Shank mechanism, lower limb structure and robot

Abstract

The utility model discloses a crus mechanism, a lower limb structure and a robot. The crus mechanism comprises a sole assembly, an upper limb assembly and a lower limb assembly, the rotating assembly is rotationally connected with the sole assembly, and the rotating assembly rotates around the axis in the X direction relative to the sole assembly; the framework assembly is rotationally connected with the rotating assembly; the first joint module is arranged on the framework assembly; one end of the connecting rod assembly is rotationally connected with the sole assembly through a first joint bearing, the other end of the connecting rod assembly is connected with the output end of the first joint module, and the first joint module can drive the connecting rod assembly to move in the Z direction; and the output end of the second joint module is connected with the rotating assembly, and the second joint module can drive the rotating assembly to rotate around the axis in the X direction.

Description

Technical Field

[0001] This application belongs to the field of robotics technology, and in particular relates to a lower leg mechanism, a lower limb structure, and a robot. Background Technology

[0002] In humanoid robot design, the lower leg mechanism is crucial to the robot's flexibility and stability.

[0003] In the prior art, in the lower leg mechanism of humanoid robots, the joint movement between the foot assembly and the skeleton assembly is usually carried out in a dual-drive parallel manner. The left-right swinging and up-down swinging between the foot assembly and the skeleton assembly are controlled by dual drives, resulting in poor flexibility of the lower leg mechanism. Utility Model Content

[0004] The purpose of this application is to provide a lower leg mechanism, a lower limb structure, and a robot.

[0005] According to a first aspect of the embodiments of this application, a lower leg mechanism is provided, comprising:

[0006] Foot component;

[0007] A rotating assembly, rotatably connected to the foot assembly, the rotating assembly rotating about an axis in the X direction relative to the foot assembly;

[0008] A skeleton assembly, which is rotatably connected to the rotating assembly;

[0009] A first joint module is disposed on the skeleton assembly;

[0010] A linkage assembly, one end of which is rotatably connected to the foot assembly via a first joint bearing, and the other end of which is connected to the output end of the first joint module. The first joint module can drive the linkage assembly to move along the Z direction.

[0011] The second joint module has its output end connected to the rotating component, and the second joint module can drive the rotating component to rotate around the axis in the X direction.

[0012] Optionally, the axis of the output end of the second joint module intersects the center of the first joint bearing in the X direction.

[0013] Optionally, the linkage assembly includes a swing arm and a connecting rod. The swing arm includes a first connecting end and a second connecting end, the first connecting end being connected to the output end of the first joint module. The connecting rod includes a third connecting end and a fourth connecting end, the second connecting end being connected to the third connecting end via a first bearing, and the fourth connecting end being connected to the foot assembly via the first joint bearing.

[0014] Optionally, the skeleton assembly is provided with a first limiting part and a second limiting part, the first limiting part and the second limiting part are spaced apart along the Z direction, and the swing arm rotates between the first limiting part and the second limiting part.

[0015] Optionally, the skeleton assembly has a relief groove that is recessed in the X direction and is used to avoid the first bearing.

[0016] Optionally, the rotating assembly includes a first connecting shaft and a second connecting shaft, wherein the first connecting shaft and the second connecting shaft are concentric and symmetrically arranged with respect to the axis in the X direction;

[0017] The skeleton assembly includes a first connecting part and a second connecting part. The first connecting part is connected to the first connecting shaft via a second bearing, and the second connecting part is connected to the second connecting shaft via a third bearing.

[0018] Optionally, the rotating assembly further includes a third connecting shaft and a fourth connecting shaft, wherein the third connecting shaft and the fourth connecting shaft are concentric and symmetrically arranged with respect to the axis in the Y direction;

[0019] The foot assembly includes a fixing plate, on which a first mounting seat and a second mounting seat are provided. The first mounting seat and the second mounting seat are spaced apart along the X direction. A third connecting shaft is connected to the first mounting seat through a fourth bearing. The fourth connecting shaft is connected to the second mounting seat through a fifth bearing. The fourth connecting shaft is connected to the output end of the second joint module.

[0020] Optionally, the foot assembly further includes a third mounting base disposed on the fixing plate. The third mounting base and the first mounting base are spaced apart along the X direction. The first mounting base is located between the second mounting base and the third mounting base. The connecting rod assembly is connected to the second mounting base through the first joint bearing.

[0021] Optionally, the foot assembly includes a forefoot and a rearfoot, the forefoot being at least partially disposed on the side of the fixing plate opposite to the rotating assembly, the rearfoot being at least partially disposed on the side of the fixing plate opposite to the rotating assembly, and the forefoot and the rearfoot being spaced apart along the X direction.

[0022] The forefoot is made of a flexible material, and the heel is made of a flexible material.

[0023] According to a second aspect of the embodiments of this application, a lower limb structure is provided, including the lower leg mechanism described above.

[0024] According to a third aspect of the embodiments of this application, a lower limb structure is provided, comprising:

[0025] The aforementioned lower leg mechanism; or

[0026] The aforementioned lower limb structure.

[0027] One technical advantage of this application embodiment is that the first joint module enables the foot assembly and the skeleton assembly to swing up and down, and the second joint module enables the foot assembly and the skeleton assembly to swing left and right. Therefore, the joint movements between the foot assembly and the skeleton assembly are decoupled from each other and do not interfere with each other, resulting in higher flexibility of the lower leg mechanism. The wear and tear on the first joint module and the second joint module is also reduced, thereby extending the service life of the first joint module and the second joint module.

[0028] Other features and advantages of this application will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0029] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments of the present application and, together with their description, serve to explain the principles of the present application.

[0030] Figure 1 This is a schematic diagram of the lower leg mechanism in an embodiment of this application;

[0031] Figure 2 This is a schematic diagram of the lower leg mechanism in an embodiment of this application;

[0032] Figure 3 for Figure 2 A cross-sectional view at point GG in the diagram;

[0033] Figure 4 for Figure 3 A magnified view of a portion of point H in the image;

[0034] Figure 5 This is a schematic diagram of the lower leg mechanism in an embodiment of this application;

[0035] Figure 6 for Figure 5 Sectional view at point II;

[0036] Figure 7 This is a schematic diagram of the lower leg mechanism in an embodiment of this application;

[0037] Figure 8 This is a schematic diagram of the lower leg mechanism in an embodiment of this application.

[0038] Explanation of reference numerals in the attached drawings: Lower leg mechanism 100; Foot assembly 1; Fixing plate 11; First mounting base 12; Second mounting base 13; Third mounting base 14; First mounting plate 141; Second mounting plate 142; Forefoot 15; Heel 16; Rotating assembly 2; First connecting shaft 21; Second connecting shaft 22; Third connecting shaft 23; Fourth connecting shaft 24; Frame assembly 3; First connecting part 31; Second connecting part 32; First limiting part 33; Second limiting part 34; Clearance groove 35; First joint module 4; Second joint module 5; Linkage assembly 6; Swing arm 61; First connecting end 611; Second connecting end 612; Connecting rod 62; Third connecting end 621; Fourth connecting end 622; First bearing A; Second bearing B; Third bearing C; Fourth bearing D; Fifth bearing E; First joint bearing F. Detailed Implementation

[0039] Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the present application.

[0040] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the scope of this application and its application or use.

[0041] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0042] In all the examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0043] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0044] First, it should be noted that the X, Y, and Z directions mentioned in the embodiments of this application are referred to in the appendix. Figure 1 , Figure 2 and Figure 5 The marked directions. The axes in the X, Y, and Z directions intersect each other. Specifically, the X direction is the robot's forward / backward direction, the Y direction is the robot's left / right direction, and the Z direction is the robot's up / down direction.

[0045] like Figures 1-8 As shown, according to a first aspect of the embodiments of this application, a lower leg mechanism 100 is provided, including a foot assembly 1, a rotating assembly 2, a skeleton assembly 3, a first joint module 4, a connecting rod assembly 6, and a second joint module 5; the rotating assembly 2 is rotatably connected to the foot assembly 1, and the rotating assembly 2 rotates relative to the foot assembly 1 about an axis in the X direction; the skeleton assembly 3 is rotatably connected to the rotating assembly 2; the first joint module 4 is disposed on the skeleton assembly 3; one end of the connecting rod assembly 6 is rotatably connected to the foot assembly 1 through a first joint bearing F, and the other end of the connecting rod assembly 6 is connected to the output end of the first joint module 4, the first joint module 4 being capable of driving the connecting rod assembly 6 to move along the Z direction; the output end of the second joint module 5 is connected to the rotating assembly 2, and the second joint module 5 being capable of driving the rotating assembly 2 to rotate about an axis in the X direction.

[0046] like Figure 1 As shown, the lower leg mechanism 100 includes a foot assembly 1, a rotating assembly 2, a skeleton assembly 3, a first joint module 4, a connecting rod assembly 6, and a second joint module 5.

[0047] The rotating component 2 is mounted on the foot assembly 1 and can rotate relative to the foot assembly 1 about the X-axis. The skeleton assembly 3 is rotatably connected to the rotating component 2 and can rotate relative to the rotating component 2 about the Y-axis. The first joint module 4 is mounted on the skeleton assembly 3. One end of the connecting rod assembly 6 is connected to the output end of the first joint module 4, and the other end of the connecting rod assembly 6 is connected to the foot assembly 1 through the first joint bearing F. The output end of the second joint module 5 is connected to the rotating component 2.

[0048] Specifically, when the first joint module 4 drives the linkage assembly 6 to move along the Z direction, that is, the linkage assembly 6 will move up and down in the Z direction, the foot assembly 1 will swing up and down with the first joint bearing F as the point of action, and the foot assembly 1 and the skeleton assembly 3 will swing up and down; the output end of the second joint module 5 is connected to the rotating assembly 2. Since the skeleton assembly 3 is rotatably connected to the rotating assembly 2, when the second joint module 5 drives the rotating assembly 2 to rotate around the axis in the X direction, the skeleton assembly 3 and the foot assembly 1 will swing left and right.

[0049] Therefore, in the lower leg mechanism 100 of this application, the first joint module 4 enables the foot component 1 and the skeleton component 3 to swing up and down, and the second joint module 5 enables the foot component 1 and the skeleton component 3 to swing left and right. Thus, the joint movements between the foot component 1 and the skeleton component 3 are decoupled from each other and do not interfere with each other, making the lower leg mechanism 100 more flexible. The wear and tear on the first joint module 4 and the second joint module 5 is also less, thereby extending the service life of the first joint module 4 and the second joint module 5.

[0050] In one alternative embodiment, the axis of the output end of the second joint module 5 intersects the center of the first joint bearing F in the X direction.

[0051] like Figure 2 and Figure 5 As shown, the axis of the output end of the second joint module 5 extends in the X direction and intersects with the center of the first joint bearing F. When the second joint module 5 drives the frame assembly 3 and the foot assembly 1 to swing left and right, the foot assembly 1 will swing left and right relative to the connecting rod assembly 6 through the first joint bearing F. When the axis of the output end of the second joint module 5 intersects with the center of the first joint bearing F, it can avoid the phenomenon of jamming when the connecting rod assembly 6 swings left and right relative to the foot assembly 1, thereby improving the smoothness of the left and right swing between the frame assembly 3 and the foot assembly 1.

[0052] In one optional embodiment, the linkage assembly 6 includes a swing arm 61 and a connecting rod 62. The swing arm 61 includes a first connecting end 611 and a second connecting end 612. The first connecting end 611 is connected to the output end of the first joint module 4. The connecting rod 62 includes a third connecting end 621 and a fourth connecting end 622. The second connecting end 612 is connected to the third connecting end 621 through a first bearing A, and the fourth connecting end 622 is connected to the foot assembly 1 through a first joint bearing F.

[0053] like Figure 3 and Figure 5As shown, the linkage assembly 6 includes a swing arm 61 and a connecting rod 62. The swing arm 61 includes a first connecting end 611 and a second connecting end 612, which are located at the two ends of the swing arm 61, respectively. The first connecting end 611 is connected to the output end of the first joint module 4. The output end of the first joint module 4 can rotate around its own axis. The axis of the output end of the first joint module 4 is in the same direction as the Y direction. Therefore, the first joint module 4 can drive the second connecting end 612 to rotate around the axis in the Y direction. It can be understood that the second connecting end 612 can move up and down in the Z direction. The connecting rod 62 includes a third connecting end 621 and a fourth connecting end 622, which are located at the two ends of the connecting rod 62, respectively. The third connecting end 621 is rotatably connected to the second connecting end 612 through a first bearing A. The fourth connecting end 622 is connected to the foot assembly 1 through a first joint bearing F. The fourth connecting end 622 and the foot assembly 1 can swing in multiple directions.

[0054] Specifically, the first joint module 4 drives the second connecting end 612 to rotate around the axis in the Y direction, and the third connecting end 621 connected to the second connecting end 612 will move up and down in the Z direction accordingly. At the same time, the skeleton assembly 3 will rotate relative to the rotating assembly 2 around the axis in the Y direction, thereby enabling the skeleton assembly 3 and the foot assembly 1 to swing up and down.

[0055] In one specific implementation, the first bearing A is a deep groove ball bearing.

[0056] In another specific embodiment, the first bearing A is a second joint bearing, and the second connecting end 612 and the third connecting end 621 can rotate in multiple directions, thereby improving the smoothness of the swing between the skeleton assembly 3 and the foot assembly 1.

[0057] In one optional embodiment, the skeleton assembly 3 is provided with a first limiting part 33 and a second limiting part 34, the first limiting part 33 and the second limiting part 34 are spaced apart along the Z direction, and the swing arm 61 rotates between the first limiting part 33 and the second limiting part 34.

[0058] like Figure 1 , Figure 7 and Figure 8As shown, the skeleton assembly 3 is provided with a first limiting part 33 and a second limiting part 34. The first limiting part 33 and the second limiting part 34 are located on the side wall of the skeleton assembly 3. The first limiting part 33 and the second limiting part 34 are spaced apart in the Z direction. The output end of the first joint module 4 is located between the first limiting part 33 and the second limiting part 34. When the first joint module 4 drives the swing arm 61 to rotate, the first limiting part 33 and the second limiting part 34 can limit the maximum rotation angle of the swing arm 61 to avoid the swing angle of the swing arm 61 being too large and causing interference between the foot assembly 1 and the skeleton assembly 3.

[0059] In one alternative embodiment, the skeleton assembly 3 has a relief groove 35, which is recessed in the X direction and is used to avoid the first bearing A.

[0060] like Figure 1 , Figure 7 and Figure 8 As shown, the skeleton assembly 3 has a relief groove 35, the depth direction of which is the X direction. In other words, the relief groove 35 is recessed in the skeleton assembly 3 in the X direction. When the first joint module 4 drives the swing arm 61 to rotate, since the second connecting end 6122 rotates around the axis in the Y direction, the second connecting end 612 will not only move upward in the Z direction, but also move towards the skeleton assembly 3 in the X direction. Therefore, the relief groove 35 is provided on the skeleton assembly 3. When the swing arm 61 swings to the first limiting part 33, that is, when the swing arm 61 swings to the maximum angle, the first joint bearing F is located in the relief groove 35, which can prevent the skeleton assembly 3 from blocking the first joint bearing F from swinging with the swing arm 61.

[0061] In one optional embodiment, the rotating assembly 2 includes a first connecting shaft 21 and a second connecting shaft 22, the first connecting shaft 21 and the second connecting shaft 22 being concentric and symmetrically arranged with respect to the axis in the X direction; the skeleton assembly 3 includes a first connecting part 31 and a second connecting part 32, the first connecting part 31 being connected to the first connecting shaft 21 via a second bearing B, and the second connecting part 32 being connected to the second connecting shaft 22 via a third bearing C.

[0062] like Figure 4 and Figure 6 As shown, the rotating assembly 2 includes a first connecting shaft 21 and a second connecting shaft 22. The first connecting shaft 21 and the second connecting shaft 22 are symmetrically arranged with respect to the axis in the X direction. Alternatively, they can be understood as being spaced apart in the Y direction. The directions of the axes of the first connecting shaft 21 and the second connecting shaft 22 are the same as the Y direction.

[0063] To further explain, such as Figure 2 As shown, the skeleton assembly 3 includes a first connecting portion 31 and a second connecting portion 32, which are spaced apart in the Y direction. The first connecting portion 31 is rotatably connected to the first connecting shaft 21 via a second bearing B; that is, the inner ring of the second bearing B is connected to the first connecting shaft 21, and the outer ring of the second bearing B is connected to the first connecting portion 31. The second connecting portion 32 is rotatably connected to the second connecting shaft 22 via a third bearing C; that is, the inner ring of the third bearing C is connected to the second connecting shaft 22, and the outer ring of the third bearing C is connected to the second connecting portion 32. In this embodiment, the skeleton assembly 3 and the rotating assembly 2 are rotatably connected, and the rotational stability between the skeleton assembly 3 and the rotating assembly 2 is ensured.

[0064] In an optional embodiment, the rotating assembly 2 further includes a third connecting shaft 23 and a fourth connecting shaft 24, the third connecting shaft 23 and the fourth connecting shaft 24 being concentric and symmetrically arranged with respect to the axis in the Y direction; the foot assembly 1 includes a fixing plate 11, on which a first mounting seat 12 and a second mounting seat 13 are provided, the first mounting seat 12 and the second mounting seat 13 being spaced apart along the X direction, the third connecting shaft 23 being connected to the first mounting seat 12 via a fourth bearing D, the fourth connecting shaft 24 being connected to the second mounting seat 13 via a fifth bearing E, and the fourth connecting shaft 24 being connected to the output end of the second joint module 5.

[0065] like Figure 6 As shown, the rotating assembly 2 also includes a third connecting shaft 23 and a fourth connecting shaft 24. The third connecting shaft 23 and the fourth connecting shaft 24 are symmetrically arranged with respect to the axis in the Y direction. Alternatively, they can be understood as being spaced apart in the X direction, and concentrically arranged. The directions of the axes of the third connecting shaft 23 and the fourth connecting shaft 24 are the same as the X direction. Specifically, the axis of the first connecting shaft 21 is collinear with the axis of the second connecting shaft 22, and the axis of the third connecting shaft 23 is collinear with the axis of the fourth connecting shaft 24. Furthermore, the line connecting the axes of the first connecting shaft 21 and the second connecting shaft 22 intersects the line connecting the axes of the third connecting shaft 23 and the fourth connecting shaft 24.

[0066] like Figure 5 and Figure 6As shown, the foot assembly 1 includes a fixing plate 11, on which a first mounting seat 12 and a second mounting seat 13 are provided. The first mounting seat 12 has a first mounting hole, and a third connecting shaft 23 is rotatably connected to the first mounting hole via a fourth bearing D. That is, the inner ring of the fourth bearing D is connected to the third connecting shaft 23, and the outer ring of the fourth bearing D is embedded in the first mounting hole. The second mounting seat 13 has a second mounting hole, and a fourth connecting shaft 24 is rotatably connected to the second mounting hole via a fifth bearing E. That is, the inner ring of the fifth bearing E is connected to the fourth connecting shaft 24, and the outer ring of the fifth bearing E is embedded in the second mounting hole. The output end of the second joint module 5 is connected to the fourth connecting shaft 24. The second joint module 5 can drive the fourth connecting shaft 24 to rotate around the X-axis, thereby achieving left-right swinging between the skeleton assembly 3 and the foot assembly 1. In this embodiment, the foot assembly 1 and the rotating assembly 2 are rotatably connected, ensuring rotational stability between the rotating assembly 2 and the foot assembly 1.

[0067] To further explain, the second joint module 5 is mounted on the second mounting base 13. Therefore, the second mounting base 13 provides a mounting position for the second joint module 5, thereby improving the installation stability of the second joint module 5 and making the structure of the lower leg mechanism 100 more compact.

[0068] In an optional embodiment, the foot assembly 1 further includes a third mounting base 14, which is disposed on the fixing plate 11. The third mounting base 14 and the first mounting base 12 are spaced apart along the X direction. The first mounting base 12 is located between the second mounting base 13 and the third mounting base 14. The connecting rod assembly 6 is connected to the third mounting base 14 through the first joint bearing F.

[0069] like Figure 2 , Figure 5 and Figure 6 As shown, the foot assembly 1 also includes a third mounting base 14, which is disposed on the fixing plate 11. The third mounting base 14 is spaced apart from the third mounting base 14 in the X direction, and the first mounting base 12 is located between the second mounting base 13 and the third mounting base 14.

[0070] Specifically, the third mounting base 14 includes a first mounting plate 141 and a second mounting plate 142, which are spaced apart in the Y direction, forming a receiving cavity between them. A first spherical bearing F is disposed within the receiving cavity and is connected to the first mounting plate 141 and the second mounting plate 142 by a pin. The fourth connecting end 622 of the connecting rod 62 is rotatably connected to the first spherical bearing F, thereby achieving a rotatable connection between the connecting rod assembly 6 and the foot assembly 1. In this embodiment, the rotational stability of the connecting rod assembly 6 and the foot assembly 1 can be guaranteed.

[0071] In one optional embodiment, the foot assembly 1 includes a forefoot 15 and a heel 16. The forefoot 15 is at least partially disposed on the side of the fixing plate 11 opposite to the rotating assembly 2, and the heel 16 is at least partially disposed on the side of the fixing plate 11 opposite to the rotating assembly 2. The forefoot 15 and the heel 16 are spaced apart along the X direction. The forefoot 15 is made of a flexible material, and the heel 16 is made of a flexible material.

[0072] like Figure 3 As shown, the foot assembly 1 also includes the forefoot 15 and the heel 16.

[0073] Specifically, the side of the fixed plate 11 facing away from the rotating assembly 2 is the side in contact with the ground; the forefoot 15 is at least partially located on the side of the fixed plate 11 facing away from the rotating assembly 2, and the heel 16 is at least partially located on the side of the fixed plate 11 facing away from the rotating assembly 2. The forefoot 15 and the heel 16 are spaced apart in the X direction. It can be understood that the forefoot 15 and the heel 16 are provided on the side of the fixed plate 11 in contact with the ground. When the foot assembly 1 is in contact with the ground, that is, the forefoot 15 and the heel 16 are in contact with the ground.

[0074] To further explain, the forefoot 15 and the hindfoot 16 are made of flexible material. When the foot assembly 1 swings up and down or left and right, both the forefoot 15 and the hindfoot 16 are made of flexible material, which allows the foot assembly 1 to adapt to the deformation of the ground, so that the robot has a better gait when walking.

[0075] The flexible material can be rubber or foam.

[0076] In one specific embodiment, the fixing plate 11 is made of metal, which has high structural strength and can support the frame assembly 3.

[0077] According to a second aspect of the embodiments of this application, a lower limb structure is provided, including the lower leg mechanism 100 described above.

[0078] According to a third aspect of the embodiments of this application, a lower limb structure is provided, including the lower leg mechanism 100 described above; or the lower limb structure described above.

[0079] While specific embodiments of this application have been described in detail by way of examples, those skilled in the art should understand that the above examples are for illustrative purposes only and are not intended to limit the scope of this application. Those skilled in the art should understand that modifications can be made to the above embodiments without departing from the scope and spirit of this application. The scope of this application is defined by the appended claims.

Claims

1. A lower leg mechanism, characterized in that, include: Foot component; A rotating assembly, rotatably connected to the foot assembly, the rotating assembly rotating about an axis in the X direction relative to the foot assembly; A skeleton assembly, which is rotatably connected to the rotating assembly; A first joint module is disposed on the skeleton assembly; A linkage assembly, one end of which is rotatably connected to the foot assembly via a first joint bearing, and the other end of which is connected to the output end of the first joint module. The first joint module can drive the linkage assembly to move along the Z direction. The second joint module has its output end connected to the rotating component, and the second joint module can drive the rotating component to rotate around the axis in the X direction.

2. The lower leg mechanism according to claim 1, characterized in that, The axis of the output end of the second joint module intersects the center of the first joint bearing in the X direction.

3. The lower leg mechanism according to claim 1, characterized in that, The linkage assembly includes a swing arm and a connecting rod. The swing arm includes a first connecting end and a second connecting end. The first connecting end is connected to the output end of the first joint module. The connecting rod includes a third connecting end and a fourth connecting end. The second connecting end is connected to the third connecting end through a first bearing, and the fourth connecting end is connected to the foot assembly through the first joint bearing.

4. The lower leg mechanism according to claim 3, characterized in that, The frame assembly has a first limiting part and a second limiting part, which are spaced apart along the Z direction, and the swing arm rotates between the first limiting part and the second limiting part.

5. The lower leg mechanism according to claim 3, characterized in that, The skeleton assembly has a relief groove that is recessed in the X direction and is used to avoid the first bearing.

6. The lower leg mechanism according to claim 1, characterized in that, The rotating assembly includes a first connecting shaft and a second connecting shaft, wherein the first connecting shaft and the second connecting shaft are concentric and symmetrically arranged with respect to the axis in the X direction; The skeleton assembly includes a first connecting part and a second connecting part. The first connecting part is connected to the first connecting shaft via a second bearing, and the second connecting part is connected to the second connecting shaft via a third bearing.

7. The lower leg mechanism according to claim 1, characterized in that, The rotating assembly further includes a third connecting shaft and a fourth connecting shaft, wherein the third connecting shaft and the fourth connecting shaft are concentric and symmetrically arranged with respect to the axis in the Y direction; The foot assembly includes a fixing plate, on which a first mounting seat and a second mounting seat are provided. The first mounting seat and the second mounting seat are spaced apart along the X direction. A third connecting shaft is connected to the first mounting seat through a fourth bearing. The fourth connecting shaft is connected to the second mounting seat through a fifth bearing. The fourth connecting shaft is connected to the output end of the second joint module.

8. The lower leg mechanism according to claim 7, characterized in that, The foot assembly further includes a third mounting base, which is disposed on the fixing plate. The third mounting base and the first mounting base are spaced apart along the X direction. The first mounting base is located between the second mounting base and the third mounting base. The connecting rod assembly is connected to the second mounting base through the first joint bearing.

9. The lower leg mechanism according to claim 8, characterized in that, The foot assembly includes a forefoot and a rearfoot. The forefoot is at least partially located on the side of the fixed plate opposite to the rotating assembly, and the rearfoot is at least partially located on the side of the fixed plate opposite to the rotating assembly. The forefoot and the rearfoot are spaced apart along the X direction. The forefoot is made of a flexible material, and the heel is made of a flexible material.

10. A lower limb structure, characterized in that, Including the lower leg mechanism as described in any one of claims 1-9.

11. A lower limb structure, characterized in that, include: The lower leg mechanism as described in any one of claims 1-9; or The lower limb structure as described in claim 10.

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