Bipedal lower limb skeleton

Abstract

This invention provides a bipedal lower limb skeleton. The bipedal lower limb skeleton includes: a waist assembly; a thigh assembly connected to the waist assembly; two lower leg assemblies, each movably connected to the end of the thigh assembly away from the waist assembly, with at least a portion of the lower leg assembly capable of movement relative to the thigh assembly; and a footplate assembly connected to the end of the lower leg assembly away from the thigh assembly, with at least a portion of the footplate assembly capable of movement relative to the thigh assembly, and at least a portion of the thigh assembly capable of driving the lower leg assembly and the footplate assembly to move together relative to the waist assembly. This invention solves the problem of poor flexibility in the lower limb structure of robots in the prior art.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and more specifically, to a bipedal lower limb skeleton. Background Technology

[0002] In the field of robotics, designing highly flexible and stable lower limb structures has always been a challenge for engineers. Currently, the lower limb structures of humanoid robots on the market mainly employ simple hinged joints or more complex multi-degree-of-freedom mechanisms to mimic human walking postures. However, these existing designs have significant limitations, especially in simulating complex human ankle movements, such as lateral rolling (i.e., swaying from side to side) and pitching (i.e., twitching up and down) movements of the foot. Traditional ankle structures typically focus only on simple rotation along a single or multiple axes, neglecting the complex kinematic characteristics of the ankle joint, resulting in a significant reduction in the robot's adaptability to uneven terrain and the naturalness of its gait.

[0003] Furthermore, the dexterity of a robot's lower limbs is often limited by the arrangement of links and joints, especially in the rotational connections between the knee joint and the thigh and lower leg. Most designs use rigid connections, lacking sufficient degrees of freedom, which restricts the robot's ability to perform dynamic movements such as jumping and running. Inappropriate selection of link lengths and joint types can also affect the robot's range of motion and stability.

[0004] Furthermore, most existing waist designs focus on single-axis rotation or pitch functions, lacking the ability to integrate multi-axis motion. This limits the robot's performance in turning, lateral movement, and other actions, reducing its mobility and practicality in complex environments.

[0005] Therefore, existing technologies suffer from poor flexibility in the lower limb structure of robots. Utility Model Content

[0006] The main objective of this invention is to provide a bipedal lower limb skeleton to solve the problem of poor flexibility in the lower limb structure of robots in the prior art.

[0007] To achieve the above objectives, according to one aspect of the present invention, a bipedal lower limb skeleton is provided, comprising: a waist assembly; a thigh assembly connected to the waist assembly; two lower limb assemblies, each movably connected to the end of the thigh assembly away from the waist assembly, at least a portion of the lower limb assembly being movable relative to the thigh assembly; and a footplate assembly connected to the end of the lower limb assembly away from the thigh assembly, at least a portion of the footplate assembly being movable relative to the thigh assembly, and at least a portion of the thigh assembly being able to drive the lower limb assembly and the footplate assembly to move together relative to the waist assembly.

[0008] Furthermore, the lower leg assembly includes: a lower leg body, one end of which is movably connected to the thigh assembly; a first transmission component; and a second transmission component, both of which are connected to the lower leg body and the foot plate assembly.

[0009] Furthermore, the foot plate assembly includes: a foot plate body; an ankle linkage bracket; and a support seat. Both the ankle linkage bracket and the support seat are located on the side of the foot plate body facing the lower leg body. A first transmission component is connected to the support seat, and a second transmission component is connected to the ankle linkage bracket.

[0010] Furthermore, the support base and the ankle linkage bracket are spaced apart along the X-axis direction, with the support base located in front of the ankle linkage bracket in the X-axis direction; and / or the foot plate assembly also includes a foot pad, which is located on the side of the foot plate body away from the support base.

[0011] Furthermore, the first transmission assembly includes: an ankle roll bearing, of which there are at least two, the two ankle roll bearings being spaced apart on the support seat along the X-axis; an ankle pitch bearing, of which there are at least two, the two ankle pitch bearings being spaced apart on the lower leg body along the Y-axis; and a cross shaft, one end of which is connected to the two ankle roll bearings, and the other end of which is connected to the two ankle pitch bearings.

[0012] Furthermore, the ankle linkage support includes two connecting arms spaced apart along the Y-axis. The second transmission assembly includes: a lower ankle mounting piece; an ankle rear bearing, with at least one ankle rear bearing provided on each connecting arm, and both ends of the lower ankle mounting piece connected to the two connecting arms via the ankle rear bearings; at least two fisheye bearings, spaced apart along the Y-axis on the lower ankle mounting piece; at least two ankle joints, spaced apart along the Z-axis on the lower leg body, and at least a portion of the ankle joints being movable relative to the lower leg body; and at least two links, with different ankle joints connected to different fisheye bearings via different links.

[0013] Furthermore, the thigh assembly includes: a third transmission component, at least a portion of which is capable of moving around the Y-axis; two fourth transmission components, the third transmission component being drivenly connected to the two fourth transmission components, and at least a portion of the fourth transmission component being capable of moving around the X-axis; two fifth transmission components, the fourth transmission components being drivenly connected to the fifth transmission components, and at least a portion of the fifth transmission component being capable of moving around the Z-axis; and two thigh bodies, one end of which is connected to the fifth transmission component, and the other end of which is connected to the lower leg assembly via a knee joint, and at least a portion of the knee joint being capable of driving the lower leg assembly to move relative to the thigh body around the Y-axis.

[0014] Furthermore, the third transmission component includes: a hip housing, with the waist assembly connected to the hip housing; two front lifting joints, at least a portion of which is capable of moving around the Y-axis, at least a portion of which is located inside the hip housing, and at least another portion of which extends out of the hip housing and is drivenly connected to the fourth transmission component, with the two front lifting joints arranged symmetrically.

[0015] Furthermore, the third transmission assembly also includes: a front lifting fixed flange, through which the front lifting joint is mounted on the hip shell; and a front lifting output flange, through which the output end of the front lifting joint is drivenly connected to the fourth transmission assembly.

[0016] Furthermore, the fourth transmission component includes: a lateral extension joint, which is drivenly connected to the fifth transmission component; and a lateral extension bearing, which is connected to the front lifting output flange.

[0017] Furthermore, the fifth transmission component includes: a thigh rotation output flange, one end of which is connected to the abduction joint, and the thigh rotation output flange is capable of moving with the abduction joint; a rotatable joint, which is connected to the end of the thigh rotation output flange away from the abduction joint, the thigh body is connected to the rotatable joint, and at least a portion of the rotatable joint is capable of driving the thigh body to move around the Z-axis relative to the thigh rotation output flange.

[0018] Furthermore, the lumbar assembly includes: a lumbar rotator joint assembly connected to the hip shell, and at least a portion of the lumbar rotator joint assembly being capable of moving relative to the hip shell around the Z-axis; a lumbar abduction joint assembly connected to and moving with the lumbar rotator joint assembly, and at least a portion of the lumbar abduction joint assembly being capable of moving relative to the lumbar rotator joint assembly around the X-axis; and a lumbar pitch joint assembly connected to and moving with the lumbar abduction joint assembly, and at least a portion of the lumbar pitch joint assembly being capable of moving relative to the lumbar abduction joint assembly around the Y-axis.

[0019] Applying the technical solution of this utility model, the bipedal lower limb skeleton of this application includes a waist assembly, a thigh assembly, a lower leg assembly, and a foot plate assembly. The thigh assembly is connected to the waist assembly; there are two lower leg assemblies, which are movably connected to the ends of the thigh assemblies away from the waist assembly, and at least a portion of the lower leg assembly can move relative to the thigh assembly; the foot plate assembly is connected to the ends of the lower leg assemblies away from the thigh assembly, and at least a portion of the foot plate assembly can move relative to the thigh assembly, and at least a portion of the thigh assembly can drive the lower leg assembly and the foot plate assembly to move together relative to the waist assembly. When using the bipedal lower limb skeleton of this application, the thigh assembly can drive the lower leg assembly and the foot plate assembly to move together relative to the waist assembly, while the lower leg assembly can drive the foot plate assembly to move together relative to the thigh assembly, and the foot plate assembly can also move independently relative to the lower leg assembly. Therefore, the bipedal lower limb skeleton of this application can realize flexible movement of various parts of the lower limbs, greatly improving the flexibility and stability of the bionic robot. Therefore, the bipedal lower limb skeleton in this application effectively solves the problem of poor flexibility in the lower limb structure of robots in the prior art. Attached Figure Description

[0020] The accompanying drawings, which form part of this application, are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an undue limitation of the present invention. In the drawings:

[0021] Figure 1 A schematic diagram of the bipedal lower limb skeleton according to a specific embodiment of the present invention is shown; and

[0022] Figure 2 It shows Figure 1 A sectional view of the lower leg assembly and footplate assembly of the bipedal lower limb skeleton.

[0023] The above figures include the following reference numerals:

[0024] 10. Waist assembly; 11. Waist rotator joint assembly; 111. Waist rotator joint body; 112. Rotator shell; 12. Waist lateral extension joint assembly; 121. Waist lateral extension joint body; 122. Lateral extension shell; 13. Waist pitch joint assembly; 131. Waist pitch joint body; 132. Waist swivel flange; 133. Pitch shell;

[0025] 20. Thigh assembly; 21. Third transmission assembly; 211. Hip shell; 212. Forward lifting joint; 213. Forward lifting fixed flange; 214. Forward lifting output flange; 215. Forward lifting virtual shaft flange; 22. Fourth transmission assembly; 221. Lateral abduction joint; 222. Lateral abduction bearing; 23. Fifth transmission assembly; 231. Thigh rotation output flange; 232. Turning joint; 233. Turning fixed flange; 24. Thigh body; 25. Knee joint; 251. Knee joint flange; 252. Knee joint virtual flange;

[0026] 30. Lower leg assembly; 31. Lower leg body; 32. First transmission assembly; 321. Ankle roll bearing; 322. Ankle pitch bearing; 323. Cross shaft; 33. Second transmission assembly; 331. Lower ankle mounting piece; 332. Ankle rear bearing; 333. Fisheye bearing; 334. Ankle joint; 335. Connecting rod; 336. Ankle shaft; 337. Snap ring; 338. Joint rod;

[0027] 40. Foot sole assembly; 41. Foot sole body; 42. Ankle link support; 42. Connecting arm; 43. Support base; 44. Foot sole pad;

[0028] 50. Appearance mounting point; 60. Pin; 70. Bearing retaining ring. Detailed Implementation

[0029] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0030] It should be noted that, unless otherwise specified, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0031] In this utility model, unless otherwise stated, directional terms such as "upper," "lower," "top," and "bottom" are generally used in relation to the direction shown in the accompanying drawings, or in relation to the vertical, perpendicular, or gravitational direction of the component itself; similarly, for ease of understanding and description, "inner" and "outer" refer to the inner and outer contours of each component itself, but the above directional terms are not used to limit this utility model.

[0032] To address the problem of poor flexibility in the lower limb structure of robots in the prior art, this application provides a bipedal lower limb skeleton.

[0033] Furthermore, the bipedal lower limb skeleton in this application is primarily used in biomimetic robots, specifically humanoid robots. Of course, the bipedal lower limb skeleton in this application can also be applied to biomimetic robots that mimic other organisms.

[0034] like Figure 1 and Figure 2 As shown, the bipedal lower limb skeleton of this application includes a lumbar assembly 10, a thigh assembly 20, a lower leg assembly 30, and a foot plate assembly 40. The thigh assembly 20 is connected to the lumbar assembly 10; there are two lower leg assemblies 30, and the lower leg assemblies 30 are movably connected to the ends of the thigh assemblies 20 away from the lumbar assembly 10, and at least a portion of the lower leg assembly 30 can move relative to the thigh assembly 20; the foot plate assembly 40 is connected to the ends of the lower leg assemblies 30 away from the thigh assembly 20, and at least a portion of the foot plate assembly 40 can move relative to the thigh assembly 20, and at least a portion of the thigh assembly 20 can drive the lower leg assembly 30 and the foot plate assembly 40 to move together relative to the lumbar assembly 10. When using the bipedal lower limb skeleton of this application, the thigh assembly 20 can drive the lower leg assembly 30 and the foot plate assembly 40 to move together relative to the waist assembly 10, while the lower leg assembly 30 can drive the foot plate assembly 40 to move together relative to the thigh assembly 20. Furthermore, the foot plate assembly 40 can also move independently relative to the lower leg assembly 30. Therefore, the bipedal lower limb skeleton of this application enables flexible movement of all parts of the lower limbs, greatly improving the flexibility and stability of the bionic robot. Thus, the bipedal lower limb skeleton of this application effectively solves the problem of poor flexibility in the lower limb structure of robots in the prior art.

[0035] In this application, the length direction of the foot plate assembly 40 can be considered as the X-axis direction, the width direction of the foot plate assembly 40 can be considered as the Y-axis direction, and the thickness direction of the foot plate assembly 40 can be considered as the Z-axis direction. Alternatively, when determining the directions of the X, Y, and Z axes, the length direction of the foot is the X-axis direction, the width direction of the foot is the Y-axis direction, and the height direction of the human body or the lower limb skeleton is the Z-axis direction.

[0036] Specifically, the lower leg assembly 30 includes a lower leg body 31, a first transmission component 32, and a second transmission component 33. One end of the lower leg body 31 is movably connected to the thigh assembly 20; the first transmission component 32 and the second transmission component 33 are both connected to the lower leg body 31 and the foot plate assembly 40.

[0037] Specifically, the foot plate assembly 40 includes a foot plate body 41, an ankle linkage bracket 42, and a support seat 43. The ankle linkage bracket 42 and the support seat 43 are both located on the side of the foot plate body 41 facing the lower leg body 31. The first transmission component 32 is connected to the support seat 43, and the second transmission component 33 is connected to the ankle linkage bracket 42.

[0038] In this application, the support base 43 and the ankle linkage bracket 42 are spaced apart along the X-axis direction, and the support base 43 is located in front of the ankle linkage bracket 42 in the X-axis direction.

[0039] Optionally, the footplate assembly 40 also includes a foot pad 44, which is disposed on the side of the footplate body 41 away from the support seat 43. In this application, the foot pad 44 effectively provides shock absorption and cushioning, thereby effectively ensuring the performance of the lower limb skeleton.

[0040] Specifically, the first transmission assembly 32 includes: ankle roll bearings 321, at least two ankle roll bearings 321 are spaced apart on the support 43 along the X-axis; ankle pitch bearings 322, at least two ankle pitch bearings 322 are spaced apart on the lower leg body 31 along the Y-axis; and a cross shaft 323, with one end of the cross shaft 323 connected to the two ankle roll bearings 321 and the other end of the cross shaft 323 connected to the two ankle pitch bearings 322.

[0041] Specifically, the ankle linkage support 42 includes two connecting arms 421 spaced apart along the Y-axis. The second transmission assembly 33 includes: an ankle lower mounting member 331; an ankle rear bearing 332, with at least one ankle rear bearing 332 on each connecting arm 421, and both ends of the ankle lower mounting member 331 connected to the two connecting arms 421 via the ankle rear bearing 332; a fisheye bearing 333, with at least two fisheye bearings 333 spaced apart along the Y-axis on the ankle lower mounting member 331; at least two ankle joints 334, with two ankle joints 334 spaced apart along the Z-axis on the lower leg body 31, and at least a portion of the ankle joints 334 being movable relative to the lower leg body 31; and at least two connecting rods 335, with different ankle joints 334 connected to different fisheye bearings 333 via different connecting rods 335.

[0042] Therefore, in this application, the lower leg body 31 is connected to the foot plate assembly 40 via the first transmission component 32 and the second transmission component 33, respectively. Under the action of the first transmission component 32, the foot plate assembly 40 can rotate relative to the lower leg body 31 around the Z-axis and Y-axis, while under the action of the second transmission component 33, the foot plate assembly 40 can rotate relative to the lower leg body 31 around the X-axis. Of course, in the actual movement process, the foot plate assembly 40 can move simultaneously relative to the lower leg body 31 in multiple directions, or the movement of the foot plate can be a combination of multiple directions. In other words, because the lower leg body 31 is connected to the foot plate assembly 40 via the first transmission component 32 and the second transmission component 33, it can be ensured that the foot plate assembly 40 can move relative to the lower leg body 31 in multiple directions. Furthermore, according to actual design requirements, the relative movement between the lower leg body 31 and the foot plate assembly 40 can also be set to other movement forms.

[0043] In one specific embodiment of this application, the support base 43 has a U-shaped structure and includes a first segment, a second segment, and a third segment connected in sequence. The support base 43 is connected to the foot plate assembly 40 through the third segment. The first segment and the second segment are spaced apart along the X-axis. Therefore, in this embodiment, an ankle roll bearing 321 is provided on the first segment and the third segment respectively. The lower leg body 31 is provided with two connecting protrusions corresponding to the space between the first segment and the third segment. The two connecting protrusions are spaced apart along the Y-axis. At this time, two ankle pitch bearings 322 can be respectively provided on the two connecting protrusions.

[0044] Furthermore, in this application, the outer ring portion of the ankle roll bearing 321 is connected to the support base 43, while the inner ring portions of the two ankle roll bearings 321 are respectively connected to the two ends of the cross shaft 323 extending along the X-axis. The outer ring portion of the ankle pitch bearing 322 is connected to the lower leg body 31, while the inner ring portions of the two ankle pitch bearings 322 are respectively connected to the two ends of the cross shaft 323 extending along the Y-axis.

[0045] Preferably, bearing retaining rings 70 can be provided at the mating positions of the support base 43 and the ankle roll bearing 321, and the mating positions of the calf body 31 and the ankle pitch bearing 322, to further ensure the performance of the ankle roll bearing 321 and the ankle pitch bearing 322.

[0046] In one specific embodiment of this application, the ankle mounting component 331 is rod-shaped, and its axis is parallel to the Y-axis. Simultaneously, there are two ankle rear bearings 332, two fisheye bearings 333, two ankle joints 334, and two connecting rods 335. Each connecting arm 421 is equipped with one ankle rear bearing 332, with the outer ring of the ankle rear bearing 332 connected to the connecting arm 421, and the inner ring of the ankle rear bearing 332 connected to the end of the ankle mounting component 331, thereby ensuring that the ankle mounting component 331 can move relative to the connecting arm 421. Two fisheye bearings 333 are spaced apart along the Y-axis on the ankle mounting bracket 331. There is a one-to-one correspondence between the fisheye bearings 333, the ankle joint 334, and the connecting rod 335. Since the two fisheye bearings 333 are at the same height in the Z-axis direction, while the two ankle joints 334 are at different heights in the Z-axis direction, the lengths of the two connecting rods 335 are different. This ensures that the higher ankle joint 334 can be connected to one of the fisheye bearings 333 via the longer connecting rod 335, while the lower ankle joint 334 can be connected to the other fisheye bearing 333 via the shorter connecting rod 335. Furthermore, in this application, the fisheye bearings 333 can be mounted on the ankle mounting bracket 331 via pins 60, ensuring that when the ankle joint 334 moves relative to the lower leg body 31, the ankle joint 334 can drive the ankle connecting rod bracket 42 and the foot plate body 41 to move via the connecting rod 335 and the fisheye bearings 333. In other words, in this application, by setting two ankle joints 334, the foot plate assembly 40 can be rotated or the foot plate assembly 40 can move around the Z-axis.

[0047] Furthermore, to ensure that the two connecting rods 335 and the two ankle joints 334 do not interfere with each other during movement, the two connecting rods 335 can be respectively positioned on both sides of the lower leg body 31, or the two connecting rods 335 can be spaced apart along the Y-axis, while the two ankle joints 334 are positioned between the two connecting rods 335. It should be noted that in this application, there is an angle greater than 0 degrees between the axes of the two connecting rods 335 and the Z-axis.

[0048] Preferably, in this application, the connecting rod 335 and the ankle joint 334 can be connected by an ankle shaft 336, a retaining spring 337, and a joint rod 338. Specifically, the ankle joint 334 is connected to the joint rod 338, the connecting rod 335 and the joint rod 338 are connected by an ankle shaft 336, and a retaining spring 337 is provided at the connection position to achieve the purpose of quick reset.

[0049] Of course, depending on the design requirements, the setting of the second transmission component 33 can be changed, thereby realizing other movement forms of the foot plate component 40 through the second transmission component 33.

[0050] In this application, the thigh assembly 20 includes: a third transmission component 21, at least a portion of which is capable of moving around the Y-axis; two fourth transmission components 22, with the third transmission component 21 drivenly connected to the two fourth transmission components 22, and at least a portion of the fourth transmission components 22 capable of moving around the X-axis; two fifth transmission components 23, with the fourth transmission components 22 drivenly connected to the fifth transmission components 23, and at least a portion of the fifth transmission components 23 capable of moving around the Z-axis; and two thigh bodies 24, one end of which is connected to the fifth transmission component 23, and the other end of which is connected to the lower leg assembly via a knee joint 25, and at least a portion of the knee joint 25 capable of driving the lower leg assembly to move relative to the thigh body 24 around the Y-axis.

[0051] Furthermore, in this application, the two fourth transmission components 22, the two fifth transmission components 23, and the two thigh bodies 24 correspond one-to-one.

[0052] In one specific embodiment of this application, the knee joint 25 is connected to the lower leg body 31, and the knee joint 25 and the lower leg body 31 can be connected by a knee joint flange 251. Preferably, the knee joint flange 251 can be connected to the lower leg body 31 by a knee joint dummy flange 252, thereby ensuring that the knee joint 25 can more flexibly drive the movement of the lower leg body 31.

[0053] Specifically, in this application, the two fourth transmission components 22 are symmetrically arranged about the third transmission component 21. Similarly, the two thigh bodies 24 are symmetrically arranged about the third transmission component 21.

[0054] Specifically, the third transmission assembly 21 includes a hip housing 211 and a front lifting joint 212, and the waist assembly 10 is connected to the hip housing 211; there are two front lifting joints 212, at least a part of the front lifting joint 212 can move around the Y-axis, at least a part of the front lifting joint 212 is located inside the hip housing 211, and at least another part of the front lifting joint 212 extends out of the hip housing 211 and is drivenly connected to the fourth transmission assembly 22, and the two front lifting joints 212 are symmetrically arranged.

[0055] In one specific embodiment of this application, the driving ends of the two forward lifting joints 212 extend from the two ends of the hip shell 211 in the Y-axis direction and are respectively driven and connected to different fourth transmission components 22.

[0056] Specifically, the third transmission assembly 21 further includes a front lifting fixed flange 213 and a front lifting output flange 214. The front lifting joint 212 is mounted on the hip housing 211 via the front lifting fixed flange 213; the output end of the front lifting joint 212 is drivenly connected to the fourth transmission assembly 22 via the front lifting output flange 214. Furthermore, in this application, there can be two front lifting output flanges 214, spaced apart along the X-axis and respectively connected to the output end of the front lifting joint 212. In this case, at least a portion of the fourth transmission assembly 22 is located between the two front lifting output flanges 214. Simultaneously, for ease of installation and to protect the front lifting output flanges 214, the front lifting output flanges 214 can be connected to the front lifting joint 212 via a front lifting virtual axis flange 215.

[0057] Specifically, the fourth transmission assembly 22 includes a lateral extension joint 221 and a lateral extension bearing 222. The lateral extension joint 221 is drivenly connected to the fifth transmission assembly 23; the lateral extension joint 221 is connected to the front lifting output flange 214 via the lateral extension bearing 222. This arrangement ensures that the lateral extension joint 221 can be driven by the third transmission assembly 21 while also driving the fifth transmission assembly 23 to move relative to the third transmission assembly 21.

[0058] Specifically, the fifth transmission assembly 23 includes a thigh rotation output flange 231 and a rotatable joint 232. One end of the thigh rotation output flange 231 is connected to the lateral abduction joint 221, and the thigh rotation output flange 231 can move with the lateral abduction joint 221; the rotatable joint 232 is connected to the end of the thigh rotation output flange 231 away from the lateral abduction joint 221, the thigh body 24 is connected to the rotatable joint 232, and at least a portion of the rotatable joint 232 can drive the thigh body 24 to move around the Z-axis relative to the thigh rotation output flange 231.

[0059] Optionally, in this application, the thigh rotation output flange 231 can be fitted onto the housing of the lateral extension joint 221. Furthermore, the output end of the rotatable joint 232 can be connected to the thigh rotation output flange 231 via a flange, while the portion of the rotatable joint 232 that moves relative to the fourth transmission component 22 can be connected to the thigh body 24 via a rotatable fixing flange 233, thereby enabling the thigh body 24 to move relative to the fourth transmission component 22.

[0060] Specifically, the lumbar assembly 10 includes: a lumbar rotation joint assembly 11, which is connected to the hip shell 211, and at least a portion of the lumbar rotation joint assembly 11 is capable of moving relative to the hip shell 211 around the Z-axis; a lumbar abduction joint assembly 12, which is connected to the lumbar rotation joint assembly 11 and moves with the lumbar rotation joint assembly 11, and at least a portion of the lumbar abduction joint assembly 12 is capable of moving relative to the lumbar rotation joint assembly 11 around the X-axis; and a lumbar pitch joint assembly 13, which is connected to the lumbar abduction joint assembly 12 and moves with the lumbar abduction joint assembly 12, and at least a portion of the lumbar pitch joint assembly 13 is capable of moving relative to the lumbar abduction joint assembly 12 around the Y-axis. Furthermore, in this application, the lumbar rotator joint assembly 11 includes a lumbar rotator joint body 111 and a rotator shell 112. The lumbar rotator joint body 111 is disposed on the rotator shell 112, and at least a portion of the lumbar rotator joint body 111 is rotatable relative to the rotator shell 112. The rotator shell 112 and the hip shell 211 can be fixedly connected. The lumbar lateral abduction joint assembly 12 includes a lumbar lateral abduction joint body 121 and a lateral abduction shell 122. The lumbar rotator joint body 111 is connected to the lateral abduction shell 122 and drives the lateral abduction shell 122 to move. The lumbar lateral abduction joint body 121 is disposed on the lateral abduction shell 122, and at least a portion of the lumbar lateral abduction joint body 121 is rotatable relative to the lateral abduction shell 122. The lumbar pitch joint assembly 13 includes a lumbar pitch joint body 131, a lumbar rotation flange 132, and a pitch housing 133. The lumbar lateral extension joint body 121 is connected to the lumbar rotation flange 132 and drives the lumbar rotation flange 132 to move. The lumbar pitch joint body 131 is disposed on the lumbar rotation flange 132, and at least a portion of the lumbar pitch joint body 131 can drive the pitch housing 133 to rotate relative to the lumbar rotation flange 132.

[0061] Furthermore, in this application, for the joints in each part used to drive the movement of the connected structures, movement in the X-axis, Y-axis, or Z-axis directions can be achieved by other driving structures such as motors and cylinders.

[0062] Of course, in this application, different appearance hanging points 50 can also be set at different positions of the bipedal lower limb skeleton to play a decorative role.

[0063] As can be seen from the above description, the embodiments of this utility model achieve the following technical effects:

[0064] 1. Effectively solves the problem of poor flexibility in the lower limb structure of robots in existing technologies;

[0065] 2. Simple structure and stable performance.

[0066] Obviously, the embodiments described above are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of this utility model.

[0067] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0068] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in sequences other than those illustrated or described herein.

[0069] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A bipedal lower limb skeleton, characterized by, include: Waist assembly (10); Thigh assembly (20), which is connected to waist assembly (10); Lower leg assembly (30), there are two lower leg assemblies (30), the lower leg assembly (30) is movably connected to the end of the thigh assembly (20) away from the waist assembly (10), and at least a part of the lower leg assembly (30) can move relative to the thigh assembly (20); A foot plate assembly (40) is connected to the end of the lower leg assembly (30) away from the thigh assembly (20). At least a portion of the foot plate assembly (40) is movable relative to the thigh assembly (20), and at least a portion of the thigh assembly (20) is capable of driving the lower leg assembly (30) and the foot plate assembly (40) to move together relative to the waist assembly (10).

2. The bipedal lower limb exoskeleton of claim 1, wherein, The lower leg assembly (30) includes: The lower leg body (31) has one end movably connected to the thigh assembly (20); First transmission component (32); The second transmission assembly (33) is connected to both the first transmission assembly (32) and the second transmission assembly (33) and the lower leg body (31) and the foot plate assembly (40).

3. The bipedal lower limb exoskeleton of claim 2, wherein, The footplate assembly (40) includes: Foot sole body (41); Ankle linkage brace (42); The support base (43), the ankle linkage bracket (42) and the support base (43) are both located on the side of the foot plate body (41) facing the lower leg body (31). The first transmission component (32) is connected to the support base (43) and the second transmission component (33) is connected to the ankle linkage bracket (42).

4. The bipedal lower limb skeleton according to claim 3, characterized in that, The support base (43) and the ankle linkage bracket (42) are spaced apart along the X-axis, with the support base (43) located in front of the ankle linkage bracket (42) in the X-axis direction; and / or The foot plate assembly (40) also includes a foot pad (44) disposed on the side of the foot plate body (41) away from the support seat (43).

5. The dual lower leg exoskeleton of claim 3, wherein, The first transmission assembly (32) includes: Ankle roller bearing (321), wherein there are at least two ankle roller bearings (321), and the two ankle roller bearings (321) are spaced apart on the support (43) along the X-axis direction; Ankle pitch bearing (322), wherein there are at least two ankle pitch bearings (322), and the two ankle pitch bearings (322) are spaced apart on the lower leg body (31) along the Y-axis direction; A cross shaft (323) is provided, with one end of the cross shaft (323) connected to two ankle roll bearings (321), and the other end of the cross shaft (323) connected to two ankle pitch bearings (322).

6. The dual lower leg exoskeleton of claim 3, wherein, The ankle linkage support (42) includes two connecting arms (421) spaced apart along the Y-axis, and the second transmission assembly (33) includes: Ankle mount (331); Ankle rear bearing (332), each of the connecting arms (421) is provided with at least one of the ankle rear bearings (332), and the two ends of the ankle mounting piece (331) are connected to the two connecting arms (421) through the ankle rear bearings (332); Fish eye bearing (333), wherein there are at least two fish eye bearings (333), and the two fish eye bearings (333) are spaced apart along the Y-axis on the ankle mounting piece (331); At least two ankle joints (334) are provided on the lower leg body (31) at intervals along the Z-axis, and at least a portion of the ankle joints (334) are movable relative to the lower leg body (31). At least two links (335), different ankle joints (334) are respectively connected to different fisheye bearings (333) via different links (335).

7. The bipedal lower limb exoskeleton according to any one of claims 1 to 6, wherein, The thigh assembly (20) includes: A third transmission assembly (21), at least a portion of which is capable of moving about the Y-axis; The fourth transmission component (22) consists of two components. The third transmission component (21) is drivenly connected to the two fourth transmission components (22), and at least a portion of the fourth transmission component (22) is capable of moving around the X-axis. The fifth transmission component (23) consists of two components, the fourth transmission component (22) is driven to connect with the fifth transmission component (23), and at least a portion of the fifth transmission component (23) is capable of moving around the Z-axis; The thigh body (24) consists of two thigh bodies (24). One end of each thigh body (24) is connected to the fifth transmission component (23), and the other end of each thigh body (24) is connected to the lower leg assembly (30) via a knee joint (25). At least a portion of the knee joint (25) can drive the lower leg assembly (30) to move relative to the thigh body (24) around the Y-axis.

8. The bipedal lower limb exoskeleton of claim 7, wherein, The third transmission assembly (21) includes: The hip shell (211) is connected to the waist assembly (10); There are two front lifting joints (212), at least a portion of which can move around the Y-axis. At least a portion of the front lifting joint (212) is located inside the hip shell (211), and at least another portion of which extends out of the hip shell (211) and is drivenly connected to the fourth transmission assembly (22). The two front lifting joints (212) are symmetrically arranged.

9. The bipedal lower limb exoskeleton of claim 8, wherein, The third transmission assembly (21) also includes: A front lifting fixing flange (213) is provided, and the front lifting joint (212) is mounted on the hip shell (211) via the front lifting fixing flange (213); The output end of the front lifting joint (212) is driven to the fourth transmission assembly (22) via the front lifting output flange (214).

10. The bipedal lower limb skeleton according to claim 9, characterized in that, The fourth transmission assembly (22) includes: Lateral abduction joint (221), which is drivenly connected to the fifth transmission assembly (23); Side extension bearing (222), the side extension joint (221) is connected to the front lifting output flange (214) through the side extension bearing (222).

11. The bipedal lower limb exoskeleton of claim 10, wherein, The fifth transmission assembly (23) includes: Thigh rotation output flange (231), one end of which is connected to the abduction joint (221), and the thigh rotation output flange (231) can move with the abduction joint (221); A rotatable joint (232) is connected to the end of the thigh rotation output flange (231) away from the lateral abduction joint (221). The thigh body (24) is connected to the rotatable joint (232), and at least a portion of the rotatable joint (232) can drive the thigh body (24) to move around the Z-axis relative to the thigh rotation output flange (231).

12. The bipedal lower limb exoskeleton of claim 8, wherein, The waist assembly (10) includes: A lumbar rotator joint assembly (11) is connected to the hip shell (211), and at least a portion of the lumbar rotator joint assembly (11) is capable of moving relative to the hip shell (211) about the Z-axis. A lumbar abduction joint assembly (12) is connected to the lumbar rotation joint assembly (11) and moves with the lumbar rotation joint assembly (11), and at least a portion of the lumbar abduction joint assembly (12) is capable of moving relative to the lumbar rotation joint assembly (11) about the X-axis. A lumbar pitch joint assembly (13) is connected to the lumbar abduction joint assembly (12) and moves with the lumbar abduction joint assembly (12), and at least a portion of the lumbar pitch joint assembly (13) is capable of moving relative to the lumbar abduction joint assembly (12) about the Y-axis.

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