Lower limb mechanism and bionic robot

Abstract

The utility model provides a lower limb mechanism and a bionic robot, and relates to the technical field of robots. The lower limb mechanism comprises a shank assembly, a foot assembly, a universal connecting assembly and a driving assembly; the universal connecting assembly is connected with the shank assembly and the foot assembly. The driving assembly comprises a first linear driving piece and a second linear driving piece which are arranged in the width direction of the foot assembly, and the first linear driving piece and the second linear driving piece are hinged to the shank assembly and the foot assembly respectively. The first linear driving piece and the second linear driving piece stretch out and draw back synchronously and can drive the foot assembly to swing up and down relative to the shank assembly. When one of the first linear driving piece and the second linear driving piece stretches out and the other one retracts, the foot assembly swings left and right relative to the shank assembly. The first linear driving part and the second linear driving part can realize complex driving of the foot assembly, and the ankle-rotating simulation device has the advantages of simple structure, smaller weight and occupied volume and lower cost while simulating flexible rotation of the ankle.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a lower limb mechanism and a bionic robot. Background Art

[0002] At present, the lower limb structure of bionic robots is relatively complex. In order to simulate the flexible rotation of the ankle, it is often necessary to set up more connecting parts and driving parts, which increases the weight, occupies a large volume and is costly. Utility Model Content

[0003] In order to solve the problems of the existing simulation robots' complex lower limb structures, large weight and occupied volume, and high cost, one of the purposes of the utility model is to provide a lower limb mechanism.

[0004] The utility model provides the following technical solutions:

[0005] A lower limb mechanism, comprising:

[0006] Lower leg assembly;

[0007] Foot assembly;

[0008] A universal connection assembly, connecting the calf assembly and the foot assembly respectively; and

[0009] A driving assembly includes a first linear driving member and a second linear driving member arranged along the width direction of the foot assembly, one end of the first linear driving member and one end of the second linear driving member are respectively hinged to the calf assembly, and the other end of the first linear driving member and the other end of the second linear driving member are respectively hinged to the foot assembly.

[0010] As a further optional solution for the lower limb mechanism, a first pin is provided on the calf assembly, the first pin is provided along the width direction of the foot assembly, and two first self-aligning bearings are sleeved on the first pin;

[0011] The foot assembly is provided with a second pin shaft, the second pin shaft is arranged along the width direction of the foot assembly, and two second self-aligning bearings are sleeved on the second pin shaft;

[0012] One end of the first linear drive member is connected to one of the first self-aligning bearings, and the other end is connected to one of the second self-aligning bearings. One end of the second linear drive member is connected to another of the first self-aligning bearings, and the other end is connected to another of the second self-aligning bearings.

[0013] As a further optional solution for the lower limb mechanism, a first needle bearing is sleeved on the first pin shaft, and the first pin shaft is rotatably arranged on the calf assembly through the first needle bearing;

[0014] The second pin shaft is sleeved with a second needle bearing, and the second pin shaft is rotatably arranged on the foot assembly through the second needle bearing.

[0015] As a further optional solution for the lower limb mechanism, a first sleeve is sleeved on the first pin shaft, and the first sleeve is located between the first self-aligning bearing and the first needle roller bearing;

[0016] The second pin shaft is sleeved with a second sleeve, and the second sleeve is located between the second self-aligning bearing and the second needle roller bearing.

[0017] As a further optional solution to the lower limb mechanism, the foot assembly includes:

[0018] A base having a forefoot portion, a midfoot portion, and a heel portion;

[0019] A first force-bearing member, provided with a first pressure sensor, wherein the first force-bearing member is connected to the forefoot portion via the first pressure sensor; and

[0020] The second force-bearing member is provided with a second pressure sensor, and the second force-bearing member is connected to the heel portion through the second pressure sensor.

[0021] As a further optional solution for the lower limb mechanism, the number of the first pressure sensors is at least two, and each of the first pressure sensors is arranged along the width direction of the foot assembly.

[0022] As a further optional solution to the lower limb mechanism, the sole of the foot is provided with a first connecting seat, and the universal connecting assembly is connected to the first connecting seat;

[0023] The heel portion is provided with a second connecting seat, and the first linear driving member and the second linear driving member are respectively hinged to the second connecting seat.

[0024] As a further optional scheme for the lower limb mechanism, the calf assembly includes a calf body and a joint part, the calf body is provided with a torque sensor, one end of the calf body is connected to the joint part through the torque sensor, the other end of the calf body is connected to the universal connection assembly, and the joint part is respectively hinged to the first linear drive member and the second linear drive member.

[0025] As a further optional scheme for the lower limb mechanism, the universal connection assembly includes a third pin and a fourth pin, the third pin is rotatably set on the foot assembly, the fourth pin is rotatably sleeved on the third pin, and the fourth pin is rotatably connected to the calf assembly.

[0026] Another purpose of the utility model is to provide a bionic robot.

[0027] The utility model provides the following technical solutions:

[0028] A bionic robot comprises the above-mentioned lower limb mechanism.

[0029] The embodiments of the present invention have the following beneficial effects:

[0030] In the above-mentioned lower limb mechanism, the foot assembly is connected to the calf assembly through a universal connection assembly, and can be flexibly rotated relative to the calf assembly. On this basis, the first linear drive member and the second linear drive member in the drive assembly are synchronously extended and retracted, and can drive the foot assembly to swing up and down relative to the calf assembly. When one of the first linear drive member and the second linear drive member is extended and the other is retracted, the foot assembly swings left and right relative to the calf assembly. Therefore, the first linear drive member and the second linear drive member can realize complex driving of the foot assembly, and while simulating the flexible rotation of the ankle, it has the advantages of simple structure, smaller weight and occupied volume, and lower cost.

[0031] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and understandable, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the utility model and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying creative work.

[0033] Figure 1 The overall structural diagram of a lower limb mechanism provided by an embodiment of the utility model is shown;

[0034] Figure 2 A schematic structural diagram of a lower limb mechanism provided by an embodiment of the utility model at another viewing angle is shown;

[0035] Figure 3 A schematic structural diagram of a calf assembly in a lower limb mechanism provided by an embodiment of the utility model is shown;

[0036] Figure 4 A schematic diagram showing the connection relationship between a calf assembly and a driving assembly in a lower limb mechanism provided by an embodiment of the utility model is shown;

[0037] Figure 5 A schematic structural diagram of a foot assembly in a lower limb mechanism provided by an embodiment of the utility model is shown;

[0038] Figure 6 A schematic diagram showing the connection relationship between a foot assembly and a driving assembly in a lower limb mechanism provided by an embodiment of the utility model is shown;

[0039] Figure 7 A structural schematic diagram of a universal connection assembly in a lower limb mechanism provided by an embodiment of the utility model is shown.

[0040] Description of main component symbols:

[0041] 100-calf assembly; 110-calf body; 111-torque sensor; 120-joint; 121-first pin; 122-first self-aligning bearing; 123-first needle bearing; 124-first bushing; 200-foot assembly; 210-base; 211-forefoot; 212-sole; 213-heel; 214-first connecting seat; 215-second connecting seat; 216-second pin; 217-second self-aligning bearing; 218-second bushing; 220-first force member; 221-first pressure sensor; 230-second force member; 231-second pressure sensor; 300-universal connection assembly; 310-third pin; 320-fourth pin; 330-third needle bearing; 340-fourth needle bearing; 400-drive assembly; 410-first linear drive member; 420-second linear drive member. DETAILED DESCRIPTION

[0042] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0043] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. In contrast, when an element is referred to as being "directly on" another element, there is no intermediate element. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0044] In the present invention, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "fix" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0045] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present utility model, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0046] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used in the specification of the template herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0047] Example

[0048] Please also read Figure 1 and Figure 2 This embodiment provides a lower limb mechanism for use in a bionic robot. The lower limb mechanism includes a calf assembly 100 , a foot assembly 200 , a universal connection assembly 300 , and a drive assembly 400 .

[0049] Specifically, the universal joint assembly 300 connects the calf assembly 100 and the foot assembly 200 respectively, so that the foot assembly 200 can rotate flexibly relative to the calf assembly 100 .

[0050] The driving assembly 400 includes a first linear driving member 410 and a second linear driving member 420 , and the first linear driving member 410 and the second linear driving member 420 are arranged along the width direction of the foot assembly 200 , which is indicated by the X direction in the figure.

[0051] One end of the first linear drive member 410 and one end of the second linear drive member 420 are respectively hinged to the calf assembly 100 , and the other end of the first linear drive member 410 and the other end of the second linear drive member 420 are respectively hinged to the foot assembly 200 .

[0052] In the above-mentioned lower limb mechanism, the first linear drive member 410 and the second linear drive member 420 are synchronously extended and retracted, and can drive the foot assembly 200 to swing up and down relative to the calf assembly 100. When one of the first linear drive member 410 and the second linear drive member 420 is extended and the other is retracted, the foot assembly 200 swings left and right relative to the calf assembly 100. Therefore, the first linear drive member 410 and the second linear drive member 420 can realize complex driving of the foot assembly 200, and have the advantages of simple structure, smaller weight and occupied volume, and lower cost while simulating the flexible rotation of the ankle.

[0053] See also Figure 3 In some embodiments, the calf assembly 100 is composed of a calf body 110 and a joint component 120 .

[0054] The top of the calf body 110 is provided with a torque sensor 111 , and the top of the calf body 110 is fixedly connected to the joint 120 via the torque sensor 111 , and the bottom of the calf body 110 is connected to the universal connection assembly 300 .

[0055] When in use, the joint 120 is movably connected to the part simulating the thigh in the lower limb mechanism, and acts on a part of the knee joint. The torque sensor 111 can measure the torque between the calf body 110 and the joint 120, and then detect whether the calf movement is blocked.

[0056] For example, when the thigh of the bionic robot drives the calf to swing and the calf is blocked by an obstacle, the torque sensor 111 measures the torque between the calf body 110 and the joint 120, and feeds back to the control system of the entire bionic robot so that it can respond, such as bending the knees and lifting the feet, stopping moving, etc.

[0057] Optionally, the torque sensor 111 adopts a static multi-dimensional torque sensor 111 .

[0058] Furthermore, the first linear driving member 410 and the second linear driving member 420 are respectively hinged to the joint member 120 .

[0059] When the first linear driving member 410 and the second linear driving member 420 drive the foot assembly 200 to move and the movement is blocked, there is also torque between the calf body 110 and the joint 120 , which is measured and fed back by the torque sensor 111 .

[0060] See also Figure 4 In some specific implementations, a first pin shaft 121 is disposed on the joint component 120 . The first pin shaft 121 is disposed along the X direction, and two first self-aligning bearings 122 are sleeved on the first pin shaft 121 .

[0061] Correspondingly, the top end of the first linear drive member 410 is connected to one of the first self-aligning bearings 122, and is further articulated to the joint member 120 through the first self-aligning bearing 122 and the first pin 121. The top end of the second linear drive member 420 is connected to another first self-aligning bearing 122, and is further articulated to the joint member 120 through the first self-aligning bearing 122 and the first pin 121.

[0062] In the process of the first linear drive 410 and the second linear drive 420 driving the foot assembly 200 to swing up and down and left and right, the angle between the telescopic direction of the first linear drive 410 and the axial direction of the first pin 121, and the angle between the telescopic direction of the second linear drive 420 and the axial direction of the first pin 121 are constantly changing. At this time, the first self-aligning bearing 122 can adapt to the angular deviation between the first linear drive 410 and the first pin 121, and between the second linear drive 420 and the first pin 121.

[0063] Optionally, the first self-aligning bearing 122 is a radial spherical plain bearing.

[0064] Furthermore, a first needle bearing 123 is sleeved on the first pin shaft 121 , and the first pin shaft 121 is rotatably disposed on the joint component 120 via the first needle bearing 123 .

[0065] When in use, the first pin shaft 121 can rotate relative to the joint member 120 and relative to the first linear driving member 410 and the second linear driving member 420, so that the movement of the first linear driving member 410 and the second linear driving member 420 is more flexible.

[0066] Optionally, the first needle roller bearing 123 is a full needle roller bearing. Under the same inner diameter condition, the full needle roller bearing has a smaller outer diameter, occupies a small volume, and has a larger load and rigidity.

[0067] Furthermore, a first sleeve 124 is sleeved on the first pin shaft 121 , and the first sleeve 124 is located between the first self-aligning bearing 122 and the first needle roller bearing 123 .

[0068] The first sleeve 124 can isolate and raise the first self-aligning bearing 122 to avoid rotation interference of the first self-aligning bearing 122 and fully release the freedom of the first self-aligning bearing 122 .

[0069] Optionally, the first sleeve 124 is a stainless steel sleeve.

[0070] See also Figure 5 In some embodiments, the foot assembly 200 is composed of a base 210 , a first force-carrying member 220 , and a second force-carrying member 230 .

[0071] The base 210 has a forefoot portion 211, a midfoot portion 212 and a heel portion 213, and the forefoot portion 211, the midfoot portion 212 and the heel portion 213 are arranged in sequence along the length direction of the foot assembly 200, which is indicated by the Y direction in the figure.

[0072] The first support member 220 is located below the forefoot portion 211 . A first pressure sensor 221 is provided on the side of the first support member 220 facing the forefoot portion 211 . The first support member 220 is fixedly connected to the forefoot portion 211 via the first pressure sensor 221 .

[0073] The second force-supporting member 230 is located below the heel portion 213 . A second pressure sensor 231 is provided on the side of the second force-supporting member 230 facing the heel portion 213 . The second force-supporting member 230 is fixedly connected to the heel portion 213 via the second pressure sensor 231 .

[0074] When in use, the entire foot assembly 200 touches the ground through the first force member 220 and the second force member 230. Accordingly, the first pressure sensor 221 can detect the pressure on the forefoot area of ​​the foot assembly 200, and the second pressure sensor 231 can detect the pressure on the heel area of ​​the foot assembly 200, and feed back to the control system of the entire bionic robot.

[0075] Furthermore, the number of the first pressure sensors 221 is at least two, and the first pressure sensors 221 are arranged along the X direction.

[0076] When the inside of the sole of the foot assembly 200 touches the ground, the pressure on the first pressure sensor 221 located on the inside of the sole is greater, and the pressure on the first pressure sensor 221 located on the outside of the sole is relatively smaller. When the outside of the sole of the foot assembly 200 touches the ground, the pressure on the first pressure sensor 221 located on the outside of the sole is greater, and the pressure on the first pressure sensor 221 located on the inside of the sole is relatively smaller.

[0077] Therefore, according to the relative magnitudes of the pressures detected by the first pressure sensors 221 , the control system of the bionic robot can determine the state of the foot assembly 200 .

[0078] In this embodiment, the number of the first pressure sensors 221 is two.

[0079] In some specific embodiments, a first connection seat 214 is disposed on the upper surface of the sole portion 212 , and the universal connection assembly 300 is connected to the first connection seat 214 .

[0080] In addition, a second connection seat 215 is disposed on the upper surface of the heel portion 213 , and the first linear driving member 410 and the second linear driving member 420 are hinged to the second connection seat 215 , respectively.

[0081] See also Figure 6 Similar to the joint member 120 , a second pin shaft 216 is disposed on the second connection seat 215 . The second pin shaft 216 is disposed along the X direction, and two second self-aligning bearings 217 are sleeved on the second pin shaft 216 .

[0082] Correspondingly, the bottom end of the first linear drive member 410 is connected to one of the second self-aligning bearings 217, and is further hinged to the second connection seat 215 through the second self-aligning bearing 217 and the second pin 216. The bottom end of the second linear drive member 420 is connected to another second self-aligning bearing 217, and is further hinged to the second connection seat 215 through the second self-aligning bearing 217 and the second pin 216.

[0083] In the process of the first linear drive 410 and the second linear drive 420 driving the foot assembly 200 to swing up and down and left and right, the angle between the telescopic direction of the first linear drive 410 and the axial direction of the second pin 216, and the angle between the telescopic direction of the second linear drive 420 and the axial direction of the second pin 216 are constantly changing. At this time, the second self-aligning bearing 217 can adapt to the angular deviation between the first linear drive 410 and the second pin 216, and between the second linear drive 420 and the second pin 216.

[0084] Optionally, the second self-aligning bearing 217 is a radial spherical plain bearing.

[0085] Furthermore, a second sleeve 218 is sleeved on the second pin shaft 216 , and the second sleeve 218 is located between the second self-aligning bearing 217 and the second connecting seat 215 .

[0086] The second shaft sleeve 218 can isolate and raise the second self-aligning bearing 217 to avoid rotation interference of the second self-aligning bearing 217 and fully release the freedom of the second self-aligning bearing 217 .

[0087] Optionally, the second sleeve 218 is a stainless steel sleeve.

[0088] See also Figure 7 In some embodiments, the universal joint assembly 300 includes a third pin shaft 310 and a fourth pin shaft 320 .

[0089] The third pin shaft 310 is arranged along the Y direction and is rotatably arranged on the first connection seat 214. The fourth pin shaft 320 is arranged along the X direction and is rotatably sleeved on the third pin shaft 310, and the fourth pin shaft 320 is rotatably connected to the bottom end of the calf body 110.

[0090] Further, the third pin shaft 310 is sleeved with a third needle bearing 330, and the third pin shaft 310 is rotatably connected to the first connecting seat 214 through the third needle bearing 330. The fourth pin shaft 320 is sleeved with a fourth needle bearing 340, and the fourth pin shaft 320 is rotatably connected to the calf body 110 through the fourth needle bearing 340.

[0091] When in use, the third needle bearing 330 can reduce the friction between the third pin 310 and the first connecting seat 214, and the fourth needle bearing 340 can reduce the friction between the fourth pin 320 and the calf body 110, so that the foot assembly 200 can swing more flexibly relative to the calf assembly 100.

[0092] Optionally, the third needle roller bearing 330 and the fourth needle roller bearing 340 are both full needle roller bearings.

[0093] In some specific implementations, the first linear drive member 410 and the second linear drive member 420 are both push rod servos.

[0094] In summary, when the above-mentioned lower limb mechanism is in operation, the first linear drive member 410 and the second linear drive member 420 are extended synchronously, which can drive the foot assembly 200 to swing up and down around the X direction, so that the forefoot area of ​​the foot assembly 200 is tilted upward and the heel area touches the ground. The first linear drive member 410 and the second linear drive member 420 are retracted synchronously, which can drive the foot assembly 200 to swing up and down around the X direction, so that the forefoot area of ​​the foot assembly 200 is pressed downward and the forefoot area touches the ground.

[0095] In addition, when the first linear drive member 410 extends and the second linear drive member 420 retracts, the foot assembly 200 swings left and right around the Y direction, specifically flips inwards, and lands on the inside of the sole. When the first linear drive member 410 retracts and the second linear drive member 420 extends, the foot assembly 200 swings left and right around the Y direction, specifically flips outwards, and lands on the outside of the sole.

[0096] Therefore, the first linear drive member 410 and the second linear drive member 420 can realize complex driving of the foot assembly 200, and have the advantages of simple structure, smaller weight and occupied volume, and lower cost while simulating the flexible rotation of the ankle.

[0097] This embodiment also provides a bionic robot, including the above-mentioned lower limb mechanism.

[0098] In all examples shown and described herein, any specific values ​​should be interpreted as merely exemplary and not as limiting, and thus other examples of the exemplary embodiments may have different values.

[0099] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0100] The above-mentioned embodiments only express several implementation methods of the present invention, and the description is relatively specific and detailed, but it cannot be understood as limiting the scope of the present invention. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention.

Claims

1. A lower limb mechanism, characterized in that: include: Lower leg assembly; Foot assembly; A universal connection assembly, respectively connecting the calf assembly and the foot assembly; as well as A driving assembly includes a first linear driving member and a second linear driving member arranged along the width direction of the foot assembly, one end of the first linear driving member and one end of the second linear driving member are respectively hinged to the calf assembly, and the other end of the first linear driving member and the other end of the second linear driving member are respectively hinged to the foot assembly.

2. The lower limb mechanism according to claim 1, characterized in that: The calf assembly is provided with a first pin shaft, the first pin shaft is arranged along the width direction of the foot assembly, and two first self-aligning bearings are sleeved on the first pin shaft; The foot assembly is provided with a second pin shaft, the second pin shaft is arranged along the width direction of the foot assembly, and two second self-aligning bearings are sleeved on the second pin shaft; One end of the first linear drive member is connected to one of the first self-aligning bearings, and the other end is connected to one of the second self-aligning bearings. One end of the second linear drive member is connected to another of the first self-aligning bearings, and the other end is connected to another of the second self-aligning bearings.

3. The lower limb mechanism according to claim 2, characterized in that: A first needle bearing is sleeved on the first pin shaft, and the first pin shaft is rotatably arranged on the calf assembly through the first needle bearing; The second pin shaft is sleeved with a second needle bearing, and the second pin shaft is rotatably arranged on the foot assembly through the second needle bearing.

4. The lower limb mechanism according to claim 3, characterized in that: A first sleeve is sleeved on the first pin shaft, and the first sleeve is located between the first self-aligning bearing and the first needle roller bearing; The second pin shaft is sleeved with a second sleeve, and the second sleeve is located between the second self-aligning bearing and the second needle roller bearing.

5. The lower limb mechanism according to any one of claims 1 to 4, characterized in that: The foot assembly comprises: A base having a forefoot portion, a midfoot portion, and a heel portion; A first force-bearing member, provided with a first pressure sensor, wherein the first force-bearing member is connected to the forefoot portion via the first pressure sensor; and The second force-bearing member is provided with a second pressure sensor, and the second force-bearing member is connected to the heel portion through the second pressure sensor.

6. The lower limb mechanism according to claim 5, characterized in that: The number of the first pressure sensors is at least two, and the first pressure sensors are arranged along the width direction of the foot assembly.

7. The lower limb mechanism according to claim 5, characterized in that: The sole portion is provided with a first connection seat, and the universal connection assembly is connected to the first connection seat; The heel portion is provided with a second connecting seat, and the first linear driving member and the second linear driving member are respectively hinged to the second connecting seat.

8. The lower limb mechanism according to any one of claims 1 to 4, characterized in that: The calf assembly includes a calf body and a joint component, the calf body is provided with a torque sensor, one end of the calf body is connected to the joint component via the torque sensor, the other end of the calf body is connected to the universal connection assembly, and the joint component is respectively hinged to the first linear drive component and the second linear drive component.

9. The lower limb mechanism according to any one of claims 1 to 4, characterized in that: The universal joint assembly includes a third pin and a fourth pin. The third pin is rotatably arranged on the foot assembly. The fourth pin is rotatably sleeved on the third pin. The fourth pin is rotatably connected to the calf assembly.

10. A bionic robot, characterized in that: Comprising the lower limb mechanism described in any one of claims 1-9.

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