Lower limb structure, lower limb system and robot

Abstract

The utility model discloses a lower limb structure, a lower limb system and a robot, a first joint mechanism comprises a first joint module and a first connecting assembly, and the first connecting assembly is arranged at the output end of the first joint module; the second joint mechanism comprises a second connecting assembly and a second joint module, the second connecting assembly is connected with the first connecting assembly, and the second joint module is arranged on the first connecting assembly; the third joint mechanism comprises a third connecting assembly and a third joint module, the third connecting assembly is connected with the output end of the second joint module, and the third joint module is arranged on the third connecting assembly; the fourth joint mechanism comprises a fourth connecting assembly and a fourth joint module, the fourth connecting assembly is connected with the output end of the third joint module, and the fourth joint module is arranged on the fourth connecting assembly; the shank mechanism is connected with the output end of the fourth joint module; the first joint module, the second joint module, the third joint module and the fourth joint module are the same in structure.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of robots, and particularly relates to a lower limb structure, a lower limb system and a robot. BACKGROUND

[0002] With the rapid development of robots, the application fields of robots are more and more extensive, such as service robots, medical robots and industrial robots. The movement of a robot is realized through a lower limb system.

[0003] In the prior art, the multi-degree-of-freedom movement of a lower limb structure needs to be realized through multiple different joint modules, and the structure is relatively complex. CONTENT OF THE UTILITY MODEL

[0004] The purpose of the embodiments of the application is to provide a lower limb structure, a lower limb system and a robot.

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

[0006] a first joint mechanism, the first joint mechanism comprising a first joint module and a first connecting assembly, the first connecting assembly being arranged at an output end of the first joint module;

[0007] a second joint mechanism, the second joint mechanism comprising a second connecting assembly and a second joint module, the second connecting assembly being connected with the first connecting assembly, and the second joint module being arranged at the first connecting assembly;

[0008] a third joint mechanism, the third joint mechanism comprising a third connecting assembly and a third joint module, the third connecting assembly being connected with an output end of the second joint module, and the third joint module being arranged at the third connecting assembly;

[0009] a fourth joint mechanism, the fourth joint mechanism comprising a fourth connecting assembly and a fourth joint module, the fourth connecting assembly being connected with an output end of the third joint module, and the fourth joint module being arranged at the fourth connecting assembly;

[0010] a lower leg mechanism, the lower leg mechanism being connected with an output end of the fourth joint module;

[0011] The first joint module, the second joint module, the third joint module and the fourth joint module are of the same structure.

[0012] Optionally, an axis of the output end of the first joint module is a first axis, an axis of the output end of the second joint module is a second axis, an axis of the output end of the third joint module is a third axis, and an axis of the output end of the fourth joint module is a fourth axis.

[0013] The first axis intersects the second axis, the second axis intersects the third axis, and the third axis intersects the fourth axis.

[0014] Optionally, the first connecting assembly comprises a first cross-roller bearing connecting the first joint module and a second connecting assembly.

[0015] Optionally, the first connecting assembly further comprises a first fixed connecting piece comprising a first connecting portion, a second connecting portion and a third connecting portion, the first connecting portion being connected with the first cross-roller bearing, the second connecting portion being connected with the second connecting assembly, and the third connecting portion being connected with an output end of the first joint module.

[0016] The first connecting portion is provided with a first mounting hole, and the second connecting portion is provided with a second mounting hole, an axis of the first mounting hole intersecting an axis of the second mounting hole.

[0017] Optionally, the second connecting assembly comprises a first accommodating cavity, and the second joint module is arranged in the first accommodating cavity.

[0018] Optionally, the second joint module further comprises a first connecting end located on a side opposite to the output end of the second joint module.

[0019] The third connecting assembly comprises a first support portion, a second support portion and a first rotating piece, one end of the first support portion being connected with the output end of the second joint module, the other end of the first support portion being connected with the third joint module, one end of the second support portion being rotatably connected with the first connecting end through the first rotating piece, and the other end of the second support portion being connected with the third joint module.

[0020] Optionally, the third joint mechanism further comprises a second cross-roller bearing connecting the third joint module and a fourth connecting assembly.

[0021] Optionally, the third joint mechanism further comprises a second fixed connecting piece comprising a fourth connecting portion, a fifth connecting portion and a sixth connecting portion, the fourth connecting portion being connected with the second cross-roller bearing, the fifth connecting portion being connected with the fourth connecting assembly, and the sixth connecting portion being connected with an output end of the third joint module.

[0022] The fourth connecting portion is provided with a fourth mounting hole, and the fifth connecting portion is provided with a fifth mounting hole, an axis of the fourth mounting hole intersecting an axis of the fifth mounting hole.

[0023] Optionally, the fourth connecting assembly comprises a second accommodating cavity, and the fourth joint module is arranged in the second accommodating cavity.

[0024] Optionally, the fourth joint module further comprises a second connecting end, and the second connecting end is located on a side opposite to the output end of the fourth joint module.

[0025] The calf mechanism comprises a third supporting part, a fourth supporting part and a second rotating part, the third supporting part is connected with the output end of the fourth joint module, and the fourth supporting part is rotatably connected with the second connecting end through the second rotating part.

[0026] Optionally, the outer walls of the first joint module, the second joint module, the third joint module and the fourth joint module are all provided with cooling fins.

[0027] Optionally, the first joint module, the second joint module, the third joint module and the fourth joint module all comprise a mounting part, and a radial section of the mounting part is octagonal.

[0028] According to a second aspect of the embodiment of the present application, a lower limb system is provided, comprising:

[0029] A waist mechanism, the waist mechanism comprises a first mounting part and a second mounting part, and the first mounting part and the second mounting part are symmetrically arranged.

[0030] Two above-mentioned lower limb structures, the two lower limb structures are respectively a left lower limb structure and a right lower limb structure, the first joint mechanism of the left lower limb structure is arranged in the first mounting part, and the first joint mechanism of the right lower limb structure is arranged in the second mounting part.

[0031] According to a third aspect of the embodiment of the present application, a robot is provided, comprising:

[0032] The above-mentioned lower limb structure; or

[0033] The above-mentioned lower limb system.

[0034] One technical effect of the embodiment of the present application is that the lower limb structure adopts a modular design, which simplifies the structure of the lower limb structure; the first joint module, the second joint module, the third joint module and the fourth joint module adopt the same specification of joint module, thereby being capable of reducing the number of specifications of the core modules in the lower limb structure, and facilitating the maintenance, replacement and installation of the lower limb structure.

[0035] Other features and advantages of the present application will become apparent from the following detailed description of exemplary embodiments thereof, with reference to the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0036] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the application and, together with the description, serve to explain the principles of the application.

[0037] Figure 1 is a structural schematic view of a lower limb structure in an embodiment of the present application;

[0038] Figure 2 is a structural schematic view of a lower limb structure in an embodiment of the present application;

[0039] Figure 3 is a structural schematic view of a first joint mechanism in an embodiment of the present application;

[0040] Figure 4 is a structural schematic view of a second joint mechanism in an embodiment of the present application;

[0041] Figure 5 is a structural schematic view of a third joint mechanism in an embodiment of the present application;

[0042] Figure 6 is a structural schematic view of a fourth joint mechanism in an embodiment of the present application;

[0043] Figure 7 is a structural schematic view of a lower limb structure in an embodiment of the present application;

[0044] Figure 8 is a structural schematic view of a lower limb structure and a waist mechanism in an embodiment of the present application;

[0045] Figure 9 is a structural schematic view of a lower limb system in an embodiment of the present application.

[0046] Explanation of reference signs: lower limb structure 100; first joint mechanism 1; first joint module 11; first connecting assembly 12; first cross roller bearing 121; first fixed connecting piece 122; first connecting part 1221; first mounting hole 1221a; second connecting part 1222; second mounting hole 1222a; third connecting part 1223; second joint mechanism 2; second joint module 21; first connecting end 211; second connecting assembly 22; first accommodating cavity 221; third joint mechanism 3; third joint module 31; third connecting assembly 32; first supporting part 321; second supporting part 322; first rotating part 323; second cross roller bearing 33; second fixed connecting piece 34; fourth connecting part 341; fourth mounting hole 341a; fifth connecting part 342; fifth mounting hole 342a; sixth connecting part 343; fourth joint mechanism 4; fourth joint module 41; second connecting end 411; fourth connecting assembly 42; second accommodating cavity 421; lower leg mechanism 5; third supporting part 51; fourth supporting part 52; second rotating part 53; cooling fin 6; mounting piece 7; lower limb system 200; left lower limb structure 100a; right lower limb structure 100b; waist mechanism 300; first mounting part 300a; second mounting part 300b; first axis A; second axis B; third axis C; fourth axis D. DETAILED DESCRIPTION

[0047] Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. If it is so designated in the embodiments, the relative arrangement, numerical expressions, and numerical values of components and steps set forth in the embodiments are not limiting the scope of the present application.

[0048] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way limiting of the scope of the application or its applications or uses.

[0049] Techniques, methods, and apparatus known to those of ordinary skill in the relevant art can not be discussed in detail herein. However, the techniques, methods, and apparatus should be construed as being a part of the specification, where appropriate.

[0050] In all examples shown and discussed herein, any specific values should be construed as merely illustrative and not as a limitation. Thus, other examples of the exemplary embodiments can have different values.

[0051] It should be noted that like reference numerals and letters in the various figures indicate similar items, and thus, once any term is defined in one figure, it is not necessary to discuss it further in connection with other figures.

[0052] Firstly, it is explained that the X direction, Y direction and Z direction mentioned in the embodiments of the present application refer to the directions shown in the drawings. Figure 1 、 Figure 2and Figure 9 The axes of the X direction, the Y direction and the Z direction intersect with each other. The X direction refers to the front-rear direction of the robot, the Y direction refers to the left-right direction of the robot, and the Z direction refers to the up-down direction of the robot.

[0053] As shown in Figures 1-7 According to a first aspect of the embodiments of the present application, a lower limb structure 100 is provided, which comprises a first joint mechanism 1, a second joint mechanism 2, a third joint mechanism 3, a fourth joint mechanism 4 and a lower leg mechanism 5. The first joint mechanism 1 comprises a first joint module 11 and a first connecting assembly 12, and the first connecting assembly 12 is arranged at the output end of the first joint module 11. The second joint mechanism 2 comprises a second connecting assembly 22 and a second joint module 21, the second connecting assembly 22 is connected with the first connecting assembly 12, and the second joint module 21 is arranged at the first connecting assembly 12. The third joint mechanism 3 comprises a third connecting assembly 32 and a third joint module 31, the third connecting assembly 32 is connected with the output end of the second joint module 21, and the third joint module 31 is arranged at the third connecting assembly 32. The fourth joint mechanism 4 comprises a fourth connecting assembly 42 and a fourth joint module 41, the fourth connecting assembly 42 is connected with the output end of the third joint module 31, and the fourth joint module 41 is arranged at the fourth connecting assembly 42. The lower leg mechanism 5 is connected with the output end of the fourth joint module 41. The first joint module 11, the second joint module 21, the third joint module 31 and the fourth joint module 41 have the same structure.

[0054] As shown in Figure 1 and Figure 2 The lower limb structure 100 comprises a first joint mechanism 1, a second joint mechanism 2, a third joint mechanism 3, a fourth joint mechanism 4 and a lower leg mechanism 5.

[0055] Specifically, as shown in Figures 3-7As shown, the first joint mechanism 1 comprises a first joint module 11 and a first connecting assembly 12, the first connecting assembly 12 is connected with the output end of the first joint module 11, and the first joint module 11 is arranged on the waist mechanism 300; the second joint mechanism 2 comprises a second connecting assembly 22 and a second joint module 21, the second connecting assembly 22 is connected with the first connecting assembly 12, and the second joint module 21 is arranged on the second connecting assembly 22, wherein the first joint module 11 can drive the second joint mechanism 2 to rotate around the axis of the output end of the first joint module 11 through the first connecting assembly 12, and the second connecting assembly 22 can provide a supporting action for the second joint module 21; the third joint mechanism 3 comprises a third connecting assembly 32 and a third joint module 31, the third connecting assembly 32 is connected with the output end of the second joint module 21, and the third joint module 31 is arranged on the third connecting assembly 32, wherein the second joint module 21 can drive the third joint mechanism 3 to rotate around the axis of the output end of the second joint module 21, and the third connecting assembly 32 can provide a supporting action for the third joint module 31, and also for the fourth joint mechanism 4 and the lower leg mechanism 5 connected with the third joint module 31; the fourth joint mechanism 4 comprises a fourth connecting assembly 42 and a fourth joint module 41, the fourth connecting assembly 42 is connected with the output end of the third joint module 31, and the fourth joint module 41 is arranged on the fourth connecting assembly 42, wherein the third joint module 31 can drive the fourth joint mechanism 4 to rotate around the axis of the output end of the third joint module 31, and the fourth connecting assembly 42 can provide a supporting action for the fourth joint module 41; the lower leg mechanism 5 is connected with the output end of the fourth joint module 41, and the fourth joint module 41 can drive the lower leg mechanism 5 to rotate around the axis of the output end of the fourth joint module 41.

[0056] In the present application, the lower limb structure 100 adopts a modular design, and the lower limb structure 100 is divided into the first joint mechanism 1, the second joint mechanism 2, the third joint mechanism 3, the fourth joint mechanism 4 and the lower leg mechanism 5 to simplify the structure of the lower limb structure 100; and in the first joint module 11, the second joint module 21, the third joint module 31 and the fourth joint module 41, each joint module can realize one degree of freedom movement, which can still guarantee the multi-degree of freedom movement of the lower limb structure 100 while simplifying the structure of the lower limb structure 100.

[0057] Among them, the structures of the first joint module 11, the second joint module 21, the third joint module 31 and the fourth joint module 41 are the same, which can be understood as that the first joint module 11, the second joint module 21, the third joint module 31 and the fourth joint module 41 adopt the same specification of joint module, thereby reducing the number of specifications of the core modules in the lower limb structure 100, facilitating the maintenance, replacement and installation of the lower limb structure 100.

[0058] In an alternative embodiment, the axis of the output end of the first joint module 11 is a first axis A, the axis of the output end of the second joint module 21 is a second axis B, the axis of the output end of the third joint module 31 is a third axis C, and the axis of the output end of the fourth joint module 41 is a fourth axis D; the first axis A intersects the second axis B, the second axis B intersects the third axis C, and the third axis C intersects the fourth axis D.

[0059] Firstly, the shank mechanism 5 is connected with the fourth joint mechanism 4 to form a first structure section, the first structure section is connected with the third joint mechanism 3 to form a second structure section, the second structure section is connected with the second joint mechanism 2 to form a third structure section, and the third structure section is connected with the first joint mechanism 1 to form the lower limb structure 100. The first structure section, the second structure section, and the third structure section are only for explaining the multi-degree-of-freedom movement of the lower limb structure 100.

[0060] For example, the state of the lower limb structure 100 in Figure 1 is taken as an example for description, as shown in Figure 1 and Figure 2 , the direction of the first axis A is the same as the Y direction, and the first joint module 11 can drive the third structure section to swing forward and backward; the direction of the second axis B is the same as the X direction, and the second joint module 21 can drive the second structure section to swing left and right; the direction of the third axis C is the same as the Z direction, and the third joint module 31 can drive the first structure section to rotate around the axis of the Z direction; the direction of the fourth axis D is the same as the Y direction, and the fourth joint module 41 can drive the shank mechanism 5 to swing forward and backward; therefore, the first joint module 11, the second joint module 21, the third joint module 31, and the fourth joint module 41 can make the lower limb structure 100 realize multi-degree-of-freedom movement, and each joint module can realize one degree-of-freedom movement, the joint movement of the lower limb structure 100 is decoupled and does not interfere with each other, thereby improving the flexibility of the lower limb structure 100.

[0061] In an alternative embodiment, as shown in Figure 1 , Figure 2 and Figure 3 , the first connecting assembly 12 comprises a first cross-roller bearing 121, and the first cross-roller bearing 121 connects the first joint module 11 and the second connecting assembly 22. Wherein, the first joint mechanism 1 and the second joint mechanism 2 are single cantilever support, so that the first joint module 11 and the second connecting assembly 22 are connected through the first cross-roller bearing 121, which can improve the connection stability between the first joint mechanism 1 and the second joint mechanism 2, can guarantee the reliability of bearing, and can make the mechanism of the lower limb structure 100 more compact.

[0062] In an alternative embodiment, the first connecting assembly 12 further comprises a first fixed connecting piece 122, the first fixed connecting piece 122 comprises a first connecting portion 1221, a second connecting portion 1222 and a third connecting portion 1223, the first connecting portion 1221 is connected with the first cross roller bearing 121, the second connecting portion 1222 is connected with the second connecting assembly 22, and the third connecting portion 1223 is connected with the output end of the first joint module 11; the first connecting portion 1221 is provided with a first mounting hole 1221a, the second connecting portion 1222 is provided with a second mounting hole 1222a, and the axis of the first mounting hole 1221a intersects with the axis of the second mounting hole 1222a.

[0063] As shown in Figure 3 The first fixed connecting piece 122 comprises a first connecting portion 1221, a second connecting portion 1222 and a third connecting portion 1223, the first connecting portion 1221 and the third connecting portion 1223 are arranged radially apart from each other, and the second connecting portion 1222 is annularly arranged between the first connecting portion 1221 and the third connecting portion 1223; the first connecting portion 1221 is provided with a first mounting hole 1221a, the second connecting portion 1222 is provided with a second mounting hole 1222a, and the third connecting portion 1223 is provided with a third mounting hole, the axis of the first mounting hole 1221a intersects with the axis of the second mounting hole 1222a, and the axis of the first mounting hole 1221a is parallel to the axis of the third mounting hole; the first connecting portion 1221 is connected with the first cross roller bearing 121, and the first connecting portion 1221 and the first cross roller bearing 121 are fixed together by screwing a bolt into the first mounting hole 1221a; the second connecting portion 1222 is connected with the second connecting assembly 22, and the second connecting portion 1222 and the second connecting assembly 22 are mounted together by screwing a bolt into the second mounting hole 1222a; since the directions of the first mounting hole 1221a and the second mounting hole 1222a are different, the first fixed connecting piece 122 and the second connecting assembly 22 do not interfere with each other during installation; the installation sequence is to mount the first fixed connecting piece 122 on the first cross roller bearing 121 and the output end of the first joint module 11, and then mount the second connecting assembly 22 on the first fixed connecting piece 122. In this embodiment, the installation process is simpler and more convenient, thereby improving the disassembly and installation efficiency.

[0064] In an alternative embodiment, the second connecting assembly 22 comprises a first accommodating cavity 221, and the second joint module 21 is arranged in the first accommodating cavity 221.

[0065] As shown in Figure 4As shown, one end of the second connecting assembly 22 is connected with the first fixed connecting piece 122, and the other end of the second connecting assembly 22 is formed with a first accommodating cavity 221, and the second joint module 21 is arranged in the first accommodating cavity 221, which can not only ensure the structural rigidity of the first joint module 11 after installation, but also make the structure of the lower limb structure 100 more compact.

[0066] In an alternative embodiment, the second joint module 21 further comprises a first connecting end 211 located on the side opposite to the output end of the second joint module 21; the third connecting assembly 32 comprises a first supporting part 321, a second supporting part 322 and a first rotating part 323, one end of the first supporting part 321 is connected with the output end of the second joint module 21, and the other end of the first supporting part 321 is connected with the third joint module 31, one end of the second supporting part 322 is rotatably connected with the first connecting end 211 through the first rotating part 323, and the other end of the second supporting part 322 is connected with the third joint module 31.

[0067] As shown in Figure 1 , Figure 2 , Figure 4 and Figure 5 , the third connecting assembly 32 comprises a first supporting part 321, a second supporting part 322 and a first rotating part 323; the first supporting part 321 comprises a first mounting end and a second mounting end, the first mounting end is connected with the output end of the second joint module 21, and the second mounting end is connected with the third joint module 31; the second supporting part 322 comprises a third mounting end and a fourth mounting end, the third mounting end is rotatably connected with the first connecting end 211 through the first rotating part 323, and the fourth mounting end is connected with the third joint module 31, so that the second joint module 21 can drive the third connecting assembly 32 to rotate around the axis of the output end of the second joint module 21, and simultaneously drive the third joint module 31 to rotate.

[0068] In this embodiment, the third connecting assembly 32 needs to support the fourth joint mechanism 4 and the lower leg mechanism 5 connected with the third joint mechanism 3, and the third joint mechanism 3 changes the direction relative to the second joint mechanism 2, so that through the double supporting structure of the third connecting assembly 32, the load-bearing rigidity of the overall structure of the lower limb structure 100 is more reliable, and the output end of the second joint module 21 only needs to be supported by the output bearing in the second joint module 21, without using a crossed roller bearing, thereby reducing the structure volume and overall weight.

[0069] In an alternative embodiment, as shown in Figure 5As shown, the third joint mechanism 3 further comprises a second cross roller bearing 33 connecting the third joint module 31 and the fourth connecting assembly 42. Wherein, the third joint mechanism 3 and the fourth joint mechanism 4 are single cantilever support, so that the third joint module 31 and the fourth connecting assembly 42 are connected through the second cross roller bearing 33, which can improve the connection stability between the third joint mechanism 3 and the fourth joint mechanism 4, guarantee the reliability of bearing, and make the mechanism of the lower limb structure 100 more compact.

[0070] In an optional implementation, the third joint mechanism 3 further comprises a second fixed connecting piece 34, the second fixed connecting piece 31 comprises a fourth connecting part 341, a fifth connecting part 342 and a sixth connecting part 343, the fourth connecting part 341 is connected with the second cross roller bearing 33, the fifth connecting part 342 is connected with the fourth connecting assembly 42, and the sixth connecting part 343 is connected with the output end of the third joint module 31; the fourth connecting part 341 is provided with a fourth mounting hole 341a, the fifth connecting part 342 is provided with a fifth mounting hole 342a, and the axis of the fourth mounting hole 341a intersects with the axis of the fifth mounting hole 342a.

[0071] As shown in FIG. 1, the lower limb structure 100 comprises a first joint mechanism 1, a second joint mechanism 2, a third joint mechanism 3 and a fourth joint mechanism 4. Figure 5As shown, the second fixed connector 34 includes a fourth connecting portion 341, a fifth connecting portion 342, and a sixth connecting portion 343. The fourth connecting portion 341 and the sixth connecting portion 343 are radially spaced apart from each other in the second fixed connector 34. The fifth connecting portion 342 is arranged circumferentially between the fourth connecting portion 341 and the sixth connecting portion 343. The fourth mounting portion has a fourth mounting hole 341a, the fifth connecting portion 342 has a fifth mounting hole 342a, and the sixth connecting portion 343 has a sixth mounting hole. The axis of the fourth mounting hole 341a intersects the axis of the fifth mounting hole 342a, and the axis of the fourth mounting hole 341a is parallel to the axis of the sixth mounting hole. The fourth connecting portion 341 is connected to the second crossed roller bearing 33 by screwing a bolt into the fourth mounting hole 341. The fourth connecting part 341 is fixed together with the second crossed roller bearing 33. The fifth connecting part 342 is connected to the fourth connecting assembly 42. The fifth connecting part 342 and the fourth connecting assembly 42 are installed together by screwing bolts into the fifth mounting hole 342a. Since the fourth mounting hole 341a and the fifth mounting hole 342a are in different directions, there will be no mutual interference during the installation of the second fixed connecting member 34 onto the second crossed roller bearing 33 and the fourth connecting assembly 42 onto the second fixed connecting member 34. The installation sequence is as follows: the second fixed connecting member 34 is installed on the output end of the second crossed roller bearing 33 and the third joint module 31, and then the fourth connecting assembly 42 is installed on the second fixed connecting member 34. In this embodiment, the installation process is simpler and more convenient, thereby improving the efficiency of disassembly and installation.

[0072] In one alternative embodiment, the fourth connecting component 42 includes a second receiving cavity 421, and the fourth joint module 41 is disposed in the second receiving cavity 421.

[0073] like Figure 6 As shown, one end of the fourth connecting component 42 is connected to the second fixed connector 34, and the other end of the fourth connecting component 42 forms a second receiving cavity 421. The fourth joint module 41 is disposed in the second receiving cavity 421, which can not only ensure the structural rigidity of the fourth joint module 41 after installation, but also make the structure of the lower limb structure 100 more compact.

[0074] In an optional embodiment, the fourth joint module 41 further includes a second connecting end 411, which is located on the side opposite to the output end of the fourth joint module 41; the lower leg mechanism 5 includes a third support part 51, a fourth support part 52, and a second rotating member 53, wherein the third support part 51 is connected to the output end of the fourth joint module 41, and the fourth support part 52 is rotatably connected to the second connecting end 411 through the second rotating member 53.

[0075] likeFigure 7 As shown in the drawings, the lower leg mechanism 5 comprises a third support part 51, a fourth support part 52 and a second rotating part 53; the third support part 51 is connected with the output end of the fourth joint module 41, the fourth support part 52 is connected with the second connecting end 411 through the second rotating part 53, so that the fourth joint module 41 can drive the lower leg mechanism 5 to rotate around the axis of the output end of the fourth joint module 41.

[0076] In this embodiment, the third support part 51 and the fourth support part 52 need to support the lower leg mechanism 5, so a double support structure is formed by the third support part 51 and the fourth support part 52, so that the load-bearing rigidity of the lower leg mechanism 5 is more reliable, and the output end of the fourth joint module 41 only needs to be supported by the output bearing in the fourth joint module 41, without using crossed roller bearings, thereby reducing the structure size and overall weight.

[0077] In an alternative embodiment, as shown in the drawings, the outer wall of the first joint module 11, the second joint module 21, the third joint module 31 and the fourth joint module 41 is provided with a cooling fin 6. Among them, the joint module is provided with a cooling fin 6, which can guarantee the cooling effect of the joint module during work within a limited size and weight, without the need to additionally set up a cooling mechanism in the lower limb structure 100, so as to make the structure of the lower limb structure 100 more compact. Figure 3 In an alternative embodiment, the first joint module 11, the second joint module 21, the third joint module 31 and the fourth joint module 41 all comprise a mounting part 7, and the radial section of the mounting part 7 is octagonal.

[0078] As shown in the drawings, the joint module comprises a mounting part 7, and the radial section of the mounting part 7 is octagonal. When the connecting assembly is connected with the mounting part 7, only the connecting end of the connecting assembly needs to be octagonal, and as long as the edges are aligned with each other, the positioning function can be realized, without the need to additionally set up a positioning part, so that the connecting assembly and the mounting part 7 can be accurately installed together, thereby simplifying the design complexity of the lower limb structure 100, and the joint module itself can also play a role in supporting part of the load, thereby reducing the weight of the lower limb structure 100.

[0079] Figure 5 As shown in the drawings, the joint module comprises a mounting part 7, and the radial section of the mounting part 7 is octagonal. When the connecting assembly is connected with the mounting part 7, only the connecting end of the connecting assembly needs to be octagonal, and as long as the edges are aligned with each other, the positioning function can be realized, without the need to additionally set up a positioning part, so that the connecting assembly and the mounting part 7 can be accurately installed together, thereby simplifying the design complexity of the lower limb structure 100, and the joint module itself can also play a role in supporting part of the load, thereby reducing the weight of the lower limb structure 100.

[0080] As shown in the drawings, the joint module comprises a mounting part 7, and the radial section of the mounting part 7 is octagonal. When the connecting assembly is connected with the mounting part 7, only the connecting end of the connecting assembly needs to be octagonal, and as long as the edges are aligned with each other, the positioning function can be realized, without the need to additionally set up a positioning part, so that the connecting assembly and the mounting part 7 can be accurately installed together, thereby simplifying the design complexity of the lower limb structure 100, and the joint module itself can also play a role in supporting part of the load, thereby reducing the weight of the lower limb structure 100. Figure 8 Figure 9 ​​As shown, according to a second aspect of the embodiments of the present application, a lower limb system 200 is provided, comprising a waist mechanism 300 and two lower limb structures 100 described above; the waist mechanism 300 comprises a first mounting part 300a and a second mounting part 300b, the first mounting part 300a and the second mounting part 300b are symmetrically arranged; the two lower limb structures 100 are respectively a left lower limb structure 100a and a right lower limb structure 100b, the first joint mechanism 1 of the left lower limb structure 100a is connected to the first mounting part 300a, and the first joint mechanism 1 of the right lower limb structure 100b is connected to the second mounting part 300b. As shown in the following figure, Figure 1 As shown, the lower limb system 200 comprises the waist mechanism 300, the left lower limb structure 100a and the right lower limb structure 100b.

[0081] The waist mechanism 300 comprises the first mounting part 300a and the second mounting part 300b, the first mounting part 300a and the second mounting part 300b are symmetrically arranged, the first joint mechanism 1 of the left lower limb structure 100a is arranged at the first mounting part 300a, and the first joint mechanism 1 of the right lower limb structure 100b is arranged at the second mounting part 300b; in the lower limb system 200, the left lower limb structure 100a and the right lower limb structure 100b are in a symmetric relationship, and the left lower limb structure 100a and the right lower limb structure 100b can both use the lower limb structure 100 described above, so that the types of parts of the lower limb system 200 can be reduced, and the structural complexity of the lower limb system 200 is further simplified.

[0082] According to a third aspect of the embodiments of the present application, a robot is provided, comprising the lower limb structure 100 described above; or the lower limb system 200 described above.

[0083] Although some specific embodiments of the present application have been described in detail by examples, those skilled in the art should understand that the above examples are only for illustration, but not for limiting the scope of the present application. Those skilled in the art should understand that the above embodiments can be modified without departing from the scope and spirit of the present application. The scope of the present application is defined by the appended claims.

Claims

1. A lower extremity structure, characterized by, The lower limb structure comprises: a first joint mechanism, the first joint mechanism comprising a first joint module and a first connecting assembly, the first connecting assembly being arranged at an output end of the first joint module; a second joint mechanism, the second joint mechanism comprising a second connecting assembly and a second joint module, the second connecting assembly being connected with the first connecting assembly, and the second joint module being arranged at the first connecting assembly; a third joint mechanism, the third joint mechanism comprising a third connecting assembly and a third joint module, the third connecting assembly being connected with an output end of the second joint module, and the third joint module being arranged at the third connecting assembly; a fourth joint mechanism, the fourth joint mechanism comprising a fourth connecting assembly and a fourth joint module, the fourth connecting assembly being connected with an output end of the third joint module, and the fourth joint module being arranged at the fourth connecting assembly; a lower leg mechanism, the lower leg mechanism being connected with an output end of the fourth joint module; the first joint module, the second joint module, the third joint module and the fourth joint module are of the same structure.

2. The lower limb structure according to claim 1, wherein: an axis of the output end of the first joint module is a first axis, an axis of the output end of the second joint module is a second axis, an axis of the output end of the third joint module is a third axis, and an axis of the output end of the fourth joint module is a fourth axis; the first axis intersects with the second axis, the second axis intersects with the third axis, and the third axis intersects with the fourth axis.

3. The lower leg structure of claim 1, wherein, the first connecting assembly comprises a first cross-roller bearing, the first cross-roller bearing connecting the first joint module and the second connecting assembly.

4. The lower leg structure of claim 3, wherein, the first connecting assembly further comprises a first fixed connecting piece, the first fixed connecting piece comprising a first connecting portion, a second connecting portion and a third connecting portion, the first connecting portion being connected with the first cross-roller bearing, the second connecting portion being connected with the second connecting assembly, and the third connecting portion being connected with the output end of the first joint module; the first connecting portion is provided with a first mounting hole, and the second connecting portion is provided with a second mounting hole, an axis of the first mounting hole intersecting with an axis of the second mounting hole.

5. The lower leg structure of claim 1, wherein, the second connecting assembly comprises a first accommodating cavity, and the second joint module is arranged in the first accommodating cavity.

6. The lower leg structure of claim 1, wherein, the second joint module further comprises a first connecting end, the first connecting end being located on a side opposite to the output end of the second joint module; the third connecting assembly comprises a first supporting portion, a second supporting portion and a first rotating piece, one end of the first supporting portion being connected with the output end of the second joint module, the other end of the first supporting portion being connected with the third joint module, one end of the second supporting portion being rotatably connected with the first connecting end through the first rotating piece, and the other end of the second supporting portion being connected with the third joint module.

7. The lower leg structure of claim 1, wherein, the third joint mechanism further comprises a second cross-roller bearing, the second cross-roller bearing connecting the third joint module and the fourth connecting assembly.

8. The lower leg structure of claim 7, wherein, The third joint mechanism further comprises a second fixed connecting piece, the second fixed connecting piece comprises a fourth connecting part, a fifth connecting part and a sixth connecting part, the fourth connecting part is connected with the second crossed roller bearing, the fifth connecting part is connected with the fourth connecting assembly, and the sixth connecting part is connected with the output end of the third joint module; The fourth connecting part is provided with a fourth mounting hole, the fifth connecting part is provided with a fifth mounting hole, and the axis of the fourth mounting hole intersects with the axis of the fifth mounting hole.

9. The lower leg structure of claim 7, wherein, The fourth connecting assembly comprises a second containing cavity, and the fourth joint module is arranged in the second containing cavity.

10. The lower leg structure of claim 1, wherein, The fourth joint module further comprises a second connecting end, and the second connecting end is located on the side opposite to the output end of the fourth joint module. The lower leg mechanism comprises a third supporting part, a fourth supporting part and a second rotating part, the third supporting part is connected with the output end of the fourth joint module, the fourth supporting part is rotatably connected with the second connecting end through the second rotating part.

11. The lower leg structure of claim 1, wherein, The outer wall of the first joint module, the second joint module, the third joint module and the fourth joint module is provided with a cooling fin.

12. The lower leg structure of claim 1, wherein, The first joint module, the second joint module, the third joint module and the fourth joint module all comprise a mounting piece, and the radial section of the mounting piece is octagonal.

13. A lower extremity system characterized in that, Comprise: A waist mechanism, the waist mechanism comprises a first mounting part and a second mounting part, and the first mounting part and the second mounting part are symmetrically arranged; Two lower limb structures as claimed in any one of claims 1-11, the two lower limb structures are respectively a left lower limb structure and a right lower limb structure, the first joint mechanism of the left lower limb structure is arranged in the first mounting part, and the first joint mechanism of the right lower limb structure is arranged in the second mounting part.

14. A robot, characterized in that Comprise: The lower limb structure as claimed in any one of claims 1-10; Or The lower limb system as claimed in claim 13.

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