Lower limb structure and system, calibration tooling and method, detection tooling and robot

Abstract

The present invention discloses a lower limb structure and system, a calibration tool and method, a detection tool and a robot, wherein the lower limb structure comprises: a driving module, wherein the driving module is provided with a first hole; a calf mechanism, wherein the calf mechanism is connected to the output end of the driving module, wherein the driving module can drive the calf mechanism to rotate along an axis in a preset direction, wherein the calf mechanism is provided with a second hole; and when the first hole is coaxial with the second hole, the output end of the driving module is in a zero position state. The technical solution provided by the present application can quickly complete the calibration work, and the method has a simple structure, low cost, and high calibration work efficiency.

Description

Technical Field

[0001] The present application belongs to the field of robotics technology, and in particular relates to a lower limb structure and system, a calibration tool and method, a detection tool and a robot. Background Art

[0002] In the design of bipedal robots, the zeroing of the lower limb system is an important basic step to ensure the robot's precise movement, safe operation, and efficient control. It not only provides a benchmark for joint control, but also improves the reliability and adaptability of the entire system, which is particularly critical for achieving complex movements and environmental adaptability.

[0003] The current method for homing a bipedal robot usually uses a laser tracker to measure the robot's zero position. This instrument is expensive and complicated to operate. Summary of the invention

[0004] One purpose of the embodiments of the present application is to provide a lower limb structure, a lower limb system, a calibration tool, a calibration method, a detection tool and a robot.

[0005] According to a first aspect of an embodiment of the present application, a lower limb structure is provided, comprising:

[0006] A driving module, wherein the driving module is provided with a first hole;

[0007] A calf mechanism, the calf mechanism is connected to the output end of the driving module, the driving module can drive the calf mechanism to rotate along an axis in a preset direction, and the calf mechanism is provided with a second hole;

[0008] When the first hole is coaxial with the second hole, the output end of the driving module is in a zero position state.

[0009] Optionally, the driving module includes a first joint mechanism and a second joint mechanism, the output end of the first joint mechanism is connected to the calf mechanism, the second joint mechanism is connected to the output end of the first joint mechanism, the first hole is provided in the first joint mechanism, the axis of the output end of the first joint mechanism is a first axis, the axis of the output end of the second joint mechanism is a second axis, and the first axis intersects with the second axis;

[0010] The first joint mechanism is further provided with a third hole, and the second joint mechanism is provided with a fourth hole. When the third hole is coaxial with the fourth hole, the output end of the second joint mechanism is in the zero position state.

[0011] Optionally, the first joint mechanism includes a first joint module and a first connecting bracket, and the first joint module is arranged on the first connecting bracket;

[0012] The second joint mechanism comprises a second joint module and a second connecting bracket, the second joint module is arranged on the second connecting bracket, and the first connecting bracket is connected to the output end of the second joint module;

[0013] The first hole and the third hole are both provided in the first connecting bracket, and the fourth hole is provided in the second joint module;

[0014] The axis of the first hole does not intersect or coincide with the first axis, and the axis of the fourth hole does not intersect or coincide with the second axis.

[0015] Optionally, the driving module further comprises a third joint mechanism, an output end of the third joint mechanism is connected to the second joint mechanism, an axis of the output end of the third joint mechanism is a third axis, and the third axis intersects with the second axis;

[0016] The second joint mechanism is further provided with a fifth hole, and the third joint mechanism is provided with a sixth hole. When the fifth hole is coaxial with the sixth hole, the output end of the third joint mechanism is in the zero position state.

[0017] Optionally, the third joint mechanism includes a third joint module and a third connecting bracket, the third joint module is arranged on the third connecting bracket, and the second connecting bracket is connected to the output end of the third joint module;

[0018] The fifth hole is provided on the second connecting bracket, and the sixth hole is provided on the third connecting bracket;

[0019] The axis of the sixth hole does not intersect or coincide with the third axis.

[0020] Optionally, the driving module further comprises a fourth joint mechanism, an output end of the fourth joint mechanism is connected to the third joint mechanism, an axis of the output end of the fourth joint mechanism is a fourth axis, and the fourth axis intersects with the third axis;

[0021] The third joint mechanism is further provided with a seventh hole, and the fourth joint mechanism is provided with an eighth hole. When the seventh hole is coaxial with the eighth hole, the output end of the fourth joint mechanism is located in the zero position state.

[0022] Optionally, the fourth joint mechanism includes a fourth joint module, and the third connecting bracket is connected to an output end of the fourth joint module;

[0023] The seventh hole is provided on the third connecting bracket, and the eighth hole is provided on the fourth joint module;

[0024] The axis of the eighth hole does not intersect or coincide with the fourth axis.

[0025] Optionally, the calf mechanism includes a connecting component, the connecting component is connected to the output end of the first joint module, and the second hole is provided in the connecting component.

[0026] Optionally, the calf mechanism further comprises:

[0027] Plantar component;

[0028] A rotating assembly, the rotating assembly is rotatably connected to the sole assembly, and the rotating assembly rotates relative to the sole assembly around an axis in the X direction;

[0029] A skeleton component, one end of which is rotatably connected to the rotating component, and the other end of which is connected to the connecting component;

[0030] A fifth joint module, the fifth joint module is arranged on the skeleton component;

[0031] A connecting rod assembly, one end of which is rotatably connected to the sole assembly via a first joint bearing, and the other end of which is connected to the output end of the first joint module, and the first joint module can drive the connecting rod assembly to move along the Z direction;

[0032] The sixth joint module, the output end of the sixth joint module is connected to the rotating component, and the sixth joint module can drive the rotating component to rotate around the axis of the X direction.

[0033] Optionally, the rotating assembly comprises a first connecting shaft and a second connecting shaft, wherein the first connecting shaft is concentric with the second connecting shaft and is symmetrically arranged relative to the axis of the X direction;

[0034] The skeleton assembly includes a first connecting portion and a second connecting portion, the first connecting portion is connected to the first connecting shaft via a second bearing, and the second connecting portion is connected to the second connecting shaft via a third bearing.

[0035] Optionally, the first connecting portion is provided with a ninth hole, the rotating assembly is provided with a tenth hole, the ninth hole is coaxial with the tenth hole, and the output end of the fifth joint module is in the zero position state; or

[0036] The second connecting portion is provided with a ninth hole, the rotating assembly is provided with a tenth hole, the ninth hole is coaxial with the tenth hole, and the output end of the fifth joint module is in the zero position state.

[0037] Optionally, the rotating assembly further includes a third connecting shaft and a fourth connecting shaft, wherein the third connecting shaft is concentric with the fourth connecting shaft and is symmetrically arranged relative to the axis of the Y direction;

[0038] The sole assembly includes a fixing plate, on which a first mounting seat and a second mounting seat are provided, the first mounting seat and the second mounting seat are spaced apart along the X direction, the third connecting shaft is connected to the first mounting seat via a fourth bearing, the fourth connecting shaft is connected to the second mounting seat via a fifth bearing, and the fourth connecting shaft is connected to the output end of the second joint module.

[0039] Optionally, the first mounting seat is provided with an eleventh hole, the rotating assembly is provided with a twelfth hole, the eleventh hole is coaxial with the twelfth hole, and the output end of the sixth joint module is in the zero position state; or

[0040] The second mounting seat is provided with an eleventh hole, the rotating assembly is provided with a twelfth hole, the eleventh hole is coaxial with the twelfth hole, and the output end of the sixth joint module is in the zero position state.

[0041] According to a second aspect of an embodiment of the present application, a lower limb system is provided, comprising:

[0042] A waist mechanism, the waist mechanism comprising a first mounting portion and a second mounting portion, wherein the first mounting portion and the second mounting portion are symmetrically arranged;

[0043] The two lower limb structures mentioned above are respectively a left lower limb structure and a right lower limb structure, the left lower limb structure is connected to the first mounting portion, and the first joint mechanism of the right lower limb structure is connected to the second mounting portion.

[0044] According to a third aspect of an embodiment of the present application, a calibration method is provided for performing zero position calibration on the above-mentioned lower limb structure, the calibration method comprising:

[0045] By driving the lower leg mechanism to rotate around the first axis, the first hole and the second hole are made coaxial, and the calibration tool is inserted into the first hole and the second hole;

[0046] By driving the first joint mechanism to rotate around the second axis, the third hole and the fourth hole are made coaxial, and the calibration tool is inserted into the third hole and the fourth hole;

[0047] By driving the second joint mechanism to rotate around the third axis, the fifth hole and the sixth hole are made coaxial, and the calibration tool is inserted into the fifth hole and the sixth hole;

[0048] By driving the third joint mechanism to rotate around the fourth axis, the seventh hole and the eighth hole are made coaxial, and the calibration tool is inserted into the seventh hole and the eighth hole;

[0049] By driving the skeleton assembly to rotate around the fifth axis, the ninth hole and the tenth hole are made coaxial, and the calibration tool is inserted into the ninth hole and the tenth hole;

[0050] The rotating assembly is driven to rotate around the sixth axis so that the eleventh hole and the twelfth hole are coaxial, and the calibration tool is inserted into the eleventh hole and the twelfth hole.

[0051] According to a fourth aspect of the embodiments of the present application, a calibration tool is provided for implementing the above calibration method, including:

[0052] A limiting rod, the limiting rod comprising a first end and a second end, the second end being a rounded device;

[0053] An operating handle, wherein the first end is connected to the operating handle.

[0054] According to a fifth aspect of the embodiment of the present application, a detection tool is provided for detecting the zero position state of the above-mentioned lower limb system, including:

[0055] A first component, the first component comprises a first end surface, the first end surface is used to abut against the waist mechanism, the first component is provided with a first through hole and a second through hole, the first through hole passes through the first end surface, and the second through hole passes through the first end surface;

[0056] The second component comprises two accommodating areas, the two accommodating areas are arranged at intervals, the first component is located between the two accommodating areas, and the accommodating areas are used to accommodate the sole assembly.

[0057] Optionally, an axis of the first through hole is perpendicular to the first end surface.

[0058] Optionally, the accommodating area includes a second end face and a third end face, the third end face is arranged around the periphery of the second end face, the second end face is used to contact the bottom surface of the sole component, and the third end face is used to contact the outer peripheral surface of the sole component.

[0059] Optionally, an axis of the first through hole is parallel to the second end surface.

[0060] According to a sixth aspect of the embodiments of the present application, a robot is provided, comprising:

[0061] any of the above lower extremity structures; or

[0062] The lower limb system described above.

[0063] A technical effect of an embodiment of the present application is that by setting the first hole and the second hole, as long as the first hole and the second hole are concentric, it can be determined that the output end of the driving module is in a zero position state, so that the calibration work can be completed quickly. This method has a simple structure, low cost, and high calibration work efficiency.

[0064] Other features and advantages of the present application will become apparent from the following detailed description of exemplary embodiments of the present application with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the application and, together with the description, serve to explain the principles of the application.

[0066] Figure 1 It is a structural schematic diagram of the lower limb structure in an embodiment of the present application;

[0067] Figure 2 It is a structural schematic diagram of the lower limb structure in an embodiment of the present application;

[0068] Figure 3 It is a structural schematic diagram of the lower limb structure in an embodiment of the present application;

[0069] Figure 4 This is a schematic structural diagram of the first joint mechanism in an embodiment of the present application;

[0070] Figure 5 This is a schematic structural diagram of the first joint mechanism in an embodiment of the present application;

[0071] Figure 6 It is a structural schematic diagram of the second joint mechanism and the first connecting bracket in the embodiment of the present application;

[0072] Figure 7 is a schematic structural diagram of the third joint mechanism in the embodiment of the present application;

[0073] Figure 8 is a schematic structural diagram of the third joint mechanism in the embodiment of the present application;

[0074] Fig. 9 It is a structural schematic diagram of the first joint mechanism and the third connecting bracket in the embodiment of the present application;

[0075] Fig.10 This is a schematic diagram of the structure of the calf mechanism in the embodiment of the present application;

[0076] Fig.11 This is a schematic diagram of the structure of the calf mechanism in the embodiment of the present application;

[0077] Fig.12 This is a schematic diagram of the structure of the calf mechanism in the embodiment of the present application;

[0078] Fig.13 for Fig.12 A cross-sectional view at II in FIG.

[0079] Fig.14 This is a schematic diagram of the structure of the calf mechanism in the embodiment of the present application;

[0080] Fig.15 for Fig.14 Cross-sectional view at GG in FIG.

[0081] Fig.16 for Fig.15 A local enlarged view of the H in FIG.

[0082] Fig.17 This is a schematic diagram of the structure of the calf mechanism in the embodiment of the present application;

[0083] Fig.18 It is a schematic diagram of the structure of the lower limb system in an embodiment of the present application;

[0084] Fig.19 This is a schematic diagram of the structure of the calf mechanism in the embodiment of the present application;

[0085] Fig. 20 It is a structural schematic diagram of the calibration tooling in the embodiment of the present application;

[0086] Fig.21 It is a schematic diagram of the structure of the detection tooling in the embodiment of the present application;

[0087] Fig. 22 This is a schematic diagram of the installation structure of the lower limb system and detection tooling in an embodiment of the present application.

[0088] Description of the accompanying drawings: lower limb structure 100; first joint mechanism 1; first joint module 11; second connecting end 111; first hole 112; first connecting bracket 12; second accommodating cavity 121; third hole 122; second joint mechanism 2; second joint module 21; second limit block 211; fourth hole 212; second connecting bracket 22; first support portion 221; second support portion 222; first rotating member 223; fifth hole 224; third joint mechanism 3; third joint module 31; first connecting end 311; sixth hole 312; third connecting bracket 32; first accommodating cavity 321; seventh hole 322; fourth joint mechanism 4; fourth joint module 41; first limit block 411; eighth hole 412; calf mechanism 5; sole assembly 51; fixing plate 511; first mounting seat 512; second mounting seat 513; third mounting seat 514; first mounting plate 5141; second mounting plate 5142; forefoot 515; rear foot 516; eleventh hole 517; rotating assembly 52; first connecting shaft 521; second connecting shaft 522; third connecting shaft 523; fourth connecting shaft 524; tenth hole 525; twelfth hole 526; skeleton assembly 53; first connecting portion 531; second connecting portion 532; first limiting portion 533; second limiting portion 534; avoidance groove 535; ninth hole 536; fifth joint module 54; sixth joint module 55; connecting rod assembly 56; swing arm 561; third connecting end 5611; fourth connecting end 5612; connecting rod 562; fifth connecting end 5621; sixth connecting end 5622; connecting assembly 57; third support portion 571; fourth support portion 572; second rotating member 573; second hole 574; heat sink 6; mounting member 7; first axis a; second axis b; third axis c; fourth axis d; fifth axis e; sixth axis f; first bearing A; second bearing B; third bearing C; fourth bearing D; fifth bearing E; first joint bearing F; lower limb system 200; left lower limb structure 100a; right lower limb structure 100b; waist mechanism 300; first mounting portion 300a; second mounting portion 300b; fourth end face 300c; calibration tool 400; limit rod 401; second end 402; operating handle 403; detection tool 500; first component 501; first end face 5011; first through hole 5012; second through hole 5013; second component 502; accommodating area 5021; second end face 5022; third end face 5023. DETAILED DESCRIPTION

[0089] Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. It should be noted that unless otherwise specifically stated, the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present application.

[0090] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the present application, its application, or uses.

[0091] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered as part of the specification.

[0092] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0093] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0094] First, the X direction, Y direction and Z direction mentioned in the embodiment of the present application can be referred to in the attached drawings. Figure 2 , Figure 3 , Fig.11 , Fig.12 , Fig.14 and Fig.18 The marked direction. Among them, the axis of the X direction, the axis of the Y direction and the axis of the Z direction intersect each other. Among them, the X direction refers to the front and back direction of the robot, the Y direction refers to the left and right direction of the robot, and the Z direction refers to the up and down direction of the robot.

[0095] The zero position state in the present application refers to a reference position defined for the lower limb structure 100, which is the initial position, and all subsequent actions of the lower limb structure 100 will be calculated and adjusted based on the initial position.

[0096] like Figure 1-17 As shown, according to the first aspect of an embodiment of the present application, a lower limb structure 100 is provided, including a driving module and a calf mechanism 5; the driving module is provided with a first hole 112; the calf mechanism 5 is connected to the output end of the driving module, the driving module can drive the calf mechanism 5 to rotate along an axis in a preset direction, and the calf mechanism 5 is provided with a second hole 574; when the first hole 112 is coaxial with the second hole 574, the output end of the driving module is in a zero position state.

[0097] like Figure 1-Figure 3 As shown, the lower limb structure 100 includes a driving module and a calf mechanism 5; wherein the calf mechanism 5 is connected to the output end of the driving module, and the driving module can drive the calf mechanism 5 to rotate along an axis in a preset direction to drive the calf mechanism 5 to perform multi-degree-of-freedom movement.

[0098] like Figure 1-Figure 3As shown, the driving module is provided with a first hole 112, and the calf mechanism 5 is provided with a second hole 574; since the calf mechanism 5 is connected to the output end of the driving module, the driving module drives the calf mechanism 5 to rotate around the axis of the output end of the driving module. When the first hole 112 is concentric with the second hole 574, it means that the output end of the driving module is in a zero position state. In this state, the calibration tool 400 can be inserted into the first hole 112 and the second hole 574 for calibration.

[0099] In the present application, by setting the first hole 112 and the second hole 574, as long as the first hole 112 and the second hole 574 are concentric, it can be determined that the output end of the driving module is in a zero position state, so that the calibration work can be completed quickly. This method has a simple structure, low cost, and high calibration work efficiency.

[0100] In a specific embodiment, the driving module may only include the first joint mechanism 1 , the driving end of the first joint mechanism 1 is connected to the calf mechanism 5 , and the first joint mechanism 1 can drive the calf mechanism 5 to rotate around the axis of the output end of the first joint mechanism 1 .

[0101] In another optional embodiment, the driving module includes a first joint mechanism 1 and a second joint mechanism 2, the output end of the first joint mechanism 1 is connected to the calf mechanism 5, the second joint mechanism 2 is connected to the output end of the first joint mechanism 1, and the first hole 112 is provided on the first joint mechanism 1; the axis of the output end of the first joint mechanism 1 is the first axis a, and the axis of the output end of the second joint mechanism 2 is the second axis b, and the first axis a intersects with the second axis b; the first joint mechanism 1 is also provided with a third hole 122, and the second joint mechanism 2 is provided with a fourth hole 212, and when the third hole 122 is coaxial with the fourth hole 212, the output end of the second joint mechanism 2 is in the zero position state.

[0102] like Figure 1-Figure 3 As shown, the driving module includes a first joint mechanism 1 and a second joint mechanism 2; wherein the shank mechanism 5 is connected to the output end of the first joint mechanism 1, and the first joint mechanism 1 can drive the shank mechanism 5 to rotate around the axis of the output end of the first joint mechanism 1; the first joint mechanism 1 is connected to the output end of the second joint mechanism 2, and the second joint mechanism 2 can drive the first joint mechanism 1 and the shank mechanism 5 to rotate around the axis of the output end of the second joint mechanism 2; wherein the axis of the output end of the first joint mechanism 1 is the first axis a, and the axis of the output end of the second joint mechanism 2 is the second axis b, and the first axis a intersects with the second axis b. The first joint mechanism 1 and the second joint mechanism 2 can enable the lower limb structure 100 to achieve multi-degree-of-freedom rotation, thereby improving the flexibility of the lower limb structure 100.

[0103] It is further explained that the first joint mechanism 1 is also provided with a third hole 122, and the second joint mechanism 2 is provided with a fourth hole 212; since the output ends of the first joint mechanism 1 and the second joint mechanism 2 are connected, the second joint mechanism 2 drives the first joint mechanism 1 to rotate around the second axis b. When the third hole 122 is concentric with the fourth hole 212, it means that the output end of the second joint mechanism 2 is in a zero position state. In this state, the calibration tool 400 can be inserted into the third hole 122 and the fourth hole 212 for calibration.

[0104] It is further explained that the first hole 112 is arranged in the first joint mechanism 1; since the calf mechanism 5 is connected to the output end of the first joint mechanism 1, the first joint mechanism 1 drives the calf mechanism 5 to rotate around the first axis a. When the first hole 112 is concentric with the second hole 574, it means that the first joint mechanism 1 is in a zero position state. In this state, the calibration tool 400 can be inserted into the first hole 112 and the second hole 574 for calibration.

[0105] In an optional embodiment, the first joint mechanism 1 includes a first joint module 11 and a first connecting bracket 12, and the first joint module 11 is arranged on the first connecting bracket 12; the second joint mechanism 2 includes a second joint module 21 and a second connecting bracket 22, and the second joint module 21 is arranged on the second connecting bracket 22, and the first connecting bracket 12 is connected to the output end of the second joint module 21; the first hole 112 and the third hole 122 are both arranged on the first connecting bracket 12, and the fourth hole 212 is arranged on the second joint module 21; the axis of the first hole 112 does not intersect or overlap with the first axis a, and the axis of the fourth hole 212 does not intersect or overlap with the second axis b.

[0106] like Figure 4 , Figure 5 and Figure 6 As shown, the first joint mechanism 1 includes a first joint module 11 and a first connecting bracket 12, the first joint module 11 is arranged on the first connecting bracket 12, the first connecting bracket 12 can provide support for the first joint module 11, and can make the first joint mechanism 1 modular; the second joint mechanism 2 includes a second joint module 21 and a second connecting bracket 22, the second joint module 21 is arranged on the second connecting bracket 22, the second connecting bracket 22 can provide support for the second joint module 21, and can make the second joint mechanism 2 modular.

[0107] To further illustrate, the calf mechanism 5 is connected to the output end of the first joint module 11, and the axis of the output of the first joint module 11 is also the first axis a, and the first joint module 11 can drive the calf mechanism 5 to rotate around the first axis a; wherein, the first hole 112 is arranged on the first connecting bracket 12 and is close to the first joint module 11, and the axis of the first hole 112 does not intersect or overlap with the first axis a, and the direction of the axis of the first hole 112 is the same as the direction of the axis of the second hole 574. Specifically, the direction of the axis of the first hole 112 is the same as the direction of the first axis a, and the axis of the first hole 112 does not overlap with the first axis a, so when the first joint module 11 drives the calf mechanism 5 to rotate around the first axis a, only when the output end of the first joint module 11 is in the zero position state, the first hole 112 and the second hole 574 will be in a concentric relationship, thereby ensuring that the position of the output end of the first joint module 11 when it is in the zero position state is unique.

[0108] Further description, the first connecting bracket 12 is connected to the output end of the second joint module 21, the axis of the output end of the second joint module 21 is also the second axis b, and the second joint module 21 can drive the calf mechanism 5 and the first joint mechanism 1 to rotate around the second axis b; wherein the third hole 122 is arranged on the first connecting bracket 12 and is close to the second joint module 21, the fourth hole 212 is arranged on the second joint module 21, the axis of the fourth hole 212 does not intersect or overlap with the second axis b, and the direction of the axis of the third hole 122 is the same as the direction of the axis of the fourth hole 212. In the same direction, specifically, the fourth hole 212 is arranged on the second joint module 21, and the direction of the axis of the fourth hole 212 is the same as the direction of the second axis b, and the axis of the fourth hole 212 does not coincide with the second axis b. Therefore, when the second joint module 21 drives the first connecting bracket 12 to rotate around the second axis b, only when the output end of the second joint module 21 is in the zero position state, the third hole 122 and the fourth hole 212 will be concentric, thereby ensuring that the position of the output end of the second joint module 21 when it is in the zero position state is unique.

[0109] In an optional embodiment, the driving module also includes a third joint mechanism 3, the output end of the third joint mechanism 3 is connected to the second joint mechanism 2, the axis of the output end of the third joint mechanism 3 is a third axis c, and the third axis c intersects with the second axis b; the second joint mechanism 2 is also provided with a fifth hole 224, and the third joint mechanism 3 is provided with a sixth hole 312, when the fifth hole 224 is coaxial with the sixth hole 312, the output end of the third joint mechanism 3 is in the zero position state.

[0110] like Figure 1-Figure 3As shown, the driving module also includes a third joint mechanism 3, the second joint mechanism 2 is connected to the output end of the third joint mechanism 3, and the third joint mechanism 3 can drive the second joint mechanism 2, the first joint mechanism 1 and the calf mechanism 5 to rotate around the axis of the output end of the third joint mechanism 3, wherein the axis of the output end of the third joint mechanism 3 is the third axis c, and the third axis c intersects with the second axis b.

[0111] It is further explained that the second joint mechanism 2 is also provided with a fifth hole 224, and the third joint mechanism 3 is provided with a sixth hole 312; since the second joint mechanism 2 is connected to the output end of the third joint mechanism 3, the third joint mechanism 3 drives the second joint mechanism 2 to rotate around the third axis c. When the fifth hole 224 is concentric with the sixth hole 312, it means that the output end of the third joint mechanism 3 is in a zero position state. In this state, the calibration tool 400 can be inserted into the fifth hole 224 and the sixth hole 312 for calibration.

[0112] In an optional embodiment, the third joint mechanism 3 includes a third joint module 31 and a third connecting bracket 32, the third joint module 31 is arranged on the third connecting bracket 32, and the second connecting bracket 22 is connected to the output end of the third joint module 31; the fifth hole 224 is arranged on the second connecting bracket 22, and the sixth hole 312 is arranged on the third connecting bracket 32; the axis of the sixth hole 312 does not intersect and does not overlap with the third axis c.

[0113] like Figure 7 and Figure 8 As shown, the third joint mechanism 3 includes a third joint module 31 and a third connecting bracket 32. The third joint module 31 is arranged on the third connecting bracket 32. The third connecting bracket 32 ​​can provide support for the third joint module 31 and can make the third joint mechanism 3 modular.

[0114] Further description, the second connecting bracket 22 is connected to the output end of the third joint module 31, the axis of the output end of the third joint module 31 is also the third axis c, and the third joint module 31 can drive the second joint mechanism 2, the first joint mechanism 1 and the calf mechanism 5 to rotate around the third axis c at the same time; wherein the fifth hole 224 is provided on the second connecting bracket 22, the sixth hole 312 is provided on the third connecting bracket 32, the sixth hole 312 is located at one end of the third connecting bracket 32 ​​close to the third joint module 31, and the axis of the sixth hole 312 does not intersect or overlap with the third axis c The direction of the axis of the fifth hole 224 is the same as the direction of the axis of the sixth hole 312. Specifically, the direction of the axis of the sixth hole 312 is the same as the direction of the third axis c. The axis of the sixth hole 312 does not coincide with the third axis c. Therefore, when the third joint module 31 drives the second connecting bracket 22 to rotate around the third axis c, only when the output end of the third joint module 31 is in the zero position state, the fifth hole 224 and the sixth hole 312 will be concentric, thereby ensuring that the position of the output end of the third joint module 31 when it is in the zero position state is unique.

[0115] In an optional embodiment, the driving module also includes a fourth joint mechanism 4, the output end of the fourth joint mechanism 4 is connected to the third joint mechanism 3, the axis of the output end of the fourth joint mechanism 4 is a fourth axis d, and the fourth axis d intersects with the third axis c; the third joint mechanism 3 is also provided with a seventh hole 322, and the fourth joint mechanism 4 is provided with an eighth hole 412, and when the seventh hole 322 is coaxial with the eighth hole 412, the output end of the fourth joint mechanism 4 is in the zero position state.

[0116] like Figure 1-Figure 3 As shown, the driving module also includes a fourth joint mechanism 4, and the third joint mechanism 3 is connected to the output end of the fourth joint mechanism 4. The fourth joint mechanism 4 can drive the third joint mechanism 3, the second joint mechanism 2, the first joint mechanism 1 and the calf mechanism 5 to rotate around the axis of the output end of the fourth joint mechanism 4, wherein the axis of the output end of the fourth joint mechanism 4 is the fourth axis d, and the fourth axis d intersects with the third axis c.

[0117] It is further explained that the third joint mechanism 3 is also provided with a seventh hole 322, and the fourth joint mechanism 4 is provided with an eighth hole 412; since the third joint mechanism 3 is connected to the output end of the fourth joint mechanism 4, the fourth joint mechanism 4 drives the third joint mechanism 3 to rotate around the fourth axis d. When the seventh hole 322 is concentric with the eighth hole 412, it means that the output end of the fourth joint mechanism 4 is in a zero position state. In this state, the calibration tool 400 can be inserted into the seventh hole and the eighth hole 412 for calibration.

[0118] In an optional embodiment, the fourth joint mechanism 4 includes a fourth joint module 41, and the third connecting bracket 32 ​​is connected to the output end of the fourth joint module 41; the seventh hole 322 is provided on the third connecting bracket 32, and the eighth hole 412 is provided on the fourth joint module 41; the axis of the eighth hole 412 does not intersect and does not overlap with the fourth axis d.

[0119] like Fig. 9 The fourth joint mechanism 4 includes a fourth joint module 41, the third connecting bracket 32 ​​is connected to the output end of the fourth joint module 41, the axis of the output end of the fourth joint module 41 is also the fourth axis d, and the fourth joint module 41 can drive the third joint mechanism 3, the second joint mechanism 2, the first joint mechanism 1 and the calf mechanism 5 to rotate around the fourth axis d; wherein the seventh hole 322 is arranged at one end of the third connecting bracket 32 ​​close to the fourth joint module 41, the eighth hole 412 is arranged in the fourth joint module 41, the axis of the eighth hole 412 does not intersect or overlap with the fourth axis d, and the seventh hole 32 2 is in the same direction as the axis of the eighth hole 412. Specifically, the eighth hole 412 is arranged on the fourth joint module 41, and the direction of the axis of the eighth hole 412 is in the same direction as the direction of the fourth axis d. The axis of the eighth hole 412 does not coincide with the fourth axis d. Therefore, when the fourth joint module 41 drives the third connecting bracket 32 ​​to rotate around the fourth axis d, only when the output end of the fourth joint module 41 is in the zero position state, the seventh hole 322 and the eighth hole 412 will be in a concentric relationship, thereby ensuring that the position of the output end of the fourth joint module 41 when it is in the zero position state is unique.

[0120] In the present application, the lower limb structure 100 adopts a modular design, and the lower limb structure 100 is decomposed into a first joint mechanism 1, a second joint mechanism 2, a third joint mechanism 3, a fourth joint mechanism 4 and a calf mechanism 5 to simplify the structure of the lower limb structure 100; and in the first joint module 11, the second joint module 21, the third joint module 31 and the fourth joint module 41, each joint module can realize one degree of freedom of movement. While the structure of the lower limb structure 100 is simplified, the multi-degree-of-freedom movement of the lower limb structure 100 can still be guaranteed.

[0121] The lower leg mechanism 5 is connected to the first joint mechanism 1 to form a first structural segment, the first structural segment is connected to the second joint mechanism 2 to form a second structural segment, the second structural segment is connected to the third joint mechanism 3 to form a third structural segment, and the third structural segment is connected to the fourth joint mechanism 4 to form a lower limb structure 100. The first structural segment, the second structural segment and the third structural segment are only used to explain the multi-degree-of-freedom movement of the lower limb structure 100.

[0122] by Figure 2The state of the lower limb structure 100 in FIG. Figure 2 and Figure 3 As shown, the direction of the fourth axis d is the same as the Y direction, and the fourth joint module 41 can drive the third structure segment to swing forward and backward; the direction of the third axis c is the same as the X direction, and the third joint module 31 can drive the second structure segment to swing left and right; the direction of the second axis b is the same as the Z direction, and the second joint module 21 can drive the first structure segment to rotate around the axis of the Z direction; the direction of the first axis a is the same as the Y direction, and the first joint module 11 can drive the calf mechanism 5 to swing forward and backward; therefore, the lower limb structure 100 can realize multi-degree-of-freedom movement through the fourth joint module 41, the third joint module 31, the second joint module 21 and the first joint module 11, and each joint module can realize one degree of freedom movement, and the joint movements of the lower limb structure 100 are decoupled from each other and do not interfere with each other, thereby improving the flexibility of the lower limb structure 100.

[0123] In an optional implementation, the first joint module 11 , the second joint module 21 , the third joint module 31 and the fourth joint module 41 have the same structure.

[0124] Among them, the first joint module 11, the second joint module 21, the third joint module 31 and the fourth joint module 41 have the same structure. It can be understood that the first joint module 11, the second joint module 21, the third joint module 31 and the fourth joint module 41 use joint modules of the same specification, thereby reducing the number of specifications of core modules in the lower limb structure 100 and facilitating the maintenance, replacement and installation of the lower limb structure 100.

[0125] In an alternative embodiment, Figure 1 and Fig. 9 As shown, the fourth joint mechanism 4 also includes a first cross roller bearing, and the first cross roller bearing connects the fourth joint module 41 and the third connecting bracket 32. Among them, the fourth joint mechanism 4 and the third joint mechanism 3 are supported by a single cantilever, so the fourth joint module 41 and the third connecting bracket 32 ​​are connected by the first cross roller bearing, which can improve the connection stability between the fourth joint mechanism 4 and the third joint mechanism 3, can ensure the reliability of load-bearing, and can make the structure of the lower limb structure 100 more compact.

[0126] In an alternative embodiment, Fig. 9As shown, a first limit block 411 is provided on the outer wall of the fourth joint module 41, an eighth hole 412 is provided on the first limit block 411, a third connecting bracket 32 ​​is provided on the seventh hole 322, and the third connecting bracket 32 ​​is connected to the output end of the fourth joint module 41 through a first cross roller bearing, so that the seventh hole 322 and the eighth hole 412 can rotate relative to each other, and when the seventh hole 322 and the eighth hole 412 are concentric, it means that the output end of the fourth joint module 41 is in a zero position state. In this embodiment, the positional relationship between the seventh hole 322 and the eighth hole 412 can be adjusted by rotating the third connecting bracket 32, and the adjustment method is relatively simple.

[0127] In an optional implementation, the third connecting bracket 32 ​​includes a first accommodating cavity 321 , and the third joint module 31 is disposed in the first accommodating cavity 321 .

[0128] like Figure 7 and Figure 8 As shown, one end of the third connecting bracket 32 ​​is connected to the first cross roller bearing, and the other end of the third connecting bracket 32 ​​is formed with a first accommodating cavity 321. The third joint module 31 is arranged in the first accommodating cavity 321, which can not only ensure the structural rigidity of the third joint module 31 after installation, but also make the structure of the lower limb structure 100 more compact.

[0129] In an optional embodiment, the third joint module 31 also includes a first connection end 311, which is located on the side opposite to the output end of the third joint module 31; the second connecting bracket 22 includes a first support portion 221, a second support portion 222 and a first rotating member 223, one end of the first support portion 221 is connected to the output end of the third joint module 31, the other end of the first support portion 221 is connected to the second joint module 21, one end of the second support portion 222 is rotatably connected to the first connection end 311 through the first rotating member 223, and the other end of the second support portion 222 is connected to the second joint module 21.

[0130] like Figure 6As shown, the second connecting bracket 22 includes a first supporting portion 221, a second supporting portion 222 and a first rotating member 223; the first supporting portion 221 includes a first mounting end and a second mounting end, the first mounting end is connected to the output end of the third joint module 31, and the second mounting end is connected to the second joint module 21; the second supporting portion 222 includes a third mounting end and a fourth mounting end, the third mounting end is rotatably connected to the first connecting end 311 through the first rotating member 223, and the fourth mounting end is connected to the second joint module 21, so the third joint module 31 can drive the second connecting bracket 22 to rotate around the axis of the output end of the third joint module 31, and at the same time drive the second joint module 21 to rotate.

[0131] In this embodiment, the second connecting bracket 22 needs to support the first joint mechanism 1 and the calf mechanism 5 connected to the second joint mechanism 2, and the second joint mechanism 2 has changed direction relative to the third joint mechanism 3. Therefore, through the double support structure of the second connecting bracket 22, the bearing rigidity of the overall structure of the lower limb structure 100 is more reliable, and the output end of the third joint module 31 only needs to be supported by the output bearing in the third joint module 31, and does not need to be supported by a cross roller bearing, thereby reducing the structural volume and overall weight.

[0132] In an alternative embodiment, Figure 6 and Figure 7 The fifth hole 224 is provided on the first support portion 221 or the second support portion 222, and the sixth hole 312 is provided on the third connection bracket 32. The sixth hole 312 faces the first support portion 221 or the second support portion 222, and the sixth hole 312 does not rotate together with the output end of the third joint module 31; therefore, the third joint module 31 drives the second connection bracket 22 to rotate, and relative rotation occurs between the fifth hole 224 and the sixth hole 312. When the fifth hole 224 is concentric with the sixth hole 312, it indicates that the output end of the third joint module 31 is in a zero position state. In this embodiment, the positional relationship between the fifth hole 224 and the sixth hole 312 can be adjusted by simply rotating the second connection bracket 22, and the adjustment method is relatively simple.

[0133] In an alternative embodiment, Figure 6 As shown, the second joint mechanism 2 also includes a second cross roller bearing, and the second cross roller bearing connects the second joint module 21 and the first connecting bracket 12. The second joint mechanism 2 and the first joint mechanism 1 are supported by a single cantilever, so the second joint module 21 and the first connecting bracket 12 are connected by the second cross roller bearing, which can improve the connection stability between the second joint mechanism 2 and the first joint mechanism 1, ensure the reliability of the load, and make the structure of the lower limb structure 100 more compact.

[0134] In an alternative embodiment, Figure 6 As shown, a second limit block 211 is provided on the outer wall of the second joint module 21, a fourth hole 212 is provided on the second limit block 211, a third hole 122 is provided on the first connecting bracket 12, and the first connecting bracket 12 is connected to the output end of the second joint module 21 through a second cross roller bearing, so that the third hole 122 and the fourth hole 212 can rotate relative to each other, and when the third hole 122 and the fourth hole 212 are concentric, it indicates that the output end of the second joint module 21 is in a zero position state. In this embodiment, the positional relationship between the third hole 122 and the fourth hole 212 can be adjusted by rotating the first connecting bracket 12, and the adjustment method is relatively simple.

[0135] In an optional implementation, the first connecting bracket 12 includes a second accommodating cavity 121 , and the first joint module 11 is disposed in the second accommodating cavity 121 .

[0136] like Figure 5 As shown, one end of the first connecting bracket 12 is connected to the second cross roller bearing, and the other end of the first connecting bracket 12 is formed with a second accommodating cavity 121. The first joint module 11 is arranged in the second accommodating cavity 121, which can not only ensure the structural rigidity of the first joint module 11 after installation, but also make the structure of the lower limb structure 100 more compact.

[0137] In an optional embodiment, the first joint module 11 also includes a second connection end 111, which is located on a side opposite to the output end of the first joint module 11; the calf mechanism 5 includes a third support portion 571, a fourth support portion 572 and a second rotating member 573, the third support portion 571 is connected to the output end of the first joint module 11, and the fourth support portion 572 is rotatably connected to the second connection end 111 through the second rotating member 573.

[0138] like Fig.10 As shown, the connecting component 57 includes a third support portion 571, a fourth support portion 572 and a second rotating member 573; the third support portion 571 is connected to the output end of the first joint module 11, and the fourth support portion 572 is connected to the second connecting end 111 through the second rotating member 573, so the first joint module 11 can drive the calf mechanism 5 to rotate around the axis of the output end of the first joint module 11.

[0139] In this embodiment, the third support portion 571 and the fourth support portion 572 need to support the calf mechanism 5, so a double support structure is formed by the third support portion 571 and the fourth support portion 572, so that the load-bearing rigidity of the calf mechanism 5 is more reliable, and the output end of the first joint module 11 only needs to be supported by the output bearing in the first joint module 11, and does not need to be supported by a cross roller bearing, thereby reducing the structural volume and overall weight.

[0140] In an alternative embodiment, Fig.10 As shown, the second hole 574 is provided on the third support portion 571 or the fourth support portion 572, the first hole 112 is provided on the first connecting bracket 12, the first hole 112 faces the third support portion 571 or the fourth support portion 572, and the first hole 112 does not rotate with the output end of the first joint module 11; therefore, the first joint module 11 drives the connecting component 57 to rotate, and relative rotation occurs between the first hole 112 and the second hole 574. When the first hole 112 is concentric with the second hole 574, it indicates that the output end of the first joint module 11 is in a zero position state. In this embodiment, the positional relationship between the first hole 112 and the second hole 574 can be adjusted by simply rotating the connecting component 57, and the adjustment method is relatively simple.

[0141] In an optional embodiment, the outer walls of the fourth joint module 41, the third joint module 31, the second joint module 21 and the first joint module 11 are all provided with heat sinks 6. The joint module has its own heat sink 6, which can ensure the heat dissipation effect of the joint module when working within a limited size and weight, and does not need to set up an additional heat dissipation mechanism in the lower limb structure 100, so that the structure of the lower limb structure 100 can be made more compact.

[0142] In an optional implementation, the first joint module 11 , the second joint module 21 , the third joint module 31 and the fourth joint module 41 all include a mounting member 7 , and a radial cross-section of the mounting member 7 is an octagon.

[0143] like Figure 6 As shown, the above-mentioned joint module includes a mounting member 7, and the radial cross-section of the mounting member 7 is an octagon. When the connecting bracket is connected to the mounting member 7, it is only necessary to set the connecting end of the connecting bracket to be an octagon. As long as the edges are aligned, the positioning function can be achieved. There is no need to set an additional positioning part, and the connecting bracket and the mounting member 7 can be accurately installed together, thereby simplifying the design complexity of the lower limb structure 100. The joint module itself can also play the role of supporting the load-bearing part, which can reduce the weight of the lower limb structure 100.

[0144] In an optional embodiment, the calf mechanism 5 includes a connecting component 57, which is connected to the output end of the first joint module 11, and the second hole 574 is arranged on the connecting component 57; wherein, the first joint module 11 drives the connecting component 57 to rotate around the first axis a, thereby driving the calf mechanism 5 to rotate as a whole; and the second hole 574 is arranged on the connecting component 57, thereby ensuring that the second hole 574 and the first hole 112 are concentric.

[0145] In an optional embodiment, the calf mechanism 5 also includes a plantar component 51, a rotating component 52, a skeleton component 53, a fifth joint module 54, a connecting rod component 56 and a sixth joint module 55; the rotating component 52 is rotatably connected to the plantar component 51, and the rotating component 52 rotates relative to the plantar component 51 around the axis of the X direction; one end of the skeleton component 53 is rotatably connected to the rotating component 52, and the other end of the skeleton component 53 is connected to the connecting component 57; the fifth joint module 54 is arranged on the skeleton component 53; one end of the connecting rod component 56 is rotatably connected to the plantar component 51 through a first joint bearing F, and the other end of the connecting rod component 56 is connected to the output end of the first joint module 11, and the first joint module 11 can drive the connecting rod component 56 to move along the Z direction; the output end of the sixth joint module 55 is connected to the rotating component 52, and the sixth joint module 55 can drive the rotating component 52 to rotate around the axis of the X direction.

[0146] like Figure 10-Figure 17 As shown, the calf mechanism 5 includes a sole assembly 51 , a rotation assembly 52 , a skeleton assembly 53 , a fifth joint module 54 , a connecting rod assembly 56 and a sixth joint module 55 .

[0147] Among them, the rotating component 52 is arranged on the sole component 51, and the rotating component 52 can rotate around the axis of the X direction relative to the sole component 51; the skeleton component 53 is rotatably connected with the rotating component 52, and the skeleton component 53 can rotate around the axis of the Y direction relative to the rotating component 52; the fifth joint module 54 is arranged on the skeleton component 53, one end of the connecting rod assembly 56 is connected to the output end of the fifth joint module 54, and the other end of the connecting rod assembly 56 is connected to the sole component 51 through the first joint bearing F; the output end of the sixth joint module 55 is connected to the rotating component 52.

[0148] Specifically, when the fifth joint module 54 drives the connecting rod assembly 56 to move along the Z direction, that is, the connecting rod assembly 56 will move up and down in the Z direction, the sole assembly 51 takes the first joint bearing F as the action point, and the sole assembly 51 and the skeleton assembly 53 will swing up and down; the output end of the sixth joint module 55 is connected to the rotating assembly 52. ​​Since the skeleton assembly 53 is rotatably connected to the rotating assembly 52, when the sixth joint module 55 drives the rotating assembly 52 to rotate around the axis of the X direction, the skeleton assembly 53 and the sole assembly 51 will swing left and right.

[0149] Therefore, the calf mechanism 5 of the present application, the fifth joint module 54 can make the plantar component 51 and the skeleton component 53 swing up and down, and the sixth joint module 55 can make the plantar component 51 and the skeleton component 53 swing left and right. Therefore, the joint movements between the plantar component 51 and the skeleton component 53 are decoupled from each other and do not interfere with each other, and the flexibility of the calf mechanism 5 is higher; the loss of the fifth joint module 54 and the sixth joint module 55 is smaller, thereby extending the service life of the fifth joint module 54 and the sixth joint module 55.

[0150] In an optional implementation, the axis of the output end of the sixth joint module 55 intersects with the center of the first joint bearing F in the X direction.

[0151] like Figure 10-Figure 17 As shown, the axis of the output end of the sixth joint module 55 extends in the X direction and intersects with the center of the first joint bearing F. When the sixth joint module 55 drives the skeleton assembly 53 and the sole assembly 51 to swing left and right, the sole assembly 51 will swing left and right relative to the connecting rod assembly 56 through the first joint bearing F. When the axis of the output end of the sixth joint module 55 intersects with the center of the first joint bearing F, it can avoid the phenomenon of jamming when the connecting rod assembly 56 swings left and right relative to the sole assembly 51, thereby improving the smoothness of the left and right swing between the skeleton assembly 53 and the sole assembly 51.

[0152] In an optional embodiment, the connecting rod assembly 56 includes a swing arm 561 and a connecting rod 562, the swing arm 561 includes a third connecting end 5611 and a fourth connecting end 5612, the third connecting end 5611 is connected to the output end of the fifth joint module 54; the connecting rod 562 includes a fifth connecting end 5621 and a sixth connecting end 5622, the fourth connecting end 5612 is connected to the fifth connecting end 5621 through a first bearing A, and the sixth connecting end 5622 is connected to the sole assembly 51 through the first joint bearing F.

[0153] As shown in 12, the connecting rod assembly 56 includes a swing arm 561 and a connecting rod 562; wherein the swing arm 561 includes a third connecting end 5611 and a fourth connecting end 5612, the third connecting end 5611 and the fourth connecting end 5612 are respectively located at two ends of the swing arm 561, the third connecting end 5611 is connected to the output end of the fifth joint module 54, the output end of the fifth joint module 54 can rotate around its own axis, and the axis direction of the output end of the fifth joint module 54 is the same as the Y direction, so the fifth joint module 54 can drive the fourth connecting end 5612 Rotating around the axis of the Y direction, it can be understood that the fourth connection end 5612 can move up and down in the Z direction; the connecting rod 562 includes a fifth connection end 5621 and a sixth connection end 5622, and the fifth connection end 5621 and the sixth connection end 5622 are respectively located at the two ends of the connecting rod 562, and the fifth connection end 5621 is rotatably connected to the fourth connection end 5612 through the first bearing A, and the sixth connection end 5622 is connected to the sole assembly 51 through the first joint bearing F, and the sixth connection end 5622 and the sole assembly 51 can realize multi-directional swinging.

[0154] Specifically, the fifth joint module 54 drives the fourth connection end 5612 to rotate around the axis of the Y direction, and the fifth connection end 5621 connected to the fourth connection end 5612 will move up and down in the Z direction accordingly. At the same time, the skeleton assembly 53 will rotate around the axis of the Y direction relative to the rotating assembly 52, thereby enabling the skeleton assembly 53 and the sole assembly 51 to swing up and down.

[0155] In a specific implementation, the first bearing A is a deep groove ball bearing.

[0156] In another specific embodiment, the first bearing A is a second joint bearing, and multi-directional rotation can be achieved between the fourth connecting end 5612 and the fifth connecting end 5621, thereby improving the smoothness of the swinging between the skeleton component 53 and the sole component 51.

[0157] In an optional embodiment, the skeleton assembly 53 is provided with a first limiting portion 533 and a second limiting portion 534 , the first limiting portion 533 and the second limiting portion 534 are spaced apart along the Z direction, and the swing arm 561 rotates between the first limiting portion 533 and the second limiting portion 534 .

[0158] like Fig.11As shown, the skeleton component 53 is provided with a first limiting portion 533 and a second limiting portion 534, and the first limiting portion 533 and the second limiting portion 534 are located on the side wall of the skeleton component 53, and the first limiting portion 533 and the second limiting portion 534 are spaced apart in the Z direction, and the output end of the fifth joint module 54 is located between the first limiting portion 533 and the second limiting portion 534; when the fifth joint module 54 drives the swing arm 561 to rotate, the first limiting portion 533 and the second limiting portion 534 can limit the maximum rotation angle of the swing arm 561 to avoid interference between the sole component 51 and the skeleton component 53 caused by excessive swinging angle of the swing arm 561.

[0159] In an optional implementation manner, the skeleton component 53 is provided with an avoidance groove 535 , the avoidance groove 535 is recessed toward the X direction, and the avoidance groove 535 is used to avoid the first bearing A.

[0160] like Fig.11 As shown, the skeleton component 53 is provided with an avoidance groove 535, and the depth direction of the avoidance groove 535 is the X direction. In other words, the avoidance groove 535 is recessed in the X direction on the skeleton component 53. When the fifth joint module 54 drives the swing arm 561 to rotate, since the fourth connection end 5612 rotates around the axis in the Y direction, the fourth connection end 5612 will not only move upward in the Z direction, but also move in the X direction toward the skeleton component 53, so the avoidance groove 535 is provided on the skeleton component 53. When the swing arm 561 swings to the first limit portion 533, that is, when the swing arm 561 swings to the maximum angle, the first joint bearing F is located in the avoidance groove 535, which can prevent the skeleton component 53 from blocking the first joint bearing F from swinging with the swing arm 561.

[0161] In an optional embodiment, the rotating assembly 52 includes a first connecting shaft 521 and a second connecting shaft 522, the first connecting shaft 521 is concentric with the second connecting shaft 522 and is symmetrically arranged relative to the axis of the X direction; the skeleton assembly 53 includes a first connecting portion 531 and a second connecting portion 532, the first connecting portion 531 is connected to the first connecting shaft 521 through a second bearing B, and the second connecting portion 532 is connected to the second connecting shaft 522 through a third bearing C.

[0162] As shown in FIG13 , the rotating assembly 52 includes a first connecting shaft 521 and a second connecting shaft 522. The first connecting shaft 521 and the second connecting shaft 522 are symmetrically arranged relative to the axis of the X direction, which can also be understood as the first connecting shaft 521 and the second connecting shaft 522 are spaced apart in the Y direction, and the first connecting shaft 521 and the second connecting shaft 522 are arranged such that the direction of the axis of the first connecting shaft 521 and the direction of the axis of the second connecting shaft 522 are the same as the Y direction.

[0163] Further explanation, such as Fig.12 As shown, the skeleton component 53 includes a first connection part 531 and a second connection part 532, and the first connection part 531 and the second connection part 532 are spaced apart in the Y direction. The first connection part 531 is rotationally connected to the first connection shaft 521 through the second bearing B, that is, the inner ring of the second bearing B is connected to the first connection shaft 521, and the outer ring of the second bearing B is connected to the first connection part 531. The second connection part 532 is rotationally connected to the second connection shaft 522 through the third bearing C, that is, the inner ring of the third bearing C is connected to the second connection shaft 522, and the outer ring of the third bearing C is connected to the second connection part 532. In this embodiment, the skeleton component 53 can be rotationally connected to the rotating component 52, and the rotation stability between the skeleton component 53 and the rotating component 52 can be ensured.

[0164] In an optional embodiment, the first connecting portion 531 is provided with a ninth hole 536, the rotating component 52 is provided with a tenth hole 525, the ninth hole 536 is coaxial with the tenth hole 525, and the output end of the fifth joint module 54 is in the zero position state; or the second connecting portion 532 is provided with a ninth hole 536, the rotating component 52 is provided with a tenth hole 525, the ninth hole 536 is coaxial with the tenth hole 525, and the output end of the fifth joint module 54 is in the zero position state.

[0165] like Fig.12 and Fig.16 As shown, the ninth hole 536 is provided on the first connection part 531 or the second connection part 532, and the tenth hole 525 is provided on the rotating assembly 52, and the axis direction of the ninth hole 536 is the same as the axis direction of the tenth hole 525. Since the fifth joint module 54 can drive the skeleton assembly 53 to rotate around the fifth axis e through the connecting rod assembly 56; therefore, when the fifth joint module 54 drives the skeleton assembly 53 to rotate through the connecting assembly 57, the skeleton assembly 53 will rotate relative to the rotating assembly 52, and when the ninth hole 536 is concentric with the tenth hole 525, it means that the output end of the fifth joint module 54 is in a zero position state. In this embodiment, the positional relationship between the ninth hole 536 and the tenth hole 525 can be adjusted by rotating the skeleton assembly 53, and the adjustment method is relatively simple.

[0166] In an optional embodiment, the rotating component 52 also includes a third connecting shaft 523 and a fourth connecting shaft 524, the third connecting shaft 523 is concentric with the fourth connecting shaft 524 and is symmetrically arranged relative to the axis of the Y direction; the sole component 51 includes a fixed plate 511, and the fixed plate 511 is provided with a first mounting seat 512 and a second mounting seat 513, the first mounting seat 512 and the second mounting seat 513 are spaced apart along the X direction, the third connecting shaft 523 is connected to the first mounting seat 512 through a fourth bearing D, the fourth connecting shaft 524 is connected to the second mounting seat 513 through a fifth bearing E, and the fourth connecting shaft 524 is connected to the output end of the sixth joint module 55.

[0167] like Fig.15 and Fig.16 As shown, the sole assembly 51 includes a fixing plate 511, a first mounting seat 512 and a second mounting seat 513 are provided on the fixing plate 511, a first mounting hole is provided on the first mounting seat 512, and a third connecting shaft 523 is rotatably connected to the first mounting hole through a fourth bearing D, that is, the inner ring of the fourth bearing D is connected to the third connecting shaft 523, and the outer ring of the fourth bearing D is embedded in the first mounting hole; the second mounting seat 513 is provided with a second mounting hole, and the fourth connecting shaft 524 is rotatably connected to the second mounting hole through a fifth bearing E, that is, the inner ring of the fifth bearing E is connected to the fourth connecting shaft 524, and the outer ring of the fifth bearing E is embedded in the second mounting hole; the output end of the sixth joint module 55 is connected to the fourth connecting shaft 524, and the sixth joint module 55 can drive the fourth connecting shaft 524 to rotate around the axis of the X direction, thereby realizing the left and right swing between the skeleton assembly 53 and the sole assembly 51. In this embodiment, the sole assembly 51 is rotatably connected to the rotating assembly 52, which can ensure the rotation stability between the rotating assembly 52 and the sole assembly 51.

[0168] To further illustrate, the sixth joint module 55 is arranged on the second mounting seat 513, so the second mounting seat 513 provides a mounting position for the sixth joint module 55 to improve the mounting stability of the sixth joint module 55 and can make the structure of the calf mechanism 5 more compact.

[0169] In an optional embodiment, the first mounting seat 512 is provided with an eleventh hole 517, the rotating assembly 52 is provided with a twelfth hole 526, the eleventh hole is coaxial with the twelfth hole 526, and the output end of the sixth joint module 55 is in the zero position state; or the second mounting seat 513 is provided with an eleventh hole 517, the rotating assembly 52 is provided with a twelfth hole 526, the eleventh hole is coaxial with the twelfth hole 526, and the output end of the sixth joint module 55 is in the zero position state.

[0170] like Fig.11 and Fig.16 As shown, the eleventh hole 517 is provided in the first mounting seat 512 or the second mounting seat 513, and the twelfth hole 526 is provided on the rotating assembly 52, and the direction of the axis of the eleventh hole 517 is the same as the axis direction of the twelfth hole 526, and the axis of the tenth hole 525 intersects with the axis of the twelfth hole 526. Since the output end of the sixth joint module 55 is connected with the rotating assembly 52, the sixth joint module 55 can drive the rotating assembly 52 to rotate around the sixth axis f; Therefore, when the sixth joint module 55 drives the rotating assembly 52 to rotate, when the eleventh hole 517 is concentric with the twelfth hole 526, it is explained that the output end of the sixth joint module 55 is in a zero position state. In this embodiment, it is only necessary to rotate the rotating assembly 52 to adjust the positional relationship between the eleventh hole 517 and the twelfth hole 526, and its adjustment method is relatively simple.

[0171] In an optional embodiment, the sole assembly 51 also includes a third mounting seat 514, and the third mounting seat 514 is arranged on the fixed plate 511. The third mounting seat 514 and the first mounting seat 512 are spaced apart along the X direction, and the first mounting seat 512 is located between the second mounting seat 513 and the third mounting seat 514. The connecting rod assembly 56 is connected to the third mounting seat 514 through the first joint bearing F.

[0172] As shown in FIG. 14 , the sole assembly 51 further includes a third mounting seat 514 , which is disposed on the fixing plate 511 , and the third mounting seats 514 and 514 are spaced apart in the X direction, and the first mounting seat 512 is located between the second mounting seat 513 and the third mounting seat 514 .

[0173] Specifically, the third mounting seat 514 includes a first mounting plate 5141 and a second mounting plate 5142, which are spaced apart in the Y direction, and a receiving cavity is formed between the first mounting plate 5141 and the second mounting plate 5142, and a first joint bearing F is disposed in the receiving cavity, and the first joint bearing F is connected to the first mounting plate 5141 and the second mounting plate 5142 through a pin; the sixth connecting end 5622 of the connecting rod 562 is rotatably connected to the first joint bearing F, thereby realizing the rotatable connection between the connecting rod assembly 56 and the sole assembly 51. In this embodiment, the rotational stability of the connecting rod assembly 56 and the sole assembly 51 can be ensured.

[0174] In an optional embodiment, the sole assembly 51 includes a forefoot 515 and a rear sole 516, the forefoot 515 is at least partially disposed on a side of the fixed plate 511 away from the rotating assembly 52, and the rear sole 516 is at least partially disposed on a side of the fixed plate 511 away from the rotating assembly 52, and the forefoot 515 and the rear sole 516 are spaced apart along the X direction; the forefoot 515 is made of a flexible material, and the rear sole 516 is made of a flexible material.

[0175] like Fig.15 As shown, the sole assembly 51 also includes a forefoot 515 and a rearfoot 516 .

[0176] Specifically, the side of the fixed plate 511 facing away from the rotating component 52 is the side in contact with the ground; the forefoot 515 is at least partially arranged on the side of the fixed plate 511 facing away from the rotating component 52, and the rear sole 516 is at least partially arranged on the side of the fixed plate 511 facing away from the rotating component 52. The forefoot 515 and the rear sole 516 are arranged at intervals in the X direction. It can be understood that the forefoot 515 and the rear sole 516 are arranged on the side of the fixed plate 511 in contact with the ground. When the sole assembly 51 is in contact with the ground, the forefoot 515 and the rear sole 516 are in contact with the ground.

[0177] To further illustrate, the forefoot 515 is made of a flexible material, and the rear foot 516 is made of a flexible material; when the sole assembly 51 swings up and down or left and right, the forefoot 515 and the rear foot 516 are both made of flexible materials, which can enable the sole assembly 51 to adapt to the deformation of the ground, so that the robot has a better gait when walking.

[0178] The flexible material may be a rubber material or a foam material.

[0179] In a specific implementation, the fixing plate 511 is made of metal, which has high structural strength and can support the skeleton assembly 53 .

[0180] like Fig.18 and Fig.19 As shown, according to the second aspect of the embodiment of the present application, a lower limb system 200 is provided, including a waist mechanism 300 and two lower limb structures 100; the waist mechanism 300 includes a first mounting portion 300a and a second mounting portion 300b, and the first mounting portion 300a and the second mounting portion 300b are symmetrically arranged; the two lower limb structures 100 are respectively a left lower limb structure 100a and a right lower limb structure 100b, the left lower limb structure 100a is connected to the first mounting portion 300a, and the right lower limb structure 100b is connected to the second mounting portion 300b.

[0181] like Fig.18 and Fig.19As shown, the lower limb system 200 includes a waist mechanism 300, a left lower limb structure 100a, and a right lower limb structure 100b.

[0182] Among them, the waist mechanism 300 includes a first mounting part 300a and a second mounting part 300b, and the first mounting part 300a and the second mounting part 300b are symmetrically arranged. The fourth joint mechanism 4 of the left lower limb structure 100a is arranged on the first mounting part 300a, and the fourth joint mechanism 4 of the right lower limb structure 100b is arranged on the second mounting part 300b; in the lower limb system 200, the left lower limb structure 100a and the right lower limb structure 100b are in a symmetrical relationship, and both the left lower limb structure 100a and the right lower limb structure 100b can use the above-mentioned lower limb structure 100, thereby reducing the types of parts of the lower limb system 200 and further simplifying the structural complexity of the lower limb system 200.

[0183] According to a third aspect of the embodiment of the present application, a calibration method is provided for performing zero position calibration on the above-mentioned lower limb structure 100, characterized in that the calibration method comprises:

[0184] By driving the lower leg mechanism 5 to rotate around the first axis a, the first hole 112 and the second hole 574 are made coaxial, and the calibration tool 400 is inserted into the first hole 112 and the second hole 574;

[0185] By driving the first joint mechanism 1 to rotate around the second axis b, the third hole 122 and the fourth hole 212 are made coaxial, and the calibration tool 400 is inserted into the third hole 122 and the fourth hole 212;

[0186] By driving the second joint mechanism 2 to rotate around the third axis c, the fifth hole 224 and the sixth hole 312 are made coaxial, and the calibration tool 400 is inserted into the fifth hole 224 and the sixth hole 312;

[0187] By driving the third joint mechanism 3 to rotate around the fourth axis d, the seventh hole 322 and the eighth hole 412 are made coaxial, and the calibration tool 400 is inserted into the seventh hole 322 and the eighth hole 412;

[0188] By driving the skeleton assembly 53 to rotate around the fifth axis e, the ninth hole 536 and the tenth hole 525 are made coaxial, and the calibration tool 400 is inserted into the ninth hole 536 and the tenth hole 525;

[0189] The rotating assembly 52 is driven to rotate around the sixth axis f so that the eleventh hole 517 and the twelfth hole 526 are coaxial, and the calibration tool 400 is inserted into the eleventh hole 517 and the twelfth hole 526 .

[0190] It is further explained that in the calibration method, the above steps do not need to be performed in sequence, and each step is independent.

[0191] According to the fourth aspect of the embodiment of the present application, a calibration tool 400 is provided for implementing the above-mentioned calibration method, wherein the calibration tool 400 includes a limit rod 401 and an operating handle 403; the limit rod 401 includes a first end and a second end 402, and the second end 402 is rounded; the first end is connected to the operating handle 403.

[0192] like Fig. 20 As shown, the calibration tool 400 includes a limit rod 401 and an operating handle 403 ; wherein the limit rod 401 is used to be inserted into the zero hole to perform zero position calibration on the lower limb structure 100 .

[0193] Further description, the limit rod 401 includes a first end and a second end 402, which are respectively located at the two ends of the limit rod 401, and the first end is connected to the operating handle 403, and the second end 402 is rounded to facilitate insertion into the zeroing hole without scratching the lower limb structure 100.

[0194] Among them, the zeroing holes refer to the first hole 112, the second hole 574, the third hole 122, the fourth hole 212, the fifth hole 224, the sixth hole 312, the seventh hole 322, the eighth hole 412, the ninth hole 536, the tenth hole 525, the eleventh hole 517 and the twelfth hole 526.

[0195] According to a fifth aspect of an embodiment of the present application, a detection tool 500 is provided for detecting the zero position state of the above-mentioned lower limb system 200, the detection tool 500 includes a first component 501 and a second component 502, the first component 501 includes a first end face 5011, the first end face 5011 is used to abut against the waist mechanism 300, the first component 501 is provided with a first through hole 5012 and a second through hole 5013, the first through hole 5012 passes through the first end face 5011, and the second through hole 5013 passes through the first end face 5011; the second component 502 includes two accommodating areas 5021, the two accommodating areas 5021 are arranged at intervals, the first component 5021 is located between the two accommodating areas 5021, and the accommodating area 5021 is used to accommodate the sole component 51.

[0196] like Fig.21As shown, the detection tooling 500 includes a first component 501 and a second component 502; wherein, the first component 501 includes a first end face 5011, and the first end face 5011 is used to abut against the waist mechanism 300; specifically, the waist mechanism 300 includes a third mounting portion, and the third mounting portion includes a fourth end face 300c, and the first end face 5011 abuts against the fourth end face 300c; a first through hole 5012 and a second through hole 5013 are provided on the first component 501, and the first through hole 5012 passes through the first end face 5011, and the second through hole 5013 also passes through the first end face 5011, so when the first end face 5011 abuts against the fourth end face 300c, the screw passes through the second through hole 5013 to connect with the waist mechanism 300, and the pin passes through the second through hole 5013 to connect with the waist mechanism 300.

[0197] Further description, the second component 502 includes two accommodating areas 5021, the two accommodating areas 5021 are arranged at intervals, the side of the first component 501 away from the first end face 5011 is connected to the second component 502, and the first component 501 is located between the two accommodating areas 5021; the detection tooling 500 of the present application can be quickly installed on the lower limb system 200, can simplify the detection process, and is suitable for complex multi-degree-of-freedom lower limb systems 200.

[0198] like Fig.21 As shown, the detection tool 500 is installed in the lower limb system 200 to detect whether the lower limb structure 100 is in a zero-position state. Specifically, the first component 501 is connected to the waist mechanism 300. If the sole component 51 of one of the lower limb structures 100 falls into one of the accommodating areas 5021, and the sole component 51 of the other lower limb structure 100 falls into the other accommodating area 5021, it means that the lower limb structure 100 is in a zero-position state; if the sole component 51 of the lower limb structure 100 is not dragged into the accommodating area 5021, it means that the lower limb structure 100 is not in a zero-position state; the detection tool 500 is used to provide a clear zero-position reference for the lower limb system 200 to avoid error accumulation.

[0199] In an optional embodiment, the accommodating area 5021 includes a second end face 5022 and a third end face 5023, and the third end face 5023 is arranged around the periphery of the second end face 5022, the second end face 5022 is used to contact the bottom surface of the sole component 51, and the third end face 5023 is used to contact the outer peripheral surface of the sole component 51.

[0200] To further explain, the foot sole component 51 falling into the accommodating area 5021 means that the bottom surface of the foot sole component 51 contacts the second end surface 5022 , and the outer peripheral surface of the foot sole component 51 contacts the third end surface 5023 .

[0201] When the lower limb structure 100 is in a zero position, the fourth end surface 300 c is perpendicular to the bottom surface of the sole component 51 .

[0202] Therefore, the axis of the first through hole 5012 is perpendicular to the first end face 5011; the axis of the first through hole 5012 is parallel to the second end face 5022; the first end face 5011 is perpendicular to the second end face 5022. The positional relationship between the axis of the first through hole 5012, the first end face 5011 and the second end face 5022 can ensure the detection accuracy of the detection tool 500.

[0203] To further illustrate, through the distance between the axis of the first through hole 5012 and the second end surface 5022, it is possible to detect whether the height of the lower limb system 200 in the Z direction meets the standard.

[0204] To further illustrate, the accuracy of the first through hole 5012 is greater than the accuracy of the second through hole 5013 , so the second through hole 5013 is used to install bolts, and the first through hole 5012 is used to install pins, so as to install the detection tooling 500 and the lower limb system 200 .

[0205] According to a sixth aspect of the embodiments of the present application, a robot is provided, comprising the above-mentioned lower limb structure 100; or the above-mentioned lower limb system 200.

[0206] Although some specific embodiments of the present application have been described in detail by way of example, it should be understood by those skilled in the art that the above examples are only for illustration, not for limiting the scope of the present application. It should be understood by those skilled in the art that the above embodiments may be modified without departing from the scope and spirit of the present application. The scope of the present application is defined by the appended claims.

Claims

1. A lower limb structure, characterized in that: include: A driving module, wherein the driving module is provided with a first hole; A calf mechanism, the calf mechanism is connected to the output end of the driving module, the driving module can drive the calf mechanism to rotate along an axis in a preset direction, and the calf mechanism is provided with a second hole; When the first hole is coaxial with the second hole, the output end of the driving module is in a zero position state.

2. The lower limb structure according to claim 1, characterized in that: The driving module includes a first joint mechanism and a second joint mechanism, the output end of the first joint mechanism is connected to the calf mechanism, the second joint mechanism is connected to the output end of the first joint mechanism, the first hole is provided in the first joint mechanism, the axis of the output end of the first joint mechanism is a first axis, the axis of the output end of the second joint mechanism is a second axis, and the first axis intersects with the second axis; The first joint mechanism is further provided with a third hole, and the second joint mechanism is provided with a fourth hole. When the third hole is coaxial with the fourth hole, the output end of the second joint mechanism is in the zero position state.

3. The lower limb structure according to claim 2, characterized in that: The first joint mechanism comprises a first joint module and a first connecting bracket, and the first joint module is arranged on the first connecting bracket; The second joint mechanism comprises a second joint module and a second connecting bracket, the second joint module is arranged on the second connecting bracket, and the first connecting bracket is connected to the output end of the second joint module; The first hole and the third hole are both provided in the first connecting bracket, and the fourth hole is provided in the second joint module; The axis of the first hole does not intersect or coincide with the first axis, and the axis of the fourth hole does not intersect or coincide with the second axis.

4. The lower limb structure according to claim 3, characterized in that: The driving module further comprises a third joint mechanism, the output end of the third joint mechanism is connected to the second joint mechanism, the axis of the output end of the third joint mechanism is a third axis, and the third axis intersects with the second axis; The second joint mechanism is further provided with a fifth hole, and the third joint mechanism is provided with a sixth hole. When the fifth hole is coaxial with the sixth hole, the output end of the third joint mechanism is in the zero position state.

5. The lower limb structure according to claim 4, characterized in that: The third joint mechanism comprises a third joint module and a third connecting bracket, the third joint module is arranged on the third connecting bracket, and the second connecting bracket is connected to the output end of the third joint module; The fifth hole is provided on the second connecting bracket, and the sixth hole is provided on the third connecting bracket; The axis of the sixth hole does not intersect or coincide with the third axis.

6. The lower limb structure according to claim 5, characterized in that: The driving module further comprises a fourth joint mechanism, the output end of the fourth joint mechanism is connected to the third joint mechanism, the axis of the output end of the fourth joint mechanism is a fourth axis, and the fourth axis intersects with the third axis; The third joint mechanism is further provided with a seventh hole, and the fourth joint mechanism is provided with an eighth hole. When the seventh hole is coaxial with the eighth hole, the output end of the fourth joint mechanism is located in the zero position state.

7. The lower limb structure according to claim 6, characterized in that: The fourth joint mechanism includes a fourth joint module, and the third connecting bracket is connected to the output end of the fourth joint module; The seventh hole is provided on the third connecting bracket, and the eighth hole is provided on the fourth joint module; The axis of the eighth hole does not intersect or coincide with the fourth axis.

8. The lower limb structure according to claim 2, characterized in that: The calf mechanism includes a connecting component, the connecting component is connected to the output end of the first joint module, and the second hole is arranged on the connecting component.

9. The lower limb structure according to claim 8, characterized in that: The calf mechanism also includes: Plantar component; A rotating assembly, the rotating assembly is rotatably connected to the sole assembly, and the rotating assembly rotates relative to the sole assembly around an axis in the X direction; A skeleton component, one end of which is rotatably connected to the rotating component, and the other end of which is connected to the connecting component; A fifth joint module, the fifth joint module is arranged on the skeleton component; A connecting rod assembly, one end of which is rotatably connected to the sole assembly via a first joint bearing, and the other end of which is connected to the output end of the first joint module, and the first joint module can drive the connecting rod assembly to move along the Z direction; The sixth joint module, the output end of the sixth joint module is connected to the rotating component, and the sixth joint module can drive the rotating component to rotate around the axis of the X direction.

10. The lower limb structure according to claim 9, characterized in that: The rotating assembly comprises a first connecting shaft and a second connecting shaft, wherein the first connecting shaft is concentric with the second connecting shaft and is symmetrically arranged relative to the axis of the X direction; The skeleton assembly includes a first connecting portion and a second connecting portion, the first connecting portion is connected to the first connecting shaft via a second bearing, and the second connecting portion is connected to the second connecting shaft via a third bearing.

11. The lower limb structure according to claim 10, characterized in that: The first connecting portion is provided with a ninth hole, the rotating assembly is provided with a tenth hole, the ninth hole is coaxial with the tenth hole, and the output end of the fifth joint module is in the zero position state; or The second connecting portion is provided with a ninth hole, the rotating assembly is provided with a tenth hole, the ninth hole is coaxial with the tenth hole, and the output end of the fifth joint module is in the zero position state.

12. The lower limb structure according to claim 9, characterized in that: The rotating assembly further includes a third connecting shaft and a fourth connecting shaft, wherein the third connecting shaft is concentric with the fourth connecting shaft and is symmetrically arranged relative to the axis in the Y direction; The sole assembly includes a fixing plate, on which a first mounting seat and a second mounting seat are provided, the first mounting seat and the second mounting seat are spaced apart along the X direction, the third connecting shaft is connected to the first mounting seat via a fourth bearing, the fourth connecting shaft is connected to the second mounting seat via a fifth bearing, and the fourth connecting shaft is connected to the output end of the second joint module.

13. The lower limb structure according to claim 12, characterized in that: The first mounting seat is provided with an eleventh hole, the rotating assembly is provided with a twelfth hole, the eleventh hole is coaxial with the twelfth hole, and the output end of the sixth joint module is in the zero position state; or The second mounting seat is provided with an eleventh hole, the rotating assembly is provided with a twelfth hole, the eleventh hole is coaxial with the twelfth hole, and the output end of the sixth joint module is in the zero position state.

14. A lower limb system, characterized in that: include: A waist mechanism, the waist mechanism comprising a first mounting portion and a second mounting portion, wherein the first mounting portion and the second mounting portion are symmetrically arranged; Two lower limb structures as described in any one of claims 1-13, the two lower limb structures are respectively a left lower limb structure and a right lower limb structure, the left lower limb structure is connected to the first mounting part, and the first joint mechanism of the right lower limb structure is connected to the second mounting part.

15. A calibration method for performing zero position calibration on the lower limb structure according to any one of claims 1 to 13, characterized in that: The calibration method comprises: By driving the lower leg mechanism to rotate around the first axis, the first hole and the second hole are made coaxial, and the calibration tool is inserted into the first hole and the second hole; By driving the first joint mechanism to rotate around the second axis, the third hole and the fourth hole are made coaxial, and the calibration tool is inserted into the third hole and the fourth hole; By driving the second joint mechanism to rotate around the third axis, the fifth hole and the sixth hole are made coaxial, and the calibration tool is inserted into the fifth hole and the sixth hole; By driving the third joint mechanism to rotate around the fourth axis, the seventh hole and the eighth hole are made coaxial, and the calibration tool is inserted into the seventh hole and the eighth hole; By driving the skeleton assembly to rotate around the fifth axis, the ninth hole and the tenth hole are made coaxial, and the calibration tool is inserted into the ninth hole and the tenth hole; The rotating assembly is driven to rotate around the sixth axis so that the eleventh hole and the twelfth hole are coaxial, and the calibration tool is inserted into the eleventh hole and the twelfth hole.

16. A calibration tool, used for implementing the calibration method according to claim 15, characterized in that: include: A limiting rod, the limiting rod comprising a first end and a second end, the second end being a rounded device; An operating handle, wherein the first end is connected to the operating handle.

17. A detection tool for detecting the zero position state of the lower limb system according to claim 14, characterized in that: include: A first component, the first component comprises a first end surface, the first end surface is used to abut against the waist mechanism, the first component is provided with a first through hole and a second through hole, the first through hole passes through the first end surface, and the second through hole passes through the first end surface; The second component comprises two accommodating areas, the two accommodating areas are arranged at intervals, the first component is located between the two accommodating areas, and the accommodating areas are used to accommodate the sole assembly.

18. The detection tool according to claim 17, characterized in that: An axis of the first through hole is perpendicular to the first end surface.

19. The detection tool according to claim 17, characterized in that: The accommodating area includes a second end surface and a third end surface. The third end surface is arranged around the outer periphery of the second end surface. The second end surface is used to contact the bottom surface of the sole component, and the third end surface is used to contact the outer peripheral surface of the sole component.

20. The detection tool according to claim 19, characterized in that: An axis of the first through hole is parallel to the second end surface.

21. A robot, characterized in that: include: The lower limb structure according to any one of claims 1 to 13; or A lower limb system as described in claim 14.

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