joint, the first connecting plate and the second through hole are coaxially arranged, the radial dimension of the rotating leg limiting groove part which is not arranged in the second through hole is larger than the radial dimension of the rotating leg limiting part which is not arranged in the first connecting plate, the rotating leg limiting part is embedded into the limiting groove, and the radial dimension of the rotating leg limiting part is smaller than the radial dimension of the rotating leg limiting groove.

27. The bipedal robot of claim 26, wherein a first mating surface and two first leg limiting surfaces respectively located at both ends of the first mating surface are defined by the leg limiting groove, a projection of the first mating surface on an axial direction of the leg rotation shaft is in an arc shape concentric with the second through hole, and the two first leg limiting surfaces are respectively configured on both ends of the first mating surface and extend in a radial direction of the first mating surface;

The leg rotating limiting part comprises a second matching surface and two second leg rotating limiting surfaces which are formed at two ends of the second matching surface, the projection of the second matching surface on the axial direction of the leg rotating shaft is in a circular arc shape concentric with the second pore passing plate, and the two second leg rotating limiting surfaces are respectively formed at two ends of the second matching surface and extend along the radial direction of the first connecting plate.

28. The bipedal robot of claim 27, wherein an arc length of the second mating surface on an axial projection of the leg rotation axis is less than an arc length of the first mating surface, the first mating surface being concentric with the second mating surface after the leg limit is inserted into the leg limit slot, the first leg limit surface and the second leg limit surface at least partially overlapping in the leg joint rotation direction.

29. The bipedal robot of claim 28, wherein an included angle between the two first leg stop surfaces on a projection along an axial direction of the second through hole is 60 degrees to 90 degrees.

30. The bipedal robot of claim 29, wherein two of the leg rest slots are configured on a wall of the second via hole.

31. The bipedal robot of claim 1, wherein the robot is configured to,

the thigh joint is arranged on one side of the thigh opposite to one end of the shank;

the lower leg joint is arranged at one end of the thigh opposite to the lower leg and opposite to the other side of the thigh joint, and the height of the lower leg joint is consistent with the height of the thigh joint in the vertical direction;

the foot joint is arranged on one end of the lower leg close to the thigh and is on the same side with the thigh joint;

wherein the sum of the mass of the thigh joint and the foot joint is not less than 60% of the mass of the shank joint and not more than 140% of the mass of the shank joint.

32. The bipedal robot of claim 31, wherein the base is configured to support the base,

the sum of the mass of the thigh joint and the foot joint is not less than 85% of the mass of the shank joint and not more than 115% of the mass of the shank joint.

33. The bipedal robot of claim 32, further comprising:

a lower leg transmission assembly for connecting the lower leg joint and the lower leg and transmitting a driving force of the lower leg joint to the lower leg, and a foot transmission assembly for connecting the foot joint and the foot and transmitting a driving force of the foot joint to the foot;

A first cavity is formed in the thigh; the lower leg transmission assembly is embedded in the first cavity.

34. The bipedal robot of claim 33, further comprising:

the lower leg transmission assembly comprises a first crank and a lower leg rocker;

the first crank is fixed on an output end flange of the shank joint, one end of the shank rocker is hinged with the first crank, a hinge point is eccentrically arranged relative to an output axis of the shank joint, and the other end of the shank rocker is hinged with the shank; the shank joint drives the first crank to rotate, so that the shank rocker is driven to act, and the shank is driven to swing back and forth relative to the thigh.

35. The bipedal robot of claim 34, wherein the lower leg has a hinge point with the thigh, the hinge point of the lower leg rocker with the lower leg being vertically above the hinge point of the lower leg with the thigh.

36. The bipedal robot of claim 35, wherein the base is configured to support the base,

the upper support part is integrally formed at the upper end of the lower leg body, and comprises a foot joint support part and a thigh connecting part which is integrally formed at the other side of the foot joint support part relative to the lower leg body;

The thigh connecting portion is provided with a shank rocker connecting hole and a thigh connecting hole, the shank rocker connecting hole is positioned above the thigh connecting hole in the vertical direction, the shank rocker is hinged with the shank at the position of the shank rocker connecting hole, and the thigh is hinged with the shank at the position of the thigh connecting hole.

37. The bipedal robot of claim 36, wherein the base is configured to support the robot,

the lower end of the thigh is provided with a shank connecting cavity which divides the lower end of the thigh into two shank connecting parts, and the two shank connecting parts are provided with first shank connecting holes;

the thigh connecting part is embedded into the shank connecting cavity and is hinged with the first shank connecting hole through the thigh connecting hole.

38. The bipedal robot of claim 37, wherein the shank coupling portion is configured with two second shank limiting surfaces parallel to an axial direction of the first shank coupling hole on both sides of the first shank coupling hole, respectively, a transition arc surface having a substantially circular arc shape being provided between the two second shank limiting surfaces;

further comprises: the lower leg limiting piece comprises a lower leg limiting piece body and two lower leg limiting parts, wherein the two lower leg limiting parts are respectively arranged at two ends of the lower leg limiting piece body, and the lower leg limiting piece body and the two lower leg limiting parts are integrally formed;

The upper surfaces of the two lower leg limiting parts are respectively provided with a thigh avoiding groove which is approximately arc-shaped, and the thigh avoiding grooves divide the upper surface of the lower leg limiting part into two first lower leg limiting surfaces;

the shank limiting part is fixed on the thigh connecting part, after the thigh connecting part is embedded into the shank connecting cavity, the transitional cambered surface is embedded into the thigh avoiding groove, and the projection of the second shank limiting surface and the projection of the first shank limiting surface on a plane parallel to the axial direction of the first shank connecting hole at least partially overlaps.

39. The bipedal robot of claim 38, wherein the thigh relief groove and the projection of the transitional cambered surface onto the first shank coupling hole are concentric, and a radial dimension of the transitional cambered surface is less than a radial dimension of the thigh relief groove.

40. The bipedal robot of claim 39, wherein the shank restraint body and the two shank restraint portions are each configured with a plurality of shank restraint portion mounting holes, the shank restraint being secured to the thigh link through the plurality of shank restraint portion mounting holes.

41. The bipedal robot of claim 40, wherein the foot transmission assembly includes a second crank and a foot rocker;

the second crank is fixed on an output end flange of the foot joint, one end of the foot rocker is hinged with the second crank, a hinge point is eccentrically arranged relative to an output axis of the foot joint, the other end of the foot rocker is hinged with the foot, the foot joint drives the second crank to rotate, so that the foot rocker is driven to act, and the foot is driven to change an included angle between the foot rocker and the lower leg.

42. The bipedal robot of claim 41, wherein the robot further comprises a pair of support arms,

the foot rocker is completely covered by the lower leg on a projection on a vertical plane perpendicular to the radial direction of the foot joint.

43. The bipedal robot of claim 42, wherein the base is configured to support the base,

the foot joint is fixed on one side of the foot joint supporting part and is on the same side as the thigh joint, a second cavity with a circular projection in the axial direction of the foot joint is formed in the foot joint supporting part, a third cavity is formed in the shank body, the third cavity penetrates through the front side surface of the shank body, and the upper end of the third cavity is communicated with the second cavity;

The second crank is embedded in the second cavity, at least part of the foot rocking rod is embedded in the third cavity, and the upper end of the foot rocking rod stretches into the second cavity to be hinged with the second crank.

44. The bipedal robot of claim 43, wherein the base unit is configured to,

the leg structure has a vertical center plane, and the calf drive assembly and the foot drive assembly are located within the vertical center plane of the leg structure.

45. The bipedal robot of claim 41, wherein the robot further comprises a pair of support arms,

the foot includes an integrally formed heel portion, a toe portion, a heel surface configured on the heel portion, and a toe surface configured on the toe portion;

an included angle between the heel surface and the toe surface is greater than or equal to 90 degrees and less than 180 degrees, so that the projection of the foot in the width direction is approximately triangular;

the foot further includes a second shank attachment hole configured at a location where the heel portion meets the toe portion, and a foot rocker attachment hole configured at the toe portion;

the second shank connecting hole is parallel to the projection of the axial direction of the foot rocker connecting hole in the vertical direction;

The second shank connecting hole is used for being hinged with the shank, and the foot rocker connecting hole is hinged with the foot rocker.

46. The bipedal robot of claim 45, wherein the heel surface has an area in a vertical projection that is less than an area of the toe surface.

47. The bipedal robot of claim 46, wherein a top portion of the foot is configured with a foot mounting slot, a projection of the foot mounting slot in a vertical direction overlapping the heel surface and the toe surface portion, respectively, the second shank connecting hole being disposed on a region configured with the foot mounting slot corresponding to the foot rocker connecting hole;

the shank is provided with a foot connecting part at the other end relative to the foot joint, and a foot connecting hole is formed in the foot connecting part;

the foot connecting portion and the other end of the foot rocker opposite to the second crank are embedded into the foot installation groove, the foot connecting portion is hinged to the second shank connecting hole through the foot connecting hole, and the foot rocker is hinged to the foot rocker connecting hole.

48. The bipedal robot of claim 47, wherein the lower leg is configured with a stop flange on an end proximate the foot link, the stop flange being configured with a foot stop surface, a projection of the foot stop surface in a vertical direction at least partially overlapping the toe surface.

49. The bipedal robot of claim 48, wherein the body, thigh, shank and foot are each constructed with a plurality of weight-reducing through holes.

50. The bipedal robot of claim 21, wherein a bearing is disposed in the first via hole, the swing leg joint portion is in a cylindrical shaft shape, and the swing leg joint portion passes through an inner ring of the bearing, and further the swing leg joint portion is rotatably connected to the fixing frame through the bearing.

51. The bipedal robot of claim 50, wherein a first step is formed on an outer peripheral surface of the leg joint connecting portion, a side surface of the step abutting against a side of the inner race of the bearing facing away from the leg joint;

the outer peripheral surface of the connecting shaft is also provided with a clamp spring groove, the clamp spring groove is provided with a clamp spring, and the clamp spring abuts against one side, close to the swing leg joint, of the bearing.

52. The bipedal robot of claim 50, further comprising:

the bearing end cover is arranged between the fixing frame and the swing leg joint, and is abutted against one side, close to the swing leg joint, of the outer ring of the bearing;

The bearing end cover is provided with a plurality of end cover through holes corresponding to the positions of the mounting holes of the swing leg joints;

a plurality of end cover mounting holes corresponding to the mounting hole positions of the leg swinging joints are formed in the fixing frame;

also comprises a fastener, wherein the fastener is arranged at the other side of the fixing frame relative to the leg swinging joint, sequentially passes through the end cover mounting hole and the end cover through hole and is screwed with the mounting hole of the swing leg joint, a boss which can prop against one side, deviating from the swing leg joint, of the outer ring of the bearing is arranged in the first through hole.

53. The bipedal robot of claim 50, further comprising: the spline shaft is fixedly connected with the output flange of the swing leg joint;

a sleeve hole along the axial direction of the swing leg joint connecting part is formed in the swing leg joint connecting part, and a key slot matched with the spline shaft is formed in the inner side wall of the sleeve hole;

the spline is inserted into the key groove on the sleeve hole, so that the swing leg joint connection part can only move relative to the spline shaft along the axial direction of the swing leg rotating shaft.

54. The bipedal robot of claim 53, wherein the base is configured to support the base,

Further comprises: a first wire distribution frame and a second wire distribution frame;

the first wiring frame comprises a first frame body, a first wiring fixing part and an upper wiring supporting part, wherein the first wiring fixing part is constructed at one end of the first frame body, and the upper wiring supporting part is constructed at the other end of the first frame body opposite to the first wiring fixing part; the thigh joint is provided with a thigh joint shell, the first wiring fixing part is arranged on the thigh joint shell, and the first wiring frame rotates along with the leg structure when the leg structure is driven to rotate by the rotating leg joint;

the second wiring frame comprises a second frame body, a wiring avoidance part and a second wiring fixing part, the wiring avoidance part is constructed at one end of the second frame body, the second wiring fixing part is constructed at one end of the wiring avoidance part far away from the second frame body, the second wiring fixing part is mounted on the thigh, and the second wiring frame rotates along with the thigh when the thigh joint drives the thigh to rotate;

the partial cables of the biped robot are arranged and fixed along the outer surfaces of the first wire distribution frame and the second wire distribution frame.

55. The bipedal robot of claim 54, wherein a projection of the upper wire support portion on a vertical plane perpendicular to a radial direction of the thigh joint is perpendicular to the first frame body; one end of the upper wiring support part, which is far away from the first frame body, extends to the upper side of the rotary leg joint;

The upper wiring support portion is not in contact with the leg joint housing when the first wiring frame rotates following the leg structure.

56. The bipedal robot of claim 55, wherein the upper wire support portion is provided with a first wire relief surface at the other end relative to the first frame, the swing joint further has a swing joint rear cover, the first wire relief surface is an arc surface concentric with an outer peripheral surface of the swing joint rear cover, and an inner diameter dimension of the first wire relief surface is greater than an outer diameter dimension of the swing joint rear cover such that the first wire relief surface does not contact the outer peripheral surface of the swing joint rear cover when the first wire frame rotates following the leg structure.

57. The bipedal robot of claim 56, wherein the first wire fixing part includes two first wire fixing blocks formed in mirror symmetry on the first wire frame, the first wire fixing blocks having a second wire escape surface formed thereon;

The thigh joint is also provided with a thigh joint rear cover, and the second wiring avoidance surface is in an arc shape concentric with the peripheral surface of the thigh joint rear cover; the inner diameter size of the second wiring avoidance surface is larger than the outer diameter size of the thigh joint rear cover, and after the two first wiring fixing blocks are installed on the thigh joint outer shell, the second wiring avoidance surface is not contacted with the thigh joint rear cover.

58. The bipedal robot of claim 57, wherein the second wire fixing portion is mounted on the thigh at a lower side of the thigh joint, the wire escape portion extends from the second wire fixing portion in a direction away from the thigh in an axial direction of the thigh joint, the wire escape portion is perpendicular to a projection of the second frame body onto a vertical plane perpendicular to a radial direction of the thigh joint, the second frame body extends in a direction close to the first wire frame, and a gap is left between the wire escape portion and the second frame body and the thigh joint housing, respectively, so that when the second wire frame rotates following the thigh, neither the fixing portion nor the second frame body is in contact with the thigh joint housing.

59. The bipedal robot of claim 58, wherein the first wire fixing portion, the first frame body, and the upper wire supporting portion are integrally formed on the first wire distribution frame, and the second wire fixing portion, the wire escape portion, and the second wire distribution frame are integrally formed on the second wire distribution frame.

60. The bipedal robot of claim 59, wherein a portion of the cables of the bipedal robot are sequentially disposed and secured along the outer surfaces of the wire evasion portion, the second frame, the first frame, and the upper wire support portion.

61. A humanoid robot comprising the biped robot of any one of claims 1-60 as a lower limb.

62. A robot comprising the humanoid robot of claim 61.