Lower extremity mechanism and robot

Abstract

The application relates to the technical field of robots, and provides a lower limb mechanism and a robot, the lower limb mechanism comprising a thigh assembly, a shank assembly and a foot assembly; at least one of the thigh assembly and the shank assembly and the shank assembly and the foot assembly is connected through a translation assembly, and the translation direction of the translation assembly is perpendicular to the walking direction of the thigh assembly in a horizontal plane. The lower limb mechanism provided by the embodiment of the application is connected through the translation assembly between the thigh assembly and the shank assembly and between the shank assembly and the foot assembly, the lateral translation perpendicular to the walking direction is realized through the translation assembly, the lateral translation only affects the position of the center of mass in the lateral direction, strong coupling is avoided, and the complexity of gait planning and control is simplified.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a lower limb mechanism and robot. Background Technology

[0002] Humanoid robots are a highly interdisciplinary field involving bionics, dynamics, and control theory. Their key technologies include bionic mechanism design, joint drive design, coordinated motion planning, and stable balance control. Humanoid bipedal robots possess flexible locomotion and strong obstacle-crossing capabilities, enabling them to adapt to various complex terrains and work in diverse environments, thus possessing high academic and practical value. Bipedal robots improve mobility by mimicking the structural characteristics of two-legged animals to adapt to complex environments. Unlike traditional wheeled mobile robots, bipedal robots have an advantage in walking on unstructured surfaces, navigating complex terrains such as stairs and ditches. Bipedal robots can adapt to general human work and living environments, interacting better with humans in daily life and work, and even replacing humans in simple repetitive tasks.

[0003] In related technologies, bipedal robots use two lateral swing degrees of freedom of a single leg to adjust the position of the center of mass in the left and right directions. However, the lateral swing changes the projection of the leg on the sagittal plane, which leads to strong coupling and increases the complexity of gait planning and control. Summary of the Invention

[0004] This invention provides a lower limb mechanism and robot to address the shortcomings of existing technologies where strong coupling increases the complexity of gait planning and control.

[0005] This invention provides a lower limb mechanism, comprising:

[0006] Thigh component;

[0007] Lower leg assembly;

[0008] Foot components;

[0009] At least one of the thigh assembly and the calf assembly, and the calf assembly and the foot assembly, are connected by a translational assembly, wherein the translational direction of the translational assembly is perpendicular to the walking direction of the thigh assembly in the horizontal plane.

[0010] According to an embodiment of the present invention, a lower limb mechanism is provided, wherein the thigh assembly and the lower leg assembly are connected by a translational assembly, the translational assembly comprising:

[0011] The drive unit is located on the thigh assembly;

[0012] A transmission gear is connected to the output of the drive component;

[0013] A rack is disposed on the lower leg assembly, and the rack meshes with the transmission gear.

[0014] According to an embodiment of the present invention, a lower limb mechanism is provided, wherein the translational assembly further includes a guide component, the guide component comprising:

[0015] A first guide member is disposed on one of the thigh assembly and the lower leg assembly;

[0016] A second guide is disposed on the other side of the thigh assembly and the lower leg assembly, and the second guide cooperates with the first guide.

[0017] According to an embodiment of the present invention, a lower limb mechanism is provided, wherein the first guide member includes a slide rail, and the second guide member includes a guide slider.

[0018] According to an embodiment of the present invention, a lower limb mechanism is provided, wherein the thigh assembly includes:

[0019] A hip joint, the hip joint including a connected first drive component and a yaw drive component;

[0020] The thigh, with its first end connected to the translation component and its second end connected to the first driving component or the yaw drive component, wherein the first driving component is used to drive the thigh to swing along a first direction, the first direction being coplanar with the walking direction of the thigh.

[0021] According to an embodiment of the present invention, a lower limb mechanism is provided, wherein the first driving component includes:

[0022] A first motor mounting bracket is disposed at the output of the yaw drive component;

[0023] A first drive motor is mounted on a first motor mounting base;

[0024] The thigh assembly includes two parallel thighs, one of which has its second end connected to the output of the first drive motor, and the other thigh has its second end rotatably attached to the first motor mounting base.

[0025] According to an embodiment of the present invention, a lower limb mechanism is provided, wherein the lower leg assembly includes:

[0026] calves;

[0027] The second driving component is connected to one end of the lower leg near the thigh assembly, and the second driving component is used to drive the lower leg to swing in a first direction.

[0028] According to an embodiment of the present invention, a lower limb mechanism is provided, wherein the foot assembly includes:

[0029] Feet;

[0030] A third driving component is connected to the foot, and the third driving component is used to drive the foot to swing in a first direction.

[0031] According to an embodiment of the present invention, a lower limb mechanism is provided, wherein the translation component includes a lead screw and nut structure.

[0032] The present invention also provides a robot including a lower limb mechanism as described in any of the preceding claims.

[0033] The lower limb mechanism provided in this embodiment of the invention has at least one translation component connecting the thigh component and the lower leg component, and the lower leg component and the foot component. The translation component enables lateral translation perpendicular to the walking direction. Lateral translation only affects the position of the center of mass in the lateral direction, avoiding strong coupling and thus simplifying the complexity of gait planning and control. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0035] Figure 1 This is one of the structural schematic diagrams of the lower limb mechanism provided in the embodiments of the present invention;

[0036] Figure 2 This is the second structural schematic diagram of the lower limb mechanism provided in the embodiment of the present invention;

[0037] Figure 3 This is a schematic diagram of the hip joint provided in an embodiment of the present invention;

[0038] Figure 4 This is one of the structural schematic diagrams of the translation component provided in the embodiments of the present invention;

[0039] Figure 5 This is the second structural schematic diagram of the translation component provided in the embodiment of the present invention;

[0040] Figure 6 This is the third structural schematic diagram of the translation component provided in the embodiment of the present invention;

[0041] Figure 7 This is a schematic diagram of the robot provided in an embodiment of the present invention.

[0042] Figure label:

[0043] 100. Lower limb mechanism; 200. Mounting frame;

[0044] 1. Thigh assembly; 11. First drive component; 111. First motor mounting base; 112. First drive motor; 12. Yaw drive component; 13. Thigh;

[0045] 2. Lower leg assembly; 21. Lower leg; 22. Second drive component;

[0046] 3. Foot assembly; 31. Foot; 32. Third drive component;

[0047] 4. Translation component; 41. Drive component; 42. Transmission gear; 43. Rack; 44. First guide component; 45. Second guide component. Detailed Implementation

[0048] The embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and should not be construed as limiting the scope of the invention.

[0049] In the description of the embodiments of the present invention, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of the present invention. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0050] In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of the present invention based on the specific circumstances.

[0051] In embodiments of the present invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0052] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0053] The following is combined with Figures 1-7 This invention describes a lower limb mechanism according to an embodiment of the invention.

[0054] An embodiment of the first aspect of the present invention provides a lower limb mechanism. Figure 1 One of the structural schematic diagrams of the lower limb mechanism provided in the embodiment of the present invention is illustrated. Figure 2 Example 2: A schematic diagram of the lower limb mechanism provided in an embodiment of the present invention is shown. Figure 1 and Figure 2 As shown, the lower limb mechanism includes a thigh assembly 1, a lower leg assembly 2, a foot assembly 3, and a translation assembly 4. At least one of the thigh assembly 1 and the lower leg assembly 2, and the lower leg assembly 2 and the foot assembly 3, are connected by the translation assembly 4.

[0055] The thigh component 1 moves in a forward-backward direction, and the translation component 4 moves in a direction perpendicular to the thigh component 1 on a horizontal plane. Therefore, the translation component 4 moves in a left-right direction.

[0056] It is understandable that when the thigh component 1 and the lower leg component 2 are connected by a translation component, the lower leg component 2 can be laterally translated relative to the thigh component 1; when the lower leg component 2 and the foot component 3 are connected by a translation component, the foot component 3 can be laterally translated relative to the lower leg component 2.

[0057] It should be noted that in related technologies, the lateral movement of the lower limb mechanism 100 is achieved through a lateral swing motor. This lateral swing motor realizes lateral swinging, that is, swinging in the left and right direction. The swing motor drives the lower leg 21 or the thigh 13 to swing laterally, adjusting the position of the center of mass in the lateral (left and right) direction. At the same time, the position of the center of mass in the front and back direction also changes accordingly. Therefore, using the lateral swing degree of freedom to adjust the position of the center of mass in the left and right direction will change the projection of the leg in the sagittal plane, thus causing strong coupling. In contrast, the translation component in this embodiment only affects the position of the center of mass in the left and right direction when adjusting the center of mass, thereby simplifying the complexity of gait planning and control.

[0058] The lower limb mechanism 100 provided in this embodiment of the invention is connected by at least one translation component between the thigh component 1 and the lower leg component 2, and between the lower leg component 2 and the foot component 3. The translation component enables lateral translation perpendicular to the walking direction. The lateral translation only affects the position of the center of mass in the lateral direction, avoiding strong coupling and thus simplifying the complexity of gait planning and control.

[0059] In one embodiment of the present invention, Figure 3 A schematic diagram of the hip joint provided in an embodiment of the present invention is illustrated, such as... Figure 2 and Figure 3 As shown, the thigh assembly 1 includes a hip joint and a thigh 13. The hip joint includes a first drive component 11 and a yaw drive component 12 connected together. The first end of the thigh 13 is connected to a translation component, and the second end of the thigh 13 is connected to the first drive component 11 or the yaw drive component 12.

[0060] It is understood that the first driving component 11 is used to drive the thigh 13 to swing back and forth, and the yaw drive component 12 is used to drive the thigh 13 to rotate around the center of the yaw drive component 12. The yaw drive component 12 adopts a yaw drive motor, the first driving component 11 is set at the output end of the yaw drive motor, the upper end of the thigh 13 is connected to the first driving component 11, and the lower end of the thigh 13 is connected to the translation component.

[0061] It is understood that the first driving component 11 is used to drive the driving thigh 13 to swing along the first direction. The first direction is coplanar with the walking direction of the thigh 13, so the first direction is the front-back direction.

[0062] In one embodiment of the present invention, such as Figure 2 As shown, the lower leg assembly 2 includes a lower leg 21 and a second driving component 22. The second driving component 22 is connected to one end of the lower leg 21 near the thigh assembly 1. The second driving component 22 is used to drive the lower leg 21 to swing in a first direction.

[0063] It is understood that the second drive component 22 is connected to the upper end of the lower leg 21, and the second drive component 22 is used to drive the lower leg 21 to swing in the front and back direction.

[0064] In one embodiment of the present invention, such as Figure 2 As shown, the foot assembly 3 includes a foot 31 and a third drive component 32. The third drive component 32 is connected to one end of the foot 31 near the lower leg assembly 2 and is used to drive the foot 31 to swing in a first direction.

[0065] Understandably, the third drive component 32 is connected to the upper end of the foot 31, and the third drive component 32 is used to drive the foot 31 to swing in the front and back direction.

[0066] In one embodiment of the present invention, Figure 4 One of the structural schematic diagrams of the translation component provided in the embodiment of the present invention is illustrated. Figure 5 The second example illustrates the structure of the translation component provided in this embodiment of the invention. Figure 6 Example three: A schematic diagram of the structure of the translation component provided in the embodiment of the present invention, such as... Figures 4 to 6 As shown, the thigh assembly 1 and the lower leg assembly 2 are connected by a translation component, which can be a gear and rack transmission.

[0067] The translation component includes a drive member 41, a transmission gear 42, and a rack 43. The drive member 41 is disposed on the thigh component 1; the transmission gear 42 is connected to the output of the drive member 41; and the rack 43 is disposed on the lower leg component 2, and the rack 43 meshes with the transmission gear 42.

[0068] Understandably, the drive component 41 is a drive motor, which is mounted on the lower end of the thigh 13 via a motor mounting plate. The transmission gear 42 is coaxially mounted on the output end of the drive motor, and the rack 43 is fixed on the second drive component 22. The drive motor drives the transmission gear 42 to rotate, and the transmission gear 42 drives the rack 43 to move. The second drive component 22, which is connected to the rack 43, moves synchronously, thereby realizing the left and right movement of the lower leg 21 connected to the second drive component 22.

[0069] In one embodiment of the present invention, such as Figure 6 As shown, the translation component also includes a guide component, which includes a first guide 44 and a second guide 45 that cooperate with each other. The first guide 44 is disposed on one of the thigh component 1 and the lower leg component 2, and the second guide 45 is disposed on the other of the thigh component 1 and the lower leg component 2.

[0070] It is understandable that the sliding cooperation of the first guide member 44 and the second guide member 45 can improve the stability of the translation of the lower leg assembly 2 relative to the thigh assembly 1.

[0071] In this embodiment, the first guide 44 can be a slide rail disposed on the second drive component 22, and the second guide 45 can be a guide slider disposed at the lower end of the thigh 13. The thigh component 1 and the calf component 2 are connected by the slide rail and the slider to ensure that the rack 43 can move smoothly and firmly to the left and right.

[0072] It should be noted that the first guide member 44 and the second guide member 45 can also be a guide rod and a guide block slidably disposed on the guide rod.

[0073] In one embodiment of the present invention, the translation component further includes a limiting member, which is disposed at the lower end of the thigh 13 or on the motor mounting plate, and limits the translation distance of the rack 43 by means of the limiting member.

[0074] It is understandable that the limiting component can be two limiting plates located on both sides of the rack 43, and the distance between the two limiting plates can limit the parallel stroke of the rack 43.

[0075] In another embodiment of the invention, the translation component may also employ a lead screw and nut structure.

[0076] It should be noted that the translation component between the lower leg component 2 and the foot component 3 can adopt the translation component structure between the thigh component 1 and the lower leg component 2 provided in any of the above embodiments.

[0077] In one embodiment of the present invention, such as Figure 2 and Figure 3 As shown, the first drive component 11 includes a first motor mounting base 111 and a first drive motor 112. The first motor mounting base 111 is disposed at the output of the yaw drive component 12, and the first drive motor 112 is disposed at the first motor mounting base 111. The upper end of the thigh 13 is connected to the output of the first drive motor 112.

[0078] In this embodiment, the thigh assembly 1 includes two parallel thighs 13. The first motor mounting base 111 has two parallel connecting ears. The first drive motor 112 is located between the two connecting ears and is rotatably mounted on one of the connecting ears and connected to the upper end of one of the thighs 13. The upper end of the other thigh 13 is rotatably attached to the other connecting ear of the first motor mounting base 111. The first drive motor 112 drives the two thighs 13 to rotate synchronously, thereby improving the stability of the thigh assembly 1 swinging back and forth.

[0079] Understandably, the sidewall connecting the ear forms a mounting cavity, and the upper end of the thigh 13 is located within this mounting cavity.

[0080] In one specific embodiment of the present invention, the lower limb mechanism 100 includes a thigh assembly 1, a lower leg assembly 2, a foot assembly 3, and two translational assemblies. The thigh assembly 1 and the lower leg assembly 2 are connected by one of the translational assemblies, and the lower leg assembly 2 and the foot assembly 3 are connected by the other translational assemblies.

[0081] The two translation components are referred to as the first translation component and the second translation component, respectively. The translation component between the thigh component 1 and the lower leg component 2 is the first translation component, and the translation component between the lower leg component 2 and the foot component 3 is the second translation component. Thus, the lower limb mechanism 100 includes the thigh component 1, the first translation component, the lower leg component 2, the second translation component, and the foot component 3 connected in sequence.

[0082] The thigh assembly 1 includes a hip joint and a thigh 13. The hip joint includes a first drive component 11 and a yaw drive component 12. The first drive component 11 includes a first motor mounting base 111 and a first drive motor 112. The first motor mounting base 111 is located at the output of the yaw drive component 12, and the first drive motor 112 is located at the first motor mounting base 111. The upper end of the thigh 13 is connected to the output of the first drive motor 112.

[0083] It is understandable that the yaw drive 12 drives the first drive component 11 to rotate around the rotation center of the yaw drive 12, and the first drive motor 112 drives the thigh 13 to swing back and forth, so that the hip joint has the degrees of freedom of swinging back and forth and the degrees of freedom of yaw.

[0084] A first translation component is provided between the thigh component 1 and the lower leg component 2. The lower leg component 2 includes a lower leg 21 and a second drive component 22. The lower end of the thigh 13, the first translation component, the second drive component 22 and the upper end of the lower leg 21 are connected in sequence. The first translation component and the second drive component 22 form a knee joint, and the thigh 13 and the lower leg 21 are connected through the knee joint.

[0085] The second driving component 22 is used to drive the lower leg 21 to swing in the front-back direction, and the first translation component is used to drive the second driving component 22 to translate in the left-right direction, thereby driving the lower leg 21 to translate in the left-right direction, so that the knee joint has the freedom of front-back swing and the freedom of left-right translation.

[0086] It should be noted that the second drive component 22 can adopt the same structure as the first drive component 11. The lower leg assembly 2 includes two lower legs 21 that are parallel to each other. The second drive component 22 includes a second motor mounting base and a second drive motor. The second drive motor is disposed on the second motor mounting base. The upper end of one lower leg 21 is connected to the output of the second drive motor, and the upper end of the other lower leg 21 is rotatably attached to the second motor mounting base.

[0087] Understandably, the drive unit of the first translation component is located at the lower end of the two thighs 13, and the rack 43 of the first translation component is located on the second motor mounting base.

[0088] A second translation component is provided between the lower leg component 2 and the foot component 3. The foot component 3 includes a foot 31 and a third drive component 32. The lower end of the lower leg 21, the second translation component, the third drive component 32 and the foot 31 are connected in sequence. The second translation component and the third drive component 32 form an ankle joint, and the lower leg 21 and the foot 31 are connected through the ankle joint.

[0089] The third driving component 32 is used to drive the foot 31 to swing in the front-back direction, and the second translation component is used to drive the third driving component 32 to translate in the left-right direction, thereby driving the foot 31 to translate in the left-right direction, so that the ankle joint has the freedom of front-back swing and the freedom of left-right translation.

[0090] It should be noted that the third drive component 32 can adopt the same structure as the first drive component 11. The third drive component 32 includes a third motor mounting base and a third drive motor. The third drive motor is mounted on the third motor mounting base. One end of the foot 31 is connected to the output of the third drive motor, and the other end of the foot 31 is rotatably attached to the third motor mounting base.

[0091] Understandably, the drive unit of the second translation component is located at the lower end of the two lower legs 21, and the rack 43 of the first translation component is located on the third motor mounting base.

[0092] It should be noted that the lower limb mechanism 100 in this embodiment includes a hip joint, a thigh 13, a knee joint, a calf 21, an ankle joint, and a foot 31 connected in sequence. The hip joint has a forward and backward swing degree of freedom and a yaw degree of freedom, the knee joint has a forward and backward swing degree of freedom and a left and right translation degree of freedom, and the ankle joint has a forward and backward swing degree of freedom and a left and right translation degree of freedom. Thus, the lower limb mechanism 100 in this embodiment has 6 degrees of freedom.

[0093] It should be noted that in the relevant technology, the lower limb mechanism 100 is mainly a series joint type, that is, the hip joint has three degrees of freedom: yaw, forward swing, and lateral swing; the knee joint has one degree of freedom: forward swing; and the ankle joint has two degrees of freedom: forward swing and lateral swing. This degree of freedom distribution is close to the human lower limb mechanism, but this structure has a shortcoming: when planning gait, there is strong coupling between the movements of each joint, and gait planning affects the whole body: changes in ankle posture affect the output of almost all joints. In other words, when the position of the center of mass in the left-right direction is adjusted, the position of the center of mass in the front-back direction will also change, and vice versa. The fundamental reason for this shortcoming is that the two lateral swing degrees of freedom of the lower limb mechanism 100 are used to adjust the position of the center of mass in the left-right direction, and lateral swing will change the projection of the leg in the sagittal plane, thus causing strong coupling. In this embodiment, the translational degrees of freedom of the knee and ankle joints only affect the position of the center of mass in the left-right direction when adjusting the center of mass, while the rotation of the forward swing joint only affects the position of the center of mass in the front-back direction when stepping. Therefore, the lower limb mechanism 100 in this embodiment has the advantage of decoupling when adjusting the position of the center of mass, which can greatly simplify the complexity of gait planning and control.

[0094] It should be noted that in this embodiment, there are only forward and backward swing degrees of freedom and yaw degree of freedom in the hip joint, an additional translational degree of freedom is added in the knee joint, and the translational degree of freedom replaces the lateral swing degree of freedom in the ankle joint. Therefore, the number of 100 degrees of freedom in the lower limb mechanism is still 6.

[0095] A second aspect of the present invention provides a robot. Figure 7 A schematic diagram of the robot provided in an embodiment of the present invention is illustrated, such as... Figure 7 As shown, the robot includes a hip assembly and a lower limb connected to the hip assembly, the lower limb being the lower limb mechanism 100 provided in any of the above embodiments.

[0096] Understandably, the hip assembly includes a mounting frame 200, with two lower limb mechanisms 100 arranged side by side on the mounting frame 200.

[0097] It should be noted that the lower limb mechanism can be used in robots. The robot in this embodiment includes, but is not limited to, bipedal robots, quadrupedal robots, hexapedal robots, and other multi-legged robots.

[0098] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A lower extremity mechanism characterized by, include: Thigh component; Lower leg assembly; Foot components; At least one of the thigh assembly and the lower leg assembly, and the lower leg assembly and the foot assembly, are connected by a translational assembly, wherein the translational direction of the translational assembly is perpendicular to the walking direction of the thigh assembly in the horizontal plane. The thigh assembly and the lower leg assembly are connected by a translational assembly, which includes a drive member, a transmission gear, a rack, and a guide member. The drive member is disposed on the thigh assembly; the transmission gear is connected to the output of the drive member; the rack is disposed on the lower leg assembly and meshes with the transmission gear; the guide member includes a first guide member and a second guide member. The first guide member is disposed on one of the thigh assembly and the lower leg assembly; the second guide member is disposed on the other of the thigh assembly and the lower leg assembly and cooperates with the first guide member.

2. The lower leg mechanism according to claim 1, characterized by The first guide member includes a slide rail, and the second guide member includes a guide slider.

3. The lower leg mechanism according to claim 1 or 2, characterized by The thigh assembly includes: A hip joint, the hip joint including a connected first drive component and a yaw drive component; The thigh, with its first end connected to the translation component and its second end connected to the first driving component or the yaw drive component, wherein the first driving component is used to drive the thigh to swing along a first direction, the first direction being coplanar with the walking direction of the thigh.

4. The lower limb mechanism according to claim 3, characterized in that, The first driving component includes: A first motor mounting bracket is disposed at the output of the yaw drive component; A first drive motor is mounted on a first motor mounting base; The thigh assembly includes two parallel thighs, one of which has its second end connected to the output of the first drive motor, and the other thigh has its second end rotatably attached to the first motor mounting base.

5. The lower limb mechanism according to claim 1 or 2, characterized in that, The lower leg assembly includes: calves; A second driving component is connected to the lower leg, and the second driving component is used to drive the lower leg to swing in a first direction.

6. The lower limb mechanism according to claim 1 or 2, characterized in that, The foot assembly includes: Feet; A third driving component is connected to one end of the foot near the lower leg assembly, and the third driving component is used to drive the foot to swing in a first direction.

7. A robot, characterized in that, Includes the lower limb mechanism as described in any one of claims 1 to 6.

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