Robot lower limb

Abstract

The utility model discloses a lower limb of a robot, which belongs to the field of robots and can improve the moving stability of the robot and enable the robot to be easier to fall down by arranging an auxiliary leg component 4 outside a thigh component 2 and a shank component 3, and can overcome the defects in the prior art. The robot lower limb comprises a thigh mounting seat 1, two thigh assemblies 2, two shank assemblies 3 and at least one auxiliary leg assembly 4, the thigh assembly 2 comprises a thigh main body 21 and a thigh driving unit 22; the shank assembly 3 comprises a shank main body 31, a shank driving unit 32 and a shank moving unit 33; the auxiliary leg assembly 4 comprises an auxiliary leg main body 41, an auxiliary leg driving unit 42 and an auxiliary leg moving unit 43, an upper joint of the auxiliary leg main body 41 is installed on the thigh main body 21, the auxiliary leg moving unit 43 is arranged on a lower joint of the auxiliary leg main body 41, and the auxiliary leg driving unit 42 is installed on the thigh main body 21 and used for assisting the leg main body 41 to move around the thigh main body 21.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and in particular to a robotic lower limb. Background Technology

[0002] A robot is an intelligent machine that can work semi-autonomously or fully autonomously. Robots can perform tasks such as jobs or movement through programming and automatic control.

[0003] Robots move using their lower limbs. Most humanoid robots are bipedal, meaning they move using two legs. Some have drive wheels on their legs, while others have feet. However, existing bipedal robots suffer from instability when walking, especially on uneven surfaces. Furthermore, if a robot falls, it has difficulty getting up using only its legs.

[0004] The existing technology has the technical defects described above, which has become a major technical problem that urgently needs to be solved by those skilled in the art. Utility Model Content

[0005] This utility model discloses a robot lower limb. By setting an auxiliary leg assembly 4 in addition to the thigh assembly 2 and the lower leg assembly 3, the robot's movement stability can be improved and it can get up more easily when it falls, thus solving the defects of the prior art.

[0006] The robot lower limb provided by this utility model is used in a robot and includes: a thigh mounting base 1, two thigh components 2, two lower leg components 3, and at least one auxiliary leg component 4;

[0007] The thigh assembly 2 includes a thigh body 21 and a thigh drive unit 22. The upper joint of the thigh body 21 and the thigh drive unit 22 are respectively disposed on both sides of the mounting position on the thigh mounting seat 1. The lower joint of the thigh body 21 is connected to the calf assembly 3. The thigh drive unit 22 is used to drive the thigh body 21 to move around the thigh mounting seat 1.

[0008] The calf assembly 3 includes a calf body 31, a calf drive unit 32, and a calf movement unit 33. The upper joint of the calf body 31 is connected to the lower joint of the thigh body 21. The calf movement unit 33 is provided on the lower joint of the calf body 31. The calf drive unit 32 is installed on the thigh body 21 and is used to drive the calf body 31 to move around the thigh body 21.

[0009] The auxiliary leg assembly 4 includes an auxiliary leg body 41, an auxiliary leg drive unit 42, and an auxiliary leg movement unit 43. The upper joint of the auxiliary leg body 41 is mounted on the thigh body 21, and the auxiliary leg movement unit 43 is provided on the lower joint of the auxiliary leg body 41. The auxiliary leg drive unit 42 is mounted on the thigh body 21 and is used for the auxiliary leg body 41 to move around the thigh body 21.

[0010] Preferred,

[0011] The lower leg drive unit 32 is installed at the lower joint of the thigh body 21;

[0012] The upper joint of the auxiliary leg body 41 is mounted on the output shaft of the auxiliary leg drive unit 42;

[0013] The auxiliary leg moving unit 43 is either a non-powered roller or a powered roller.

[0014] Preferred,

[0015] Both the thigh drive unit 22 and the auxiliary leg body 41 are motor assemblies with reducers, and the center lines of their output shafts are located on the same straight line.

[0016] Preferred,

[0017] The calf drive unit 32 includes a calf motor assembly 321, a drive rod 322 and a connecting rod 323 connected in sequence.

[0018] The upper joint of the lower leg body 31 is mounted on the thigh body 21 via a pivot.

[0019] The two ends of the lower leg body 31 are connected to the connecting rod 323 and the lower leg moving unit 33, respectively. The two ends of the connecting rod 323 are connected to the lower leg body 31 and the drive rod 322, respectively.

[0020] Preferred,

[0021] Both the thigh drive unit 22 and the calf motor assembly 321 are motor assemblies with reducers, and the center lines of their output shafts are located on the same straight line or are parallel to each other.

[0022] The lower leg moving unit 33 is a driven roller.

[0023] Preferred,

[0024] The lower joint of the thigh body 21 is provided with a connecting shaft 211;

[0025] The connecting shaft 211 is mounted on the lower joint of the thigh body 21 via a bearing;

[0026] Two small leg bodies 31 are provided at both ends of the connecting shaft 211, and an auxiliary leg body 41 is provided between the two small leg bodies 31. The upper joint of the auxiliary leg body 41 is mounted on the connecting shaft 211 through a bearing.

[0027] The auxiliary leg drive unit 42 includes an auxiliary motor assembly 421, an auxiliary drive rod 422, and an auxiliary connecting rod 423 connected in sequence.

[0028] The two ends of the auxiliary leg body 41 are connected to the auxiliary link 423 and the auxiliary leg moving unit 43, respectively. The two ends of the auxiliary link 423 are connected to the auxiliary leg body 41 and the auxiliary drive rod 422, respectively.

[0029] Preferred,

[0030] The thigh body 21 has a hollow structure and is provided with a slot 212 to accommodate the rotation of the auxiliary leg body 41;

[0031] The lower joint of the thigh body 21 includes a first support body 213 and a second support body 214. The first support body 213, the auxiliary leg body 41 and the second support body 214 are arranged in sequence. The first support body 213 is provided with a lower leg drive unit 32.

[0032] Preferred,

[0033] The auxiliary leg moving unit 43 includes two non-powered rollers that are mounted on both sides of the auxiliary leg body 41 via a pivot.

[0034] Preferred,

[0035] The auxiliary leg body 41 is a telescopic structure, including an upper part of the auxiliary leg body, a telescopic component, and a lower part of the auxiliary leg body, wherein an auxiliary leg moving unit 43 is provided on the lower part of the auxiliary leg body.

[0036] Preferred,

[0037] The lower leg main body 31 and the auxiliary leg main body 41 are respectively located on both sides of the thigh main body 21.

[0038] This invention relates to a robot lower limb, used in a robot, comprising: a thigh mounting base 1, two thigh assemblies 2, two lower leg assemblies 3, and at least one auxiliary leg assembly 4; the thigh assembly 2 includes a thigh body 21 and a thigh drive unit 22, wherein the upper joint of the thigh body 21 and the thigh drive unit 22 are respectively disposed on both sides of the mounting position on the thigh mounting base 1, the lower joint of the thigh body 21 is connected to the lower leg assembly 3, and the thigh drive unit 22 is used to drive the thigh body 21 to move around the thigh mounting base 1; the lower leg assembly 3 includes a lower leg body 31, a lower leg drive unit 32, and a lower leg movement unit 33, wherein the lower leg body... The upper joint of the lower leg body 31 is connected to the lower joint of the thigh body 21. A lower leg moving unit 33 is provided on the lower joint of the lower leg body 31, and a lower leg driving unit 32 is mounted on the thigh body 21 and used to drive the lower leg body 31 to move around the thigh body 21. The auxiliary leg assembly 4 includes an auxiliary leg body 41, an auxiliary leg driving unit 42, and an auxiliary leg moving unit 43. The upper joint of the auxiliary leg body 41 is mounted on the thigh body 21, the lower joint of the auxiliary leg body 41 is provided with the auxiliary leg moving unit 43, and the auxiliary leg driving unit 42 is mounted on the thigh body 21 and used to assist the lower leg body 41 in moving around the thigh body 21. By setting the auxiliary leg assembly 4 in addition to the thigh assembly 2 and the lower leg assembly 3, this utility model discloses a robot lower limb. The lower leg assembly 3 and the auxiliary leg assembly 4 have no less than three contact points with the ground, that is, they can form a relatively stable polygon, thereby improving the stability of robot movement and making it easier to get up after a fall, thus solving the defects of the prior art. Attached Figure Description

[0039] Figure 1 This is a schematic diagram of the structure of the robot's lower limb in the first embodiment of this utility model;

[0040] Figure 2 This is a schematic diagram of the structure of the lower limb of the robot in the first embodiment of the present invention, showing the hidden part of the thigh body 21.

[0041] Figure 3 This is a schematic diagram of the structure of the second embodiment of the robot's lower limb according to this utility model;

[0042] Figure 4 This is a schematic diagram of the structure of the hidden part of the thigh body 21 in the second embodiment of the robot's lower limb according to this utility model;

[0043] Figure 5 This is another structural schematic diagram of the second embodiment of the robot's lower limb according to this utility model;

[0044] Figure 6 This is another structural diagram of the hidden part of the thigh body 21 in the second embodiment of the robot's lower limb of this utility model.

[0045] Figure 7 This is a front structural diagram of the third embodiment of the robot's lower limb according to this utility model;

[0046] Figure 8 This is a perspective view of the third embodiment of the robot's lower limbs according to this utility model.

[0047] Figure 9 This is a schematic diagram of the structure of the hidden part of the thigh body 21 in the third embodiment of the robot's lower limb according to this utility model. Detailed Implementation

[0048] This utility model discloses a robot lower limb. By setting an auxiliary leg assembly 4 in addition to the thigh assembly 2 and the lower leg assembly 3, the robot's movement stability can be improved and it can get up more easily when it falls, thus solving the defects of the prior art.

[0049] The technical solutions of the present utility model will be clearly and thoroughly described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only a part of the embodiments of the present utility model, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the scope of protection of the present utility model. Please refer to... Figures 1 to 9 The present invention provides a lower limb for use in a robot, comprising: a thigh mounting base 1, two thigh assemblies 2, two lower leg assemblies 3, and at least one auxiliary leg assembly 4;

[0050] The thigh assembly 2 includes a thigh body 21 and a thigh drive unit 22. The upper joint of the thigh body 21 and the thigh drive unit 22 are respectively disposed on both sides of the mounting position on the thigh mounting seat 1. The lower joint of the thigh body 21 is connected to the calf assembly 3. The thigh drive unit 22 is used to drive the thigh body 21 to move around the thigh mounting seat 1.

[0051] The calf assembly 3 includes a calf body 31, a calf drive unit 32, and a calf movement unit 33. The upper joint of the calf body 31 is connected to the lower joint of the thigh body 21. The calf movement unit 33 is provided on the lower joint of the calf body 31. The calf drive unit 32 is installed on the thigh body 21 and is used to drive the calf body 31 to move around the thigh body 21.

[0052] The auxiliary leg assembly 4 includes an auxiliary leg body 41, an auxiliary leg drive unit 42, and an auxiliary leg movement unit 43. The upper joint of the auxiliary leg body 41 is mounted on the thigh body 21, and the auxiliary leg movement unit 43 is provided on the lower joint of the auxiliary leg body 41. The auxiliary leg drive unit 42 is mounted on the thigh body 21 and is used for the auxiliary leg body 41 to move around the thigh body 21.

[0053] In this embodiment of the invention, the robot's lower limbs generally include two thigh components 2, two lower leg components 3, and at least one auxiliary leg component 4, that is, after removing the auxiliary leg component 4, it is a bipedal design. For bipedal robots, the ease of falling is an unavoidable technical problem in the field. In addition to the two lower leg components 3 that contact the ground, this application innovatively adds at least one auxiliary leg component 4 that contacts the ground. Generally, two auxiliary leg components 4 can be used, corresponding to the number of lower leg components 3. During normal walking, that is, when the risk of falling is very low, the auxiliary leg components 4 can be folded up, and walking can be done solely by the lower leg components 3. Once a risk of falling is detected, the auxiliary leg components 4 can be quickly lowered, so that the robot will have at least three contact points with the ground, that is, at least a stable triangle can be formed. Of course, the auxiliary leg components 4 can also be kept in working state, that is, walking in coordination with the lower leg components 3. This method can adapt to some rough road surfaces. In addition, when the robot falls, the robot's center of gravity can be quickly moved to the polygon formed by the lower leg components 3 and the auxiliary leg components 4 and the ground, so as to get up quickly. It should be noted that the working and coordination between the lower leg assembly 3 and the auxiliary leg assembly 4 can be set and adjusted according to the actual situation, and is not limited to the example above. No limitation is made here.

[0054] It should be noted that the thigh drive unit 22, the lower leg drive unit 32, and the auxiliary leg drive unit 42 can all be motor assemblies with reducers. The lower leg moving unit 33 needs to be powered, while the auxiliary leg moving unit 43 is generally unpowered, for example, it is a non-powered roller. However, it can also be designed to be powered, for example, a powered roller, depending on actual needs. The thigh mounting base 1 mentioned above can include an upper connecting plate 11 and two lower mounting plates 12. Then, the upper joints of the thigh drive unit 22 and the thigh body 21 can be respectively set on both sides of the lower mounting plate 12.

[0055] Preferred,

[0056] The lower leg drive unit 32 is installed at the lower joint of the thigh body 21;

[0057] The upper joint of the auxiliary leg body 41 is mounted on the output shaft of the auxiliary leg drive unit 42;

[0058] The auxiliary leg moving unit 43 is either a non-powered roller or a powered roller.

[0059] Preferred,

[0060] Both the thigh drive unit 22 and the auxiliary leg body 41 are motor assemblies with reducers, and the center lines of their output shafts are located on the same straight line.

[0061] Please see Figure 1 and2 In one embodiment, the lower leg drive unit 32 can be directly installed on the lower joint of the thigh body 21. The lower leg drive unit 32, for example, can be a motor assembly with a reducer, which directly drives the rotation of the lower leg body 31 through the output shaft. The auxiliary leg drive unit 42 can be installed at multiple positions on the thigh body 21. For example, the center lines of the output shafts of the thigh drive unit 22 and the auxiliary leg body 41 can be located on the same straight line, and the upper joint of the auxiliary leg drive unit 42 can be installed on the output shaft of the auxiliary leg drive unit 42. Alternatively, the center lines of the output shafts of the lower leg drive unit 32 and the auxiliary leg body 41 can be located on the same straight line. This is not limited here.

[0062] Preferred,

[0063] The calf drive unit 32 includes a calf motor assembly 321, a drive rod 322 and a connecting rod 323 connected in sequence.

[0064] The upper joint of the lower leg body 31 is mounted on the thigh body 21 via a pivot.

[0065] The two ends of the lower leg body 31 are connected to the connecting rod 323 and the lower leg moving unit 33, respectively. The two ends of the connecting rod 323 are connected to the lower leg body 31 and the drive rod 322, respectively.

[0066] Preferred,

[0067] Both the thigh drive unit 22 and the calf motor assembly 321 are motor assemblies with reducers, and the center lines of their output shafts are located on the same straight line or are parallel to each other.

[0068] The lower leg moving unit 33 is a driven roller.

[0069] Please see Figures 3-6 In one embodiment, the calf drive unit 32 includes a calf motor assembly 321, a drive rod 322, and a connecting rod 323 connected in sequence. The motor assembly 321 drives the rotation of the calf body 31 through the drive rod 322 and the connecting rod 323. The connecting rod 323 can enhance the stability and strength of the movement of the calf body 31 to a certain extent. The calf motor assembly 321 can be set at multiple positions on the thigh body 21, such as... Figure 3 In the middle, the center lines of the output shafts of the thigh drive unit 22 and the calf motor assembly 321 are located on the same straight line, for example... Figure 5 In this embodiment, the calf motor assembly 321 is located in the middle of the thigh body 21. In this embodiment, the auxiliary leg drive unit 42 can be mounted on the lower joint of the thigh body 21, and the center lines of the output shaft of the auxiliary leg drive unit 42 and the rotation shaft of the upper joint of the calf motor assembly 321 can be located on the same straight line.

[0070] Preferred,

[0071] The lower joint of the thigh body 21 is provided with a connecting shaft 211;

[0072] The connecting shaft 211 is mounted on the lower joint of the thigh body 21 via a bearing;

[0073] Two small leg bodies 31 are provided at both ends of the connecting shaft 211, and an auxiliary leg body 41 is provided between the two small leg bodies 31. The upper joint of the auxiliary leg body 41 is mounted on the connecting shaft 211 through a bearing.

[0074] The auxiliary leg drive unit 42 includes an auxiliary motor assembly 421, an auxiliary drive rod 422, and an auxiliary connecting rod 423 connected in sequence.

[0075] The two ends of the auxiliary leg body 41 are connected to the auxiliary link 423 and the auxiliary leg moving unit 43, respectively. The two ends of the auxiliary link 423 are connected to the auxiliary leg body 41 and the auxiliary drive rod 422, respectively.

[0076] Preferred,

[0077] The thigh body 21 has a hollow structure and is provided with a slot 212 to accommodate the rotation of the auxiliary leg body 41;

[0078] The lower joint of the thigh body 21 includes a first support body 213 and a second support body 214. The first support body 213, the auxiliary leg body 41 and the second support body 214 are arranged in sequence. The first support body 213 is provided with a lower leg drive unit 32.

[0079] Preferred,

[0080] The auxiliary leg moving unit 43 includes two non-powered rollers that are mounted on both sides of the auxiliary leg body 41 via a pivot.

[0081] Please see Figures 7-9 In one embodiment, two lower leg bodies 31 can be provided on the lower joint of the thigh body 21. The two lower leg bodies 31 can be mirrored and move synchronously. The auxiliary leg body 41 is provided between the two lower leg bodies 31. This design is more stable than the design of a single lower leg body 31. In this embodiment, the auxiliary leg drive unit 42 includes an auxiliary motor assembly 421, a drive rod 422 and a connecting rod 423 connected in sequence. That is, the auxiliary motor assembly 421 drives the auxiliary leg body 41 through the drive rod 422 and the connecting rod 423. The setting of the auxiliary connecting rod 423 can enhance the stability and strength of the movement of the auxiliary leg body 41 to a certain extent.

[0082] Preferred,

[0083] The auxiliary leg body 41 is a telescopic structure, including an upper part of the auxiliary leg body, a telescopic component, and a lower part of the auxiliary leg body, wherein an auxiliary leg moving unit 43 is provided on the lower part of the auxiliary leg body.

[0084] It should be noted that in this embodiment of the invention, the auxiliary leg body 41 is a telescopic structure, meaning the distance between the auxiliary leg moving unit 43 and the upper joint of the auxiliary leg body 41 is adjustable. This further enhances the practicality and flexibility of the auxiliary leg assembly 4. The telescopic assembly can be implemented using a belt component, a ball screw component, or an electrically controlled roller screw, with the electrically controlled roller screw enabling more precise and rapid control.

[0085] Preferred,

[0086] The lower leg main body 31 and the auxiliary leg main body 41 are respectively located on both sides of the thigh main body 21.

[0087] This invention relates to a robot lower limb, used in a robot, comprising: a thigh mounting base 1, two thigh assemblies 2, two lower leg assemblies 3, and at least one auxiliary leg assembly 4; the thigh assembly 2 includes a thigh body 21 and a thigh drive unit 22, wherein the upper joint of the thigh body 21 and the thigh drive unit 22 are respectively disposed on both sides of the mounting position on the thigh mounting base 1, the lower joint of the thigh body 21 is connected to the lower leg assembly 3, and the thigh drive unit 22 is used to drive the thigh body 21 to move around the thigh mounting base 1; the lower leg assembly 3 includes a lower leg body 31, a lower leg drive unit 32, and a lower leg movement unit 33, wherein the lower leg body... The upper joint of the lower leg body 31 is connected to the lower joint of the thigh body 21. A lower leg moving unit 33 is provided on the lower joint of the lower leg body 31, and a lower leg driving unit 32 is mounted on the thigh body 21 and used to drive the lower leg body 31 to move around the thigh body 21. The auxiliary leg assembly 4 includes an auxiliary leg body 41, an auxiliary leg driving unit 42, and an auxiliary leg moving unit 43. The upper joint of the auxiliary leg body 41 is mounted on the thigh body 21, the lower joint of the auxiliary leg body 41 is provided with the auxiliary leg moving unit 43, and the auxiliary leg driving unit 42 is mounted on the thigh body 21 and used to assist the lower leg body 41 in moving around the thigh body 21. By setting the auxiliary leg assembly 4 in addition to the thigh assembly 2 and the lower leg assembly 3, this utility model discloses a robot lower limb. The lower leg assembly 3 and the auxiliary leg assembly 4 have no less than three contact points with the ground, that is, they can form a relatively stable polygon, thereby improving the stability of robot movement and making it easier to get up after a fall, thus solving the defects of the prior art.

[0088] The foregoing has provided a detailed description of the robot lower limbs provided by this utility model. For those skilled in the art, based on the ideas of the embodiments of this utility model, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this utility model.

Claims

1. A robot lower leg for use in a robot, characterized in that, The application relates to a lower-limb exoskeleton, which comprises a thigh mounting base (1), two thigh assemblies (2), two lower-leg assemblies (3) and at least one auxiliary leg assembly (4). The thigh assembly (2) comprises a thigh body (21) and a thigh driving unit (22), wherein the upper joint of the thigh body (21) and the thigh driving unit (22) are arranged on the two sides of the mounting position on the thigh mounting base (1) respectively, the lower joint of the thigh body (21) is connected with the lower-leg assembly (3), and the thigh driving unit (22) is used for driving the thigh body (21) to move around the thigh mounting base (1). The lower-leg assembly (3) comprises a lower-leg body (31), a lower-leg driving unit (32) and a lower-leg moving unit (33), wherein the upper joint of the lower-leg body (31) is connected with the lower joint of the thigh body (21), the lower joint of the lower-leg body (31) is provided with the lower-leg moving unit (33), and the lower-leg driving unit (32) is mounted on the thigh body (21) and used for driving the lower-leg body (31) to move around the thigh body (21). The auxiliary leg assembly (4) comprises an auxiliary leg body (41), an auxiliary leg driving unit (42) and an auxiliary leg moving unit (43), wherein the upper joint of the auxiliary leg body (41) is mounted on the thigh body (21), the lower joint of the auxiliary leg body (41) is provided with the auxiliary leg moving unit (43), and the auxiliary leg driving unit (42) is mounted on the thigh body (21) and used for driving the auxiliary leg body (41) to move around the thigh body (21). The lower-leg driving unit (32) is mounted on the lower joint of the thigh body (21).

2. The robotic lower extremity of claim 1, wherein, The upper joint of the auxiliary leg body (41) is mounted on the output shaft of the auxiliary leg driving unit (42). The auxiliary leg moving unit (43) is a non-powered roller or a powered roller. The thigh driving unit (22) and the auxiliary leg body (41) are both motor assemblies with reducers, and the center lines of the output shafts of the two are located on the same straight line.

3. The robotic lower leg of claim 2, wherein, The lower-leg driving unit (32) comprises a lower-leg motor assembly (321), a driving rod (322) and a connecting rod (323) which are connected in sequence.

4. The robotic lower extremity of claim 1, wherein, The upper joint of the lower-leg body (31) is mounted on the thigh body (21) through a rotating shaft. The two ends of the lower-leg body (31) are connected with the connecting rod (323) and the lower-leg moving unit (33) respectively, and the two ends of the connecting rod (323) are connected with the lower-leg body (31) and the driving rod (322) respectively. The thigh driving unit (22) and the lower-leg motor assembly (321) are both motor assemblies with reducers, and the center lines of the output shafts of the two are located on the same straight line or are parallel to each other.

5. The robotic lower leg of claim 4, wherein, The lower-leg moving unit (33) is a powered roller. The lower joint of the thigh body (21) is provided with a connecting shaft (211).

6. The robotic lower extremity of claim 1, wherein, The connecting shaft (211) is mounted on the lower joint of the thigh body (21) through a bearing. The two ends of the connecting shaft (211) are provided with two lower-leg bodies (31), and the auxiliary leg body (41) is arranged between the two lower-leg bodies (31), and the upper joint of the auxiliary leg body (41) is mounted on the connecting shaft (211) through a bearing. ​ The auxiliary leg driving unit (42) comprises an auxiliary motor assembly (421), an auxiliary driving rod (422) and an auxiliary connecting rod (423) connected in sequence; Two ends of the auxiliary leg main body (41) are connected with the auxiliary connecting rod (423) and the auxiliary leg moving unit (43) respectively, and two ends of the auxiliary connecting rod (423) are connected with the auxiliary leg main body (41) and the auxiliary driving rod (422) respectively.

7. The robotic lower leg of claim 6, wherein, The thigh main body (21) is a hollow structure and is provided with a slot (212) for accommodating rotation of the auxiliary leg main body (41). The lower joint of the thigh main body (21) comprises a first support body (213) and a second support body (214), the first support body (213), the auxiliary leg main body (41) and the second support body (214) are arranged in sequence, and the first support body (213) is provided with the calf driving unit (32).

8. The robotic lower extremity of claim 6, wherein, The auxiliary leg moving unit (43) comprises two non-powered rollers arranged on both sides of the auxiliary leg main body (41) through rotating shafts.

9. The robotic lower extremity according to any one of claims 1 to 8, wherein, The auxiliary leg main body (41) is a telescopic structure, comprising an auxiliary leg main body upper part, a telescopic assembly and an auxiliary leg main body lower part, wherein the auxiliary leg moving unit (43) is arranged on the auxiliary leg main body lower part.

10. The robotic lower extremity according to any one of claims 1 to 5, wherein, The calf main body (31) and the auxiliary leg main body (41) are arranged on both sides of the thigh main body (21) respectively.

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