Lower limb mechanism and humanoid robot

Abstract

The invention discloses a lower limb mechanism and a humanoid robot. The lower limb mechanism comprises a first mounting shell, a second mounting shell, a supporting piece, a first driving piece and a second driving piece. The outer surface of the first mounting shell is a smooth curved surface, the outer surface of the second mounting shell is a smooth curved surface, the second mounting shell and the first mounting shell are in smooth transition connection, and a containing space is defined by the second mounting shell and the first mounting shell; the supporting piece is rotationally connected with one end of the first mounting shell; the first driving piece is contained in the containing space and used for driving the supporting piece to rotate around the first axis relative to the first mounting shell; the second driving piece is contained in the containing space and used for driving the supporting piece to rotate around a second axis relative to the first installation shell, and the second axis intersects with the first axis. According to the lower limb mechanism, the outer surface of the first mounting shell and the outer surface of the second mounting shell are smooth curved surfaces, the first driving part and the second driving part are contained in the containing space, the appearance of the lower limb of the human body can be simulated, and the humanoid effect is good.

Description

Technical Field

[0001] The present application relates to the technical field of humanoid robots, and in particular to a lower limb mechanism and a humanoid robot. Background Art

[0002] A humanoid robot is a robot that mimics human appearance and behavior. It combines technologies from multiple fields such as mechanics, electronics, computers, and artificial intelligence. The design goal of a humanoid robot is to achieve similar movement capabilities and interaction methods as humans, so as to replace or assist humans in completing work in various scenarios. Similar to the human body, the structure of a humanoid robot includes a torso, head, upper limbs, lower limbs, etc. The lower limbs mainly include thighs, calves, soles, etc. The humanoid robot is equipped with a drive structure to drive the soles and calves to rotate relative to each other to realize the function of the ankle joint.

[0003] In the related art, the lower limbs of a humanoid robot generally include several structural parts and driving parts. The driving parts are generally arranged on the outside of the structural parts, and additional appearance parts are required for shielding. As a result, the sizes of different parts of the lower limb structure of existing humanoid robots vary greatly, and the anthropomorphic effect is poor. Summary of the invention

[0004] The purpose of this application is to provide a lower limb mechanism and a humanoid robot to solve the problem of poor anthropomorphic effect of the lower limb mechanism.

[0005] To achieve the purpose of this application, this application provides the following technical solutions: In a first aspect, the present application provides a lower limb mechanism for a humanoid robot, the lower limb mechanism comprising: A first mounting shell, wherein the outer surface of the first mounting shell is a smooth curved surface; A second mounting shell, wherein the outer surface of the second mounting shell is a smooth curved surface, the second mounting shell is smoothly transitionally connected to the first mounting shell, and the second mounting shell and the first mounting shell enclose a receiving space; A support member, rotatably connected to one end of the first mounting shell; A first driving member, received in the accommodation space, the first driving member being used to drive the supporting member to rotate relative to the first mounting shell around a first axis; A second driving member is received in the accommodating space, and is used for driving the supporting member to rotate relative to the first mounting shell around a second axis, wherein the second axis intersects with the first axis.

[0006] The lower limb mechanism of the embodiment of the present application, the support is rotatably connected with one end of the first mounting shell, and the first mounting shell serves as the load-bearing and moving part of the lower limb mechanism. The first driving member is used to drive the support member to rotate relative to the first mounting shell around the first axis to realize a certain specific movement of the lower limb (such as swinging forward and backward); the second driving member is used to drive the support member to rotate relative to the first mounting shell around the second axis to realize another specific movement of the lower limb (such as swinging left and right or rotating) to realize the ankle joint function. The first mounting shell and the second mounting shell are smoothly connected and form a storage space together for accommodating key components such as the first driving member and the second driving member, so that the structure of the lower limb mechanism is more compact and the space utilization rate is higher. That is, the first mounting shell and the second mounting shell are not only used as the appearance of the lower limb mechanism, but also as the structural member connected to the support member, and can also accommodate the first driving member and the second driving member. After the first driving member and the second driving member are accommodated in the accommodation space, the appearance of the first mounting shell and the second mounting shell constitutes the appearance of the lower limb mechanism, and the outer surface of the first mounting shell and the outer surface of the second mounting shell are both smooth curved surfaces, which are not only beautiful, but also can imitate the appearance of the lower limbs of the human body, and have a good anthropomorphic effect.

[0007] In one embodiment, the front-to-back direction of the humanoid robot is a first direction, the left-to-right direction of the humanoid robot is a second direction, and the height direction of the humanoid robot is a third direction; The first driving member and the second driving member are both fixed to the first mounting shell, the first driving member extends along the first direction, the second driving member extends along the second direction, and the first driving member and the second driving member are sequentially arranged in the third direction.

[0008] The first drive member and the second drive member are both fixed to the first mounting shell, that is, the first mounting shell serves as a mounting carrier for the first drive member and the second drive member, and the first mounting shell and the second mounting shell can accommodate the first drive member and the second drive member after being matched, thereby simplifying the overall structure of the lower limb mechanism. The first drive member and the second drive member are respectively extended along the front-back direction (first direction) and the left-right direction (second direction) of the humanoid robot, and are arranged in sequence in the height direction (third direction). This layout makes the lower limb mechanism more compact in structure.

[0009] In one embodiment, the lower limb mechanism also includes a first transmission component, a mounting seat is protruding on the inner wall of the first mounting shell, a fixing ring is sleeved on the first driving member, the fixing ring is connected to the mounting seat, one end of the first transmission component is rotatably connected to the support member, and the other end of the first transmission component is inserted into the fixing ring and connected to the first driving member.

[0010] Thus, by arranging a mounting seat on the inner wall of the first mounting shell and connecting the fixing ring to the mounting seat, this design enhances the stability of the first driving member and the first transmission member during power transmission. It ensures that the first driving member will not be displaced or shaken during operation, thereby improving the overall stability and reliability of the lower limb mechanism.

[0011] In one embodiment, a through hole is provided on the second mounting shell, and the through hole communicates the inside of the accommodation space with the outside of the accommodation space; The first transmission component includes a first crank and a first connecting rod. The first crank is accommodated in the accommodating space. One end of the first crank is connected to the first driving member, and the other end of the first crank is rotatably connected to one end of the first connecting rod. The other end of the first connecting rod passes through the through hole and is rotatably connected to the support member.

[0012] In this way, the first transmission component effectively transmits the power of the first driving member to the support member through the combination of the first crank and the first connecting rod, so that the support member rotates around the first axis relative to the first mounting shell. The first crank is accommodated in the accommodating space to make the structure of the lower limb mechanism more compact. By providing a through hole on the second mounting shell, the first connecting rod can directly pass through and connect with the support member. This design optimizes the transmission path and improves the transmission efficiency.

[0013] In one embodiment, the fixing ring is sleeved on the first crank, and a first limiting portion is convexly provided on a side surface of the first crank close to the fixing ring, and a limiting groove is provided on a side surface of the fixing ring close to the first crank, and the first limiting portion is arranged in the limiting groove, and the limiting groove is used to abut against the first limiting portion to limit the rotation range of the first crank.

[0014] In this way, by setting the first limit portion on the first crank, the first limit portion can cooperate with the limit groove on the fixed ring, so that the rotation range of the first crank can be controlled, which is crucial for ensuring that the lower limb mechanism maintains stable transmission performance during exercise and avoids damage caused by excessive rotation.

[0015] In one embodiment, the lower limb mechanism also includes a second transmission component, a mounting hole is provided on the first mounting shell, the mounting hole connects the inside of the accommodating space and the outside of the accommodating space, the second driving member is installed in the mounting hole, one end of the second transmission component is rotatably connected to the support member, and the other end of the second transmission component is inserted into the mounting hole and connected to the second driving member.

[0016] In this way, the power of the second driving member is transmitted to the supporting member by connecting the second transmission member with the second driving member and the supporting member, so that the supporting member can rotate around the second axis relative to the first mounting shell, thereby achieving a more complex and flexible movement. A mounting hole is provided on the first mounting shell to provide a mounting space for the second driving member and to locate the mounting position of the first driving member. At the same time, the provision of the mounting hole enables the first transmission member to extend out of the accommodating space to connect with the supporting member to achieve power transmission.

[0017] In one embodiment, the lower limb mechanism further includes a cover body, and the cover body is connected to the first mounting shell to form a first accommodating groove; The second transmission component includes a second crank and a second connecting rod, at least a portion of the second crank is accommodated in the first accommodating groove, one end of the second crank is connected to the second driving member, the other end of the second crank extends out of the first accommodating groove and is rotatably connected to one end of the second connecting rod, and the other end of the second connecting rod is rotatably connected to the support member.

[0018] In this way, the first receiving groove is formed by the cooperation between the cover body and the first mounting shell. The first receiving groove can accommodate at least part of the second crank, reduce the exposed area of ​​the second crank, improve the aesthetics of the lower limb mechanism, and make the lower limb mechanism more anthropomorphic. The combination of the second crank and the second connecting rod realizes the effective transmission of power. The design of the first receiving groove makes the installation and maintenance of the second transmission component more convenient. By opening or removing the cover body, the second transmission component can be easily maintained or replaced.

[0019] In one embodiment, a second limiting portion is provided on a side surface of the first mounting shell away from the second mounting shell, the second limiting portion is located in the first accommodating groove, and the second limiting portion is used to abut against the second crank to limit the rotation range of the second crank.

[0020] Thus, by providing the second limiter on the first mounting shell, the abutment relationship between the second limiter and the second crank can control the rotation range of the second crank, which helps to prevent the second transmission component from excessively rotating during movement, thereby avoiding structural damage or uncontrolled movement caused by an excessively large rotation range.

[0021] In one embodiment, the front-to-back direction of the humanoid robot is a first direction, the left-to-right direction of the humanoid robot is a second direction, and the cover body is connected to the first mounting shell to form a second accommodating groove; At least a portion of the projection of the second connecting rod in the first direction is located in the second receiving groove; A projection of one end of the second crank connected to the second connecting rod in the second direction is located in the second accommodating groove.

[0022] In this way, the cover body is connected to the first mounting shell to form a second receiving groove, and the projection of one end of the second connecting rod and the second crank is limited within the second receiving groove, so that the structural layout of the lower limb mechanism is more compact. This helps to reduce the volume and weight of the mechanism and improve the overall structural efficiency. The second receiving groove provides a more stable and controllable movement environment for the second connecting rod and the second crank. By limiting their range of motion in a specific direction, structural damage or performance degradation caused by uncontrolled motion can be effectively prevented.

[0023] In one embodiment, the front-to-back direction of the humanoid robot is the first direction, and the left-to-right direction of the humanoid robot is the second direction; The support member includes a first bracket and a second bracket sequentially arranged along the first direction, the first mounting shell is rotatably connected to the first bracket through a first rotating shaft and a second rotating shaft, the first rotating shaft is perpendicular to the second rotating shaft, the second rotating shaft extends along the second direction, the axis of the first rotating shaft is coaxial with the first axis, the axis of the second rotating shaft is coaxial with the second axis, and the first connecting rod is rotatably connected to the second rotating shaft; The second bracket is provided with a third rotating shaft, the third rotating shaft extends along the second direction, and the second connecting rod is rotatably connected to the third rotating shaft.

[0024] In this way, the first mounting shell is connected to the first bracket through the first rotating shaft and the second rotating shaft, so that the support member can rotate relative to the first mounting shell around the first rotating shaft and the second rotating shaft. When the lower limb mechanism is used in a humanoid robot, the ankle joint movements such as forward tilt, backward tilt, left tilt and backward tilt of the sole of the foot relative to the calf can be realized. The second rotating shaft extends along the second direction and is connected to the first connecting rod for rotation, so that the first driving member can directly drive the support member to rotate around the first rotating shaft; and the second connecting rod is connected to the third rotating shaft for rotation, so that the second driving member can directly drive the support member to rotate around the second rotating shaft, so that the rotation of the support member relative to the first mounting shell around the first rotating shaft and the second rotating shaft can be independently controlled, thereby reducing the complexity of the overall control strategy of the lower limb mechanism, and the control logic of the first driving mechanism and the second driving mechanism can be relatively independently designed and optimized, thereby improving the decoupling of the lower limb mechanism control system.

[0025] In one implementation, in the orthographic projection in the first direction, one end of the second connecting rod connected to the third rotating shaft coincides with the first rotating shaft.

[0026] In this way, by designing the connection point between the second connecting rod and the third rotating shaft on the positive projection of the first rotating shaft, when the second driving member drives the supporting member to rotate around the second rotating shaft, the supporting member is subjected to more balanced force and has better rotation stability.

[0027] In one embodiment, the first mounting shell includes a first shell and a second shell that are detachably connected, the first rotating shaft is located between the first shell and the second shell, one end of the first rotating shaft is rotatably connected to the first shell, and the other end of the first rotating shaft is rotatably connected to the second shell.

[0028] In this way, by designing the first mounting shell as a detachably connected first shell and second shell, and connecting the first shell and the second shell at both ends of the first rotating shaft, the installation and maintenance of the lower limb mechanism becomes more convenient. The first rotating shaft is arranged between the first shell and the second shell, that is, the first rotating shaft can be accommodated by the first shell and the second shell, making the structure of the entire lower limb mechanism more compact, and further improving the aesthetics of the lower limb mechanism.

[0029] In a second aspect, the present application also provides a humanoid robot comprising a lower limb mechanism as described in any one of the various embodiments of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the implementation methods of the present application or the technical solutions in the prior art, the drawings required for use in the implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0031] Figure 1 A three-dimensional diagram of a lower limb mechanism according to an embodiment of the present application; Figure 2 A partial structural stereogram of a lower limb mechanism according to an embodiment of the present application; Figure 3 for Figure 2 Exploded diagram of Figure 4 for Figure 2 Side view of Figure 5 for Figure 4 AA section view; Figure 6 An exploded view of a portion of the structure of a lower limb mechanism according to an embodiment of the present application; Figure 7 A three-dimensional diagram of a first driving member, a fixing ring and a first crank according to an embodiment of the present application; Figure 8 A front view of a fixing ring according to an embodiment of the present application; Fig. 9 A three-dimensional diagram of a first mounting shell according to an embodiment of the present application; Fig.10A three-dimensional diagram of a first mounting shell, a second mounting shell and a cover body according to an embodiment of the present application; Fig.11 for Figure 2 A front view of Fig.12 An exploded view of a third mounting shell according to an embodiment of the present application.

[0032] Description of reference numerals: 100, first mounting shell; 110, accommodating space; 120, mounting seat; 121, first mounting portion; 122, second mounting portion; 130, mounting hole; 140, second limiting portion; 150, first housing; 151, sixth wire hole; 152, wiring groove; 153, first baffle; 154, first connecting portion; 160, second housing; 200, second mounting shell; 210, through hole; 220, second baffle; 230, second connecting portion; 300, third mounting shell; 310, third housing; 311, third accommodating groove; 312, second wire hole; 313, third wire hole; 314, fourth wire hole; 315, fifth wire hole; 320, fourth housing; 330, first wire hole; 400, support member; 4 10. First bracket; 411. First rotating shaft; 412. Second rotating shaft; 420. Second bracket; 421. Third rotating shaft; 500. First driving member; 510. Fixing ring; 511. Limiting groove; 511a. First limiting plane; 511b. Second limiting plane; 512. First fixing part; 513. Second fixing part; 600. Second driving member; 700. First transmission member; 710. First crank; 711. First limiting part; 720. First connecting rod; 800. Second transmission member; 810. Second crank; 820. Second connecting rod; 900. Cover body; 910. First accommodating groove; 920. Second accommodating groove; A. First axis; B. Second axis; X. First direction; Y. Second direction; Z. Third direction. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0034] It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or there can be a central component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there can be a central component at the same time.

[0035] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used in this application and in the specification are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used in this application includes any and all combinations of one or more of the related listed items.

[0036] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0037] refer to Figures 1 to 9 , an embodiment of the present application provides a humanoid robot, including the lower limb mechanism in the embodiment of the present application.

[0038] The humanoid robot of the embodiment of the present application can imitate the appearance and movement posture of a human, and may include a head mechanism (not shown), a trunk mechanism (not shown), an upper limb mechanism (not shown), a waist and hip mechanism (not shown) and a lower limb mechanism. The lower limb mechanism may include a first mounting shell 100, a second mounting shell 200, a third mounting shell 300 and a support member 400. The first mounting shell 100 and the second mounting shell 200 can be used as the calf of the humanoid robot, the third mounting shell 300 can be used as the thigh of the humanoid robot, and the support member 400 can be used as the sole of the foot of the humanoid robot. The lower limb mechanism of the embodiment of the present application also includes a first driving member 500 and a second driving member 600. Through reasonable design, the first mounting shell 100 and the support member 400 can be driven to rotate relative to each other to realize the ankle joint function.

[0039] The lower limb mechanism of the embodiment of the present application is introduced in detail below.

[0040] refer to Figure 1 , Figure 2 and Figure 3 The present application provides a lower limb mechanism for a humanoid robot. It should be understood that the lower limb mechanism includes a left leg part and a right leg part, and the structures of the left leg part and the right leg part are symmetrical, so the embodiments of the present application are only described with reference to any one of the left leg part and the right leg part.

[0041] The lower limb mechanism includes a first mounting shell 100, a second mounting shell 200, a third mounting shell 300, a support member 400, a first driving member 500, a second driving member 600, and the like.

[0042] The first mounting shell 100 and the second mounting shell 200 of the present application serve as the calf of the humanoid robot. The outer surface of the first mounting shell 100 and the outer surface of the second mounting shell 200 are both smooth curved surfaces, which are not only beautiful, but also can imitate the appearance of the human calf, and have a good anthropomorphic effect. One end of the first mounting shell 100 is rotatably connected to the support member 400, and the radial dimension of the first mounting shell 100 from the end away from the support member 400 to the end close to the support member 400 is a structure that gradually decreases, so as to imitate the structure of the human calf that gradually decreases in radial dimension from the thigh to the sole of the foot.

[0043] The third mounting shell 300 of the present application serves as the thigh of the humanoid robot, and the outer surface of the third mounting shell 300 is also a smooth curved surface to imitate the shape of a human thigh. One end of the third mounting shell 300 is used for rotational connection with the waist and hip mechanism, and the other end is rotationally connected with the end of the first mounting shell 100 away from the support member 400. The radial dimension of the end of the third mounting shell 300 close to the waist and hip mechanism is gradually reduced toward the end close to the first mounting shell 100, so as to imitate the structure of the human thigh that is roughly gradually reduced in radial dimension from the waist and hip to the calf.

[0044] The support member 400 of the present application serves as the sole of the humanoid robot. The support member 400 is roughly in the shape of a curved plate and is used to imitate the sole of a human body. The support member 400 is rotatably connected to the first mounting shell 100, and the rotatably connected part is similar to the function of the ankle joint of a human body. The sole side of the support member 400 is used to contact the support surface, and the first mounting shell 100 is rotatably connected to the instep side of the support member 400, and the support surface is, for example, the ground, a work surface, etc., without limitation.

[0045] The first driving member 500 is used to drive the support member 400 to rotate relative to the first mounting shell 100 around the first axis A to achieve left or right tilting of the support member 400. The first driving member 500 can be a motor, specifically a stepping motor, a servo motor, etc., without limitation.

[0046] The second driving member 600 is used to drive the support member 400 to rotate relative to the first mounting shell 100 around the second axis B, which intersects the first axis A, to achieve forward or backward tilting of the support member 400. The second driving member 600 can be a motor, specifically a stepping motor, a servo motor, etc., without limitation.

[0047] For example, in the lower limb mechanism of current humanoid robots, the calf is generally rod-shaped, and the driving member used to drive the sole member to rotate is embedded in the calf or hung on the calf. One end of the calf is connected to the thigh, and the other end of the calf is connected to the sole. The driving member is usually installed between the two ends of the calf, resulting in a large difference between the size of the middle of the calf and the size of the two ends. The radial size of the human calf from the end close to the thigh to the end close to the sole is generally a gradually decreasing structure, which is quite different from the actual appearance of the human calf, and the anthropomorphic effect is poor.

[0048] refer to Figure 3 , Figure 4 , Figure 5 and Figure 6 , the support member 400 is rotatably connected to one end of the first mounting shell 100, and the first mounting shell 100 serves as the load-bearing and moving part of the lower limb mechanism. The first driving member 500 is used to drive the support member 400 to rotate relative to the first mounting shell 100 around the first axis A, and the second driving member 600 is used to drive the support member 400 to rotate relative to the first mounting shell 100 around the second axis B to realize the ankle joint function. The first mounting shell 100 is smoothly connected with the second mounting shell 200, and together encloses a accommodating space 110 for accommodating key components such as the first driving member 500 and the second driving member 600, so that the structure of the lower limb mechanism is more compact and the space utilization rate is higher. That is, the first mounting shell 100 and the second mounting shell 200 are not only used as the appearance part of the lower limb mechanism, but also as the structural member connected to the support member 400, and can also accommodate the first driving member 500 and the second driving member 600, reducing the number of overall parts of the lower limb mechanism, and the anthropomorphic effect is better.

[0049] In the embodiment of the present application, the front-to-back direction of the humanoid robot is taken as the first direction X, the left-to-right direction of the humanoid robot is taken as the second direction Y, and the height direction of the humanoid robot is taken as the third direction Z for illustration.

[0050] The first driving member 500 and the second driving member 600 are both fixed to the first mounting shell 100, the first driving member 500 extends along the first direction X, the second driving member 600 extends along the second direction Y, and the first driving member 500 and the second driving member 600 are sequentially arranged in the third direction Z. The first driving member 500 and the second driving member 600 are both fixed to the first mounting shell 100, that is, the first mounting shell 100 serves as a mounting carrier for the first driving member 500 and the second driving member 600, and the first mounting shell 100 can accommodate the first driving member 500 and the second driving member 600 after matching with the second mounting shell 200, thereby simplifying the overall structure of the lower limb mechanism. The first driving member 500 and the second driving member 600 extend along the first direction X and the second direction Y, respectively, and are sequentially arranged in the third direction Z. This layout makes the lower limb mechanism more compact in structure.

[0051] The lower limb mechanism also includes a first transmission component 700, a mounting seat 120 is convexly provided on the inner wall of the first mounting shell 100, a fixing ring 510 is sleeved on the first driving member 500, and the fixing ring 510 is connected to the mounting seat 120. One end of the first transmission component 700 is rotatably connected to the support member 400, and the other end of the first transmission component 700 is inserted into the fixing ring 510 and connected to the first driving member 500. Through the first transmission component 700, the linkage of the first driving member 500 and the support member 400 is realized. Specifically, the mounting seat 120 is convexly provided on the inner wall of the first mounting shell 100, which is used to fix and support the first driving member 500. The first driving member 500 is sleeved with a fixing ring 510, and the fixing ring 510 is connected to the mounting seat 120, thereby ensuring the stability and position accuracy of the first driving member 500. One end of the first transmission component 700 is rotatably connected to the support member 400, and the other end is inserted into the fixing ring 510 and connected to the first driving member 500, thereby realizing the transmission of power and the conversion of motion. The fixing ring 510 ensures that the first driving member 500 will not be displaced or shaken during operation, thereby improving the overall stability and reliability of the lower limb mechanism.

[0052] In one embodiment, the second mounting shell 200 is provided with a through hole 210, and the through hole 210 communicates the inside of the accommodation space 110 with the outside of the accommodation space 110; the first transmission component 700 includes a first crank 710 and a first connecting rod 720, the first crank 710 is accommodated in the accommodation space 110, one end of the first crank 710 is connected to the first driving member 500, the other end of the first crank 710 is rotatably connected to one end of the first connecting rod 720, and the other end of the first connecting rod 720 is rotatably connected to the support member 400 through the through hole 210. The second mounting shell 200 is provided with a through hole 210, and this through hole 210 is a passage connecting the inside and outside of the accommodation space 110. The first transmission component 700 in the lower limb mechanism is composed of the first crank 710 and the first connecting rod 720. The first crank 710 is accommodated in the accommodation space 110, and one end of the first crank 710 is directly connected to the first driving member 500 for receiving power from the first driving member 500. The other end of the first crank 710 is rotatably connected to one end of the first connecting rod 720 to form a hinge connection. The other end of the first connecting rod 720 passes through the through hole 210 on the second mounting shell 200 and is rotatably connected to the support member 400, thereby transmitting power and movement to the support member 400.

[0053] The first transmission component 700 effectively transmits the power of the first driving member 500 to the support member 400 through the combination of the first crank 710 and the first connecting rod 720, so that the support member 400 rotates relative to the first mounting shell 100 around the first axis A. The first crank 710 is accommodated in the accommodating space 110 to make the structure of the lower limb mechanism more compact. By providing a through hole 210 on the second mounting shell 200, the first connecting rod 720 can directly pass through and connect with the support member 400. This design optimizes the transmission path and improves the transmission efficiency.

[0054] refer to Figure 5 , Figure 6 , Figure 7 , Figure 8 and Fig. 9 The fixing ring 510 is sleeved on the first crank 710. A first limiting portion 711 is convexly provided on a side surface of the first crank 710 close to the fixing ring 510. A limiting groove 511 is provided on a side surface of the fixing ring 510 close to the first crank 710. The first limiting portion 711 is arranged in the limiting groove 511. The limiting groove 511 is used to abut against the first limiting portion 711 to limit the rotation range of the first crank 710. Among them, the side surface of the first crank 710 close to the fixing ring 510 is the outer peripheral surface of the first crank 710, and the side surface of the fixing ring 510 close to the first crank 710 is the inner peripheral surface of the fixing ring 510. When the first crank 710 rotates under the drive of the first driving member 500, the first limiting portion 711 will move in the limiting groove 511, thereby limiting the rotation range of the first crank 710, so as to ensure that the lower limb mechanism maintains stable transmission performance during exercise and avoids damage caused by excessive rotation.

[0055] Specifically, the mounting seat 120 includes a first mounting portion 121 and a second mounting portion 122 which are arranged at intervals, and a mounting groove for accommodating the first driving member 500 is formed between the first mounting portion 121 and the second mounting portion 122. The fixing ring 510 is also provided with a first fixing portion 512 and a second fixing portion 513, the first fixing portion 512 is used to connect with the first mounting portion 121, and the second fixing portion 513 is used to connect with the second mounting portion 122. The first fixing portion 512 and the second fixing portion 513 are sequentially arranged in the circumferential direction of the fixing ring 510, and the first mounting portion 121 and the second mounting portion 122 can be symmetrically arranged, and the first fixing portion 512 and the second fixing portion 513 can be symmetrically arranged to improve the stability of the installation of the first driving member 500.

[0056] The limiting groove 511 is arranged between the first fixing portion 512 and the second fixing portion 513, and the limiting groove 511 includes a first limiting plane 511a and a second limiting plane 511b which are arranged at intervals. The first limiting plane 511a and the second limiting plane 511b can both abut against the first limiting portion 711, and there is an angle α between the first limiting plane 511a and the second limiting plane 511b. The first limiting portion 711 is arranged between the first limiting plane 511a and the second limiting plane 511b. By adjusting the size of the first limiting portion 711, the rotation angle range of the first crank 710 can be controlled.

[0057] The range of the angle α between the first limiting plane 511a and the second limiting plane 511b is 85° to 95°, so as to prevent the first crank 710 from excessively rotating during the movement, thereby avoiding structural damage or loss of control of the movement due to an excessively large rotation range. For example, α can be 85°, 86°, 87°, 88°, 90°, 91°, 93°, 94°, 95°, etc., but is not limited to the listed values, and other unlisted values ​​within the numerical range are also applicable. When the angle α between the first limiting plane 511a and the second limiting plane 511b is greater than 95°, the first crank 710 will interfere with the internal structure of the first mounting shell 100. When the angle α between the first limiting plane 511a and the second limiting plane 511b is less than 85°, the rotation angle of the first connecting rod 720 is small, resulting in a smaller rotation angle of the support member 400 relative to the first mounting shell 100 around the first axis A, which makes the left or right tilt range of the sole of the humanoid robot smaller, limits the movement range of the humanoid robot, and has a poor humanoid effect.

[0058] The lower limb mechanism also includes a second transmission component 800. The first mounting shell 100 is provided with a mounting hole 130, and the mounting hole 130 communicates the inside of the accommodating space 110 with the outside of the accommodating space 110. The second driving member 600 is mounted in the mounting hole 130. One end of the second transmission component 800 is rotatably connected to the support member 400, and the other end of the second transmission component 800 is inserted in the mounting hole 130 and connected to the second driving member 600. The mounting hole 130 is a passage connecting the inside and outside of the accommodating space 110, allowing the second transmission component 800 to pass through. One end of the second transmission component 800 is rotatably connected to the support member 400 for transmitting power and realizing motion conversion. The other end is inserted in the mounting hole 130 and directly connected to the second driving member 600, thereby ensuring the effective transmission of power, so that the support member 400 can rotate around the second axis B relative to the first mounting shell 100, thereby realizing more complex and flexible motion. The first mounting shell 100 is provided with a mounting hole 130 to provide a mounting space for the second driving member 600 and to locate the mounting position of the first driving member 500. At the same time, the mounting hole 130 is provided to allow the first transmission member 700 to extend out of the accommodation space 110 to connect with the support member 400 to achieve power transmission.

[0059] refer to Figure 3 , Figure 4 , Figure 5 , Fig.10 and Fig.11 The lower limb mechanism further comprises a cover 900, which is connected to the first mounting shell 100 to form a first receiving groove 910; the second transmission component 800 comprises a second crank 810 and a second connecting rod 820, at least part of the second crank 810 is accommodated in the first receiving groove 910, one end of the second crank 810 is connected to the second driving member 600, the other end of the second crank 810 extends out of the first receiving groove 910 and is rotatably connected to one end of the second connecting rod 820, and the other end of the second connecting rod 820 is rotatably connected to the support member 400. The cover 900 is connected to the first mounting shell 100, and together they form a closed or semi-closed first receiving groove 910. A more compact and protected working environment is provided for the second transmission component 800. In terms of the second transmission component 800, it comprises a second crank 810 and a second connecting rod 820. At least part of the second crank 810 is accommodated in the first receiving groove 910, and one end of the second crank 810 is directly connected to the second driving member 600 for receiving power. The other end extends out of the first receiving groove 910 and is rotatably connected to one end of the second connecting rod 820. The other end of the second connecting rod 820 is rotatably connected to the support member 400, thereby realizing the transmission of power and the conversion of motion.

[0060] The first receiving groove 910 can accommodate at least part of the second crank 810, reduce the exposed area of ​​the second crank 810, and improve the aesthetics of the lower limb mechanism, so that the lower limb mechanism has a better anthropomorphic effect. The combination of the second crank 810 and the second connecting rod 820 realizes effective transmission of power. The design of the first receiving groove 910 makes the installation and maintenance of the second transmission component 800 more convenient. By opening or removing the cover 900, the second transmission component 800 can be easily maintained or replaced.

[0061] In one embodiment, a second limiting portion 140 is provided on a side surface of the first mounting shell 100 away from the second mounting shell 200, and the second limiting portion 140 is located in the first accommodating groove 910. The second limiting portion 140 is used to abut against the second crank 810 to limit the rotation range of the second crank 810. By providing the second limiting portion 140 on the first mounting shell 100, the abutting relationship between the second limiting portion 140 and the second crank 810 can control the rotation range of the second crank 810. This helps to prevent the second transmission component 800 from excessively rotating during the movement, thereby avoiding structural damage or loss of control of movement due to an excessively large rotation range.

[0062] In the present application, the cover 900 is connected to the first mounting shell 100 to form a second receiving groove 920, and at least part of the projection of the second connecting rod 820 in the first direction X is located in the second receiving groove 920; the projection of one end of the second crank 810 connected to the second connecting rod 820 in the second direction Y is located in the second receiving groove 920. The cover 900 is connected to the first mounting shell 100, and together they form a second receiving groove 920, providing a more compact and orderly working environment for the second transmission component 800.

[0063] In particular, at least part of the projection of the second connecting rod 820 in the first direction X is located in the second receiving groove 920, so that the movement of the second connecting rod 820 is effectively limited within the range of the second receiving groove 920, making the structural layout of the lower limb mechanism more compact. At the same time, the projection of one end of the second crank 810 connected to the second connecting rod 820 in the second direction Y is also located in the second receiving groove 920, and the second receiving groove 920 provides a more stable and controllable movement environment for the second connecting rod 820 and the second crank 810. By limiting their range of motion in a specific direction, structural damage or performance degradation caused by uncontrolled motion can be effectively prevented.

[0064] In one embodiment, the support member 400 includes a first bracket 410 and a second bracket 420 sequentially arranged along a first direction X, and the first mounting shell 100 is rotatably connected to the first bracket 410 through a first rotating shaft 411 and a second rotating shaft 412, wherein the first rotating shaft 411 is perpendicular to the second rotating shaft 412, the second rotating shaft 412 extends along the second direction Y, the axis of the first rotating shaft 411 is coaxial with the first axis A, the axis of the second rotating shaft 412 is coaxial with the second axis B, and the first connecting rod 720 is rotatably connected to the second rotating shaft 412; the second bracket 420 is provided with a third rotating shaft 421, the third rotating shaft 421 extends along the second direction Y, and the second connecting rod 820 is rotatably connected to the third rotating shaft 421. The first mounting shell 100 is rotatably connected to the first bracket 410 through the first rotating shaft 411 and the second rotating shaft 412. The first rotating shaft 411 is perpendicular to the second rotating shaft 412, ensuring that the movements of the lower limb mechanism in the first direction X and the second direction Y can be independent of each other and do not interfere with each other.

[0065] The first mounting shell 100 is rotatably connected to the first bracket 410 via the first rotating shaft 411 and the second rotating shaft 412, so that the support member 400 can rotate around the first rotating shaft 411 and the second rotating shaft 412 relative to the first mounting shell 100. When the lower limb mechanism is used in a humanoid robot, ankle joint movements such as forward tilt, backward tilt, left tilt and backward tilt of the sole of the foot relative to the calf can be realized. The second rotating shaft 412 extends along the second direction Y and is rotationally connected to the first connecting rod 720, so that the first driving member 500 can directly drive the support member 400 to rotate around the first rotating shaft 411; and the second connecting rod 820 is rotationally connected to the third rotating shaft 421, so that the second driving member 600 can directly drive the support member 400 to rotate around the second rotating shaft 412, so that the rotation of the support member 400 relative to the first mounting shell 100 around the first rotating shaft 411 and the second rotating shaft 412 can be independently controlled, thereby reducing the complexity of the overall control strategy of the lower limb mechanism, and the control logic of the first driving mechanism and the second driving mechanism can be relatively independently designed and optimized, thereby improving the decoupling of the lower limb mechanism control system.

[0066] Among them, the first bracket 410 and the second bracket 420 are sequentially arranged along the first direction X, the second axis B extends along the second direction Y, and the second direction Y is perpendicular to the first direction X. The first bracket 410 and the second bracket 420 can be split structures, and the first bracket 410 and the second bracket 420 can also be integrated structures, both of which are not limited. The specific structures of the first bracket 410 and the second bracket 420 are not limited. Optionally, the first bracket 410 and the second bracket 420 are split structures, and the first bracket 410 and the second bracket 420 are spaced apart in the first direction X to suppress the first transmission component 700 and the second transmission rod component from interfering with each other when they move.

[0067] The first mounting shell 100 is connected to the first bracket 410 through the first rotating shaft 411 and the second rotating shaft 412. Under the drive of the first driving member 500 and the second driving member 600, the first mounting shell 100 can be rotated around the first rotating shaft 411 and the second rotating shaft 412 relative to the support member 400, which simplifies the structure of the lower limb mechanism and can utilize the space more effectively; and the first connecting rod 720 is directly connected to the second rotating shaft 412, and the second connecting rod 820 is directly connected to the third rotating shaft 421, which simplifies the transmission structure, reduces the energy loss in the transmission process, and improves the transmission efficiency.

[0068] The first rotating shaft 411 and the second rotating shaft 412 can both be arranged on the first bracket 410 or the first mounting shell 100, or one of them can be arranged on the first bracket 410 and the other can be arranged on the first mounting shell 100, without limitation. The first rotating shaft 411 can be fixed to the first mounting shell 100, and the second rotating shaft 412 can rotate relative to the first bracket 410, or the first rotating shaft 411 and the second rotating shaft 412 can rotate relative to the first bracket 410 and the first mounting shell 100, without limitation. At the position where relative rotation is possible, a hole-shaft matching structure can be provided, or a bearing can be provided, the inner ring of the bearing is connected to the rotating shaft, and the outer ring of the bearing is connected to the first mounting shell 100 or the first bracket 410, so as to realize the relative rotation of the first mounting shell 100 and the first bracket 410. In this embodiment, the first mounting shell 100 and the first bracket 410 can rotate around the first rotating shaft 411 and the second rotating shaft 412, so that the first mounting shell 100 can have two degrees of rotational freedom relative to the sole of the foot.

[0069] Illustratively, when the first mounting shell 100 and the first bracket 410 rotate relative to each other around the first rotating axis 411, the first mounting shell 100 can tilt left or right relative to the first bracket 410; when the first mounting shell 100 and the first bracket 410 rotate relative to each other around the second rotating axis 412, the first mounting shell 100 can tilt forward or backward relative to the first bracket 410.

[0070] Optionally, the first mounting shell 100 is rotatably connected to the first rotating shaft 411, the first bracket 410 is rotatably connected to the second rotating shaft 412, and the first rotating shaft 411 is fixedly connected to the second rotating shaft 412. This design simplifies the transmission structure and reduces the number of moving parts, thereby reducing the failure rate and maintenance costs. Since the first mounting shell 100 is rotatably connected to the first rotating shaft 411, the first rotating shaft 411 is fixedly connected to the second rotating shaft 412, and the first bracket 410 is rotatably connected to the second rotating shaft 412, this structure enables the lower limb mechanism to flexibly rotate in multiple directions, providing a rich range of motion postures for the humanoid robot.

[0071] Similar to the above structure, the third rotating shaft 421 and the second bracket 420 can rotate relative to each other, or the third rotating shaft 421 and the second bracket 420 can be fixed. The third rotating shaft 421 and the second bracket 420 can be hole-shaft matched, or bearings can be provided.

[0072] In one embodiment, in the orthographic projection of the first direction X, one end of the second connecting rod 820 connected to the third rotating shaft 421 coincides with the first rotating shaft 411. By designing the connection point between the second connecting rod 820 and the third rotating shaft 421 to be on the orthographic projection of the first rotating shaft 411, when the second driving member 600 drives the supporting member 400 to rotate around the second rotating shaft 412, the supporting member 400 is subjected to a relatively balanced force and has good rotation stability.

[0073] The lower limb mechanism provided in the present application is connected by joint bearings between the first crank 710 and the first connecting rod 720, between the first connecting rod 720 and the second rotating shaft 412, between the second crank 810 and the second connecting rod 820, and between the second connecting rod 820 and the third rotating shaft 421. The design of the joint bearings not only improves the stability and durability of the connection, but also makes the connection more flexible and can adapt to various complex movement requirements.

[0074] Among them, the first installation shell 100 includes a first shell 150 and a second shell 160 that are detachably connected, and the first rotating shaft 411 is located between the first shell 150 and the second shell 160. One end of the first rotating shaft 411 is rotatably connected to the first shell 150, and the other end of the first rotating shaft 411 is rotatably connected to the second shell 160. By designing the first installation shell 100 as a detachably connected first shell 150 and second shell 160, and the two ends of the first rotating shaft 411 are respectively connected to the first shell 150 and the second shell 160, the installation and maintenance of the lower limb mechanism become more convenient. And the first rotating shaft 411 is arranged between the first shell 150 and the second shell 160, that is, the first rotating shaft 411 can be accommodated by the first shell 150 and the second shell 160, so that the structure of the entire lower limb mechanism is more compact, and the aesthetics of the lower limb mechanism is further improved.

[0075] refer to Fig. 9 , Fig.10 and Fig.12The third mounting shell 300 includes a third shell 310 and a fourth shell 320 that are detachably connected. The third shell 310 and the fourth shell 320 enclose a first wire hole 330. The third shell 310 is provided with a third receiving groove 311 and a second wire hole 312. The first wire hole 330, the second wire hole 312 and the third receiving groove 311 are connected in sequence. The third receiving groove 311 is arranged between the third shell 310 and the fourth shell 320. One end of the third shell 310 is used for rotational connection with the waist and hip mechanism. The other end of the third shell 310 is rotationally connected with one end of the first mounting shell 100 away from the support member 400. The third receiving groove 311 is used to accommodate a third driving member (not shown) that drives the third shell 310 to rotate relative to the first mounting shell 100, so as to make the structure of the lower limb mechanism more compact and beautiful.

[0076] In the embodiment of the present application, the power supply device of the humanoid robot is arranged on the torso mechanism, and the power supply device supplies power to the first driving member 500, the second driving member 600 and the third driving member through the wire harness. The wire harness can be connected to the third driving member through the first wire hole 330 and the second wire hole 312 to realize the power supply of the third driving member.

[0077] The third housing 310 is also provided with a third wire hole 313, a fourth wire hole 314 and a fifth wire hole 315 which are connected in sequence, and the third wire hole 313 is connected with the third receiving groove 311. The first mounting shell 100 is provided with a sixth wire hole 151 and a wiring groove 152, the wiring groove 152 is connected with the sixth wire hole 151 and the receiving space 110, and the sixth wire hole 151 and the fifth wire hole 315 can cooperate with each other through a hinge shaft to realize the rotation connection between the first mounting shell 100 and the third mounting shell 300. The wire harness connected from the third driving member passes through the third wire hole 313, the fourth wire hole 314, the fifth wire hole 315, the sixth wire hole 151 and the wiring groove 152 in sequence to enter the receiving space 110, so as to realize the connection between the wire harness and the first driving member 500 and the second driving member 600. This design allows the wire harness to be housed in the first mounting shell 100 , the second mounting shell 200 and the third mounting shell 300 , thereby reducing leakage of the wire harness and improving the aesthetics of the humanoid robot.

[0078] A first baffle 153 and a first connecting portion 154 are provided on the first mounting shell 100, and a second baffle 220 and a second connecting portion 230 are provided on the second mounting shell 200. The first connecting portion 154 and the second connecting portion 230 are both used to connect with the third mounting shell 300. The first baffle 153 and the second baffle 220 abut against each other to separate the first connecting portion 154 and the second connecting portion 230 from the accommodating space 110, thereby reducing interference with the first driving member 500 and the second driving member 600 accommodated in the accommodating space 110 and improving the driving stability of the lower limb mechanism. The wiring groove 152 passes through the first baffle 153 so that the wiring harness can enter the accommodating space 110 to supply power to the first driving member 500 and the second driving member 600.

[0079] In the description of the embodiments of the present application, it should be noted that the orientation or positional relationship of terms such as "center", "up", "down", "left", "right", "vertical", "horizontal", "inside" and "outside" are based on the orientation or positional relationship described in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0080] What is disclosed above is only a preferred embodiment of the present application, and it certainly cannot be used to limit the scope of rights of the present application. Ordinary technicians in this field can understand that all or part of the processes of implementing the above embodiment and equivalent changes made according to the claims of the present application are still within the scope covered by the present application.

Claims

1. A lower limb mechanism, characterized in that: For a humanoid robot, the lower limb mechanism comprises: A first installation shell (100), wherein the outer surface of the first installation shell (100) is a smooth curved surface; a second installation shell (200), wherein the outer surface of the second installation shell (200) is a smooth curved surface, the second installation shell (200) is smoothly transitionally connected to the first installation shell (100), and the second installation shell (200) and the first installation shell (100) enclose a receiving space (110); A support member (400) rotatably connected to one end of the first mounting shell (100); a first driving member (500) received in the accommodating space (110), the first driving member (500) being used to drive the supporting member (400) to rotate relative to the first mounting shell (100) around a first axis (A); The second driving member (600) is accommodated in the accommodating space (110), and is used to drive the supporting member (400) to rotate relative to the first mounting shell (100) around a second axis (B), wherein the second axis (B) intersects with the first axis (A).

2. The lower limb mechanism according to claim 1, characterized in that: The front-to-back direction of the humanoid robot is a first direction (X), the left-to-right direction of the humanoid robot is a second direction (Y), and the height direction of the humanoid robot is a third direction (Z); The first driving member (500) and the second driving member (600) are both fixed to the first mounting shell (100); the first driving member (500) extends along the first direction (X), the second driving member (600) extends along the second direction (Y), and the first driving member (500) and the second driving member (600) are arranged in sequence in the third direction (Z).

3. The lower limb mechanism according to claim 1, characterized in that: The lower limb mechanism further comprises a first transmission component (700); a mounting seat (120) is convexly provided on the inner wall of the first mounting shell (100); a fixing ring (510) is sleeved on the first driving member (500); the fixing ring (510) is connected to the mounting seat (120); one end of the first transmission component (700) is rotatably connected to the support member (400); and the other end of the first transmission component (700) is inserted into the fixing ring (510) and connected to the first driving member (500).

4. The lower limb mechanism according to claim 3, characterized in that: The second installation shell (200) is provided with a through hole (210), and the through hole (210) communicates the inside of the accommodating space (110) with the outside of the accommodating space (110); The first transmission component (700) comprises a first crank (710) and a first connecting rod (720); the first crank (710) is received in the accommodating space (110); one end of the first crank (710) is connected to the first driving member (500); the other end of the first crank (710) is rotatably connected to one end of the first connecting rod (720); the other end of the first connecting rod (720) passes through the through hole (210) and is rotatably connected to the supporting member (400).

5. The lower limb mechanism according to claim 4, characterized in that: The fixing ring (510) is sleeved on the first crank (710); a first limiting portion (711) is convexly provided on a side surface of the first crank (710) close to the fixing ring (510); a limiting groove (511) is provided on a side surface of the fixing ring (510) close to the first crank (710); the first limiting portion (711) is arranged in the limiting groove (511); and the limiting groove (511) is used to abut against the first limiting portion (711) to limit the rotation range of the first crank (710).

6. The lower limb mechanism according to claim 4, characterized in that: The lower limb mechanism further comprises a second transmission component (800), a mounting hole (130) is provided on the first mounting shell (100), the mounting hole (130) communicates the interior of the accommodating space (110) with the exterior of the accommodating space (110), the second driving member (600) is mounted on the mounting hole (130), one end of the second transmission component (800) is rotatably connected to the support member (400), and the other end of the second transmission component (800) is inserted into the mounting hole (130) and connected to the second driving member (600).

7. The lower limb mechanism according to claim 6, characterized in that: The lower limb mechanism further comprises a cover body (900), wherein the cover body (900) is connected to the first mounting shell (100) to form a first accommodating groove (910); The second transmission component (800) comprises a second crank (810) and a second connecting rod (820), wherein at least a portion of the second crank (810) is received in the first receiving groove (910), one end of the second crank (810) is connected to the second driving member (600), the other end of the second crank (810) extends out of the first receiving groove (910) and is rotatably connected to one end of the second connecting rod (820), and the other end of the second connecting rod (820) is rotatably connected to the support member (400).

8. The lower limb mechanism according to claim 7, characterized in that: A second limiting portion (140) is provided on a side surface of the first mounting shell (100) away from the second mounting shell (200), the second limiting portion (140) being located in the first accommodating groove (910), and the second limiting portion (140) being used to abut against the second crank (810) to limit the rotation range of the second crank (810).

9. The lower limb mechanism according to claim 7, characterized in that: The front-to-back direction of the humanoid robot is a first direction (X), the left-to-right direction of the humanoid robot is a second direction (Y), and the cover body (900) is connected to the first mounting shell (100) to form a second accommodating groove (920); A projection of at least part of the second connecting rod (820) in the first direction (X) is located in the second accommodating groove (920); The projection of one end of the second crank (810) connected to the second connecting rod (820) in the second direction (Y) is located within the second accommodating groove (920).

10. The lower limb mechanism according to claim 9, characterized in that: The front-to-back direction of the humanoid robot is a first direction (X), and the left-to-right direction of the humanoid robot is a second direction (Y); The support member (400) comprises a first bracket (410) and a second bracket (420) which are sequentially arranged along the first direction (X); the first mounting shell (100) is rotatably connected to the first bracket (410) via a first rotating shaft (411) and a second rotating shaft (412); the first rotating shaft (411) is perpendicular to the second rotating shaft (412); the second rotating shaft (412) extends along the second direction (Y); the axis of the first rotating shaft (411) is coaxial with the first axis (A); the axis of the second rotating shaft (412) is coaxial with the second axis (B); and the first connecting rod (720) is rotatably connected to the second rotating shaft (412); A third rotating shaft (421) is provided on the second bracket (420), the third rotating shaft (421) extends along the second direction (Y), and the second connecting rod (820) is rotatably connected to the third rotating shaft (421).

11. The lower limb mechanism according to claim 10, characterized in that: In the orthographic projection of the first direction (X), one end of the second connecting rod (820) connected to the third rotating shaft (421) coincides with the first rotating shaft (411).

12. The lower limb mechanism according to claim 10, characterized in that: The first mounting shell (100) comprises a first shell (150) and a second shell (160) which are detachably connected, the first rotating shaft (411) being located between the first shell (150) and the second shell (160), one end of the first rotating shaft (411) being rotatably connected to the first shell (150), and the other end of the first rotating shaft (411) being rotatably connected to the second shell (160).

13. A humanoid robot, characterized in that: Comprising a lower limb mechanism as described in any one of claims 1 to 12.

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