Lower extremity assembly and humanoid robot

Abstract

A lower limb assembly and a humanoid robot, the lower limb assembly is used for the humanoid robot, the lower limb assembly comprises a sole piece, a support, a rotating structure, a first driving piece, a lower leg piece, a second driving piece and a transmission structure; the support is connected and fixed with the sole piece; the rotating structure is rotationally connected with the support; the first driving piece is connected with the support and the rotating structure, and is used for driving the rotating structure to rotate relative to the support around a first axis; one end of the lower leg piece is rotationally connected with the rotating structure around a second axis; the second driving piece is arranged on the lower leg piece. The transmission structure is in transmission connection with the rotating structure and the second driving piece, and the second driving piece drives the transmission structure to drive the lower leg piece to rotate relative to the sole piece. The driving structure of the lower limb assembly of the present application is simple in structure and good in humanization effect.

Description

Technical Field

[0001] This application relates to the field of humanoid robot technology, specifically to a lower limb assembly and a humanoid robot. Background Technology

[0002] Humanoid robots can mimic the shape and movement of the human body and have broad development prospects. Similar to the human body, the structure of a humanoid robot includes leg components, hip components, and torso components, with the hip components connecting to the leg and torso components. The lower limbs mainly include the thighs, calves, and feet. Humanoid robots are equipped with drive structures to drive the relative rotation of the feet and calves to achieve the function of the ankle joint.

[0003] Currently, the drive structure for relative rotation of the foot and lower leg is complex, the overall size of the lower leg is large, and the humanoid effect is not good. Summary of the Invention

[0004] The purpose of this application is to provide a lower limb assembly and a humanoid robot, which solves the problems of complex drive structure and poor humanoid effect of the lower limb assembly.

[0005] To achieve the objectives of this application, the following technical solution is provided:

[0006] In a first aspect, this application provides a lower limb assembly for a humanoid robot, comprising:

[0007] Foot component;

[0008] The bracket is connected and fixed to the foot component;

[0009] A rotating structure is rotatably connected to the bracket.

[0010] A first driving member is connected to the bracket and the rotating structure, and is used to drive the rotating structure to rotate relative to the bracket about a first axis.

[0011] The lower leg component is rotatably connected at one end to the rotating structure about the second axis.

[0012] The second driving component is disposed on the lower leg component;

[0013] The transmission structure is connected to the rotating structure and the second driving member, and the second driving member drives the transmission structure to rotate the lower leg member relative to the foot member.

[0014] With this configuration, the lower limb assembly of this application achieves the rotation of the foot relative to the lower leg relative to the first axis by setting up a bracket, a rotating structure, and a first driving member connected to the bracket and the rotating structure. It achieves the rotation of the foot relative to the lower leg relative to the second axis by setting up a rotating structure, a transmission structure, and a second driving member connected to the transmission structure. This allows the foot to have two degrees of freedom of movement relative to the lower leg, achieving a similar effect to the human ankle joint and improving the anthropomorphism of the lower limb assembly. Moreover, the lower limb assembly of this application only requires a single transmission structure connected to the rotating structure to achieve the second driving member driving the foot to rotate around the second axis. Compared to the lower limb assembly with two linkages and two degrees of freedom, the driving structure of the lower limb assembly of this application is simpler.

[0015] In one embodiment, the support includes a base, a first cylinder, and a second cylinder. The base is connected to the foot component. The first cylinder and the second cylinder are spaced apart on the base along the extension direction of the first axis, forming a receiving space between them. The first cylinder has a first hole extending along the extension direction of the first axis, and the second cylinder has a second hole extending along the extension direction of the first axis. The rotating structure is received within the first hole, the second hole, and the receiving space. A first driving member is fixedly connected to the first cylinder and connected to the end of the rotating structure away from the second cylinder. The transmission structure is located on the side of the second cylinder facing away from the first cylinder and is rotatably connected to the end of the rotating structure facing away from the first cylinder. This configuration, with the first driving member connected to the first cylinder and partially positioned outside the receiving space, effectively utilizes the space provided by the foot component in the forward / backward direction of the humanoid robot. The rotating structure is received within the receiving space formed by the first and second cylinders, improving the space utilization of the lower limb assembly and resulting in a compact layout.

[0016] In one embodiment, the rotating structure includes a first shaft, a second shaft, and a connector. The first shaft and the second shaft are fixedly connected. The first shaft extends along the extension direction of the first axis, and the second shaft extends along the extension direction of the second axis. The first shaft is rotatably connected to both the first and second cylinders. The second shaft is located in the receiving space and is rotatably connected to the lower leg component. The connector is disposed at the end of the first shaft facing away from the first cylinder and is rotatably connected to the transmission structure. By setting the first shaft extending along the first axis and the second shaft extending along the second axis, the power transmission of the first and second driving components is effectively achieved. The rotating structure can simultaneously transmit torque and rotational motion in two perpendicular planes. The connector enables a smooth transition with the transmission structure, allowing the connecting rods in the transmission structure to extend along the vertical direction of the humanoid robot, simplifying the design of the transmission structure.

[0017] In one embodiment, the base includes a first block and a second block that are detachably connected, the first block being connected to the first cylinder and the second block being connected to the second cylinder;

[0018] The base has a first receiving slot, which communicates with the receiving space, and the first shaft portion is received within the first receiving slot. This configuration, making the base a detachable first and second piece, simplifies the production process of the support frame and also simplifies the installation process with the first drive component and connector, improving installation efficiency. The first shaft portion being received within the first receiving slot reduces the vertical dimensions of the lower limb assembly in the humanoid robot, improving space utilization and resulting in a more compact structure for the lower limb assembly.

[0019] In one embodiment, a second receiving groove is formed on the surface of the first axis in the extension direction of the second axis, and the lower leg component extends into the second receiving groove. This arrangement, where the lower leg component is partially housed in the second receiving groove, reduces the vertical dimensions of the lower limb assembly in the humanoid robot, improves space utilization, makes the lower limb assembly more compact, and the second receiving groove can, to some extent, reduce the weight of the first axis, thus improving the lightweight design of the lower limb assembly.

[0020] In one embodiment, the connector includes a connecting portion and a connecting arm. The connecting portion is detachably connected to the first shaft, and the connecting arm is connected to the connecting portion and extends to the side of the second cylinder opposite to the first cylinder. The transmission structure is rotatably connected to the connecting arm. The detachable connection between the first shaft and the connecting portion improves the connection efficiency between the connector and the first shaft, and the connecting arm facilitates the installation of the transmission structure and the rotating structure.

[0021] In one embodiment, the second shaft includes a shaft body and a reinforcing portion. The reinforcing portion is disposed on the outer peripheral surface of the shaft body and is also connected to the outer peripheral surface of the first shaft. The shaft body protrudes beyond the reinforcing portion in the extension direction of the second axis. Chamfers are directly formed on the end face and outer peripheral surface of the shaft body. The reinforcing portion on the outer peripheral surface of the shaft body strengthens the connection between the first and second shafts, improving the overall structural stability of the rotating structure. The end of the shaft body on the second axis is used to connect with a lower leg component. The chamfer at the end of the shaft body facilitates guidance and positioning during the connection process between the shaft body and the lower leg component.

[0022] In one embodiment, the second shaft has a third receiving groove on its surface in the extension direction of the second axis, and the lower leg has a mounting hole at its end near the second shaft. The mounting hole extends through the lower leg in the extension direction of the second axis. The rotating structure also includes an adapter, which extends from the mounting hole into the third receiving groove and connects to the second shaft.

[0023] The rotating structure also includes a bearing, the outer ring of which is connected to the lower leg component, and the inner ring of which is connected to the adapter. In the extension direction of the second axis, the adapter is connected to the side of the bearing opposite to the second axis, and the second axis is connected to the side of the bearing facing the second axis. This configuration, through the adapter and bearing, achieves a rotating connection between the second axis and the lower leg component, ensuring the reliability and stability of the connection.

[0024] In one embodiment, the lower leg component includes a mounting portion, a main body, a support portion, and two opposing mounting arms connected in sequence. The mounting portion is used to connect to the thigh component of the humanoid robot. A second driving member is disposed at the end of the main body away from the support portion. The mounting arms are disposed at the end of the support portion near the foot component, with a portion of the mounting arms extending into the receiving space. The two mounting arms are arranged opposite each other in the extension direction of the first axis. Each mounting arm has a mounting hole. The second driving member drives the rotating structure to rotate relative to the mounting arms around the second axis. With this configuration, the mounting portion is rotatably connected to the thigh component, the main body provides a base for the installation of the second driving member, and the support portion and mounting arms are configured to allow the second axis to be positioned between the two mounting arms, improving the space utilization of the lower limb assembly and making the structural layout of the lower limb assembly compact.

[0025] In one embodiment, the dimensions of the main body portion gradually increase in the direction away from the foot member along both the first and second axes. The dimension of the support portion along the first axis is larger than the dimension of the end of the main body portion near the support portion along the first axis. This arrangement makes the dimensional changes of the main body portion and the support portion similar to the dimensional changes of the human lower leg, with the larger dimension of the support portion simulating the dimensional changes at the ankle, thereby improving the anthropomorphism of the lower limb assembly.

[0026] In one embodiment, the surface of the support portion near the base along the extension direction of the third axis is designated as a first surface, and the surface of the support portion near the transmission structure along the extension direction of the first axis is designated as a second surface. The support portion has a clearance groove connecting the first surface and the second surface, which is used to avoid interference with the transmission structure. The third axis intersects both the first and second axes. The clearance groove prevents motion interference between the transmission structure and the support portion, thus improving the stability and reliability of the entire lower limb assembly.

[0027] In one embodiment, the lower limb assembly further includes a limiting structure, the limiting structure including a crank, a first limiting member and a second limiting member, the first limiting member being disposed at the end of the main body away from the support portion, the first limiting member being correspondingly disposed with the second driving member, one end of the crank in the extension direction of the second axis being connected to the second driving member, and the other end being connected to the second limiting member, the second limiting member being connected to the end of the transmission structure near the second driving member;

[0028] The second limiting member includes a first limiting surface and a second limiting surface facing away from each other. The second driving member drives the second limiting member to rotate relative to the first limiting member, so that either the first limiting surface or the second limiting surface abuts against the first limiting member. A crank and a connecting rod in the transmission structure are configured to form a crank-connecting rod structure, thereby realizing the transmission of the second driving member. The second limiting member limits the rotation range of the crank, preventing interference with other components near the lower leg and limiting the crank's wobble.

[0029] Secondly, this application provides a humanoid robot, including a lower limb assembly as described in any of the various embodiments of the first aspect. By employing the lower limb assembly in the embodiments of this application, humanoid lower limb movement of the humanoid robot is achieved, and the lower limb assembly in the embodiments of this application has a compact structure and good anthropomorphic effect. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0031] Figure 1 This is a perspective view of a lower limb assembly according to one embodiment;

[0032] Figure 2 This is a perspective view of the lower limb assembly according to another embodiment;

[0033] Figure 3 This is a top view of a lower limb assembly according to one embodiment;

[0034] Figure 4 This is a cross-sectional view of a lower limb assembly according to one embodiment;

[0035] Figure 5 yes Figure 4 A magnified view of a portion of X;

[0036] Figure 6 This is a perspective view of a bracket according to one embodiment;

[0037] Figure 7 This is a perspective view of a portion of the structure of a support according to one embodiment;

[0038] Figure 8 This is a perspective view of another part of the structure of the bracket in one embodiment;

[0039] Figure 9 This is a perspective view of a rotating structure according to one embodiment;

[0040] Figure 10 This is a perspective view of a connector according to one embodiment.

[0041] Explanation of reference numerals in the attached figures:

[0042] 100-Lower limb assembly, 10-Foot component, 20-Support, 21-Base, 211-First piece, 2111-First snap-fit ​​block, 2112-Second snap-fit ​​block, 212-Second piece, 2121-Snap-fit ​​groove, 213-First receiving groove, 22-First cylinder, 221-First hole, 23-Second cylinder, 231-Second hole, 24-Receiving space, 25-Connecting plate, 30-Rotating structure, 31-First shaft, 311-Second receiving groove, 312-First connecting cylinder, 313-Second connecting cylinder, 314-Third connecting cylinder, 315-Limiting plate, 32-Second shaft, 321-Shaft body, 322-Reinforcement, 323-Third receiving groove, 324-Second threaded hole, 33-Connector, 331-Connecting 332-Connecting arm, 333-Reinforcing rib, 334-Snap-fit ​​part, 335-Limiting groove, 336-Transmission hole, 337-Transmission shaft, 34-Adapter, 341-First threaded hole, 35-Bearing, 351-First bearing, 352-Second bearing, 40-First driving component, 50-Small leg component, 51-Mounting part, 52-Main body, 53-Support part, 541-Allowing groove, 54-Mounting arm, 60-Second driving component, 70-Transmission structure, 71-Connecting rod, 72-Adapter arm, 80-Limiting structure, 81-Crank, 82-First limiting component, 83-Second limiting component, 831-First limiting surface, 832-Second limiting surface, a-First axis, b-Second axis, c-Third axis. Detailed Implementation

[0043] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0044] It should be noted that when a component is said to be "fixed" to another component, it can be directly on the other component or it can be in a middle component. When a component is said to be "connected" to another component, it can be directly connected to the other component or it may be in a middle component.

[0045] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. The terminology used in the specification of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and / or" as used in this application includes any and all combinations of one or more of the associated listed items.

[0046] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0047] For reference Figure 1 This application provides a humanoid robot, including the lower limb assembly 100 as shown in the embodiments of this application. The humanoid robot also includes a torso assembly (not shown), an arm assembly (not shown), and a head and neck assembly (not shown). The lower limb assembly 100, arm assembly, and head and neck assembly in the embodiments of this application are all connected to the torso assembly and can all rotate relative to the torso assembly. Specifically, there are two arm assemblies and two lower limb assemblies 100. The humanoid robot provided by this application, by employing the lower limb assembly 100 in the embodiments of this application, achieves humanoid lower limb movement, and the lower limb assembly 100 in the embodiments of this application has a compact structure and good anthropomorphic effect.

[0048] For reference Figure 1 , Figure 2 and Figure 3 This application provides a lower limb assembly 100 for a humanoid robot. The lower limb assembly 100 includes a foot component 10, a support 20, a rotating structure 30, a first drive member 40, a lower leg component 50, a second drive member 60, and a transmission structure 70. The support 20 is fixedly connected to the foot component 10. The rotating structure 30 is rotatably connected to the support 20. The first drive member 40 is connected to the support 20 and the rotating structure 30, and is used to drive the rotating structure 30 to rotate relative to the support 20 about a first axis a. One end of the lower leg component 50 is rotatably connected to the rotating structure 30 about a second axis b. The second drive member 60 is disposed on the lower leg component 50. The transmission structure 70 is drively connected to the rotating structure 30 and the second drive member 60, and the second drive member 60 drives the transmission structure 70 to rotate the lower leg component 50 relative to the foot component 10.

[0049] Optionally, the first axis a and the second axis b intersect. Specifically, the first axis a extends along the front-back direction of the humanoid robot, and the second axis b extends along the left-right direction of the humanoid robot; or, the first axis a extends along the left-right direction of the humanoid robot, and the second axis b extends along the front-back direction of the humanoid robot.

[0050] Optionally, the foot component 10 is connected to the end of the lower leg component 50 away from the thigh component. Optionally, the foot component 10 can rotate relative to the lower leg component 50 about two intersecting and perpendicular axes, that is, the foot component 10 rotates relative to the lower leg component 50 about a first axis a and a second axis b. When the humanoid robot is in an upright position, the intersection of the two axes is located on a third axis c to improve the stability of the lower limb assembly 100. The third axis c extends along the vertical direction of the humanoid robot.

[0051] Optionally, the foot component 10 is used to contact a support surface, which can be the ground or a workbench, etc. The material of the foot component 10 can be aluminum alloy, carbon fiber, high-strength plastic, copper alloy, etc., without limitation. Optionally, the shape of the orthographic projection of the foot component 10 on the support surface can be polygonal, circular, elliptical, or irregular. Specifically, the shape of the orthographic projection of the foot component 10 on the support surface can be, but is not limited to, hexagonal, octagonal, and irregular shapes.

[0052] Optionally, the foot component 10 can extend along the front-rear direction of the humanoid robot. A receiving groove can be formed on the surface of the foot component 10 facing the lower leg component 50, with the opening of the receiving groove facing the lower leg component 50. The bracket 20 can be connected and fixed to the bottom wall of the receiving groove. Alternatively, the surface of the foot component 10 facing away from the support surface in the extension direction of the third axis c can be a smooth curved surface, wherein the end of the foot component 10 furthest from the support surface in the extension direction of the third axis c is connected to the bracket 20. The connection method between the foot component 10 and the bracket 20 can be screwed, welded, bonded, snap-fitted, magnetically attracted, etc., without limitation.

[0053] Optionally, the rotating structure 30 and the bracket 20 can be rotatably connected by bearing connection, threaded connection, flange connection, etc., without restriction.

[0054] Optionally, the transmission structure 70 can be a crank 81 connecting rod 71 transmission, a lead screw and nut transmission, a gear and rack transmission, a crank 81 slider transmission structure 70, etc., without limitation. Specifically, when the transmission structure 70 is a crank 81 connecting rod 71 transmission, the transmission structure 70 includes a connecting rod 71, the end of the connecting rod 71 away from the foot member 10 is connected to the second driving member 60, and the end of the connecting rod 71 near the foot member 10 is connected to the rotating member.

[0055] Optionally, the bracket 20 is disposed on the end face of the first driving member 40 facing the foot member 10 in the extension direction of the third axis c. Specifically, the bracket 20 is a block structure, with one end of the bracket 20 connected and fixed to the outer periphery of the first driving member 40, and the other end of the bracket 20 connected and fixed to the foot. In the orthographic projection in the extension direction of the third axis c, the bracket 20 is located within the rotating structure 30. The rotating structure 30 includes a first rotating arm and a second rotating arm disposed opposite to each other in the extension direction of the second axis b, and the first rotating arm and the second rotating arm are rotatably connected to the transmission structure 70 and the lower leg member 50.

[0056] With this configuration, the lower limb assembly 100 of this application achieves the rotation of the foot component 10 relative to the lower leg component 50 around the first axis a by setting up a bracket 20, a rotating structure 30, and a first driving member 40 rotatably connected to the bracket 20 and the rotating structure 30. It achieves the rotation of the foot component 10 relative to the lower leg component 50 around the second axis b by setting up the rotating structure 30, a transmission structure 70, and a second driving member 60 rotatably connected to the transmission structure 70. This allows the foot component 10 to have two degrees of freedom of movement relative to the lower leg component 50, achieving a similar effect to the human ankle joint and improving the anthropomorphism of the lower limb assembly 100. Moreover, the lower limb assembly 100 of this application only needs to set up a transmission structure 70 rotatably connected to the rotating structure 30 to achieve the second driving member 60 driving the foot component 10 to rotate around the second axis b. Compared with the lower limb assembly 100 with two linkages 71 and two degrees of freedom, the driving structure of the lower limb assembly 100 of this application is simpler.

[0057] For reference Figure 3 and Figure 6 In one embodiment, the support 20 includes a base 21, a first cylinder 22, and a second cylinder 23. The base 21 is connected to the foot member 10. The first cylinder 22 and the second cylinder 23 are spaced apart on the base 21 in the extension direction of the first axis a, and a receiving space 24 is formed between the first cylinder 22 and the second cylinder 23. The first cylinder 22 has a first hole 221 extending in the extension direction of the first axis a, and the second cylinder 23 has a second hole 231 extending in the extension direction of the first axis a. The rotating structure 30 is received in the first hole 221, the second hole 231, and the receiving space 24. The first driving member 40 is connected and fixed to the first cylinder 22 and connected to the end of the rotating structure 30 away from the second cylinder 23. The transmission structure 70 is disposed on the side of the second cylinder 23 facing away from the first cylinder 22 and is rotatably connected to the end of the rotating structure 30 facing away from the first cylinder 22.

[0058] Optionally, the lower leg component 50 extends into the receiving space 24. Alternatively, when the lower leg component 50 does not extend into the receiving space 24, the lower limb assembly 100 also includes an adapter, one end of which is connected to the lower leg component 50, and the other end of which is connected to the rotating structure 30. Any adapter that can connect the lower leg component 50 and the rotating structure 30 is acceptable.

[0059] Optionally, the bracket 20 also includes a connecting plate 25, which is disposed on the outer peripheral surface of the first cylinder 22 facing away from the second cylinder 23. The first hole 221 penetrates the connecting plate 25. The connecting plate 25 is used to increase the connection area between the first cylinder 22 and the first driving member 40, thereby improving the connection strength between the bracket 20 and the first driving member 40.

[0060] Optionally, the support 20 can be made of a material with high structural strength, such as metal, high-strength plastic, ceramic, etc. Metal materials include aluminum, aluminum alloy, magnesium alloy, iron and iron alloy.

[0061] Optionally, the base 21 has a dimension in the extension direction of the second axis b that is equal to or slightly larger than the outer diameter of the first cylinder 22 and the second cylinder 23, in order to enhance the connection strength and structural stability of the support 20.

[0062] With this configuration, the first drive member 40 is connected to the first cylinder 22 and part of the first drive member 40 is located outside the receiving space 24. The space provided by the foot member 10 in the front-back direction of the humanoid robot is reasonably utilized. The rotating structure 30 is received in the receiving space 24 formed by the first cylinder 22 and the second cylinder 23, which improves the space utilization of the lower limb assembly 100 and makes the layout of the lower limb assembly 100 compact.

[0063] For reference Figure 3 , Figure 9 and Figure 10 In one embodiment, the rotating structure 30 includes a first shaft 31, a second shaft 32, and a connector 33. The first shaft 31 and the second shaft 32 are connected and fixed. The first shaft 31 extends along the extension direction of the first axis a, and the second shaft 32 extends along the extension direction of the second axis b. The first shaft 31 is rotatably connected to both the first cylinder 22 and the second cylinder 23. The second shaft 32 is located in the receiving space 24 and is rotatably connected to the lower leg 50. The connector 33 is disposed at the end of the first shaft 31 facing away from the first cylinder 22 and is rotatably connected to the transmission structure 70.

[0064] The first shaft 31 and the second shaft 32 can be a single integrated structure, meaning they are manufactured using a single molding process, such as stamping or casting, without limitation. Alternatively, the first shaft 31 and the second shaft 32 can be separate structures, connected and fixed by welding, bonding, snap-fitting, screwing, or other methods. The first shaft 31 and the second shaft 32 are made of materials with high structural strength, such as metals, high-strength plastics, ceramics, etc. Metals include aluminum, aluminum alloys, magnesium alloys, iron, and iron alloys.

[0065] The first shaft 31 includes a first connecting cylinder 312, a second connecting cylinder 313, and a third connecting cylinder 314 connected in sequence. The outer diameter of the first connecting cylinder 312 is smaller than the outer diameter of the second connecting cylinder 313, and the outer diameter of the third connecting cylinder 314 is also smaller than the outer diameter of the second connecting cylinder 313. The end of the first connecting cylinder 312 away from the second connecting cylinder 313 extends into the first hole 221, and the end of the third connecting cylinder 314 away from the second connecting cylinder 313 extends into the second hole 231. The inner diameters of the first connecting cylinder 312, the second connecting cylinder 313, and the third connecting cylinder 314 are the same. Optionally, the outer diameter of the first connecting cylinder 312 is d1, the outer diameter of the second connecting cylinder 313 is d2, and the outer diameter of the third connecting cylinder 314 is d3, satisfying: 0.7≤d1 / d2≤0.9, 0.7≤d3 / d2≤0.9. Specifically, d1 / d2 can be 0.7, 0.75, 0.8, 0.85, 0.9, etc., and d3 / d2 can be 0.7, 0.75, 0.8, 0.85, 0.9, etc. Each cylinder of the first shaft 31, meeting this size range, can fully realize its respective function. For example, the first connecting cylinder 312 and the third connecting cylinder 314 are fixedly connected to the first cylinder 22 and the second cylinder 23. The second connecting cylinder 313 has a large outer diameter, thus forming positioning bosses at both ends where it connects to the first connecting cylinder 312 and the third connecting cylinder 314, facilitating installation and positioning. When d1 / d2 < 0.7 and d3 / d2 < 0.7, the contact area between the first connecting cylinder 312 and the third connecting cylinder 314 and the first cylinder 22 and the second cylinder 23 is reduced; when d1 / d2 > 0.9 and d3 / d2 > 0.9, the difference between the outer diameter of the second connecting cylinder 313 and the outer diameter of the first connecting cylinder 312 and the third connecting cylinder 314 is small, making it impossible to form a positioning boss, which is not conducive to installation and positioning.

[0066] Optionally, the first shaft 31 may also include a limiting plate 315, which is housed in the first connecting cylinder 312 and connected to the inner wall of the first connecting cylinder 312. The limiting plate 315 and the first connecting cylinder 312 may be an integral structure or a separate structure, without limitation.

[0067] The connection method between the connector 33 and the first shaft 31 can be snap-fit, adhesive, screw-fit, welding, etc., without limitation. Part of the connector 33 extends from the second hole 231 of the second cylinder 23 to the outside of the receiving space 24 and is rotatably connected to the transmission structure 70.

[0068] The first drive member 40 and the second drive member 60 are effectively transmitted by setting a first shaft 31 extending along the first axis a and a second shaft 32 extending along the second axis b. The rotating structure 30 can transmit torque and rotational motion simultaneously in two vertical planes. The connecting member 33 is set to achieve a smooth transition with the transmission structure 70, so that the connecting rod 71 in the transmission structure 70 can extend along the vertical direction of the humanoid robot, making the setting of the transmission structure 70 simple.

[0069] For reference Figure 6 , Figure 7 and Figure 8 In one embodiment, the base 21 includes a first block 211 and a second block 212 that are detachably connected. The first block 211 is connected to the first cylinder 22, and the second block 212 is connected to the second cylinder 23.

[0070] The base 21 has a first receiving slot 213, which is connected to the receiving space 24. The first shaft 31 is partially received in the first receiving slot 213.

[0071] Optionally, the first piece 211 and the first cylinder 22 are integrated into one piece, and the second piece 212 and the second cylinder 23 are integrated into one piece.

[0072] Optionally, the bottom wall of the first receiving slot 213 is a concave, smooth curved surface, used to reduce the size of the lower limb assembly 100 in the vertical direction of the humanoid robot, improve space utilization, and make the structure of the lower limb assembly 100 compact. The base 21 has a first surface, a second surface, and a third surface connected in sequence, the second surface being the bottom wall of the first receiving slot 213, and the first and third surfaces being flush.

[0073] Optionally, the first piece 211 and the second piece 212 can be connected and fixed by welding, bonding, snap-fitting, screwing, or other methods.

[0074] Specifically, the first block 211 includes a first latching block 2111 and a second latching block 2112 that are arranged at relatively intervals. The end of the first cylinder 22 facing the foot piece 10 is connected to the first latching block 2111 and the second latching block 2112. The second block 212 is provided with a corresponding latching groove 2121. The end of the first latching block 2111, the first cylinder 22, and the second latching block 2112 are respectively received in the latching groove 2121.

[0075] This configuration, which makes the base 21 a detachable first block 211 and second block 212, simplifies the production process of the bracket 20 and also simplifies the installation process with the first drive component 40 and the connector 33, thus improving installation efficiency. The first shaft 31 is partially housed in the first receiving slot 213, which reduces the size of the lower limb assembly 100 in the vertical direction of the humanoid robot, improves space utilization, and makes the structure of the lower limb assembly 100 more compact.

[0076] For reference Figure 1 , Figure 3 and Figure 9 In one embodiment, the first shaft 31 has a second receiving groove 311 on its surface in the extension direction of the second axis b, and the small leg 50 extends into the second receiving groove 311.

[0077] The bottom wall of the second receiving groove 311 facing away from the foot piece 10 can be curved. Correspondingly, the end face of the lower leg piece 50 near the foot piece 10 in the extension direction of the third axis c is curved.

[0078] Optionally, there are two second receiving slots 311, which are arranged opposite to each other in the extension direction of the second axis b.

[0079] With this configuration, the lower leg component 50 is partially housed in the second receiving slot 311, which reduces the size of the lower limb assembly 100 in the vertical direction of the humanoid robot, improves space utilization, makes the structure of the lower limb assembly 100 more compact, and the second receiving slot 311 can reduce the weight of the first axis 31 to a certain extent, thus improving the lightweight of the lower limb assembly 100.

[0080] For reference Figure 1 , Figure 9 and Figure 10 In one embodiment, the connector 33 includes a connecting part 331 and a connecting arm 332. The connecting part 331 is detachably connected to the first shaft 31, and the connecting arm 332 is connected to the connecting part 331 and extends to the side of the second cylinder 23 facing away from the first cylinder 22. The transmission structure 70 is rotatably connected to the connecting arm 332.

[0081] Optionally, the connector 33 also includes a drive shaft 337. The end of the connecting arm 332 away from the connecting part 331 is provided with a drive hole 336 that passes through the connecting arm 332. The drive shaft 337 is connected to the connecting arm 332 through the drive hole 336. The drive shaft 337 is also connected to the transmission structure 70. Specifically, the drive shaft 337 is rotatably connected to the transmission structure 70 and fixedly connected to the connecting arm 332; or, the drive shaft 337 is rotatably connected to the connecting arm 332 and fixedly connected to the transmission structure 70.

[0082] Optionally, there are two connecting arms 332, which are spaced apart on the connecting portion 331 to form a limiting groove 335. In the transmission structure 70, the end of the connecting rod 71 near the foot member 10 and the transmission shaft 337 are housed within the limiting groove 335. The connecting arms 332 can extend in a straight line or bend. The cross-sectional shape of the connecting portion 331 in the extension direction of the first axis a matches the first shaft 31. Specifically, the cross-sectional shape of the connecting portion 331 is circular, and the internal space of the first shaft 31 is cylindrical.

[0083] The connector 33 also includes a reinforcing rib 333, which connects the connecting arm 332 and the connecting part 331 to the surface of the transmission structure 70 in the extension direction of the first axis a. The reinforcing rib 333 is used to enhance the structural strength of the connecting arm 332.

[0084] Optionally, the connector 33 may further include a snap-fit ​​portion 334, which is disposed on the side of the connector 331 facing away from the connector arm 332. The snap-fit ​​portion 334 is used to extend into the first shaft 31 and fit tightly against the inner wall of the first shaft 31 to realize the connection between the connector 33 and the first shaft 31.

[0085] The detachable connection between the first shaft 31 and the connecting part 331 improves the connection efficiency between the connecting part 33 and the first shaft 31, and the connecting arm 332 facilitates the installation of the transmission structure 70 and the rotating structure 30.

[0086] For reference Figure 1 and Figure 9 In one embodiment, the second shaft 32 includes a shaft body 321 and a reinforcing part 322. The reinforcing part 322 is disposed on the outer peripheral surface of the shaft body 321. The reinforcing part 322 is also connected to the outer peripheral surface of the first shaft 31. The shaft body 321 protrudes from the reinforcing part 322 in the extension direction of the second axis b. The end face and outer peripheral surface of the shaft body 321 are directly chamfered.

[0087] Optionally, the first shaft 31, shaft body 321, and reinforcing part 322 can be an integral structure, meaning they are manufactured using a single molding process, such as stamping or casting, without limitation. Alternatively, the first shaft 31, shaft body 321, and reinforcing part 322 can be separate structures, connected and fixed by welding, bonding, snap-fitting, screwing, or other methods.

[0088] Optionally, the end face of the reinforcing part 322 in the extension direction of the second axis b is the wall surface of the second receiving groove 311 in the extension direction of the second axis b.

[0089] A reinforcing part 322 is provided on the outer peripheral surface of the shaft 321 to strengthen the connection strength between the first shaft 31 and the second shaft 32 and improve the overall structural stability of the rotating structure 30. The end of the shaft 321 on the second axis b is used to connect with the lower leg piece 50. A chamfer is provided at the end of the shaft 321 to facilitate guidance and positioning during the connection between the shaft 321 and the lower leg piece 50.

[0090] For reference Figure 1 , Figure 4 , Figure 5 and Figure 9 In one embodiment, the second shaft 32 has a third receiving groove 323 on its surface in the extension direction of the second axis b, and the lower leg 50 has a mounting hole at its end near the second shaft 32. The mounting hole passes through the lower leg 50 in the extension direction of the second axis b. The rotating structure 30 also includes a connecting member 34, which extends from the mounting hole into the third receiving groove 323 and is connected to the second shaft 32.

[0091] The rotating structure 30 also includes a bearing 35, the outer ring of which is connected to the lower leg 50, and the inner ring of which is connected to the adapter 34. In the extension direction of the second axis b, the adapter 34 is connected to the side of the bearing 35 opposite to the second shaft 32, and the second shaft 32 is connected to the side of the bearing 35 facing the second shaft 32.

[0092] Optionally, the outer ring of bearing 35 can be directly connected to the lower leg 50 using fasteners such as bolts and pins, or axial positioning can be achieved using retaining rings or retaining rings. The inner ring of bearing 35 can be connected to the adapter 34 via interference fit, key connection, or other means.

[0093] Optionally, there may be one or more bearings 35, without limitation. Specifically, the bearings 35 include a first bearing 351 and a second bearing 352. The first bearing 351 and the second bearing 352 are in close contact with the inner wall surface of the mounting hole. In the extension direction of the second axis b, the adapter 34, the inner ring of the first bearing 351, the inner ring of the second bearing 352, and the second shaft 32 are connected in sequence. The side of the first bearing 351 facing away from the second bearing 352 in the extension direction of the second axis b is connected to the adapter 34, and the side of the second bearing 352 facing away from the first bearing 351 in the extension direction of the second axis b is connected to the second shaft 32.

[0094] Specifically, the adapter 34 has a first threaded hole 341 extending through itself in the extension direction of the second axis b, and the second shaft 32 has a corresponding second threaded hole 324 in the extension direction of the second axis b. The first threaded hole 341 and the second threaded hole 324 are arranged in a one-to-one correspondence. There can be one or more first threaded holes 341, and multiple first threaded holes 341 can be spaced apart in the circumferential direction of the second axis b. The second threaded hole 324 penetrates the bottom wall of the third receiving groove 323. Bolts pass through the first threaded holes 341 and the second threaded holes 324 to connect and fix the adapter 34 and the second shaft 32.

[0095] This configuration enables the second shaft 32 to rotate with the lower leg 50 via the adapter 34 and bearing 35, ensuring the reliability and stability of the connection.

[0096] For reference Figure 1 , Figure 2 and Figure 6In one embodiment, the lower leg component 50 includes a mounting portion 51, a main body portion 52, a support portion 53, and two opposing mounting arms 54 connected in sequence. The mounting portion 51 is used to connect with the thigh component of the humanoid robot. A second drive member 60 is disposed at the end of the main body portion 52 away from the support portion 53. The mounting arms 54 are disposed at the end of the support portion 53 near the foot component 10. Part of the mounting arms 54 extends into the receiving space 24. The two mounting arms 54 are arranged opposite each other in the extension direction of the first axis a. The mounting arms 54 have mounting holes. The first drive member 40 drives the rotating structure 30 to rotate relative to the mounting arms 54 around the first axis a.

[0097] Optionally, the lower leg component 50 can be a one-piece structure, meaning it is manufactured using a single molding process, such as stamping or casting, without limitation. Alternatively, the lower leg component 50 can be a separate structure, with the mounting part 51, main body 52, support part 53, and mounting arm 54 connected and fixed by welding, bonding, snap-fitting, screwing, or other methods. The lower leg component 50 is made of a material with high structural strength, such as metal, high-strength plastic, or ceramic. Metal materials include aluminum, aluminum alloys, magnesium alloys, iron, and iron alloys.

[0098] Optionally, in the extension direction of the second axis b, a through hole is provided on the end face of the main body 52 away from the support 53, the second drive member 60 is housed in the through hole, and the transmission structure 70 is rotatably connected to the second drive member 60 through the through hole.

[0099] Optionally, the support 53 and the two mounting arms 54 enclose a mounting space, and the second shaft 32 is housed within the mounting space and rotatably connected to the mounting arms 54.

[0100] With this configuration, the mounting part 51 is rotatably connected to the thigh piece, the main body part 52 provides a foundation for the installation of the second drive member 60, and the support part 53 is configured in conjunction with the mounting arm 54 so that the second shaft 32 can be positioned between the two mounting arms 54, thereby improving the space utilization of the lower limb assembly 100 and making the structural layout of the lower limb assembly 100 compact.

[0101] For reference Figure 1 , Figure 2 , Figure 4 and Figure 5 In one embodiment, the dimensions of the main body 52 in the extension directions of the first axis a and the second axis b gradually increase in the direction away from the foot member 10, and the dimension of the support part 53 in the extension direction of the first axis a is greater than the dimension of the end of the main body 52 near the support part 53 in the extension direction of the first axis a.

[0102] Optionally, in the vertical orthographic projection of the humanoid robot, the projection of the end of the main body 52 near the foot member 10 is located within the projection of the end of the main body 52 away from the foot member 10.

[0103] Optionally, the maximum dimension of the main body 52 in the extension direction of the second axis b is L1, the minimum dimension of the main body 52 in the extension direction of the second axis b is L2, and the maximum dimension of the support part 53 in the extension direction of the second axis b is L3, satisfying: 0.5≤L2 / L1≤0.9, 0.5≤L2 / L3≤0.9. Specifically, L2 / L1 can be 0.5, 0.6, 0.7, 0.8, 0.9, etc., and L2 / L3 can be 0.5, 0.6, 0.7, 0.8, 0.9, etc. When L2 / L1 < 0.5 and L2 / L1 > 0.9, the anthropomorphic effect of the main body 52 simulating the human lower leg is poor. When 0.5 ≤ L2 / L1 ≤ 0.9, the size of the main body 52 gradually decreases and remains uniform in the direction from the mounting part 51 toward the foot piece 10, which is similar to the size change at the human lower leg, and the anthropomorphic effect is good. When L2 / L3 < 0.5 and L2 / L3 > 0.9, the anthropomorphic effect of the main body 52 and the support part 53 simulating the connection between the human lower leg and the ankle is poor. When 0.5 ≤ L2 / L3 ≤ 0.9, the size ratio between the support part 53 and the end of the main body 52 near the foot piece 10 is similar to the size ratio at the connection between the human lower leg and the ankle, and the anthropomorphic effect is good. In addition, the support part 53 can also provide a certain amount of installation space for the rotating structure 30.

[0104] This configuration makes the size changes of the main body 52 and the support 53 similar to the size changes of the human lower leg. The size of the support 53 is larger than the size of the end of the main body 52 near the support 53 to simulate the size changes of the human ankle, thereby improving the anthropomorphism of the lower limb assembly 100.

[0105] For reference Figure 2 In one embodiment, the surface of the support portion 53 near the base 21 in the extension direction of the third axis c is the first surface, and the surface of the support portion 53 near the transmission structure 70 in the extension direction of the first axis a is the second surface. The support portion 53 is provided with a relief groove 541, which connects the first surface and the second surface. The relief groove 541 is used to avoid the transmission structure 70. The third axis c intersects with both the first axis a and the second axis b.

[0106] Optionally, the connection between the clearance groove 541 and the first and second surfaces can be a smooth transition. The end face of the clearance groove 541 facing the foot component 10 has an angle with both the first axis a and the second axis b. Providing the clearance groove 541 can also improve the weight reduction of the lower limb assembly 100 to a certain extent.

[0107] Optionally, in the orthographic projection along the extension direction of the first axis a, at least a portion of the projection of the transmission structure 70 is located within the clearance groove 541, that is, the clearance groove 541 is to be configured corresponding to the transmission structure 70.

[0108] The clearance groove 541 is provided to avoid motion interference between the transmission structure 70 and the support part 53, which helps to improve the stability and reliability of the entire lower limb assembly 100.

[0109] For reference Figure 1 and Figure 2 In one embodiment, the lower limb assembly 100 further includes a limiting structure 80, which includes a crank 81, a first limiting member 82, and a second limiting member 83. The first limiting member 82 is disposed at the end of the main body 52 away from the support 53. The first limiting member 82 is correspondingly disposed with the second driving member 60. One end of the crank 81 is connected to the second driving member 60 in the extension direction of the second axis b, and the other end is connected to the second limiting member 83. The second limiting member 83 is connected to the end of the transmission structure 70 near the second driving member 60.

[0110] The second limiting member 83 includes a first limiting surface 831 and a second limiting surface 832 facing away from each other. The second driving member 60 drives the second limiting member 83 to rotate relative to the first limiting member 82 so that the first limiting surface 831 or the second limiting surface 832 abuts against the first limiting member 82.

[0111] Optionally, the crank 81 is connected and fixed to the second driving member 60 through the through hole of the main body 52. ​​The crank 81 and the second limiting member 83 can be an integral structure, meaning they are manufactured using a single molding process, such as stamping or casting, without limitation. Alternatively, the crank 81 and the second limiting member 83 can be separate structures, connected and fixed by welding, bonding, snap-fitting, screwing, etc. The first limiting member 82 and the main body 52 can also be an integral structure, meaning they are manufactured using a single molding process, such as stamping or casting, without limitation. Alternatively, the first limiting member 82 and the main body 52 can be separate structures, connected and fixed by welding, bonding, snap-fitting, screwing, etc.

[0112] Optionally, both the first limiting member 82 and the second limiting member 83 are annular structures with openings, and the openings of the first limiting member 82 and the second limiting member 83 are arranged opposite to each other. Alternatively, the first limiting member 82 includes a first limiting block and a second limiting block arranged at intervals, and both the first limiting block and the second limiting block are disposed on the outer periphery of the second limiting member 83.

[0113] Optionally, the dimension of the end of the first limiting member 82 near the second limiting member 83 in the vertical direction of the humanoid robot gradually increases in the direction away from the second limiting member 83. This arrangement provides a certain degree of transition during the contact between the second limiting member 83 and the first limiting member 82, reducing wear caused by the contact of the parts.

[0114] Optionally, the transmission mechanism also includes an adapter arm 72, which is generally L-shaped. One end of the adapter arm 72 is connected to the second limiting member 83, and the other end of the adapter arm 72 is rotatably connected to the transmission structure 70.

[0115] The crank 81 is configured to cooperate with the connecting rod 71 of the transmission structure 70 to form a crank 81 connecting rod 71 structure, thereby realizing the transmission of the second drive member 60. The second limiting member 83 can limit the rotation range of the crank 81, avoid interference with other components near the lower leg member 50, and limit the shaking of the crank 81.

[0116] In one embodiment, the lower limb assembly 100 of this application further includes a thigh member (not shown in the figure), one end of which is rotatably connected to the lower leg member 50, and the other end is rotatably connected to the torso device (not shown in the figure). Specifically, the thigh member can be rotatably connected to the hip joint structure of the torso device to realize the movement of the entire lower limb assembly 100, thereby realizing limb movements similar to the forward and backward movements of a human body.

[0117] In the description of the embodiments of this application, it should be noted that the orientation or positional relationship of the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and other indicators are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0118] The above-disclosed embodiments are merely preferred embodiments of this application and should not be construed as limiting the scope of this application. Those skilled in the art will understand that all or part of the processes for implementing the above embodiments and equivalent variations made in accordance with the claims of this application are still within the scope of this application.

Claims

1. A lower limb assembly, characterized in that, For use in humanoid robots, including: Foot component; The bracket is connected and fixed to the foot component; A rotating structure is rotatably connected to the bracket. A first driving member is connected to the bracket and the rotating structure, and is used to drive the rotating structure to rotate relative to the bracket about a first axis. The lower leg component is rotatably connected at one end to the rotating structure about the second axis. The second driving component is disposed on the lower leg component; A transmission structure is connected to the rotating structure and the second driving member, wherein the second driving member drives the transmission structure to rotate the lower leg member relative to the foot member; The bracket includes a base, a first cylinder, and a second cylinder. The base is connected to the foot member. The first cylinder and the second cylinder are spaced apart on the base along the extension direction of the first axis, forming a receiving space between them. The first cylinder has a first hole extending along the extension direction of the first axis, and the second cylinder has a second hole extending along the extension direction of the first axis. The rotating structure is received in the first hole, the second hole, and the receiving space. The first driving member is fixedly connected to the first cylinder and connected to the end of the rotating structure away from the second cylinder. The transmission structure is located on the side of the second cylinder facing away from the first cylinder and is rotatably connected to the end of the rotating structure facing away from the first cylinder. The rotating structure includes a first shaft, a second shaft, and a connecting member. The first shaft and the second shaft are connected and fixed. The first shaft extends along the extension direction of the first axis, and the second shaft extends along the extension direction of the second axis. The first shaft is rotatably connected to both the first cylinder and the second cylinder. The second shaft is located in the receiving space and is rotatably connected to the lower leg piece. The connecting member is disposed at the end of the first shaft facing away from the first cylinder and is rotatably connected to the transmission structure. The connector includes a connecting part and a connecting arm. The connecting part is detachably connected to the first shaft. The connecting arm is connected to the connecting part and extends to the side of the second cylinder opposite to the first cylinder. The transmission structure is rotatably connected to the connecting arm. The transmission structure is located on the side of the lower leg component facing away from the first driving component.

2. The lower limb assembly according to claim 1, characterized in that, The base includes a first block and a second block that are detachably connected, the first block being connected to the first cylinder and the second block being connected to the second cylinder; The base has a first receiving groove, which is connected to the receiving space, and the first shaft portion is received in the first receiving groove.

3. The lower limb assembly according to claim 1, characterized in that, The first shaft has a second receiving groove on its surface in the extension direction of the second axis, and the lower leg extends into the second receiving groove.

4. The lower limb assembly according to claim 1, characterized in that, The second shaft includes a shaft body and a reinforcing part. The reinforcing part is disposed on the outer peripheral surface of the shaft body and is also connected to the outer peripheral surface of the first shaft. The shaft body protrudes from the reinforcing part in the extension direction of the second axis. The end face and outer peripheral surface of the shaft body are directly chamfered.

5. The lower limb assembly according to claim 1, characterized in that, The second shaft has a third receiving groove on its surface in the extension direction of the second axis. The lower leg has a mounting hole at its end near the second shaft. The mounting hole extends through the lower leg in the extension direction of the second axis. The rotating structure also includes an adapter, which extends from the mounting hole into the third receiving groove and connects to the second shaft. The rotating structure also includes a bearing, the outer ring of which is connected to the small leg, and the inner ring of which is connected to the adapter. In the extension direction of the second axis, the adapter is connected to the side of the bearing opposite to the second axis, and the second axis is connected to the side of the bearing facing the second axis.

6. The lower limb assembly according to claim 5, characterized in that, The lower leg component includes a mounting portion, a main body portion, a support portion, and two opposing mounting arms connected in sequence. The mounting portion is used to connect with the thigh component of the humanoid robot. The second driving member is disposed at the end of the main body portion away from the support portion. The mounting arms are disposed at the end of the support portion near the foot component. Part of the mounting arms extends into the receiving space. The two mounting arms are arranged opposite each other in the extension direction of the first axis. The mounting arms have mounting holes. The second driving member drives the rotating structure to rotate relative to the mounting arms around the second axis.

7. The lower limb assembly according to claim 6, characterized in that, The dimensions of the main body portion gradually increase in the direction away from the foot member along both the extension directions of the first axis and the second axis. The dimension of the support portion in the extension direction of the first axis is greater than the dimension of the end of the main body portion near the support portion in the extension direction of the first axis.

8. The lower limb assembly according to claim 6, characterized in that, The surface of the support part near the base in the extension direction of the third axis is a first surface, and the surface of the support part near the transmission structure in the extension direction of the first axis is a second surface. The support part is provided with a clearance groove, which connects the first surface and the second surface. The clearance groove is used to avoid the transmission structure. The third axis intersects both the first axis and the second axis.

9. The lower limb assembly according to claim 6, characterized in that, The lower limb assembly also includes a limiting structure, which includes a crank, a first limiting member, and a second limiting member. The first limiting member is disposed at the end of the main body away from the support portion. The first limiting member is correspondingly disposed with the second driving member. One end of the crank in the extension direction of the second axis is connected to the second driving member, and the other end is connected to the second limiting member. The second limiting member is connected to the end of the transmission structure near the second driving member. The second limiting member includes a first limiting surface and a second limiting surface facing away from each other. The second driving member drives the second limiting member to rotate relative to the first limiting member so that the first limiting surface or the second limiting surface abuts against the first limiting member.

10. A humanoid robot, characterized in that, Includes the lower limb assembly as described in any one of claims 1 to 9.

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