Lower limb assembly and humanoid robot

Abstract

A lower limb assembly and a humanoid robot, the lower limb assembly includes a first connecting member, a second connecting member, a support member and a first driving mechanism. One end of the second connecting member is rotatably connected to the first connecting member; the support member is rotatably connected to the other end of the second connecting member; the first driving mechanism includes a first driving member, a first crank and a first connecting rod. The first driving member is embedded in the second connecting member, and the first driving member drives the first crank to rotate around a first axis, the first axis extends along a first direction. The first crank includes a connected main body and a connecting column, the main 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 support member; in the orthographic projection in the first direction, the end of the first connecting rod connected to the connecting column coincides with the second connecting member. In this application, the size of the lower limb assembly can be reduced, so that when the lower limb assembly is used in a humanoid robot, the overall size of the calf part is smaller and the humanoid effect is better.

Description

Technical Field

[0001] This application relates to the technical field of humanoid robots, and particularly relates 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, etc. Humanoid robots can imitate the human body's shape and movement postures, and have broad development prospects. Similar to the human body, the structure of a humanoid robot includes a torso, a head, upper limbs, lower limbs, etc. The lower limbs mainly include thighs, calves, feet, etc. The humanoid robot is provided with a driving structure to drive the foot and the calf 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 foot and the calf to rotate relative to each other occupies a large space, resulting in a relatively large overall size of the calf after installing the outer shell, and the humanoid effect is not good. Summary of the Invention

[0004] The purpose of this application is to provide a lower limb assembly and a humanoid robot, so as to solve the problems of large space occupation of the lower limb assembly and poor humanoid effect.

[0005] To achieve the purpose of this application, the following technical solutions are provided in this application:

[0006] In a first aspect, this application provides a lower limb assembly for a humanoid robot. The front-rear direction of the humanoid robot is the first direction. The lower limb assembly includes:

[0007] A first connecting member;

[0008] A second connecting member, one end of which is rotatably connected to the first connecting member;

[0009] A support member, rotatably connected to the other end of the second connecting member;

[0010] A first driving mechanism, including a first driving member, a first crank, and a first connecting rod. 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, and the first axis extends along the first direction. The first crank includes a connected main body and a connecting column. The main body is connected to the first driving member, and the length direction of the connecting column intersects with the first axis;

[0011] One end of the first connecting rod is rotatably connected to the connecting column, and the other end is rotatably connected to the support member;

[0012] In the orthographic projection in the first direction, the end of the first connecting rod connected to the connecting column coincides with the second connecting member.

[0013] When the lower limb assembly according to the embodiment of the present application is used in a humanoid robot, the first connecting member can serve as the thigh portion, the second connecting member can serve as the calf portion, and the support member can serve as the sole portion. By providing 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 support member to rotate relative to the second connecting member through the first crank and the first connecting rod to achieve 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, thereby reducing the overall volume of the lower limb assembly; 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 manner of the first connecting rod with the connecting column and the support 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, the end of the first connecting rod connected to the connecting column coincides with the second connecting member, that is, the projection of the 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-right direction of the humanoid robot. When the lower limb assembly is used in a humanoid robot, the overall size of the calf portion is smaller, and the humanoid effect is better.

[0014] In one embodiment, the second connecting member includes a first cylinder body, the first cylinder body extends along the first direction, the first driving member is installed in the first cylinder body, and at least a part of the main body is received in the first cylinder body.

[0015] In this way, by embedding the first driving member and the main body portion of the first crank into the first cylinder body, 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 body not only provides a stable installation basis for the first driving member and the first crank, but also reduces the exposed components and simplifies the lines, making the humanoid robot look cleaner and more streamlined.

[0016] In one embodiment, the first crank further includes a convex platform, the convex platform protrudes from the main body along the first direction, and the connecting column is connected to one end of the convex platform away from the main body along the first direction.

[0017] In this way, the design of the convex platform 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 fracture during power transmission, improving the reliability and durability of the lower limb assembly. By connecting the connecting column to the convex platform and making the convex platform extend along the first direction, the direction and angle of power transmission can be more precisely controlled. This helps to reduce energy loss during power transmission, improve the transmission efficiency, and make the movement of the lower limb assembly smoother and more powerful.

[0018] In one embodiment, a limiting portion is provided on the second connecting member. The limiting portion is located outside the first cylinder. An abutting portion is provided on the convex platform. The abutting portion is configured to abut against the limiting portion to limit the rotation range of the first crank, and the abutting portion and the connecting column are spaced apart in the first direction.

[0019] In this way, the cooperation between the limiting portion and the abutting portion can control the rotation range of the first crank, preventing structural damage or out-of-control movement caused by excessive rotation. The spaced arrangement of the abutting portion 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 limiting portion or the second connecting member, improving the compactness and overall performance of the structure.

[0020] 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.

[0021] 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 support member is located on one side of the second connecting member along the second direction.

[0022] In this way, by using the first connecting ring and the second connecting ring to be respectively connected to two ends of the first connecting handle and using joint bearings to achieve rotational 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, capable of adapting to various complex motion requirements. At the same time, distributing one end of the first connecting ring connected to the connecting column and one end of the second connecting ring connected to the support member on different sides of the second connecting member makes at least a part of the projection of the first connecting handle in the first direction or the second direction located within the second connecting member, so as to further reduce the overall space occupied by the lower limb assembly.

[0023] In one embodiment, the second connecting member is connected to the support member through a first rotating shaft and a second rotating shaft. The second rotating shaft extends along the second direction. The second connecting ring is rotatably connected to the second rotating shaft, and the first driving member drives the support member to rotate relative to the second connecting member around the first rotating shaft.

[0024] Thus, through the arrangement of the first rotating shaft and the second rotating shaft, the support member can rotate in two directions relative to the second connecting member, 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 restraint in the second direction, reducing the swaying and instability caused by lateral forces.

[0025] In one embodiment, the left-right direction of the humanoid robot is the second direction, and the lower limb assembly further 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.

[0026] Thus, by adding the second driving mechanism and the coordinated operation of the second driving mechanism and the first driving mechanism, the support member can be driven to rotate relative to the second connecting member in multiple directions to meet the requirements of the humanoid robot during actions such as walking and running. 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.

[0027] In one embodiment, the height direction of the humanoid robot is the third direction. The second connecting member includes a first cylinder body and a second cylinder body connected together. The first cylinder body extends along the first direction, and the first driving member is installed in the first cylinder body;

[0028] The first cylinder body and the second cylinder body are arranged in sequence in the third direction. The second cylinder body extends along the second direction, and the second driving member is installed in the second cylinder body.

[0029] Thus, by designing the second connecting member as a structure including a connected first cylinder body and second cylinder body and arranging them in sequence 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.

[0030] 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.

[0031] In this way, the end of the second link connected to the second crank and the end of the second link connected to the support are located on different sides of the second connecting member, so that at least a part of the projection of the second link in the first direction or the second direction is located within the second connecting member, further reducing the overall space occupied by the lower limb assembly.

[0032] In one embodiment, the second link 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 two ends of the second connecting handle. The third connecting ring is rotatably connected to the second crank through a third spherical plain bearing, and the fourth connecting ring is rotatably connected to the support through a fourth spherical plain bearing.

[0033] In this way, the third connecting ring is rotatably connected to the second crank through the third spherical plain bearing, and the fourth connecting ring is rotatably connected to the support through the fourth spherical plain bearing, thereby improving the structural flexibility and movement range of the lower limb assembly. The spherical plain bearing has good rotational performance and load-bearing capacity, which can ensure the stable and reliable connection between the second link and the second crank and the support. This connection method not only reduces friction and wear during movement, but also extends the service life of the components.

[0034] In one embodiment, the second connecting handle includes a first handle body and a second handle body connected to each other. One end of the first handle body away from the second handle body is connected to the third connecting ring, and one end of the second handle body away from the first handle body is connected to the fourth connecting ring;

[0035] 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 of the first handle body and the second handle body.

[0036] In this way, the second connecting handle includes a first handle body and a second handle body. The designed included angle between the first handle body and the second handle body enables the second connecting handle to more effectively disperse and resist the forces from the second crank and the support when bearing the acting forces, and helps to optimize the power transmission path. At the same time, the setting of the reinforcing rib further enhances the strength and stiffness of the connection position, preventing problems such as fracture or deformation caused by stress concentration, thereby improving the overall structural strength of the lower limb assembly.

[0037] In one embodiment, the support includes a first bracket and a second bracket arranged in sequence 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 link is rotatably connected to the second rotating shaft;

[0038] 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 support member to rotate relative to the second connecting member around the second rotating shaft;

[0039] In the orthographic projection in the first direction, the end of the second connecting rod connected to the third rotating shaft coincides with the first rotating shaft.

[0040] In this way, the second connecting member is rotatably connected to the first bracket through the first rotating shaft and the second rotating shaft, enabling the support member to 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, ankle joint movements such as the forward tilt, backward tilt, left tilt, and right tilt of the foot relative to the calf can be achieved. The second rotating shaft extends along the second direction and is rotatably connected to the first connecting rod, which enables the first driving member to directly drive the support member to rotate around the first rotating shaft; and the second connecting rod is rotatably connected to the third rotating shaft, enabling the second driving member to 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. The control logics of the first driving mechanism and the second driving mechanism can be designed and optimized relatively independently, improving the decoupling of the control system of the lower limb assembly. At the same time, by designing the connection point of the second connecting rod and the third rotating shaft on the orthographic projection of the first rotating shaft, when the second driving member drives the support member to rotate around the second rotating shaft, the support member is more balanced in force and has good rotational stability.

[0041] In one embodiment, the left - right direction of the humanoid robot is the second direction, and 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, and the third driving member drives the third crank to rotate around a third axis, and the third axis extends along the second direction;

[0042] One end of the third connecting rod and one end of the fourth connecting rod are connected to the third crank at intervals, 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 intervals to form a parallelogram transmission structure.

[0043] Thus, by providing the third driving mechanism, the third driving mechanism is configured to drive the second connecting member to rotate relative to the first connecting member about the third axis. When the lower limb assembly is used for a humanoid robot, the knee joint function can be realized. Moreover, 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 about 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, reducing component wear and energy loss caused by uneven power.

[0044] In one embodiment, the first connecting member includes a first housing and a second housing that are detachably connected. The third driving member is disposed at one end of the first housing. The other end of the first housing is rotatably connected to the second connecting member. The third connecting rod and the fourth connecting rod are both disposed between the first housing and the second housing.

[0045] The height direction of the humanoid robot is the third direction. The third connecting rod includes a first end portion and a second end portion. The fourth connecting rod includes a third end portion and a fourth end portion. In the orthographic projection in the third direction, the first end portion and the second end portion are spaced apart, and the third end portion and the fourth end portion are spaced apart.

[0046] Both the first end portion and the third end portion are located on one side of the first housing in the second direction. Both the second end portion and the fourth end portion are connected to the middle portion of the second connecting member in the second direction.

[0047] Thus, the first connecting member includes a first housing and a second housing that are detachably connected, so as to facilitate accommodating the third connecting rod and the fourth connecting rod within the first connecting member, reducing the overall occupied space of the lower limb assembly. At the same time, when components such as the third driving member, the third connecting rod and the fourth connecting rod need to be repaired or replaced, the first housing and the second housing can be easily disassembled without disassembling the entire lower limb assembly, thereby improving the maintenance efficiency. In the orthographic projection in the third direction, the first end portion and the second end portion, as well as the third end portion and the fourth end portion, are all spaced apart. Moreover, the first end portion and the third end portion are both located on one side of the first housing in the second direction, while the second end portion and the fourth end portion are connected to the middle portion of the second connecting member in the second direction, causing the third connecting rod and the fourth connecting rod to bend from one side of the first housing towards the middle portion of the second connecting member to further reduce the overall occupied space of the lower limb assembly.

[0048] In a second aspect, the present application further provides a humanoid robot, including the lower limb assembly according to any one of the various embodiments in the first aspect. Description of the Drawings

[0049] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0050] Figure 1 Isometric view of the lower limb assembly according to an embodiment of the present application;

[0051] Figure 2 Is Figure 1 Exploded view of;

[0052] Figure 3 Partial structure isometric view of the lower limb assembly according to an embodiment of the present application;

[0053] Figure 4 Isometric view of the first crank according to an embodiment of the present application;

[0054] Figure 5 Is Figure 3 Exploded view of;

[0055] Figure 6 Is Figure 1 Front view of;

[0056] Figure 7 Isometric view of the first connecting rod according to an embodiment of the present application;

[0057] Figure 8 Is Figure 3 Another exploded view of;

[0058] Figure 9 Rear view of the partial structure of the lower limb assembly according to an embodiment of the present application;

[0059] Figure 10 Isometric view of the second connecting rod according to an embodiment of the present application;

[0060] Figure 11 Top view of the lower limb assembly according to an embodiment of the present application;

[0061] Figure 12 Isometric view of the lower limb assembly from another perspective according to an embodiment of the present application.

[0062] Explanation of reference numerals:

[0063] 100. First connecting member; 110. First housing; 111. First positioning portion; 112. First boss; 113. Second boss; 120. Second housing; 130. First wire groove; 200. Second connecting member; 210. First cylinder; 211. First gap; 220. Second cylinder; 221. Second gap; 230. Limiting portion; 240. Limiting block; 250. Second wire groove; 260. First wire passing hole; 270. Second wire passing 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. Abutting portion; 430. First connecting rod; 431. First connecting ring; 432. Second connecting ring; 433. First connecting handle; 440. First spherical plain bearing; 450. Second spherical plain 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 spherical plain bearing; 550. Fourth spherical plain 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 implementation manners

[0064] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0065] It should be noted that when a component is referred to as being "fixed to" another component, it can be directly on the other component or there can also be an intermediate component. When a component is considered to be "connected" to another component, it can be directly connected to the other component or there may be an intermediate component at the same time.

[0066] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as commonly understood by those skilled in the technical field to which this application belongs. The terms used in the specification of this application 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.

[0067] The following will, with reference to the accompanying drawings, elaborate on some embodiments of this application. Without conflict, the following embodiments and the features in the embodiments can be combined with each other.

[0068] Reference Figures 1 to 10 , an embodiment of this application provides a humanoid robot, including a lower limb assembly in the embodiment of this application.

[0069] The humanoid robot of the embodiment of this application can imitate the appearance and movement postures 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, etc. The lower limb assembly may include a first connecting member 100, a second connecting member 200, and a support member 300. The first connecting member 100 can serve as the thigh part of the humanoid robot, the second connecting member 200 can serve as the calf part of the humanoid robot, and the support member 300 can serve as the foot part of the humanoid robot. The lower limb assembly of the embodiment of this application further includes a first driving mechanism 400, a second driving mechanism 500, and a third driving mechanism 600. Through reasonable design, it can drive the relative rotation of the second connecting member 200 and the support member 300 to achieve the ankle joint function, and the relative rotation of the first connecting member 100 and the second connecting member 200 to achieve the knee joint function.

[0070] The following will elaborate on the lower limb assembly of the embodiment of this application in detail.

[0071] Reference Figure 1 , Figure 2 and Figure 3 , this 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. Therefore, only any one of the left leg part and the right leg part will be described in the embodiment of this application.

[0072] The lower limb assembly includes a first connecting member 100, a second connecting member 200, a support member 300, a first driving mechanism 400, a second driving mechanism 500, and a third driving mechanism 600, etc.

[0073] The first connecting member 100 of the present application serves as the thigh part of the humanoid robot. The first connecting member 100 is generally a rod-shaped member, and the first connecting member 100 is used to imitate the thigh of the human body. One end of the first connecting member 100 is used for rotatably connecting with the waist and hip assembly, and the other end is rotatably connected with the second connecting member 200. The radial dimension of the first connecting member 100 from the end near the waist and hip assembly to the end near the second connecting member 200 is a gradually decreasing structure, so as to imitate that the thigh of the human body is a structure with a gradually decreasing radial dimension from the waist and hip to the calf.

[0074] The second connecting member 200 of the present application serves as the calf part of the humanoid robot. The second connecting member 200 is generally a rod-shaped member, and it is used to imitate the calf of the human body. One end of the second connecting member 200 is rotatably connected with the first connecting member 100, and the other end is rotatably connected with the support member 300. The radial dimension of the second connecting member 200 from the end near the first connecting member 100 to the end near the support member 300 is generally a gradually decreasing structure, so as to imitate that the calf of the human body is a structure with a gradually decreasing radial dimension from the thigh to the sole of the foot.

[0075] The support member 300 of the present application serves as the sole part of the humanoid robot. The support member 300 is generally a bent plate shape, and it is used to imitate the sole of the human body. The support member 300 is rotatably connected with the second connecting member 200, and the rotating connection part is similar to the function of the ankle joint of the human body. One side of the sole of the support member 300 is used to contact the support surface. The second connecting member 200 is rotatably connected to the dorsal side of the support member 300. The support surface can be, for example, the ground, the workbench surface, etc., without limitation.

[0076] 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. 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, so as to realize the left inclination or right inclination of the support member 300.

[0077] 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 arranged 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. The second connecting rod 530 is connected between the other end of the second crank 520 and the supporting member 300. That is, the second driving member 510 drives the supporting 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 realize the forward tilt or backward tilt of the supporting member 300. Wherein, in order to limit the angle of forward tilt or backward tilt of the supporting member 300, two limiting blocks 240 are arranged on the second connecting member 200, and the two limiting blocks 240 are respectively located on both sides of the circumference of the second crank 520. The two limiting blocks 240 are used to limit the rotation angle of the second driving member 510 driving the second crank 520, and further limit the rotation angle of the second connecting rod 530 driving the supporting member 300 relative to the second connecting member 200, which can prevent the situation that the rotation angle of the second crank 520 and the second connecting rod 530 driving the supporting member 300 relative to the second connecting member 200 is too large and causing forward roll or backward roll.

[0078] 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 arranged 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 intervals. 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. 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.

[0079] The first driving member 410 can be a motor, specifically a stepper 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 inside 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 stepper 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 inside 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 stepper 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 inside the second connecting member 200, so as to reduce the exposed volume of the third driving member 610, thereby reducing the overall volume of the lower limb assembly.

[0080] In the embodiments of the present application, the front-rear direction of the humanoid robot is taken as the first direction X, the left-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.

[0081] Reference Figure 3 、 Figure 4 and Figure 5, in 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 connected main body 421 and a connecting column 422. The main body 421 is connected to the first driving member 410. 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 in 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. The first driving member 410 can drive the support 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 connected main body 421 and a connecting column 422. The length direction of the connecting column 422 intersects with the first axis A, and the rotational connection modes of the first connecting rod 430 with the connecting column 422 and the support member 300 enable the lower limb assembly to achieve flexible movement in multiple directions. At the same time, in the orthographic projection in 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 within the second connecting member 200, so that the size of the lower limb assembly in the left-right direction of the humanoid robot can be reduced. When the lower limb assembly is used in a humanoid robot, the overall size of the calf part is smaller, and the humanoid effect is better.

[0082] In one embodiment, the first crank 420 further includes a boss 423. The boss 423 protrudes from the main body 421 along the first direction X. The connecting column 422 is connected to the 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 and increases the overall structural strength of the first crank 420. This helps to resist deformation and fracture during power transmission, improving the reliability and durability of the lower limb assembly. By connecting the connecting column 422 to the boss 423 and making the boss 423 extend along the first direction X, the direction and angle of power transmission can be more precisely 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.

[0083] Among them, the main body 421, the connecting column 422, and the boss 423 can be of a split structure, or the main body 421, the connecting column 422, and the boss 423 can be of an integral structure, without any restrictions.

[0084] The second connecting member 200 includes a connected first cylinder 210 and a second cylinder 220, and the first cylinder 210 and the second cylinder 220 are sequentially arranged in the third direction Z. Among them, the first cylinder 210 extends along the first direction X, the first cylinder 210 has a receiving space extending along the first direction X, the first driving member 410 is installed in the first cylinder 210, and at least a part of the main body 421 is received in the first cylinder 210; the second cylinder 220 extends along the second direction Y, the second cylinder 220 has a receiving space extending along the second direction Y, and the second driving member 510 is installed in the second cylinder 220.

[0085] By designing the second connecting member 200 into a structure including a connected first cylinder 210 and a second cylinder 220 and arranging them sequentially in the third direction Z, this layout enables the first driving member 410 and the second driving member 510 to be compactly installed 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 embedding at least a part of 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 the exposed components and simplifies the lines, making the humanoid robot look cleaner and more streamlined.

[0086] Among them, 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 the 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 the heat dissipation of the second driving member 510.

[0087] In one implementation, a limiting portion 230 is provided on the second connecting member 200. The limiting portion 230 is located on the periphery of the first cylinder 210. A butting portion 424 is provided on the boss 423. The butting portion 424 is used to butt against the limiting portion 230 to limit the rotation range of the first crank 420, and the butting portion 424 and the connecting column 422 are spaced apart in the first direction X. Through the cooperation of the limiting portion 230 and the butting portion 424, the rotation range of the first crank 420 can be controlled to prevent it from rotating excessively and causing structural damage or motion out of control. The spaced arrangement of the butting 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 link 430 and the limiting portion 230 or the second connecting member 200, improving the compactness and overall performance of the structure.

[0088] In this application, a plurality of limiting portions 230 may be provided. The plurality of limiting portions 230 are arranged at intervals in the circumferential direction around the main body 421, and the abutting portion 424 is arranged between two adjacent limiting portions 230, so as to further limit the rotation range of the first crank 420.

[0089] Reference 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 respectively connected to both ends of the first connecting handle 433. The first connecting ring 431 is rotatably connected to the connecting column 422 through a first spherical plain bearing 440, and the second connecting ring 432 is rotatably connected to the support member 300 through a second spherical plain bearing 450; 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 support member 300 is located on one side of the second connecting member 200 along the second direction Y. By respectively connecting the first connecting ring 431 and the second connecting ring 432 to both ends of the first connecting handle 433 and using spherical plain bearings to achieve the rotational 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 motion requirements. At the same time, by distributing 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 on different sides of the second connecting member 200, 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 overall occupied space of the lower limb assembly.

[0090] Wherein, the first connecting ring 431, the second connecting ring 432 and the first connecting handle 433 may be of an integral structure, or the first connecting ring 431, the second connecting ring 432 and the first connecting handle 433 may be of a split structure, and no specific limitation is made.

[0091] In this application, the second connecting member 200 is connected to the support member 300 through a first rotating shaft 311 and a second rotating shaft 312. The second rotating shaft 312 extends along the second direction Y, and the second connecting ring 432 is rotatably connected to the second rotating shaft 312. The first driving member 410 drives the support member 300 to rotate relative to the second connecting member 200 around the first rotating shaft 311. Through the arrangement of the first rotating shaft 311 and the second rotating shaft 312, the support member 300 can rotate in two directions relative to the second connecting member 200, improving the motion 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 restraint in the second direction Y, reducing the shaking and instability caused by lateral forces.

[0092] In the second driving mechanism 500, 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 the second axis B, and 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 operation of the second driving mechanism 500 and the first driving mechanism 400, the support member 300 can be driven to rotate relative to the second connecting member 200 in multiple directions to meet the requirements of actions such as walking and running of the humanoid robot. 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.

[0093] In one implementation, the 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 the 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 ends of the second connecting rod 530 connected to the second crank 520 and the support member 300 are located on different sides of the second connecting member 200, so that at least part of the projection of the second connecting rod 530 in the first direction X or the second direction Y is located within the second connecting member 200, further reducing the space occupied by the overall lower limb assembly.

[0094] Reference Figure 7 、 Figure 8 、 Figure 9 And Figure 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 both ends of the second connecting handle 533. The third connecting ring 531 is rotatably connected to the second crank 520 through a third joint bearing 540, and the fourth connecting ring 532 is rotatably connected to the support member 300 through a 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 movement range of the lower limb assembly. The joint bearing has good rotational performance and load-bearing capacity, ensuring the stable and reliable connection between the second connecting rod 530 and the second crank 520 and the support member 300. This connection method not only reduces friction and wear during movement but also extends the service life of the components.

[0095] The second connecting handle 533 includes a connected first handle body 533a and a second handle body 533b. One end of the first handle body 533a away from the second handle body 533b is connected to the third connecting ring 531, and one end of the second handle body 533b away from the first handle body 533a is 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. The second connecting handle 533 includes the first handle body 533a and the second handle body 533b. The designed included angle between the first handle body 533a and the second handle body 533b enables the second connecting handle 533 to more effectively disperse and resist the forces from the second crank 520 and the support member 300 when bearing the forces, and helps to optimize the power transmission path. At the same time, the setting of the reinforcing rib 534 further enhances the strength and stiffness of the connection position, prevents problems such as fracture or deformation caused by stress concentration, and thus improves the overall structural strength of the lower limb assembly.

[0096] 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. 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. A third rotating shaft 321 is provided on the second bracket 320. The third rotating shaft 321 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 relative to the second connecting member 200 around the second rotating shaft 312. In the orthographic projection in the first direction X, the end of the second connecting rod 530 connected to the third rotating shaft 321 coincides with the first rotating shaft 311.

[0097] 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, enabling the support member 300 to rotate relative to the second connecting member 200 around the first rotating shaft 311 and the second rotating shaft 312. When the lower limb assembly is used for a humanoid robot, ankle joint movements such as the forward tilt, backward tilt, left tilt, and right tilt of the foot relative to the calf can be achieved. The second rotating shaft 312 extends along the second direction Y and is rotatably connected to the first connecting rod 430, which enables the first driving member 410 to 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, enabling the second driving member 510 to 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. The control logics of the first driving mechanism 400 and the second driving mechanism 500 can be designed and optimized relatively independently, improving the decoupling of the control system of the lower limb assembly. At the same time, by designing the connection point of the second connecting rod 530 and the third rotating shaft 321 on the orthographic 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 support member 300 is subjected to more balanced forces and has good rotational stability.

[0098] Wherein, the first bracket 310 and the second bracket 320 are arranged in sequence 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 310 and the second bracket 320 can be of a split structure, and the first bracket 310 and the second bracket 320 can also be of an integral structure, without any limitation. 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 of a split structure, and the first bracket 310 and the second bracket 320 are spaced apart in the first direction X to prevent interference between the first driving mechanism 400 and the second driving mechanism 500 during movement.

[0099] The second connecting member 200 is connected to the first bracket 310 through the first rotating shaft 311 and the second rotating shaft 312. Driven by the first driving mechanism 400 and the second driving mechanism 500, the second connecting member 200 can rotate relative to the support member 300 around the first rotating shaft 311 and the second rotating shaft 312, simplifying the structure of the lower limb assembly and making more effective use of space; 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, simplifying the transmission structure, reducing the energy loss during the transmission process, and improving the transmission efficiency.

[0100] Among them, the first rotating shaft 311 and the second rotating shaft 312 can both be 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 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. The first rotating shaft 311 and the second rotating shaft 312 can also rotate relative to both the first bracket 310 and the second connecting member 200, without limitation. At the position where relative rotation is possible, it can be a hole-shaft mating structure, 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 to achieve relative rotation between 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 both 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 foot member.

[0101] Exemplarily, when the second connecting member 200 and the first bracket 310 rotate relative to each other around the first rotating shaft 311, a left-tilting or right-tilting movement of the second connecting member 200 relative to the first bracket 310 can be achieved; when the second connecting member 200 and the first bracket 310 rotate relative to each other around the second rotating shaft 312, a forward-tilting or backward-tilting movement of the second connecting member 200 relative to the first bracket 310 can be achieved.

[0102] 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, reduces the number of moving parts, and thus reduces the failure rate and maintenance cost. 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 rotate flexibly in multiple directions, providing rich movement postures for the humanoid robot.

[0103] Similar to the foregoing structure, the third rotating shaft 321 and the second bracket 320 can rotate relative to each other, or the third rotating shaft 321 can be fixed to the second bracket 320. A hole-shaft fit can be provided between the third rotating shaft 321 and the second bracket 320, or a bearing can be provided.

[0104] 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. The third driving member 610 drives the third crank 620 to rotate about 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 spaced apart and connected to the third crank 620, and the other end of the third connecting rod 630 and the other end of the fourth connecting rod 640 are spaced apart and connected to the second connecting member 200 to form a parallelogram transmission structure. By providing the third driving mechanism 600, the third driving mechanism 600 is used to drive the second connecting member 200 to rotate relative to the first connecting member 100 about the third axis C. When the lower limb assembly is used for a humanoid robot, the knee joint function can be realized. Moreover, 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 about the third axis C, the first connecting member 100 can rotate relative to the second connecting member 200. This design makes the power distribution more uniform and efficient, reducing component wear and energy loss caused by uneven power.

[0105] Reference Figure 1 、 Figure 2 、 Figure 6 、 Figure 9 、 Figure 11 and Figure 12 , the first connecting member 100 includes a first housing 110 and a second housing 120 that are detachably connected. The third driving member 610 is disposed at one end of the first housing 110. The other end of the first housing 110 is rotatably connected to the second connecting member 200. Both the third connecting rod 630 and the fourth connecting rod 640 are disposed between the first housing 110 and the second housing 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 in the third direction Z, the first end 631 and the second end 632 are spaced apart, and the third end 641 and the fourth end 642 are spaced apart. Both the first end 631 and the third end 641 are located on one side of the first housing 110 in the second direction Y, and both 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.

[0106] The first connecting member 100 includes a first housing 110 and a second housing 120 that are detachably connected, so as to accommodate the third link 630 and the fourth link 640 within the first connecting member 100, reducing the overall occupied space of the lower limb assembly. Meanwhile, when components such as the third driving member 610, the third link 630, and the fourth link 640 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 the maintenance efficiency. In the orthographic projection in the third direction Z, there is an interval between the first end 631 and the second end 632, and between the third end 641 and the fourth end 642. Both the first end 631 and the third end 641 are located on one side of the first housing 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, causing the third link 630 and the fourth link 640 to bend from one side of the first housing 110 towards the middle of the second connecting member 200, so as to further reduce the overall occupied space of the lower limb assembly.

[0107] In the orthographic projection in the third direction Z, the second end 632, the fourth end 642, and the end of the second link 530 connected to the third rotating shaft 321 coincide with the first axis A, enabling 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 support member 300 around the second rotating shaft 312 to be in the same plane. This can improve the overall stability of the lower limb assembly and make it more anthropomorphic to imitate the movements of the human knee joint and ankle joint. Meanwhile, since the relative positions of these components in the projection are fixed, it is easier to predict and control their movement trajectories and interactions, which helps to simplify the motion control algorithm of the humanoid robot.

[0108] A first positioning portion 111, a first boss 112, and a second boss 113 are provided on the first housing 110. A driving member for driving the first connecting member 100 to rotate self is provided on the waist-hip assembly. By providing a second positioning portion on the driving member, when the first positioning portion 111 and the second positioning portion are aligned 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 self-rotation of the first connecting member 100 is at the zero position, facilitating the positioning of the self-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 self-rotation axis of the first connecting member 100. The first boss 112 and the second boss 113 are used to limit the self-rotation angle of the first connecting member 100 and prevent the first connecting member 100 from interfering with nearby components due to excessive self-rotation.

[0109] Among them, the structure of the first positioning portion 111 can be a groove, a protrusion, etc., and the present application does not limit this.

[0110] Specifically, the first boss 112 is arranged near the inner sides of the two thigh parts of the humanoid robot. The range of the angle α between the first boss 112 and the first positioning part 111 is 100° to 110°. The design of the angle α within this range enables the first connecting piece 100 to have an appropriate rotation angle towards the outer side of the humanoid robot, which helps to imitate the actual rotation angle of the human thigh. 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 unlisted values within the numerical range are equally applicable. When the range of the angle α between the first boss 112 and the first positioning part 111 is greater than 110°, it will cause the rotation angle of the first connecting piece 100 towards the outer side of the humanoid robot to be too large, reducing the strength and stability of the lower limb assembly structure and increasing friction and wear during movement. When the range of the angle α between the first boss 112 and the first positioning part 111 is less than 100°, it will cause the rotation angle of the first connecting piece 100 towards the outer side of the humanoid robot to be too small, restricting the movement range of the humanoid robot and resulting in a poor humanoid imitation effect.

[0111] The range of the angle β between the second boss 113 and the first positioning part 111 is 50° to 60°. The design of the angle β within this range enables the first connecting piece 100 to have an appropriate rotation angle towards the inner side 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, making the rotation angle of the first connecting piece 100 towards the inner side of the humanoid robot smaller than that towards the outer side of the humanoid robot, further helping 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 unlisted values within the numerical range are equally applicable. When the range of the angle β between the second boss 113 and the first positioning part 111 is greater than 60°, it will cause the rotation angle of the first connecting piece 100 towards the inner side of the humanoid robot to be too large, resulting in the space inside the thigh being too narrow and prone to interference with other components. When the range of the angle β between the second boss 113 and the first positioning part 111 is less than 50°, it will cause the rotation angle of the first connecting piece 100 towards the inner side of the humanoid robot to be too small, restricting the movement range of the humanoid robot and resulting in a poor humanoid imitation effect.

[0112] 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 a wire harness. A first wire groove 130 is arranged on the first connecting member 100, a second wire groove 250 and a first wire passing hole 260 are arranged on the second connecting member 200, and a second wire passing hole 270 is arranged at the connection between the first connecting member 100 and the second connecting member 200. The wire harness led out from the third driving member 610 is sequentially connected to the first driving member 410 through the first wire groove 130, the first wire passing hole 260, and the second wire groove 250, or the wire harness led out from the third driving member 610 is sequentially connected to the second driving member 510 through the first wire groove 130, the first wire passing hole 260, the second wire groove 250, and the second wire passing hole 270 to realize the power supply of each driving member. The arrangements of the first wire groove 130, the first wire passing hole 260, the second wire groove 250, and the second wire passing hole 270 provide an installation space for the wire harness, enabling the wire harness to be fixed on the first connecting member 100 and the second connecting member 200, and fasteners can be arranged to clamp the wire harness in the first wire groove 130 and the second wire groove 250, reducing the external leakage of the wire harness and improving the aesthetic appearance of the humanoid robot.

[0113] In the description of the embodiment of the present application, it should be noted that the orientation or positional relationship indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is the orientation or positional relationship based on the drawings. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be understood as a limitation to the present application.

[0114] The above-disclosed is only a preferred embodiment of the present application. Of course, the scope of rights of the present application cannot be limited thereby. Those of ordinary skill in the art can understand all or part of the processes of implementing the above embodiments, and the equivalent changes made according to the claims of the present application still fall 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), the left-to-right direction of the humanoid robot is a second direction (Y), the height direction of the humanoid robot is a third direction (Z), 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) extending along the first direction (X), the first crank (420) comprises a main body (421) and a connecting column (422) connected to each other, the main body (421) being connected to the first driving member (410), the length direction of the connecting column (422) intersecting 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 an 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); A 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), wherein 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, so as to form a parallelogram transmission structure; Wherein, in 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; in the orthographic projection of the third direction (Z), the second end (632) and the fourth end (642) coincide with the first axis (A).

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); 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 lower limb assembly further comprises a second driving mechanism (500), the second driving mechanism (500) comprising a second driving member (510), a second crank (520) and a second connecting rod (530), the second driving member (510) being embedded in the second connecting member (200), the second driving member (510) driving the second crank (520) to rotate around a second axis (B), the second axis (B) extending along the second direction (Y), the second crank (520) being connected to the second driving member (510), one end of the second connecting rod (530) being rotationally connected to the second crank (520), and the other end of the second connecting rod (530) being rotationally connected to the supporting member (300).

8. The lower limb assembly according to claim 7, characterized in that: The second connecting member (200) comprises a first cylinder (210) and a second cylinder (220) connected to each other, the first cylinder (210) extending along the first direction (X), and the first driving member (410) being 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 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 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).

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

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