Ankle joint mechanism and humanoid robot

Abstract

The utility model relates to the technical field of robots, and provides an ankle joint mechanism and a humanoid robot, and the ankle joint mechanism comprises a first rotating part, a second rotating part and a driving device. The first rotating piece is configured to be rotatably connected with the shank profiling piece around a first rotating shaft, and the second rotating piece is rotatably connected with the first rotating piece around a second rotating shaft. The second rotating piece is used for being connected with the foot profiling piece. The driving device is configured to be arranged on the shank profiling part, the driving device is in transmission connection with the second rotating part, and the driving device is used for driving the second rotating part to drive the first rotating part to rotate around the first rotating shaft or driving the second rotating part to rotate around the second rotating shaft. The first rotating shaft extends in the width direction of the shank profiling piece, and the second rotating shaft extends in the thickness direction of the shank profiling piece. According to the ankle joint mechanism, the driving device drives the second rotating piece to move so as to adjust the posture of the foot profiling piece, and the ankle joint mechanism is simple in structure, convenient to control and capable of being suitable for various application scenes.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to an ankle joint mechanism and a humanoid robot. Background Art

[0002] In the prior art, humanoid biped robots usually adopt a two-degree-of-freedom ankle joint mechanism to adapt to complex application scenarios. The existing two-degree-of-freedom ankle joint mechanism has a complex joint structure and high control difficulty. Summary of the Utility Model

[0003] The utility model provides an ankle joint mechanism and a humanoid robot, aiming at solving the defects of the existing two-degree-of-freedom ankle joint mechanism, namely, complex joint structure and high control difficulty.

[0004] In a first aspect, the utility model provides an ankle joint mechanism, comprising:

[0005] A first rotating member and a second rotating member, the first rotating member being configured to be rotatably connected to a calf-shaped member about a first rotating shaft, and the second rotating member being rotatably connected to the first rotating member about a second rotating shaft; the second rotating member is used for connecting with a foot-shaped member;

[0006] A driving device, the driving device being configured to be arranged on the calf-shaped member, the driving device being in transmission connection with the second rotating member, and the driving device being used for driving the second rotating member to drive the first rotating member to rotate about the first rotating shaft, or driving the second rotating member to rotate about the second rotating shaft;

[0007] The first rotating shaft extends along the width direction of the calf-shaped member, and the second rotating shaft extends along the thickness direction of the calf-shaped member.

[0008] According to the ankle joint mechanism of the utility model, connecting members are respectively arranged on both sides of the second rotating member along the direction of the first rotating shaft;

[0009] The driving device is respectively in transmission connection with the two connecting members; the driving device is used for driving the two connecting members to move so as to drive the second rotating member to move.

[0010] According to the ankle joint mechanism of the utility model, the driving device comprises two driving components, and the two driving components are respectively connected with the two connecting members in a one-to-one correspondence manner.

[0011] According to the ankle joint mechanism of the utility model, the driving component comprises a driving motor, a crank and a connecting rod;

[0012] The output end of the driving motor is connected to one end of the crank, the other end of the crank is hinged to one end of the connecting rod, and the other end of the connecting rod is hinged to the connecting piece.

[0013] According to the ankle joint mechanism of the present invention, a first ball joint is provided on the crank, and a second ball joint is provided on the connecting piece;

[0014] One end of the connecting rod is provided with a first hinge seat adapted to the first ball joint, and the other end is provided with a second hinge seat adapted to the second ball joint.

[0015] According to the ankle joint mechanism of the present invention, the two driving components are configured to be arranged along the length direction of the calf-shaped member.

[0016] According to the ankle joint mechanism of the present invention, the first rotating member includes a connected first part and a second part;

[0017] The first part is provided with a first shaft hole extending along the direction of the first rotating shaft, a first bearing is arranged in the first shaft hole, and the first bearing is used for sleeving on the first rotating shaft of the calf-shaped member;

[0018] The second part is provided with a second shaft hole extending along the direction of the second rotating shaft, a second bearing is arranged in the second shaft hole, and the second bearing is sleeved on the second rotating shaft of the second rotating member.

[0019] According to the ankle joint mechanism of the present invention, the second rotating member is provided with a limiting groove, and the second part is rotatably arranged in the limiting groove;

[0020] The opposite side walls of the limiting groove respectively abut against the opposite sides of the second part along the direction of the second rotating shaft.

[0021] In a second aspect, the present invention further provides a humanoid robot, comprising:

[0022] The ankle joint mechanism as described in any one of the above;

[0023] A calf-shaped member, the first rotating member is rotatably connected to the calf-shaped member around the first rotating shaft, and the driving device is arranged on the calf-shaped member;

[0024] A foot-shaped member, the foot-shaped member is connected to the second rotating member.

[0025] According to the humanoid robot of the present invention, the foot-shaped member is provided with a mounting groove, and the second rotating member is fixedly installed in the mounting groove.

[0026] The ankle joint mechanism of the present utility model is connected between the calf-shaped component and the foot-shaped component by a first rotating member and a second rotating member. The first rotating member can rotate relative to the calf-shaped component around a first rotating shaft to drive the second rotating member and the foot-shaped component to rotate around the first rotating shaft. The second rotating member can rotate relative to the first rotating member around a second rotating shaft to directly drive the foot-shaped component to rotate around the second rotating shaft, enabling the foot-shaped component to rotate around two rotating shafts to adjust its posture. At the same time, a driving device is provided on the calf-shaped component to drive the second rotating member. The second rotating member rotates relative to the first rotating member or drives the first rotating member to rotate together relative to the calf-shaped component to achieve the rotation of the foot-shaped component around two rotating shafts. The connection structure is simple and easier to control.

[0027] As can be seen from the above, for the ankle joint mechanism of the present utility model, by providing a first rotating member and a second rotating member between the calf-shaped component and the foot-shaped component, the foot-shaped component can perform attitude adjustment with two degrees of freedom. A driving device is provided on the calf-shaped component, and the driving device only needs to drive the second rotating member to move to adjust the attitude of the foot-shaped component. The structure is simple and the control is convenient, and it can be applied to various application scenarios. Brief Description of the Drawings

[0028] In order to more clearly illustrate the technical solutions in the present utility model or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0029] Figure 1 It is one of the schematic diagrams of the ankle joint mechanism, the calf-shaped component and the foot-shaped component provided by the embodiment of the present utility model.

[0030] Figure 2 It is an exploded view of the ankle joint mechanism, the calf-shaped component and the foot-shaped component provided by the embodiment of the present utility model.

[0031] Figure 3 It is one of the schematic diagrams of the ankle joint mechanism, the calf-shaped component and the foot-shaped component adjusting the attitude provided by the embodiment of the present utility model.

[0032] Figure 4 It is the second of the schematic diagrams of the ankle joint mechanism, the calf-shaped component and the foot-shaped component adjusting the attitude provided by the embodiment of the present utility model.

[0033] Figure 5 It is the third of the schematic diagrams of the ankle joint mechanism, the calf-shaped component and the foot-shaped component adjusting the attitude provided by the embodiment of the present utility model.

[0034] Figure 6This is the fourth schematic diagram showing the attitude adjustment of the ankle joint mechanism, the calf profiling part, and the foot profiling part provided by the embodiments of the present invention.

[0035] Figure 7 This is the fifth schematic diagram showing the attitude adjustment of the ankle joint mechanism, the calf profiling part, and the foot profiling part provided by the embodiments of the present invention.

[0036] Figure 8 This is the schematic diagram of the first rotating member and the second rotating member provided by the embodiments of the present invention.

[0037] Figure 9 This is the schematic diagram of the first rotating member provided by the embodiments of the present invention.

[0038] Figure 10 This is the second schematic diagram showing the ankle joint mechanism, the calf profiling part, and the foot profiling part provided by the embodiments of the present invention.

[0039] Reference numerals:

[0040] 1. Ankle joint mechanism;

[0041] 11. First rotating member; 111. First part; 1111. First shaft hole; 112. Second part; 1121. Second shaft hole; 12. Second rotating member; 121. Connecting member; 1211. Second ball joint; 122. Limiting groove;

[0042] 13. Driving device; 131. Driving assembly; 1311. Driving motor; 1312. Crank; 1313. Connecting rod; 1314. First ball joint;

[0043] 2. Calf profiling part; 3. Foot profiling part; 31. Installation groove. Detailed implementation manners

[0044] To make the objectives, technical solutions, and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below with reference to the accompanying drawings in the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present invention without making creative efforts shall fall within the protection scope of the present invention.

[0045] The following combines Figures 1-10 to describe the ankle joint mechanism of the present invention.

[0046] As Figure 1 and Figure 2 shown, the present invention provides an ankle joint mechanism 1, including: a first rotating member 11, a second rotating member 12, and a driving device 13. The first rotating member 11 is configured to rotate around a first rotating shaft (such asFigure 2 is rotatably connected to the calf profiling member 2, and the second rotating member 12 is rotatably connected to the first rotating member 11 around a second rotating shaft (as shown by the Y-axis in the figure). Figure 2 The second rotating member 12 is used to be connected to the foot profiling member 3. The driving device 13 is configured to be arranged on the calf profiling member 2. The driving device 13 is in transmission connection with the second rotating member 12. The driving device 13 is used to drive the second rotating member 12 to drive the first rotating member 11 to rotate around the first rotating shaft, or drive the second rotating member 12 to rotate around the second rotating shaft. The first rotating shaft extends along the width direction of the calf profiling member 2, and the second rotating shaft extends along the thickness direction of the calf profiling member 2.

[0047] In this embodiment, it can be understood that the calf profiling member 2 is a profiling structural member of a humanoid robot for simulating the calf, and the foot profiling member 3 is a profiling structural member of a humanoid robot for simulating the foot.

[0048] The first rotating member 11 and the second rotating member 12 of the ankle joint mechanism 1 in this embodiment are used to realize the two-degree-of-freedom rotation function of the calf profiling member 2 and the foot profiling member 3 of the humanoid robot.

[0049] Specifically, the first rotating member 11 is rotatably connected to the calf profiling member 2, so that the first rotating member 11 can rotate relative to the calf profiling member 2 around the first rotating shaft. The first rotating member 11 is connected to the foot profiling member 3 through the second rotating member 12. When the first rotating member 11 rotates relative to the calf profiling member 2, it can drive the second rotating member 12 and the foot profiling member 3 to rotate relative to the calf profiling member 2 around the first rotating shaft. The first rotating shaft extends along the width direction of the calf profiling member 2, so that the foot profiling member 3 can realize the posture adjustment function of lifting the heel or raising the toes when rotating around the first rotating shaft (as shown in the figure). Figures 3-6 shown).

[0050] The second rotating member 12 is rotatably connected to the first rotating member 11, so that the second rotating member 12 can rotate relative to the first rotating member 11 around the second rotating shaft. The second rotating member 12 is connected to the foot profiling member 3. When the second rotating member 12 rotates relative to the first rotating member 11, it can drive the foot profiling member 3 to rotate relative to the first rotating member 11 around the second rotating shaft. The second rotating shaft extends along the thickness direction of the calf profiling member 2, so that the foot profiling member 3 can realize the posture adjustment function of swinging the sole of the foot left and right when rotating around the second rotating shaft (as shown in the figure, with the forward direction of the humanoid robot as the front). Figure 7 shown).

[0051] Meanwhile, by providing a driving device 13 on the calf profiling member 2 which is in transmission connection with the second rotating member 12, the driving device 13 can drive the second rotating member 12 to rotate around the first rotating shaft or around the second rotating shaft, thereby driving the foot profiling member 3 to rotate around the first rotating shaft or the second rotating shaft. Specifically, when the driving device 13 drives the second rotating member 12 to rotate around the first rotating shaft, since the second rotating member 12 itself cannot rotate relative to the first rotating member 11 around the first rotating shaft, the second rotating member 12 will drive the first rotating member 11 to rotate around the first rotating shaft together, thereby driving the foot profiling member 3 to rotate around the first rotating shaft; when the driving device 13 drives the second rotating member 12 to rotate around the second rotating shaft, the second rotating member 12 itself rotates relative to the first rotating member 11 around the second rotating shaft, thereby driving the foot profiling member 3 to rotate around the second rotating shaft.

[0052] For the ankle joint mechanism 1 of the present utility model, by connecting the calf profiling member 2 and the foot profiling member 3 with a first rotating member 11 and a second rotating member 12, the first rotating member 11 can rotate relative to the calf profiling member 2 around the first rotating shaft to drive the second rotating member 12 and the foot profiling member 3 to rotate around the first rotating shaft, and the second rotating member 12 can rotate relative to the first rotating member 11 around the second rotating shaft to directly drive the foot profiling member 3 to rotate around the second rotating shaft, so that the foot profiling member 3 can rotate around two rotating shafts to adjust its posture. Meanwhile, by providing a driving device 13 on the calf profiling member 2 to drive the second rotating member 12, the second rotating member 12 rotates relative to the first rotating member 11 or drives the first rotating member 11 to rotate together relative to the calf profiling member 2 to realize the rotation of the foot profiling member 3 around two rotating shafts. The connection structure is simple and easier to control.

[0053] As can be seen from the above, for the ankle joint mechanism 1 of the present utility model, by providing the first rotating member 11 and the second rotating member 12 between the calf profiling member 2 and the foot profiling member 3, the foot profiling member 3 can perform attitude adjustment with two degrees of freedom, and a driving device 13 is provided on the calf profiling member 2. The driving device 13 only needs to drive the second rotating member 12 to move to adjust the attitude of the foot profiling member 3. The structure is simple and the control is convenient, and it can be applied to various application scenarios.

[0054] Specifically, in some embodiments, as Figure 2 and Figure 8 shown, connecting members 121 are respectively provided on both sides of the second rotating member 12 along the direction of the first rotating shaft. The driving device 13 is respectively in transmission connection with the two connecting members 121. The driving device 13 is used to drive the two connecting members 121 to move to drive the second rotating member 12 to move.

[0055] In this embodiment, by arranging a connecting member 121 on each side of the second rotating member 12 along the direction of the first rotating shaft, the driving device 13 can drive the two connecting members 121 to move, thereby driving the second rotating member 12 to rotate around the second rotating shaft or the first rotating shaft.

[0056] Specifically, taking the length direction of the calf profiling member 2 as the vertical direction, when the driving device 13 simultaneously lifts or pushes down the two connecting members 121, the two connecting members 121 can drive the second rotating member 12 to rotate around the first rotating shaft. Since the second rotating member 12 itself cannot rotate relative to the first rotating member 11 around the first rotating shaft, the second rotating member 12 will drive the first rotating member 11 to rotate around the first rotating shaft together, thereby driving the foot profiling member 3 to rotate around the first rotating shaft; when the driving device 13 lifts one of the connecting members 121 upward and pushes the other connecting member 121 downward, the two connecting members 121 can drive the second rotating member 12 to rotate around the second rotating shaft, thereby driving the foot profiling member 3 to rotate around the second rotating shaft.

[0057] Specifically, in some embodiments, as Figure 2 and Figure 8 shown, the driving device 13 includes two driving components 131, and the two driving components 131 are respectively connected to the two connecting members 121 in a one-to-one correspondence.

[0058] In this embodiment, by arranging the two driving components 131 to be connected to the connecting members 121 in a one-to-one correspondence, each driving component 131 can independently control the corresponding connecting member 121, making the driving device 13 more convenient and flexible when driving the second rotating member 12 to adjust the posture of the foot profiling member 3.

[0059] Specifically, in some embodiments, as Figure 2 shown, the driving component 131 includes a driving motor 1311, a crank 1312, and a connecting rod 1313. The output end of the driving motor 1311 is connected to one end of the crank 1312, the other end of the crank 1312 is hinged to one end of the connecting rod 1313, and the other end of the connecting rod 1313 is hinged to the connecting member 121.

[0060] In this embodiment, the output end of the driving motor 1311 is connected to one end of the crank 1312, and the driving motor 1311 can drive the crank 1312 to rotate. The two ends of the connecting rod 1313 are respectively hinged to the other end of the crank 1312 and the connecting member 121, so as to transmit power between the crank 1312 and the connecting member 121, and convert the rotation of the crank 1312 into the movement of the connecting member 121. The structure is simple, convenient and practical.

[0061] Specifically, as Figure 3 、 Figure 5 and Figure 7As shown in the front view as an example, when the connecting member 121 is located on the front side of the first rotating shaft (with the forward direction of the profiling robot being the front), when the crank 1312 of the driving assembly 131 connected to the left connecting member 121 rotates clockwise and the crank 1312 of the driving assembly 131 connected to the right connecting member 121 rotates counterclockwise, the foot profiling member 3 can be controlled to rotate counterclockwise around the first rotating shaft to lift the toe tip (as shown in Figure 5 and Figure 6 ); conversely, when the crank 1312 of the driving assembly 131 connected to the left connecting member 121 rotates counterclockwise and the crank 1312 of the driving assembly 131 connected to the right connecting member 121 rotates clockwise, the foot profiling member 3 can be controlled to rotate clockwise around the first rotating shaft to stand on tiptoe (as shown in Figure 3 and Figure 4 ).

[0062] Similarly, as shown in Figure 7 , when the two cranks 1312 rotate clockwise simultaneously, the foot profiling member 3 can be controlled to rotate clockwise around the second rotating shaft; when the two cranks 1312 rotate counterclockwise simultaneously, the foot profiling member 3 can be controlled to rotate counterclockwise around the second rotating shaft.

[0063] At the same time, compared with transmission methods such as hydraulic drive or pneumatic drive, in this embodiment, the driving motor 1311 drives the transmission mechanism to control the posture of the foot profiling member 3, without the need to arrange hydraulic pipelines or air pipes, and the structure is simpler and more compact; the driving motor 1311 is controlled by an electric circuit, with high control precision, fast response, and better control effect.

[0064] In some embodiments, as shown in Figure 2 and Figure 8 , a first ball joint 1314 is provided on the crank 1312, and a second ball joint 1211 is provided on the connecting member 121. One end of the connecting rod 1313 is provided with a first hinge seat adapted to the first ball joint 1314, and the other end is provided with a second hinge seat adapted to the second ball joint 1211.

[0065] It is easy to understand that when the crank 1312 rotates, one end of the connecting rod 1313 connected to the crank 1312 rotates with the rotation of the crank 1312, and one end connected to the connecting member 121 rotates with the connecting member 121 around the first rotating shaft or the second rotating shaft. The rotation directions of the connecting member 121 and the crank 1312 are different. Therefore, the movement directions of the two ends of the connecting rod 1313 are different, causing the angle between the connecting rod 1313 and the connecting member 121 and the crank 1312 to continuously change during the movement process.

[0066] In this embodiment, by respectively arranging a first hinge seat and a second hinge seat at both ends of the connecting rod 1313, the first ball hinge 1314 on the crank 1312 is rollably mounted on the first hinge seat, and the second ball hinge 1211 on the connecting member 121 is rollably mounted on the second hinge seat. When the connecting rod 1313 moves, the ball hinge can roll in the corresponding hinge seat along with the angular changes between the connecting rod 1313 and the crank 1312, and between the connecting rod 1313 and the connecting member 121, thereby making the transmission of the connecting rod 1313 smoother.

[0067] In a specific embodiment, as Figure 2 and Figure 8 shown, a connecting column is provided on the crank 1312, and mutually adapted screw holes are provided on the connecting column and the first ball hinge 1314. The first ball hinge 1314 is mounted on the connecting column through a limit bolt. The connecting member 121 includes a fixing column, the fixing column is provided on the second rotating member 12, the second ball hinge 1211 is sleeved on the fixing column, and a limit snap ring is mounted on the fixing column, and the limit snap ring is located on the side of the second ball hinge 1211 away from the second rotating member 12 to limit the axial movement of the second ball hinge 1211.

[0068] In some embodiments, as Figures 1-7 shown, the two driving components 131 are configured to be arranged along the length direction of the calf profiling member 2.

[0069] In this embodiment, by arranging the driving components 131 along the length direction of the calf profiling member 2, the space of the calf profiling member 2 can be fully utilized, which is beneficial to reducing the width and thickness of the calf profiling member 2 and making the structure of the whole humanoid robot more compact.

[0070] In some embodiments, as Figure 8 and Figure 9 shown, the first rotating member 11 includes a connected first part 111 and a second part 112. The first part 111 is provided with a first shaft hole 1111 extending along the direction of the first rotating shaft, and a first bearing is arranged in the first shaft hole 1111 for sleeving on the first rotating shaft of the calf profiling member 2. The second part 112 is provided with a second shaft hole 1121 extending along the direction of the second rotating shaft, and a second bearing is arranged in the second shaft hole 1121 for sleeving on the second rotating shaft of the second rotating member 12.

[0071] In this embodiment, the first part 111 is provided with a first shaft hole 1111 for accommodating a first bearing. The first bearing is used for mating and plugging with the first rotating shaft on the calf profiling member 2, enabling the first rotating member 11 to rotate relative to the calf profiling member 2 around the first rotating shaft. Similarly, the second part 112 is provided with a second shaft hole 1121 for arranging a second bearing. The second bearing is mated and plugged with the second rotating shaft of the second rotating member 12, enabling the second rotating member 12 to rotate relative to the first rotating member 11 around the second rotating shaft. The structure is simple, convenient and practical.

[0072] In some embodiments, such as Figure 2 and Figure 8 shown, the second rotating member 12 is provided with a limiting groove 122, and the second part 112 is rotatably arranged in the limiting groove 122. The opposite two side walls of the limiting groove 122 respectively abut against the opposite two sides of the second part 112 along the direction of the second rotating shaft.

[0073] In this embodiment, the second part 112 is rotatably arranged in the limiting groove 122, enabling the second rotating member 12 to rotate relative to the first rotating member 11 around the second rotating shaft. At the same time, the opposite two side walls of the limiting groove 122 abut against the two sides of the second part 112 to limit the second rotating member 12. And when the driving device 13 drives the second rotating member 12 to rotate around the first rotating shaft, it can drive the first rotating member 11 to rotate through the cooperation and transmission between the second part 112 and the limiting groove 122.

[0074] In a specific embodiment, mounting through holes are provided on the side walls of the limiting groove 122 corresponding to the second shaft hole 1121. The second rotating shaft passes through the mounting through holes and is plugged into the second bearing in the second shaft hole 1121, enabling the second rotating member 12 to rotate relative to the first rotating member 11 around the second rotating shaft.

[0075] On the other hand, as Figures 1-7 、 Figure 10 shown, the present utility model also provides a humanoid robot, including: a calf profiling member 2, a foot profiling member 3, and an ankle joint mechanism 1 provided in any of the above embodiments. The first rotating member 11 is rotatably connected to the calf profiling member 2 around the first rotating shaft, and the driving device 13 is arranged on the calf profiling member 2. The foot profiling member 3 is connected to the second rotating member 12.

[0076] The humanoid robot of the present utility model, by adopting the ankle joint mechanism 1 in the above embodiment, also has the advantages of the above ankle joint mechanism 1, which will not be elaborated here.

[0077] The calf profiling part 2 in this embodiment is used to simulate the calf structure of a human, and the foot profiling part 3 is used to simulate the foot structure of a human. The calf profiling part 2 and the foot profiling part 3 are connected by an ankle joint mechanism 1, so that when the humanoid robot walks, the posture of the foot profiling part 3 can be adjusted through the ankle joint mechanism 1, enabling the humanoid robot to adapt to walking on different ground surfaces.

[0078] In some embodiments, as Figure 2 shown, the foot profiling part 3 is provided with a mounting groove 31, and the second rotating part 12 is fixedly installed in the mounting groove 31.

[0079] In this embodiment, by providing the mounting groove 31 in the foot profiling part 3 to accommodate and install the second rotating part 12, the structure of the ankle joint mechanism 1 and the foot profiling part 3 is made more compact. At the same time, it can also prevent the ankle joint mechanism 1 from being completely exposed, and the second rotating part 12 plays a certain protective role.

[0080] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments or perform equivalent replacements for some of the technical features. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. An ankle joint mechanism, characterized in that, Comprising: A first rotating member and a second rotating member, the first rotating member being configured to be rotatably connected to the calf-shaped member about a first rotating shaft, and the second rotating member being rotatably connected to the first rotating member about a second rotating shaft; the second rotating member is used for connecting with the foot-shaped member; A driving device, the driving device being configured to be arranged on the calf-shaped member, the driving device being in transmission connection with the second rotating member, and the driving device being used for driving the second rotating member to drive the first rotating member to rotate about the first rotating shaft, or driving the second rotating member to rotate about the second rotating shaft; The first rotating shaft extends along the width direction of the calf-shaped member, and the second rotating shaft extends along the thickness direction of the calf-shaped member.

2. The ankle joint mechanism according to claim 1, characterized in that, Connectors are respectively arranged on both sides of the second rotating member along the direction of the first rotating shaft; The driving device is in transmission connection with the two connectors respectively; the driving device is used for driving the two connectors to move so as to drive the second rotating member to move.

3. The ankle joint mechanism according to claim 2, characterized in that, The driving device comprises two driving components, and the two driving components are respectively connected to the two connectors in a one-to-one correspondence.

4. The ankle joint mechanism according to claim 3, wherein The driving component comprises a driving motor, a crank and a connecting rod; The output end of the driving motor is connected to one end of the crank, the other end of the crank is hinged to one end of the connecting rod, and the other end of the connecting rod is hinged to the connector.

5. The ankle joint mechanism according to claim 4, characterized in that A first spherical hinge is arranged on the crank, and a second spherical hinge is arranged on the connector; One end of the connecting rod is provided with a first hinge seat adapted to the first spherical hinge, and the other end is provided with a second hinge seat adapted to the second spherical hinge.

6. The ankle joint mechanism according to claim 3, wherein, The two driving components are configured to be arranged along the length direction of the calf-shaped member.

7. The ankle joint mechanism according to claim 1, characterized in that, The first rotating member comprises a connected first part and a second part; The first part is provided with a first shaft hole extending along the direction of the first rotating shaft, a first bearing is arranged in the first shaft hole, and the first bearing is used for sleeving on the first rotating shaft of the calf-shaped member; The second part is provided with a second shaft hole extending along the direction of the second rotating shaft, a second bearing is arranged in the second shaft hole, and the second bearing sleeves on the second rotating shaft of the second rotating member.

8. The ankle joint mechanism according to claim 7, characterized in that, The second rotating member is provided with a limiting groove, and the second part is rotatably arranged in the limiting groove; The opposite two side walls of the limiting groove respectively abut against the opposite two sides of the second part along the direction of the second rotating shaft.

9. A humanoid robot, characterized in that, Comprising: The ankle joint mechanism according to any one of claims 1-8; A calf-shaped member, the first rotating member is rotatably connected to the calf-shaped member about the first rotating shaft, and the driving device is arranged on the calf-shaped member; A foot-shaped member, the foot-shaped member is connected to the second rotating member.

10. The humanoid robot according to claim 9, characterized in that, The foot-shaped member is provided with a mounting groove, and the second rotating member is fixedly mounted in the mounting groove.

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