Lower limb assembly and humanoid robot

Abstract

The lower limb assembly comprises a first connecting piece, a second connecting piece, a supporting piece and a first driving mechanism, and one end of the second connecting piece is rotationally connected with the first connecting piece; the supporting piece is rotationally connected with the other end of the second connecting piece; the first driving mechanism comprises a first driving piece, a first crank and a first connecting rod, the first driving piece is embedded into the second connecting piece and drives the first crank to rotate around a first axis, the first axis extends in the first direction, the first crank comprises a main body and a connecting column which are connected, and the main body is connected with the first driving piece; the length direction of the connecting column intersects with the first axis. One end of the first connecting rod is rotationally connected with the connecting column, and the other end is rotationally connected with the supporting piece; in the orthographic projection in the first direction, the end, connected with the connecting column, of the first connecting rod coincides with the second connecting piece. According to the lower limb assembly, the size of the lower limb assembly can be reduced, so that when the lower limb assembly is used in the humanoid robot, the overall size of the shank part is small, and the humanoid effect is better.

Description

Technical Field

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

[0002] With the rapid development of robots, the application fields of robots are becoming more and more extensive, such as service robots, medical robots and industrial robots. Humanoid robots can imitate the appearance and movement posture of the human body and have broad development prospects. Similar to the human body, the structure of humanoid robots includes torso, head, upper limbs, lower limbs, etc. The lower limbs mainly include thighs, calves, soles, etc. The humanoid robot is equipped with a driving 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 driving structure for driving the sole of the foot and the calf to rotate relative to each other occupies a large space, resulting in a large overall size of the calf after the shell is installed, and a poor human-like effect. Summary of the invention

[0004] The purpose of this application is to provide a lower limb assembly and a humanoid robot to solve the problem that the lower limb assembly occupies a large space and has a poor humanoid effect.

[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 assembly for a humanoid robot, wherein the front-to-back direction of the humanoid robot is a first direction, and the lower limb assembly includes: a first connecting member; A second connecting member, one end of which is rotatably connected to the first connecting member; a support member, rotatably connected to the other end of the second connecting member; A first driving mechanism comprises a first driving member, a first crank and a first connecting rod, wherein the first driving member is embedded in the second connecting member, the first driving member drives the first crank to rotate around a first axis, the first axis extends along the first direction, the first crank comprises a connected body and a connecting column, the body is connected to the first driving member, and the length direction of the connecting column intersects with the first axis; One end of the first connecting rod is rotatably connected to the connecting column, and the other end is rotatably connected to the supporting member; In the orthographic projection in the first direction, one end of the first connecting rod connected to the connecting column coincides with the second connecting member.

[0006] When the lower limb assembly of the embodiment of the present application is used in a humanoid robot, the first connecting member can be used as the thigh, the second connecting member can be used as the calf, and the supporting member can be used as the sole. By setting a first driving mechanism, the first driving mechanism includes a first driving member, a first crank and a first connecting rod. The first driving member can drive the supporting member to rotate relative to the second connecting member through the first crank and the first connecting rod to realize the function of the ankle joint. Among them, the first driving member is embedded in the second connecting member to reduce the exposed volume of the first driving member, so that the overall volume of the lower limb assembly can be reduced; the first crank includes a connected main body and a connecting column, the length direction of the connecting column intersects with the first axis, and the rotational connection method of the first connecting rod with the connecting column and the supporting member enables the lower limb assembly to achieve flexible movement in multiple directions. At the same time, in the orthographic projection in the first direction, one end of the first connecting rod connected to the connecting column coincides with the second connecting member, that is, the projection of one end of the first connecting member connected to the connecting column in the first direction is located within the second connecting member, thereby reducing the size of the lower limb assembly in the left and right directions of the humanoid robot, so that when the lower limb assembly is used in the humanoid robot, the overall size of the calf is smaller and the humanoid effect is better.

[0007] In one embodiment, the second connecting member includes a first cylinder, the first cylinder extends along the first direction, the first driving member is installed in the first cylinder, and at least a part of the main body is accommodated in the first cylinder.

[0008] In this way, by embedding the main body of the first driving member and the first crank into the first cylinder, the external dimensions of the lower limb assembly are effectively reduced, making the overall structure more compact. At the same time, the design of the first cylinder not only provides a stable installation foundation for the first driving member and the first crank, but also reduces exposed parts and simplifies lines, making the humanoid robot look neater and smoother.

[0009] In one embodiment, the first crank further includes a boss, the boss is protruding from the main body along the first direction, and the connecting column is connected to an end of the boss away from the main body along the first direction.

[0010] In this way, the design of the boss provides a more solid support point for the connecting column, increasing the overall structural strength of the first crank. This helps to resist deformation and breakage during power transmission, and improves the reliability and durability of the lower limb assembly. By connecting the connecting column to the boss and extending the boss along the first direction, the direction and angle of power transmission can be more accurately controlled. This helps to reduce energy loss during power transmission, improve transmission efficiency, and make the movement of the lower limb assembly smoother and more powerful.

[0011] In one embodiment, a limiting portion is provided on the second connecting member, and the limiting portion is located on the periphery of the first cylinder. An abutment portion is provided on the boss, and the abutment portion is used to abut with the limiting portion to limit the rotation range of the first crank, and the abutment portion and the connecting column are spaced apart in the first direction.

[0012] In this way, the rotation range of the first crank can be controlled by the cooperation between the limiter and the abutment, preventing excessive rotation from causing structural damage or uncontrolled movement. The spacing between the abutment and the connecting column in the first direction helps to optimize the structural design of the lower limb assembly. This layout can reduce the interference and collision between the first connecting rod and the limiter or the second connecting member, and improve the compactness and overall performance of the structure.

[0013] In one embodiment, the first connecting rod includes a first connecting ring, a second connecting ring and a first connecting handle, the first connecting ring and the second connecting ring are respectively connected to two ends of the first connecting handle, the first connecting ring is rotatably connected to the connecting column through a first joint bearing, and the second connecting ring is rotatably connected to the support member through a second joint bearing; The left-right direction of the humanoid robot is the second direction, one end of the first connecting ring connected to the connecting column is located on one side of the second connecting member along the first direction, and one end of the second connecting ring connected to the supporting member is located on one side of the second connecting member along the second direction.

[0014] In this way, by using the first connecting ring and the second connecting ring to be connected to the two ends of the first connecting handle respectively, and using the joint bearing to realize the rotation connection with the connecting column and the support member, this design not only improves the stability and durability of the connecting member, but also makes the connection more flexible and can adapt to various complex movement requirements. At the same time, the end of the first connecting ring connected to the connecting column and the end of the second connecting ring connected to the support member are distributed on different sides of the second connecting member, so that at least part of the projection of the first connecting handle in the first direction or the second direction is located in the second connecting member, so as to further reduce the space occupied by the lower limb assembly as a whole.

[0015] In one embodiment, the second connecting member is connected to the supporting member via a first rotating shaft and a second rotating shaft, the second rotating shaft extends along the second direction, the second connecting ring is rotationally connected to the second rotating shaft, and the first driving member drives the supporting member to rotate around the first rotating shaft relative to the second connecting member.

[0016] In this way, by setting the first rotating shaft and the second rotating shaft, the support member can rotate in two directions relative to the second connecting member, thereby improving the movement flexibility and adaptability of the humanoid robot. Since the second rotating shaft extends along the second direction and is rotatably connected to the second connecting ring, this layout helps to provide stable support and constraint in the second direction, reducing shaking and instability caused by lateral force.

[0017] In one embodiment, the left and right direction of the humanoid robot is a second direction, and the lower limb assembly also includes a second driving mechanism, the second driving mechanism includes a second driving member, a second crank and a second connecting rod, the second driving member is embedded in the second connecting member, the second driving member drives the second crank to rotate around a second axis, the second axis extends along the second direction, the second crank is connected to the second driving member, one end of the second connecting rod is rotatably connected to the second crank, and the other end of the second connecting rod is rotatably connected to the support member.

[0018] In this way, by adding a second driving mechanism, the second driving mechanism and the first driving mechanism work together to drive the support member to rotate in multiple directions relative to the second connecting member to meet the needs of the humanoid robot in walking, running, etc. At the same time, the second driving member is embedded in the second connecting member to reduce the exposed volume of the second driving member, thereby reducing the overall volume of the lower limb assembly.

[0019] In one embodiment, the height direction of the humanoid robot is the third direction, the second connecting member includes a first cylinder and a second cylinder connected to each other, the first cylinder extends along the first direction, and the first driving member is installed on the first cylinder; The first cylinder and the second cylinder are sequentially arranged in the third direction, the second cylinder extends along the second direction, and the second driving member is installed in the second cylinder.

[0020] In this way, by designing the second connecting member to be a structure including a connected first cylinder and a second cylinder, and arranging them sequentially in the third direction, this layout enables the first driving member and the second driving member to be compactly installed on the second connecting member, effectively utilizing the space of the second connecting member and reducing the overall size of the lower limb assembly.

[0021] In one embodiment, one end of the second connecting rod connected to the second crank is located on one side of the second connecting member along the second direction, and one end of the second connecting rod connected to the support member is located on one side of the second connecting member along the first direction.

[0022] In this way, the end of the second connecting rod connected to the second crank and the end of the second connecting rod connected to the support member are located on different sides of the second connecting member, so that at least a partial projection of the second connecting rod in the first direction or the second direction is located within the second connecting member, so as to further reduce the space occupied by the lower limb assembly as a whole.

[0023] In one embodiment, the second connecting rod includes a third connecting ring, a fourth connecting ring and a second connecting handle, the third connecting ring and the fourth connecting ring are respectively connected to the two ends of the second connecting handle, the third connecting ring is rotatably connected to the second crank through a third joint bearing, and the fourth connecting ring is rotatably connected to the support member through a fourth joint bearing.

[0024] In this way, the third connecting ring is rotatably connected to the second crank through the third joint bearing, and the fourth connecting ring is rotatably connected to the support member through the fourth joint bearing, thereby improving the structural flexibility and range of motion of the lower limb assembly. The joint bearing has good rotation performance and load-bearing capacity, and can ensure that the connection between the second connecting rod and the second crank and the support member is stable and reliable. This connection method not only reduces friction and wear during movement, but also extends the service life of the components.

[0025] In one embodiment, the second connecting handle comprises a first handle body and a second handle body connected to each other, an end of the first handle body away from the second handle body is connected to the third connecting ring, and an end of the second handle body away from the first handle body is connected to the fourth connecting ring; The included angle between the first handle body and the second handle body is greater than zero, and a reinforcing rib is provided at the connection position between the first handle body and the second handle body.

[0026] Thus, the second connecting handle includes a first handle body and a second handle body, and the angle formed between the first handle body and the second handle body is designed so that when the second connecting handle is subjected to the forces from the second crank and the support member, it can more effectively disperse and resist these forces, and help optimize the power transmission path. At the same time, the setting of the reinforcing ribs further enhances the strength and rigidity of the connection position, prevents the problem of fracture or deformation caused by stress concentration, and thus improves the overall structural strength of the lower limb assembly.

[0027] In one embodiment, the support member includes a first bracket and a second bracket sequentially arranged along the first direction, the second connecting member 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, 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, the second connecting rod is rotatably connected to the third rotating shaft, and the second driving member drives the supporting member to rotate around the second rotating shaft relative to the second connecting member; 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.

[0028] In this way, the second connecting member 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 second connecting member around the first rotating shaft and the second rotating shaft. When the lower limb assembly is used for a humanoid robot, the ankle joint movements such as forward tilt, backward tilt, left tilt and backward tilt of the sole 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 second connecting member 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 assembly, 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 assembly control system. At the same time, 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 support member to rotate around the second rotating shaft, the force of the support member is relatively balanced and the rotation stability is good.

[0029] In one embodiment, the left-right direction of the humanoid robot is a second direction, the lower limb assembly includes a third driving mechanism, the third driving mechanism includes a third driving member, a third crank, a third connecting rod and a fourth connecting rod, the third driving member is embedded in the first connecting member, the third crank is connected to the third driving member, the third driving member drives the third crank to rotate around a third axis, and the third axis extends along the second direction; One end of the third connecting rod and one end of the fourth connecting rod are connected to the third crank at an interval, and the other end of the third connecting rod and the other end of the fourth connecting rod are connected to the second connecting member at an interval to form a parallelogram transmission structure.

[0030] In this way, by setting a third driving mechanism, the third driving mechanism is used to drive the second connecting member to rotate relative to the first connecting member around the third axis. When the lower limb assembly is used in a humanoid robot, the knee joint function can be realized. The third crank, the third connecting rod, the fourth connecting rod and the second connecting member are connected to form a parallelogram transmission structure, and the transmission structure is stable; the parallelogram transmission structure allows the third connecting rod and the fourth connecting rod to rotate freely within a certain range. When the third driving member drives the third crank to rotate around the third axis, the first connecting member can rotate relative to the second connecting member. This design makes the power distribution more uniform and efficient, and reduces the wear of components and energy loss caused by uneven power.

[0031] In one embodiment, the first connecting member includes a first shell and a second shell that are detachably connected, the third driving member is disposed at one end of the first shell, the other end of the first shell is rotatably connected to the second connecting member, and the third connecting rod and the fourth connecting rod are both disposed between the first shell and the second shell; The height direction of the humanoid robot is a third direction, the third connecting rod includes a first end and a second end, the fourth connecting rod includes a third end and a fourth end, and in an orthographic projection of the third direction, the first end and the second end are spaced apart, and the third end and the fourth end are spaced apart; The first end and the third end are both located at one side of the first shell in the second direction, and the second end and the fourth end are both connected to the middle of the second connecting member in the second direction.

[0032] In this way, the first connecting member includes a first shell and a second shell that are detachably connected, so that the third connecting rod and the fourth connecting rod can be accommodated in the first connecting member, thereby reducing the space occupied by the lower limb assembly as a whole. At the same time, when the third driving member, the third connecting rod and the fourth connecting rod and other components need to be repaired or replaced, the first shell and the second shell can be easily disassembled without disassembling the entire lower limb assembly, thereby improving maintenance efficiency. In the orthographic projection of the third direction, the first end and the second end and the third end and the fourth end are arranged at intervals, and the first end and the third end are both located on one side of the first shell in the second direction, while the second end and the fourth end are connected to the middle part of the second connecting member in the second direction, so that the third connecting rod and the fourth connecting rod are bent from one side of the first shell to the middle part of the second connecting member, so as to further reduce the space occupied by the lower limb assembly as a whole.

[0033] In a second aspect, the present application also provides a humanoid robot comprising a lower limb assembly as described in any one of the various embodiments of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] 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.

[0035] Figure 1 A three-dimensional diagram of a lower limb assembly according to an embodiment of the present application; Figure 2 for Figure 1 Exploded diagram of Figure 3 A partial structural stereogram of a lower limb assembly according to an embodiment of the present application; Figure 4 A three-dimensional diagram of a first crank according to an embodiment of the present application; Figure 5 for Figure 3 Exploded diagram of Figure 6 for Figure 1 A front view of Figure 7 A three-dimensional diagram of a first connecting rod according to an embodiment of the present application; Figure 8 for Figure 3 Another exploded view of Fig. 9 A partial rear view of the structure of a lower limb assembly according to an embodiment of the present application; Fig.10 A three-dimensional diagram of a second connecting rod according to an embodiment of the present application; Fig.11 A top view of a lower limb assembly according to an embodiment of the present application; Fig.12 This is a stereoscopic view from another perspective of a lower limb assembly of an embodiment of the present application.

[0036] Description of reference numerals: 100, first connecting member; 110, first housing; 111, first positioning portion; 112, first boss; 113, second boss; 120, second housing; 130, first wiring trough; 200, second connecting member; 210, first cylinder; 211, first gap; 220, second cylinder; 221, second gap; 230, limiting portion; 240, limiting block; 250, second wiring trough; 260, first Wire hole; 270, second wire hole; 300, support member; 310, first bracket; 311, first rotating shaft; 312, second rotating shaft; 320, second bracket; 321, third rotating shaft; 400, first driving mechanism; 410, first driving member; 420, first crank; 421, main body; 422, connecting column; 423, boss; 424, abutment; 430, first connecting rod; 431, first connecting rod ring; 432, second connecting ring; 433, first connecting handle; 440, first joint bearing; 450, second joint bearing; 500, second driving mechanism; 510, second driving member; 520, second crank; 530, second connecting rod; 531, third connecting ring; 532, fourth connecting ring; 533, second connecting handle; 533a, first handle body; 533b, second handle body; 534, reinforcing rib; 540, third joint bearing; 550, fourth joint bearing; 600, third driving mechanism; 610, third driving member; 620, third crank; 630, third connecting rod; 631, first end; 632, second end; 640, fourth connecting rod; 641, third end; 642, fourth end; A, first axis; B, second axis; C, third axis; X, first direction; Y, second direction; Z, third direction. DETAILED DESCRIPTION

[0037] 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.

[0038] 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.

[0039] 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.

[0040] 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.

[0041] refer to Figures 1 to 10 , an embodiment of the present application provides a humanoid robot, including the lower limb assembly in the embodiment of the present application.

[0042] 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 assembly (not shown), a torso assembly (not shown), an upper limb assembly (not shown), a waist and hip assembly (not shown) and a lower limb assembly. The lower limb assembly may include a first connecting member 100, a second connecting member 200 and a supporting member 300. The first connecting member 100 can be used as the thigh of the humanoid robot, the second connecting member 200 can be used as the calf of the humanoid robot, and the supporting member 300 can be used as the sole of the humanoid robot. The lower limb assembly of the embodiment of the present application also includes a first driving mechanism 400, a second driving mechanism 500 and a third driving mechanism 600. Through reasonable design, the second connecting member 200 and the supporting member 300 can be driven to rotate relative to realize the ankle joint function, and the first connecting member 100 and the second connecting member 200 can be driven to rotate relative to realize the knee joint function.

[0043] The lower limb assembly of the embodiment of the present application is described in detail below.

[0044] refer to Figure 1 , Figure 2 and Figure 3 The present application provides a lower limb assembly for a humanoid robot. It should be understood that the lower limb assembly 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.

[0045] The lower limb assembly includes a first connecting member 100, a second connecting member 200, a supporting member 300, a first driving mechanism 400, a second driving mechanism 500 and a third driving mechanism 600, etc.

[0046] The first connecting member 100 of the present application serves as the thigh of the humanoid robot. The first connecting member 100 is generally a rod-shaped member and is used to imitate the thigh of a human body. One end of the first connecting member 100 is used for rotational connection with the waist and hip assembly, and the other end is rotationally connected with the second connecting member 200. The radial dimension of the first connecting member 100 from one end close to the waist and hip assembly to one end close to the second connecting member 200 is a structure that gradually decreases, so as to imitate the structure that the radial dimension of the thigh of a human body gradually decreases from the waist and hip to the calf.

[0047] The second connecting member 200 of the present application serves as the calf of the humanoid robot. The second connecting member 200 is generally a rod-shaped member, which is used to imitate the calf of a human body. One end of the second connecting member 200 is rotatably connected to the first connecting member 100, and the other end is rotatably connected to the support member 300. The radial dimension of the second connecting member 200 from the end close to the first connecting member 100 to the end close to the support member 300 is generally a structure that gradually decreases, so as to imitate the structure of the calf of a human body that generally decreases in radial dimension from the thigh to the sole of the foot.

[0048] The support member 300 of the present application serves as the sole of the humanoid robot. The support member 300 is roughly in the shape of a curved plate and is used to imitate the sole of a human body. The support member 300 is rotatably connected to the second connecting member 200, 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 300 is used to contact the support surface, and the second connecting member 200 is rotatably connected to the instep side of the support member 300. The support surface is, for example, the ground, a work surface, etc., without limitation.

[0049] The first driving mechanism 400 includes a first driving member 410, a first crank 420 and a first connecting rod 430. The first driving member 410 is arranged on the second connecting member 200. The first driving member 410 drives the first crank 420 to rotate around the first axis A. One end of the first crank 420 is connected to the first driving member 410, and the first connecting rod 430 is connected between the other end of the first crank 420 and the support member 300. That is, the first driving member 410 drives the support member 300 to rotate relative to the second connecting member 200 through the first crank 420 and the first connecting rod 430, thereby realizing the left or right tilt of the support member 300.

[0050] The second driving mechanism 500 includes a second driving member 510, a second crank 520 and a second connecting rod 530. The second driving member 510 is disposed on the second connecting member 200. The second driving member 510 drives the second crank 520 to rotate around the second axis B. One end of the second crank 520 is connected to the second driving member 510, and the second connecting rod 530 is connected between the other end of the second crank 520 and the support member 300, that is, the second driving member 510 drives the support member 300 to rotate relative to the second connecting member 200 through the second crank 520 and the second connecting rod 530, so as to achieve the forward or backward tilting of the support member 300. In order to limit the forward or backward tilting angle of the support member 300, two limit blocks 240 are disposed on the second connecting member 200, and the two limit blocks 240 are respectively located on both sides of the circumference of the second crank 520. The two limit blocks 240 are used to limit the angle of rotation of the second driving member 510 driving the second crank 520, and further limit the angle of rotation of the support member 300 driven by the second connecting rod 530 relative to the second connecting member 200, which can prevent the second crank 520 and the second connecting rod 530 from driving the support member 300 to rotate at too large an angle relative to the second connecting member 200 and causing forward or backward tipping to occur.

[0051] The third driving mechanism 600 includes a third driving member 610, a third crank 620, a third connecting rod 630 and a fourth connecting rod 640. The third driving member 610 is disposed on the first connecting member 100. The third crank 620 is connected to the third driving member 610. The third driving member 610 drives the third crank 620 to rotate around the third axis C. One end of the third connecting rod 630 and one end of the fourth connecting rod 640 are connected to the third crank 620 at an interval. The other end of the third connecting rod 630 and the other end of the fourth connecting rod 640 are connected to the second connecting member 200 at an interval to form a parallelogram transmission structure. The third driving member 610 drives the first connecting member 100 to rotate relative to the second connecting member 200 through the third crank 620, the third connecting rod 630 and the fourth connecting rod 640.

[0052] The first driving member 410 can be a motor, specifically a stepping motor, a servo motor, etc., without limitation. The first driving member 410 can be installed in the second connecting member 200 in an embedded manner, that is, at least part of the first driving member 410 is located in the second connecting member 200, so as to reduce the exposed volume of the first driving member 410, thereby reducing the overall volume of the lower limb assembly. The second driving member 510 can be a motor, specifically a stepping motor, a servo motor, etc., without limitation. The second driving member 510 can be installed in the second connecting member 200 in an embedded manner, that is, at least part of the second driving member 510 is located in the second connecting member 200, so as to reduce the exposed volume of the second driving member 510, thereby reducing the overall volume of the lower limb assembly. The third driving member 610 can be a motor, specifically a stepping motor, a servo motor, etc., without limitation. The third driving member 610 can be installed in the first connecting member 100 in an embedded manner, that is, at least part of the third driving member 610 is located in the second connecting member 200 to reduce the exposed volume of the third driving member 610, thereby reducing the overall volume of the lower limb assembly.

[0053] 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.

[0054] refer to Figure 3 , Figure 4 and Figure 5In the first driving mechanism 400, the first driving member 410 drives the first crank 420 to rotate around the first axis A, the first axis A extends along the first direction X, the first crank 420 includes a main body 421 and a connecting column 422 connected to each other, the main body 421 is connected to the first driving member 410, and the length direction of the connecting column 422 intersects with the first axis A; one end of the first connecting rod 430 is rotatably connected to the connecting column 422, and the other end is rotatably connected to the support member 300; in the orthographic projection of the first direction X, one end of the first connecting rod 430 connected to the connecting column 422 coincides with the second connecting member 200. The first driving member 410 can drive the supporting member 300 to rotate relative to the second connecting member 200 through the first crank 420 and the first connecting rod 430 to realize the function of the ankle joint. Among them, the first driving member 410 is embedded in the second connecting member 200 to reduce the exposed volume of the first driving member 410, thereby reducing the overall volume of the lower limb assembly; the first crank 420 includes a main body 421 and a connecting column 422 connected to each other, the length direction of the connecting column 422 intersects with the first axis A, and the first connecting rod 430 is rotatably connected to the connecting column 422 and the supporting member 300, so that the lower limb assembly can achieve flexible movement in multiple directions. At the same time, in the orthographic projection of the first direction X, the end of the first connecting rod 430 connected to the connecting column 422 coincides with the second connecting member 200, that is, the projection of the end of the first connecting member 100 connected to the connecting column 422 in the first direction X is located in the second connecting member 200, thereby reducing the size of the lower limb assembly in the left and right directions of the humanoid robot, so that when the lower limb assembly is used in the humanoid robot, the overall size of the lower leg is smaller, and the human-like effect is better.

[0055] In one embodiment, the first crank 420 further includes a boss 423, which is convexly arranged on the main body 421 along the first direction X, and the connecting column 422 is connected to one end of the boss 423 away from the main body 421 along the first direction X. The design of the boss 423 provides a more solid support point for the connecting column 422, thereby increasing the overall structural strength of the first crank 420. This helps to resist deformation and fracture during power transmission, and improves the reliability and durability of the lower limb assembly. By connecting the connecting column 422 to the boss 423 and extending the boss 423 along the first direction X, the direction and angle of power transmission can be more accurately controlled. This helps to reduce energy loss during power transmission, improve transmission efficiency, and make the movement of the lower limb assembly smoother and more powerful.

[0056] The main body 421 , the connecting column 422 and the boss 423 may be a split structure, or the main body 421 , the connecting column 422 and the boss 423 may be an integrated structure, without limitation.

[0057] The second connecting member 200 includes a first barrel 210 and a second barrel 220 connected to each other, and the first barrel 210 and the second barrel 220 are sequentially arranged in the third direction Z. The first barrel 210 extends along the first direction X, and the first barrel 210 has a receiving space extending along the first direction X. The first driving member 410 is installed in the first barrel 210, and at least part of the main body 421 is received in the first barrel 210; the second barrel 220 extends along the second direction Y, and the second barrel 220 has a receiving space extending along the second direction Y, and the second driving member 510 is installed in the second barrel 220.

[0058] By designing the second connecting member 200 as a structure including the connected first cylinder 210 and the second cylinder 220, and arranging them in sequence in the third direction Z, this layout enables the first driving member 410 and the second driving member 510 to be compactly mounted on the second connecting member 200, effectively utilizing the space of the second connecting member 200, and reducing the overall size of the lower limb assembly. And by partially embedding the main body 421 of the first driving member 410 and the first crank 420 into the first cylinder 210, and the second driving member 510 into the second cylinder 220, the external size of the lower limb assembly is effectively reduced, making the overall structure more compact. At the same time, the design of the first cylinder 210 and the second cylinder 220 not only provides a stable installation foundation for the first driving member 410, the first crank 420 and the second driving member 510, but also reduces exposed parts and simplifies lines, making the humanoid robot look neater and smoother.

[0059] There is a first gap 211 between the inner wall of the first cylinder 210 and the outer wall of the first driving member 410 to facilitate heat dissipation of the first driving member 410. There is a second gap 221 between the inner wall of the second cylinder 220 and the outer wall of the second driving member 510 to facilitate heat dissipation of the second driving member 510.

[0060] In one embodiment, a limiting portion 230 is provided on the second connecting member 200, and the limiting portion 230 is located at the periphery of the first cylinder 210. An abutting portion 424 is provided on the boss 423, and the abutting portion 424 is used to abut with the limiting portion 230 to limit the rotation range of the first crank 420, and the abutting portion 424 and the connecting column 422 are arranged at intervals in the first direction X. The rotation range of the first crank 420 can be controlled by the cooperation between the limiting portion 230 and the abutting portion 424, so as to prevent the excessive rotation thereof from causing structural damage or uncontrolled movement. The interval arrangement of the abutting portion 424 and the connecting column 422 in the first direction X helps to optimize the structural design of the lower limb assembly. This layout can reduce the interference and collision between the first connecting rod 430 and the limiting portion 230 or the second connecting member 200, and improve the compactness and overall performance of the structure.

[0061] In the present application, a plurality of limit portions 230 may be provided, and the plurality of limit portions 230 are arranged at intervals around the circumference of the main body 421 , and the abutment portion 424 is arranged between two adjacent limit portions 230 , thereby further limiting the rotation range of the first crank 420 .

[0062] refer to Figure 5 , Figure 6 and Figure 7 The first connecting rod 430 includes a first connecting ring 431, a second connecting ring 432 and a first connecting handle 433. The first connecting ring 431 and the second connecting ring 432 are connected to the two ends of the first connecting handle 433 respectively. The first connecting ring 431 is rotatably connected to the connecting column 422 through the first joint bearing 440, and the second connecting ring 432 is rotatably connected to the support member 300 through the second joint bearing 450. The end of the first connecting ring 431 connected to the connecting column 422 is located on one side of the second connecting member 200 along the first direction X, and the end of the second connecting ring 432 connected to the support member 300 is located on one side of the second connecting member 200 along the second direction Y. By using the first connecting ring 431 and the second connecting ring 432 to be connected to the two ends of the first connecting handle 433 respectively, and using joint bearings to realize the rotatable connection with the connecting column 422 and the support member 300, this design not only improves the stability and durability of the connecting member, but also makes the connection more flexible and can adapt to various complex movement requirements. At the same time, one end of the first connecting ring 431 connected to the connecting column 422 and one end of the second connecting ring 432 connected to the support member 300 are distributed on different sides of the second connecting member 200, so that at least part of the projection of the first connecting handle 433 in the first direction X or the second direction Y is located within the second connecting member 200, so as to further reduce the space occupied by the lower limb assembly as a whole.

[0063] The first connecting ring 431 , the second connecting ring 432 and the first connecting handle 433 may be an integrated structure, or may be a split structure, without any specific limitation.

[0064] In the present application, the second connecting member 200 is connected to the supporting member 300 through the first rotating shaft 311 and the second rotating shaft 312, the second rotating shaft 312 extends along the second direction Y, the second connecting ring 432 is rotatably connected to the second rotating shaft 312, and the first driving member 410 drives the supporting member 300 to rotate around the first rotating shaft 311 relative to the second connecting member 200. Through the arrangement of the first rotating shaft 311 and the second rotating shaft 312, the supporting member 300 can achieve rotation in two directions relative to the second connecting member 200, thereby improving the movement flexibility and adaptability of the humanoid robot. Since the second rotating shaft 312 extends along the second direction Y and is rotatably connected to the second connecting ring 432, this layout helps to provide stable support and constraint in the second direction Y, and reduce shaking and instability caused by lateral force.

[0065] In the second driving mechanism 500, the second driving member 510 is embedded in the second connecting member 200, and the second driving member 510 drives the second crank 520 to rotate around the second axis B, the second axis B extends along the second direction Y, the second crank 520 is connected to the second driving member 510, one end of the second connecting rod 530 is rotatably connected to the second crank 520, and the other end of the second connecting rod 530 is rotatably connected to the support member 300. Through the coordinated work of the second driving mechanism 500 and the first driving mechanism 400, the support member 300 can be driven to rotate in multiple directions relative to the second connecting member 200 to meet the needs of the humanoid robot in walking, running and other actions. At the same time, the second driving member 510 is embedded in the second connecting member 200 to reduce the exposed volume of the second driving member 510, thereby reducing the overall volume of the lower limb assembly.

[0066] In one embodiment, one end of the second connecting rod 530 connected to the second crank 520 is located on one side of the second connecting member 200 along the second direction Y, and one end of the second connecting rod 530 connected to the support member 300 is located on one side of the second connecting member 200 along the first direction X. The end of the second connecting rod 530 connected to the second crank 520 and the end of the second connecting rod 530 connected to the support member 300 are located on different sides of the second connecting member 200, so that at least a partial projection of the second connecting rod 530 in the first direction X or the second direction Y is located inside the second connecting member 200, so as to further reduce the space occupied by the lower limb assembly as a whole.

[0067] refer to Figure 7 , Figure 8 , Fig. 9 and Fig.10 The second connecting rod 530 includes a third connecting ring 531, a fourth connecting ring 532 and a second connecting handle 533. The third connecting ring 531 and the fourth connecting ring 532 are respectively connected to the two ends of the second connecting handle 533. The third connecting ring 531 is rotatably connected to the second crank 520 through the third joint bearing 540, and the fourth connecting ring 532 is rotatably connected to the support member 300 through the fourth joint bearing 550. Among them, the third connecting ring 531 is rotatably connected to the second crank 520 through the third joint bearing 540, and the fourth connecting ring 532 is rotatably connected to the support member 300 through the fourth joint bearing 550, thereby improving the structural flexibility and range of motion of the lower limb assembly. The joint bearing has good rotation performance and load-bearing capacity, and can ensure that the connection between the second connecting rod 530 and the second crank 520 and the support member 300 is stable and reliable. This connection method not only reduces friction and wear during movement, but also extends the service life of the components.

[0068] The second connecting handle 533 includes a first handle body 533a and a second handle body 533b connected to each other. The end of the first handle body 533a away from the second handle body 533b is connected to the third connecting ring 531, and the end of the second handle body 533b away from the first handle body 533a is connected to the fourth connecting ring 532. The angle between the first handle body 533a and the second handle body 533b is greater than zero, and a reinforcing rib 534 is provided at the connection position between the first handle body 533a and the second handle body 533b. The second connecting handle 533 includes the first handle body 533a and the second handle body 533b. The angle formed between the first handle body 533a and the second handle body 533b is designed so that the second connecting handle 533 can more effectively disperse and resist the forces from the second crank 520 and the support member 300 when the second connecting handle 533 is subjected to the forces, and helps to optimize the power transmission path. At the same time, the provision of the reinforcing ribs 534 further enhances the strength and rigidity of the connection position, preventing fracture or deformation problems caused by stress concentration, thereby improving the overall structural strength of the lower limb assembly.

[0069] The support member 300 includes a first bracket 310 and a second bracket 320 arranged in sequence along the first direction X. The second connecting member 200 is rotatably connected to the first bracket 310 through a first rotating shaft 311 and a second rotating shaft 312. The first rotating shaft 311 is perpendicular to the second rotating shaft 312, and the second rotating shaft 312 extends along the second direction Y. The first connecting rod 430 is rotatably connected to the second rotating shaft 312. The second bracket 320 is provided with a third rotating shaft 321, which extends along the second direction Y. The second connecting rod 530 is rotatably connected to the third rotating shaft 321. The second driving member 510 drives the support member 300 to rotate around the second rotating shaft 312 relative to the second connecting member 200. In the orthographic projection of the first direction X, one end of the second connecting rod 530 connected to the third rotating shaft 321 coincides with the first rotating shaft 311.

[0070] The second connecting member 200 is rotatably connected to the first bracket 310 through the first rotating shaft 311 and the second rotating shaft 312, so that the support member 300 can rotate around the first rotating shaft 311 and the second rotating shaft 312 relative to the second connecting member 200. When the lower limb assembly 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 312 extends along the second direction Y and is rotatably connected to the first connecting rod 430, so that the first driving member 410 can directly drive the support member 300 to rotate around the first rotating shaft 311; and the second connecting rod 530 is rotatably connected to the third rotating shaft 321, so that the second driving member 510 can directly drive the support member 300 to rotate around the second rotating shaft 312, so that the rotation of the support member 300 relative to the second connecting member 200 around the first rotating shaft 311 and the second rotating shaft 312 can be independently controlled, thereby reducing the complexity of the overall control strategy of the lower limb assembly, and the control logic of the first driving mechanism 400 and the second driving mechanism 500 can be relatively independently designed and optimized, thereby improving the decoupling of the control system of the lower limb assembly. At the same time, by designing the connection point between the second connecting rod 530 and the third rotating shaft 321 on the positive projection of the first rotating shaft 311, when the second driving member 510 drives the support member 300 to rotate around the second rotating shaft 312, the force on the support member 300 is relatively balanced and the rotation stability is good.

[0071] The first bracket 310 and the second bracket 320 are sequentially arranged along the first direction X, and 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 310 and the second bracket 320 can be split structures, and the first bracket 310 and the second bracket 320 can also be integrated structures, which are not limited. The specific structures of the first bracket 310 and the second bracket 320 are not limited. Optionally, the first bracket 310 and the second bracket 320 are split structures, and the first bracket 310 and the second bracket 320 are spaced apart in the first direction X to suppress the first drive mechanism 400 and the second drive mechanism 500 from interfering with each other during movement.

[0072] The second connecting member 200 is connected to the first bracket 310 through the first rotating shaft 311 and the second rotating shaft 312. Under the drive of the first driving mechanism 400 and the second driving mechanism 500, the second connecting member 200 can be rotated around the first rotating shaft 311 and the second rotating shaft 312 relative to the supporting member 300, which simplifies the structure of the lower limb assembly and can utilize space more effectively; and the first connecting rod 430 is directly connected to the second rotating shaft 312, and the second connecting rod 530 is directly connected to the third rotating shaft 321, which simplifies the transmission structure, reduces the energy loss in the transmission process, and improves the transmission efficiency.

[0073] The first rotating shaft 311 and the second rotating shaft 312 can be both arranged on the first bracket 310 or the second connecting member 200, or one of them can be arranged on the first bracket 310 and the other can be arranged on the second connecting member 200, without limitation. The first rotating shaft 311 can be fixed to the second connecting member 200, and the second rotating shaft 312 can rotate relative to the first bracket 310, or the first rotating shaft 311 and the second rotating shaft 312 can rotate relative to the first bracket 310 and the second connecting member 200, 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 second connecting member 200 or the first bracket 310, so as to realize the relative rotation of the second connecting member 200 and the first bracket 310. In this embodiment, the second connecting member 200 and the first bracket 310 can rotate around the first rotating shaft 311 and the second rotating shaft 312, so that the second connecting member 200 can have two degrees of rotational freedom relative to the sole member.

[0074] Illustratively, when the second connecting member 200 and the first bracket 310 rotate relative to each other around the first rotating axis 311, the second connecting member 200 can tilt left or right relative to the first bracket 310; when the second connecting member 200 and the first bracket 310 rotate relative to each other around the second rotating axis 312, the second connecting member 200 can tilt forward or backward relative to the first bracket 310.

[0075] Optionally, the second connecting member 200 is rotatably connected to the first rotating shaft 311, the first bracket 310 is rotatably connected to the second rotating shaft 312, and the first rotating shaft 311 is fixedly connected to the second rotating shaft 312. This design simplifies the transmission structure and reduces the number of moving parts, thereby reducing the failure rate and maintenance costs. Since the second connecting member 200 is rotatably connected to the first rotating shaft 311, the first rotating shaft 311 is fixedly connected to the second rotating shaft 312, and the first bracket 310 is rotatably connected to the second rotating shaft 312, this structure enables the lower limb assembly to be flexibly rotated in multiple directions, providing a rich range of motion postures for the humanoid robot.

[0076] Similar to the above structure, the third rotating shaft 321 and the second bracket 320 can rotate relative to each other, or the third rotating shaft 321 and the second bracket 320 can be fixed. The third rotating shaft 321 and the second bracket 320 can be hole-shaft matched, or bearings can be provided.

[0077] In the third driving mechanism 600, the third driving member 610 is embedded in the first connecting member 100, the third crank 620 is connected to the third driving member 610, and the third driving member 610 drives the third crank 620 to rotate around the third axis C, and the third axis C extends along the second direction Y; one end of the third connecting rod 630 and one end of the fourth connecting rod 640 are connected to the third crank 620 at intervals, and the other end of the third connecting rod 630 and the other end of the fourth connecting rod 640 are connected to the second connecting member 200 at intervals to form a parallelogram transmission structure. By setting the third driving mechanism 600, the third driving mechanism 600 is used to drive the second connecting member 200 to rotate around the third axis C relative to the first connecting member 100. When the lower limb assembly is used for a humanoid robot, the knee joint function can be realized. The third crank 620, the third connecting rod 630, the fourth connecting rod 640 and the second connecting member 200 are connected to form a parallelogram transmission structure, and the transmission structure is stable; the parallelogram transmission structure allows the third connecting rod 630 and the fourth connecting rod 640 to rotate freely within a certain range. When the third driving member 610 drives the third crank 620 to rotate around the third axis C, the first connecting member 100 can rotate relative to the second connecting member 200. This design makes power distribution more uniform and efficient, and reduces component wear and energy loss caused by uneven power.

[0078] refer to Figure 1 , Figure 2 , Figure 6 , Fig. 9 , Fig.11 and Fig.12 The first connecting member 100 includes a first shell 110 and a second shell 120 that are detachably connected, the third driving member 610 is arranged at one end of the first shell 110, and the other end of the first shell 110 is rotatably connected to the second connecting member 200, and the third connecting rod 630 and the fourth connecting rod 640 are both arranged between the first shell 110 and the second shell 120; the height direction of the humanoid robot is the third direction Z, the third connecting rod 630 includes a first end 631 and a second end 632, and the fourth connecting rod 640 includes a third end 641 and a fourth end 642. In the orthographic projection of the third direction Z, the first end 631 and the second end 632 are arranged at intervals, and the third end 641 and the fourth end 642 are arranged at intervals; the first end 631 and the third end 641 are both located on one side of the first shell 110 in the second direction Y, and the second end 632 and the fourth end 642 are both connected to the middle of the second connecting member 200 in the second direction Y.

[0079] The first connecting member 100 includes a detachably connected first housing 110 and a second housing 120, so that the third connecting rod 630 and the fourth connecting rod 640 can be accommodated in the first connecting member 100, thereby reducing the occupied space of the lower limb assembly as a whole. At the same time, when the third driving member 610, the third connecting rod 630 and the fourth connecting rod 640 and other components need to be repaired or replaced, the first housing 110 and the second housing 120 can be easily disassembled without disassembling the entire lower limb assembly, thereby improving maintenance efficiency. In the orthographic projection of the third direction Z, the first end 631 and the second end 632, and the third end 641 and the fourth end 642 are spaced apart, and the first end 631 and the third end 641 are both located on one side of the first shell 110 in the second direction Y, while the second end 632 and the fourth end 642 are connected to the middle of the second connecting member 200 in the second direction Y, so that the third connecting rod 630 and the fourth connecting rod 640 are bent from one side of the first shell 110 to the middle of the second connecting member 200 to further reduce the space occupied by the lower limb assembly as a whole.

[0080] In the orthographic projection of the third direction Z, the second end 632, the fourth end 642 and the end of the second connecting rod 530 connected to the third rotating shaft 321 coincide with the first axis A, so that the relative rotation of the first connecting member 100 and the second connecting member 200 and the rotation of the second connecting member 200 relative to the supporting member 300 around the second rotating shaft 312 are on the same plane, which can improve the overall stability of the lower limb assembly and make it more anthropomorphic to imitate the knee and ankle joint movements of the human body. At the same time, since the relative positions of these components in the projection are fixed, it is easier to predict and control their motion trajectories and interactions, which helps to simplify the motion control algorithm of the humanoid robot.

[0081] The first housing 110 is provided with a first positioning portion 111, a first boss 112 and a second boss 113. The waist and hip assembly is provided with a driving member for driving the first connecting member 100 to rotate. By providing the second positioning portion on the driving member, when the first positioning portion 111 is aligned with the second positioning portion in the third direction Z, the first positioning portion 111 faces the front of the humanoid robot. At this time, the humanoid robot is in an upright state, and the rotation of the first connecting member 100 is at the zero position, which is convenient for positioning the rotation position of the first connecting member 100. The first boss 112, the first positioning portion 111 and the second boss 113 are sequentially arranged in the circumferential direction of the rotation axis of the first connecting member 100. The first boss 112 and the second boss 113 are used to limit the rotation angle of the first connecting member 100, and to prevent the first connecting member 100 from interfering with nearby parts due to excessive rotation.

[0082] The structure of the first positioning portion 111 may be a groove, a protrusion, etc., which is not limited in the present application.

[0083] Specifically, the first boss 112 is arranged near the inner side of the two thighs of the humanoid robot, and the angle α between the first boss 112 and the first positioning portion 111 is in the range of 100° to 110°. The angle α within this range is designed so that the first connecting member 100 has a suitable rotation angle toward the outside of the humanoid robot, which helps to imitate the actual rotation angle of the thigh of the human body. For example, α can be 100°, 101°, 102°, 104°, 105°, 107°, 108°, 109°, 110°, etc., but is not limited to the listed values, and other values ​​not listed within the numerical range are also applicable. When the range of the angle α between the first boss 112 and the first positioning portion 111 is greater than 110°, the first connecting member 100 will be rotated too much toward the outside of the humanoid robot, which will reduce the strength and stability of the lower limb assembly structure and increase friction and wear during movement. When the angle α between the first boss 112 and the first positioning portion 111 is less than 100°, the first connecting member 100 will rotate too small toward the outside of the humanoid robot, limiting the movement range of the humanoid robot and resulting in poor humanoid effect.

[0084] The range of the angle β between the second boss 113 and the first positioning portion 111 is 50° to 60°. The angle β within this range is designed so that the first connecting member 100 has a suitable rotation angle toward the inside of the humanoid robot, which helps to imitate the actual rotation angle of the human thigh. And the angle β is less than the angle α, so that the rotation angle of the first connecting member 100 toward the inside of the humanoid robot is less than the rotation angle toward the outside of the humanoid robot, which further helps to imitate the actual rotation angle of the human thigh. For example, β can be 50°, 51°, 52°, 54°, 55°, 57°, 58°, 59°, 60°, etc., but is not limited to the listed values, and other values ​​not listed within the numerical range are also applicable. When the range of the angle β between the second boss 113 and the first positioning portion 111 is greater than 60°, it will cause the first connecting member 100 to rotate too much toward the inside of the humanoid robot, resulting in the space inside the thigh being too narrow, which is easy to interfere with other parts. When the angle β between the second boss 113 and the first positioning portion 111 is less than 50°, the first connecting member 100 will rotate too little toward the inside of the humanoid robot, limiting the movement range of the humanoid robot and resulting in poor humanoid effect.

[0085] In the embodiment of the present application, the power supply device of the humanoid robot is arranged on the torso assembly, and the power supply device supplies power to the first driving member 410, the second driving member 510 and the third driving member 610 through the wiring harness. A first wiring groove 130 is arranged on the first connecting member 100, a second wiring groove 250 and a first wire hole 260 are arranged on the second connecting member 200, and a second wire hole 270 is arranged at the connection between the first connecting member 100 and the second connecting member 200. The wiring harness connected from the third driving member 610 is connected to the first driving member 410 through the first wiring groove 130, the first wire hole 260 and the second wiring groove 250 in sequence, or the wiring harness connected from the third driving member 610 is connected to the second driving member 510 through the first wiring groove 130, the first wire hole 260, the second wiring groove 250 and the second wire hole 270 in sequence, so as to realize the power supply of each driving member. The first wiring groove 130, the first wiring hole 260, the second wiring groove 250 and the second wiring hole 270 are arranged to provide installation space for the wiring harness, so that the wiring harness can be fixed on the first connector 100 and the second connector 200, and fasteners can be arranged to clamp the wiring harness in the first wiring groove 130 and the second wiring groove 250 to reduce leakage of the wiring harness and improve the aesthetics of the humanoid robot.

[0086] 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.

[0087] 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 assembly, characterized in that: For a humanoid robot, the front-to-back direction of the humanoid robot is a first direction (X), and the lower limb assembly includes: A first connecting member (100); A second connecting member (200), one end of which is rotatably connected to the first connecting member (100); A support member (300) rotatably connected to the other end of the second connecting member (200); A first driving mechanism (400) comprises a first driving member (410), a first crank (420) and a first connecting rod (430), wherein the first driving member (410) is embedded in the second connecting member (200), the first driving member (410) drives the first crank (420) to rotate around a first axis (A), the first axis (A) extends along the first direction (X), the first crank (420) comprises a connected main body (421) and a connecting column (422), the main body (421) is connected to the first driving member (410), and the length direction of the connecting column (422) intersects with the first axis (A); One end of the first connecting rod (430) is rotatably connected to the connecting column (422), and the other end is rotatably connected to the supporting member (300); In the orthographic projection of the first direction (X), one end of the first connecting rod (430) connected to the connecting column (422) coincides with the second connecting member (200).

2. The lower limb assembly according to claim 1, characterized in that: The second connecting member (200) comprises a first cylinder (210), the first cylinder (210) extending along the first direction (X), the first driving member (410) being installed in the first cylinder (210), and at least a portion of the main body (421) being accommodated in the first cylinder (210).

3. The lower limb assembly according to claim 2, characterized in that: The first crank (420) further comprises a boss (423), wherein the boss (423) is protruding from the main body (421) along the first direction (X), and the connecting column (422) is connected to an end of the boss (423) away from the main body (421) along the first direction (X).

4. The lower limb assembly according to claim 3, characterized in that: The second connecting member (200) is provided with a limiting portion (230), the limiting portion (230) being located at the periphery of the first cylinder (210), the boss (423) is provided with an abutting portion (424), the abutting portion (424) being used to abut against the limiting portion (230) to limit the rotation range of the first crank (420), and the abutting portion (424) and the connecting column (422) are arranged at intervals in the first direction (X).

5. The lower limb assembly according to claim 1, characterized in that: The first connecting rod (430) comprises a first connecting ring (431), a second connecting ring (432) and a first connecting handle (433); the first connecting ring (431) and the second connecting ring (432) are respectively connected to two ends of the first connecting handle (433); the first connecting ring (431) is rotatably connected to the connecting column (422) via a first joint bearing (440); and the second connecting ring (432) is rotatably connected to the support member (300) via a second joint bearing (450); The left-right direction of the humanoid robot is a second direction (Y), one end of the first connecting ring (431) connected to the connecting column (422) is located on one side of the second connecting member (200) along the first direction (X), and one end of the second connecting ring (432) connected to the supporting member (300) is located on one side of the second connecting member (200) along the second direction (Y).

6. The lower limb assembly according to claim 5, characterized in that: The second connecting member (200) is connected to the supporting member (300) via a first rotating shaft (311) and a second rotating shaft (312); the second rotating shaft (312) extends along the second direction (Y); the second connecting ring (432) is rotationally connected to the second rotating shaft (312); and the first driving member (410) drives the supporting member (300) to rotate around the first rotating shaft (311) relative to the second connecting member (200).

7. The lower limb assembly according to claim 1, characterized in that: The left-right direction of the humanoid robot is a second direction (Y). The lower limb assembly further comprises a second driving mechanism (500). The second driving mechanism (500) comprises a second driving member (510), a second crank (520) and a second connecting rod (530). The second driving member (510) is embedded in the second connecting member (200). The second driving member (510) drives the second crank (520) to rotate around a second axis (B). The second axis (B) extends along the second direction (Y). The second crank (520) is connected to the second driving member (510). One end of the second connecting rod (530) is rotationally connected to the second crank (520), and the other end of the second connecting rod (530) is rotationally connected to the supporting member (300).

8. The lower limb assembly according to claim 7, characterized in that: The height direction of the humanoid robot is a third direction (Z), the second connecting member (200) comprises a first cylinder (210) and a second cylinder (220) connected to each other, the first cylinder (210) extends along the first direction (X), and the first driving member (410) is mounted on the first cylinder (210); The first cylinder (210) and the second cylinder (220) are arranged in sequence in the third direction (Z), the second cylinder (220) extends along the second direction (Y), and the second driving member (510) is installed in the second cylinder (220).

9. The lower limb assembly according to claim 7, characterized in that: One end of the second connecting rod (530) connected to the second crank (520) is located on one side of the second connecting member (200) along the second direction (Y), and one end of the second connecting rod (530) connected to the supporting member (300) is located on one side of the second connecting member (200) along the first direction (X).

10. The lower limb assembly according to claim 9, characterized in that: The second connecting rod (530) comprises a third connecting ring (531), a fourth connecting ring (532) and a second connecting handle (533); the third connecting ring (531) and the fourth connecting ring (532) are respectively connected to two ends of the second connecting handle (533); the third connecting ring (531) is rotatably connected to the second crank (520) via a third joint bearing (540); and the fourth connecting ring (532) is rotatably connected to the support member (300) via a fourth joint bearing (550).

11. The lower limb assembly according to claim 10, characterized in that: The second connecting handle (533) comprises a first handle body (533a) and a second handle body (533b) connected to each other, an end of the first handle body (533a) away from the second handle body (533b) being connected to the third connecting ring (531), and an end of the second handle body (533b) away from the first handle body (533a) being connected to the fourth connecting ring (532); The included angle between the first handle body (533a) and the second handle body (533b) is greater than zero, and a reinforcing rib (534) is provided at the connection position between the first handle body (533a) and the second handle body (533b).

12. The lower limb assembly according to claim 7, characterized in that: The support member (300) comprises a first bracket (310) and a second bracket (320) which are sequentially arranged along the first direction (X); the second connecting member (200) is rotatably connected to the first bracket (310) via a first rotating shaft (311) and a second rotating shaft (312); the first rotating shaft (311) is perpendicular to the second rotating shaft (312); the second rotating shaft (312) extends along the second direction (Y); and the first connecting rod (430) is rotatably connected to the second rotating shaft (312); The second bracket (320) is provided with a third rotating shaft (321), the third rotating shaft (321) extends along the second direction (Y), the second connecting rod (530) is rotationally connected to the third rotating shaft (321), and the second driving member (510) drives the supporting member (300) to rotate relative to the second connecting member (200) around the second rotating shaft (312); In the orthographic projection of the first direction (X), one end of the second connecting rod (530) connected to the third rotating shaft (321) coincides with the first rotating shaft (311).

13. The lower limb assembly according to claim 1, characterized in that: The left-right direction of the humanoid robot is a second direction (Y); the lower limb assembly comprises a third driving mechanism (600); the third driving mechanism (600) comprises a third driving member (610), a third crank (620), a third connecting rod (630) and a fourth connecting rod (640); the third driving member (610) is embedded in the first connecting member (100); the third crank (620) is connected to the third driving member (610); the third driving member (610) drives the third crank (620) to rotate around a third axis (C); and the third axis (C) extends along the second direction (Y); One end of the third connecting rod (630) and one end of the fourth connecting rod (640) are connected to the third crank (620) at an interval, and the other end of the third connecting rod (630) and the other end of the fourth connecting rod (640) are connected to the second connecting member (200) at an interval to form a parallelogram transmission structure.

14. The lower limb assembly according to claim 13, characterized in that: The first connecting member (100) comprises a first shell (110) and a second shell (120) which are detachably connected, the third driving member (610) is arranged at one end of the first shell (110), the other end of the first shell (110) is rotatably connected to the second connecting member (200), and the third connecting rod (630) and the fourth connecting rod (640) are both arranged between the first shell (110) and the second shell (120); The height direction of the humanoid robot is a third direction (Z), the third connecting rod (630) comprises a first end (631) and a second end (632), the fourth connecting rod (640) comprises a third end (641) and a fourth end (642), and in an orthographic projection of the third direction (Z), the first end (631) and the second end (632) are arranged at an interval, and the third end (641) and the fourth end (642) are arranged at an interval; The first end (631) and the third end (641) are both located on one side of the first shell (110) in the second direction (Y), and the second end (632) and the fourth end (642) are both connected to the middle of the second connecting member (200) in the second direction (Y).

15. A humanoid robot, characterized in that: Comprising a lower limb assembly as described in any one of claims 1 to 14.

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