Lower limb structure, continuous joint structure, and robot

Abstract

A lower limb structure, comprising a thigh assembly (100) and a shank assembly (200). The thigh assembly comprises a thigh portion (110); and the shank assembly comprises an adapter (210), a first knee joint member (201), a second knee joint member (202), a shank portion (220), a frame (230), a first driving structure (211), and a second driving structure (212), wherein the adapter is fixedly connected to the thigh portion, both the first knee joint member and the second knee joint member are fixedly connected to the adapter, a first end of the shank portion is rotatably connected to the adapter, the frame is rotatably connected to a second end of the shank portion, the first driving structure is drivingly connected to the first knee joint member, the second driving structure is drivingly connected to the second knee joint member, the adapter can rotate about a first central axis (X1), the shank portion can rotate about a second central axis (X2), and the first driving structure and the second driving structure are configured to drive, by means of a parallel differential mechanism, at least one of the adapter and the shank portion to rotate. Further provided are a continuous joint structure and a robot. The lower limb structure has strong load-bearing capacity and enables high-precision control performance.

Description

Lower limb structure, continuous joint structure and robot

[0001] This application claims priority to Chinese Patent Application No. 2024110976875, filed on August 9, 2024, the disclosure of which is incorporated herein in its entirety as part of the present application. TECHNICAL FIELD

[0002] At least one embodiment of the present disclosure relates to a lower limb structure, a continuous joint structure and a robot. BACKGROUND

[0003] At present, robots have been widely applied in various fields. Robots can not only improve production efficiency and reduce labor costs, but also provide convenient services. For example, robots can undertake household chores, perform complex medical operations, and perform repetitive industrial labor, thereby greatly reducing the labor intensity of humans and improving production efficiency. Therefore, it is an important focus in the field of robot research to continuously upgrade and optimize the structure and performance of robots to better adapt to different working environments and task requirements. SUMMARY

[0004] At least one embodiment of the present disclosure provides a lower limb structure, comprising a thigh assembly and a calf assembly, the thigh assembly comprising a thigh part; the calf assembly comprising an adapter, a first knee joint part, a second knee joint part, a calf part, a rack, a first driving structure and a second driving structure, the adapter being fixedly connected with the thigh part; the first knee joint part and the second knee joint part being respectively located on opposite sides of the adapter and being fixedly connected with the adapter; the calf part comprising opposite first and second ends, the first end of the calf part being rotatably connected with the adapter; the rack being rotatably connected with the second end of the calf part; the first driving structure being in transmission connection with the first knee joint part; the second driving structure being in transmission connection with the second knee joint part, the adapter being configured to be rotatable about a first central axis passing through the first end of the calf part, so that the lower limb structure has a first degree of freedom, the calf part being configured to be rotatable about a second central axis passing through the second end of the calf part, so that the lower limb structure has a second degree of freedom, the first driving structure and the second driving structure being configured to drive at least one of the adapter and the calf part to rotate.

[0005] For example, according to at least one embodiment of the present disclosure, the first central axis and the second central axis are parallel to each other.

[0006] For example, the lower limb structure provided by at least one embodiment of the present disclosure provides that the shank assembly further comprises a first ankle joint member and a second ankle joint member, the first ankle joint member is in driving connection with the first driving structure and the first knee joint member respectively, and is in rotary connection with the frame; the second ankle joint member is in driving connection with the second driving structure and the second knee joint member respectively, and is in rotary connection with the frame, wherein the rotary shafts of the first ankle joint member and the second ankle joint member are the second central shaft.

[0007] For example, the lower limb structure provided by at least one embodiment of the present disclosure provides that the shank assembly further comprises a first transmission rope, a second transmission rope, a third transmission rope, a fourth transmission rope, a fifth transmission rope, a sixth transmission rope, a seventh transmission rope and an eighth transmission rope, the two ends of any one of the first transmission rope and the second transmission rope are fixedly connected with the first driving structure and the first ankle joint member respectively, the first transmission rope and the second transmission rope are wound around the first driving structure in opposite directions, and are wound around the first ankle joint member in opposite directions; the two ends of any one of the third transmission rope and the fourth transmission rope are fixedly connected with the second driving structure and the second ankle joint member respectively, the third transmission rope and the fourth transmission rope are wound around the second driving structure in opposite directions, and are wound around the second ankle joint member in opposite directions; the two ends of any one of the fifth transmission rope and the sixth transmission rope are fixedly connected with the first ankle joint member and the first knee joint member respectively, the fifth transmission rope and the sixth transmission rope are wound around the first ankle joint member in opposite directions, and are wound around the first ankle joint member in opposite directions; the two ends of any one of the seventh transmission rope and the eighth transmission rope are fixedly connected with the second ankle joint member and the second knee joint member respectively, the seventh transmission rope and the eighth transmission rope are wound around the second ankle joint member in opposite directions, and are wound around the second knee joint member in opposite directions.

[0008] For example, the lower limb structure provided by at least one embodiment of the present disclosure provides that the first transmission rope and the second transmission rope are configured to make the first driving structure and the first ankle joint member rotate in the same direction; the third transmission rope and the fourth transmission rope are configured to make the second driving structure and the second ankle joint member rotate in the same direction; the fifth transmission rope and the sixth transmission rope are configured to make the first ankle joint member and the first knee joint member rotate in opposite directions; and the seventh transmission rope and the eighth transmission rope are configured to make the second ankle joint member and the second knee joint member rotate in the same direction.

[0009] For example, the lower limb structure provided by at least one embodiment of the present disclosure, the shank further comprises a first set of transmission ropes and a second set of transmission ropes, the first driving structure is in transmission connection with the first knee joint member through the first set of transmission ropes, and the first set of transmission ropes are configured to make the first driving structure rotate in the same direction or in the opposite direction with the first knee joint member; the second driving structure is in transmission connection with the second knee joint member through the second set of transmission ropes, and the second set of transmission ropes are configured to make the second driving structure rotate in the same direction or in the opposite direction with the second knee joint member.

[0010] For example, the lower limb structure provided by at least one embodiment of the present disclosure, the shank further comprises a first set of transmission ropes and a second set of transmission ropes, the first driving structure is in transmission connection with the first knee joint member through the first set of transmission ropes, and the first set of transmission ropes are configured to make the first driving structure rotate in the same direction or in the opposite direction with the first knee joint member; the second driving structure is in transmission connection with the second knee joint member through the second set of transmission ropes, and the second set of transmission ropes are configured to make the second driving structure rotate in the same direction or in the opposite direction with the second knee joint member.

[0011] For example, the lower limb structure provided by at least one embodiment of the present disclosure, the transmission process of the shank assembly satisfies the following formula:

[0012] wherein, i Diff_L1 represents the first differential coefficient, i Diff_R1 represents the second differential coefficient, i Drive_L1 represents the first driving coefficient, i Drive_R1 represents the second driving coefficient, θ Input_L1 represents the rotation angle of the first driving structure, θ Input_R1 represents the rotation angle of the second driving structure, θ K1_pitch represents the rotation angle of the adapter around the first central axis, θ K1_pitch represents the rotation angle of the shank around the second central axis, τ Input_L1 represents the torque of the first driving structure, τ Input_R1 represents the torque of the second driving structure, τ K1_pitch represents the torque of the adapter, τ K2_yaw represents the torque of the shank.

[0013] For example, the lower limb structure provided according to at least one embodiment of the present disclosure includes a thigh assembly, a first output structure, a first hip joint member, a second hip joint member, a second output structure, a third driving structure, and a fourth driving structure. The first output structure is rotationally connected to an end of the thigh portion away from the calf assembly, and includes a first connecting end and a second connecting end opposite to each other, and a third connecting end between the first connecting end and the second connecting end. The first hip joint member is rotationally connected to the first connecting end of the first output structure with a third central axis as a rotation axis. The second hip joint member is rotationally connected to the second connecting end of the second output structure with the third central axis as a rotation axis. At least part of the first output structure is located between the first hip joint member and the second hip joint member. The second output structure is rotationally connected to the third connecting end of the first output structure with a fourth central axis as a rotation axis, and is drivingly connected to the first hip joint member and the second hip joint member, respectively. The third central axis intersects and is perpendicular to the fourth central axis. The third driving structure is drivingly connected to the first hip joint member. The fourth driving structure is drivingly connected to the second hip joint member. The third driving structure and the fourth driving structure are configured to drive at least one of the first output structure to rotate around the third central axis and the second output structure to rotate around the fourth central axis.

[0014] For example, the lower limb structure provided by at least one embodiment of the present disclosure provides that the thigh assembly further comprises a first driving rope, a second driving rope, a third driving rope, a fourth driving rope, a fifth driving rope, a sixth driving rope, a seventh driving rope, and an eighth driving rope, two ends of any one of the first driving rope and the second driving rope are fixedly connected with the third driving structure and the first hip joint piece respectively, the first driving rope and the second driving rope are wound around the third driving structure in opposite directions, and are wound around the first hip joint piece in opposite directions; two ends of any one of the third driving rope and the fourth driving rope are fixedly connected with the fourth driving structure and the second hip joint piece respectively, the third driving rope and the fourth driving rope are wound around the fourth driving structure in opposite directions, and are wound around the second hip joint piece in opposite directions; two ends of any one of the fifth driving rope and the sixth driving rope are fixedly connected with the first hip joint piece and the second output structure respectively, any one of the fifth driving rope and the sixth driving rope is wound around the first hip joint piece and then is wound around the second output structure, the fifth driving rope and the sixth driving rope are wound around the first hip joint piece in opposite directions, and are wound around the second output structure in opposite directions; two ends of any one of the seventh driving rope and the eighth driving rope are fixedly connected with the second hip joint piece and the second output structure respectively, any one of the seventh driving rope and the eighth driving rope is wound around the second hip joint piece and then is wound around the second output structure, the seventh driving rope and the eighth driving rope are wound around the second hip joint piece in opposite directions, and are wound around the second output structure in opposite directions.

[0015] For example, the lower limb structure provided by at least one embodiment of the present disclosure provides that the first driving rope and the second driving rope are configured to make the third driving structure and the first hip joint piece rotate in the same direction; the third driving rope and the fourth driving rope are configured to make the fourth driving structure and the second hip joint piece rotate in opposite directions.

[0016] For example, the lower limb structure provided by at least one embodiment of the present disclosure provides that the thigh assembly further comprises a third driving device and a fourth driving device, at least a part of the third driving device is located in the thigh part, and the third driving structure is connected with an output shaft of the third driving device; at least a part of the fourth driving device is located in the thigh part, and the fourth driving structure is connected with an output shaft of the fourth driving device.

[0017] For example, the lower limb structure provided by at least one embodiment of the present disclosure provides that at least one of the first knee joint piece, the second knee joint piece, the first driving structure, the second driving structure, the first ankle joint piece, and the second ankle joint piece comprises a rotary wire disc.

[0018] For example, the lower limb structure provided by at least one embodiment of the present disclosure includes at least one of the first hip joint member, the second hip joint member, the second output structure, the third driving structure, and the fourth driving structure, which includes a rotating wire disc.

[0019] At least one embodiment of the present disclosure also provides a continuous joint structure having a first joint and a second joint, the continuous joint structure including a first structure member, a second structure member, a third structure member, a first connecting member, a second connecting member, a first driving member, and a second driving member, the second structure member including opposite first and second ends, the first end of the second structure member being rotationally connected with the first structure member to form at least part of the first joint, the third structure member being rotationally connected with the second end of the second structure member to form at least part of the second joint, the first and second connecting members being respectively located on opposite sides of the first structure member and being fixedly connected with the first structure member, the first driving member being drivingly connected with the first connecting member, and the second driving member being drivingly connected with the second connecting member, wherein the first structure member is configured to be rotatable about a first central axis passing through the first end of the second structure member, so that the continuous joint structure has a first degree of freedom, the second structure member is configured to be rotatable about a second central axis passing through the second end of the second structure member, so that the continuous joint structure has a second degree of freedom, and the first and second driving members are configured to drive at least one of the first structure member and the second structure member to rotate through a parallel differential mechanism.

[0020] For example, the continuous joint structure provided by at least one embodiment of the present disclosure includes the first central axis and the second central axis, which are parallel to each other.

[0021] For example, the continuous joint structure provided by at least one embodiment of the present disclosure further includes a third connecting member and a fourth connecting member, the third connecting member being drivingly connected with the first driving member and the first connecting member and being rotationally connected with the third structure member, and the fourth connecting member being drivingly connected with the second driving member and the second connecting member and being rotationally connected with the third structure member, wherein the rotation axes of the third and fourth connecting members are both the second central axis.

[0022] For example, the continuous joint structure provided by at least one embodiment of the present disclosure further comprises a fourth structural member, a first driver and a second driver, the fourth structural member is plate-shaped, the third structural member is located on and connected with the fourth structural member; the first driver is located on and connected with the fourth structural member, the first driving member is connected with the output shaft of the first driver; the second driver is located on and connected with the fourth structural member, the second driving member is connected with the output shaft of the second driver.

[0023] For example, the continuous joint structure provided by at least one embodiment of the present disclosure satisfies the following formula in the transmission process:

[0024] wherein, i Diff_L represents the first differential coefficient, i Diff_R represents the second differential coefficient, i Drive_L represents the first driving coefficient, i Drive_R represents the second driving coefficient, θ Input_L represents the rotation angle of the first driving member, θ Input_R represents the rotation angle of the second driving member, θ K1_pitch represents the rotation angle of the adapter around the first central axis, θ K1_pitch represents the rotation angle of the lower leg part around the second central axis, τ Input_L1 represents the torque of the first driving structure, τ Input_R1 represents the torque of the second driving structure, τ K1_pitch represents the torque of the adapter, τ K2_yaw represents the torque of the lower leg part.

[0025] For example, the continuous joint structure provided by at least one embodiment of the present disclosure further comprises a first transmission member, a second transmission member, a third transmission member and a fourth transmission member, the first driving member and the third connecting member are connected through the first transmission member, the first transmission member is configured to make the first driving member and the third connecting member rotate in the same direction or in opposite directions; the second driving member and the fourth connecting member are connected through the second transmission member, the second transmission member is configured to make the second driving member and the fourth connecting member rotate in the same direction or in opposite directions; the third connecting member and the first connecting member are connected through the third transmission member, the third transmission member is configured to make the third connecting member and the first connecting member rotate in the same direction or in opposite directions; the fourth connecting member and the second connecting member are connected through the fourth transmission member, the fourth transmission member is configured to make the fourth connecting member and the second connecting member rotate in the same direction or in opposite directions.

[0026] For example, according to the continuous joint structure provided by at least one embodiment of the present disclosure, at least one of the first transmission member, the second transmission member, the third transmission member and the fourth transmission member comprises a transmission rope, a transmission belt, a transmission chain, a transmission rod or a transmission gear.

[0027] Another embodiment of the present disclosure also provides a robot comprising the lower limb structure according to any one of the above embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0028] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings of the embodiments will be briefly introduced below. Obviously, the drawings described below only relate to some of the embodiments of the present disclosure, but not limit the present disclosure.

[0029] FIG. 1 is a schematic view of a lower limb structure according to at least one embodiment of the present disclosure.

[0030] FIG. 2 is a schematic view of a lower leg assembly according to FIG. 1.

[0031] FIG. 3 is a schematic view of a partial structure of the lower leg assembly according to FIG. 2.

[0032] FIG. 4 is a schematic view of a thigh assembly according to FIG. 1.

[0033] FIG. 5 is a schematic view of the thigh assembly according to FIG. 4 from another perspective.

[0034] FIG. 6 is a schematic view of a partial structure of the thigh assembly according to FIG. 4.

[0035] FIG. 7 is a schematic view of a connection between a first hip joint member and a second output structure according to FIG. 4.

[0036] FIG. 8 is a schematic view of a connection between a second hip joint member and the second output structure according to FIG. 4. DETAILED DESCRIPTION

[0037] In order to make the objects, technical solutions and advantages of the embodiments of the present disclosure clearer, the technical solutions of the embodiments of the present disclosure will be described clearly and completely below with reference to the drawings of the embodiments of the present disclosure. Obviously, the described embodiments are only some of the embodiments of the present disclosure, but not all the embodiments of the present disclosure. Based on the described embodiments of the present disclosure, all other embodiments obtained by those of ordinary skill in the art without any creative effort fall within the scope of protection of the present disclosure.

[0038] Unless otherwise defined, technical terms or scientific terms used in the present disclosure shall have the ordinary meaning commonly understood by one of ordinary skill in the art to which the present disclosure pertains. The terms "first", "second", and similar terms used in the present disclosure do not denote any order, quantity, or importance, but are used to distinguish different components. The terms "include", "contain", and similar terms mean that the elements or objects before the terms encompass the elements or objects listed after the terms and their equivalents, and do not exclude other elements or objects.

[0039] The terms "parallel", "perpendicular", and "identical" used in the embodiments of the present disclosure include the strict "parallel", "perpendicular", "identical" and the "approximately parallel", "approximately perpendicular", "approximately identical" with certain errors, which, considering the measurement and the error related to the measurement of a specific value (for example, the limitation of the measurement system), represent the acceptable deviation range for the specific value determined by the person skilled in the art. For example, "approximately" can mean within one or more standard deviations, or within 10% or 5% of the value. In the following of the embodiments of the present disclosure, when the quantity of a component is not specifically indicated, it means that the component can be one or more, or can be understood as at least one. "At least one" means one or more, and "a plurality of" means at least two.

[0040] In research, the inventors of the present application found that at present, the driving modes of the lower limb structure of the robot mainly include three kinds. For example, the first driving mode is that the joint is directly connected with the steering engine (for example, the output flange of the steering engine), so that the steering engine can directly drive the joint to move. For example, the second driving mode is to realize the rotary motion of the joint through a linear driver, for example, the linear driver can convert the rotary motion of the motor into linear motion, and then convert the linear motion into the rotary motion of the joint through other mechanisms (for example, connecting rods, etc.). For example, the third driving mode is to drive the rotary pair motion through belt transmission, chain transmission, connecting rod, etc. to realize the rotary motion of the joint.

[0041] However, the first driving mode has a simple corresponding structure, but the inertia of the load end is large due to the large volume of the joint, which is not conducive to control. The second driving mode is less common. The transmission ratio may change nonlinearly when the rotation angle of the joint changes, which may cause the joint to have a quick return characteristic. In addition, the force arm changes greatly during driving. For joints and rotation angle requirements of the same size, the design difficulty of the corresponding structure of this driving mode is high, and the requirements for the servo and other structures are also higher. The third driving mode is relatively mainstream. However, the belt drive mainly uses synchronous belts, which are prone to deformation and cannot guarantee the service life under heavy load. The chain drive has unstable and irregular transmission ratio, and is generally not suitable for the lower limb structure of the robot, but is commonly used in large mechanical structures. It has a large weight, poor installation precision, high installation difficulty, and high maintenance cost. The connecting rod drive mainly uses a parallel four-bar structure. However, this structure cannot achieve a large rotation angle in a limited space because the rocker will interfere with the connecting rod when it rotates to a certain angle. In addition, there are problems of rod stress caused by changes in the force arm, and complex installation.

[0042] The embodiments of the present disclosure provide a lower limb structure, a continuous joint structure and a robot.

[0043] At least one embodiment of the present disclosure provides a lower limb structure, which includes a thigh assembly and a shank assembly. The thigh assembly includes a thigh part. The shank assembly includes an adapter, a first knee joint part, a second knee joint part, a shank part, a rack, a first driving structure and a second driving structure. The adapter is fixedly connected with the thigh part. The first knee joint part and the second knee joint part are respectively located on opposite sides of the adapter and are fixedly connected with the adapter. The shank part includes opposite first and second ends. The first end of the shank part is rotationally connected with the adapter. The rack is rotationally connected with the second end of the shank part. The first driving structure is in transmission connection with the first knee joint part. The second driving structure is in transmission connection with the second knee joint part. The adapter is configured to be rotatable about a first central axis passing through the first end of the shank part, so that the lower limb structure has a first degree of freedom. The shank part is configured to be rotatable about a second central axis passing through the second end of the shank part, so that the lower limb structure has a second degree of freedom. The first driving structure and the second driving structure are configured to drive at least one of the adapter and the shank part to rotate.

[0044] At least one embodiment of the present disclosure provides a lower limb structure, in which the first driving structure and the second driving structure can drive the adapter to rotate around the first central axis and drive the lower leg part to rotate around the second central axis, so that the lower leg assembly has two degrees of freedom to meet complex motion requirements; at the same time, the parallel mode is adopted to enable the lower leg assembly to bear strong load, thereby improving the total load capacity of the lower limb structure; in addition, the differential mechanism is adopted for control, which can achieve high-precision control effect and can be applied to scenarios requiring high-precision positioning and synchronous control.

[0045] At least one embodiment of the present disclosure also provides a continuous joint structure having a first joint and a second joint, the continuous joint structure comprising a first structural member, a second structural member, a third structural member, a first connecting member, a second connecting member, a first driving member and a second driving member, the second structural member comprising opposite first and second ends, the first end of the second structural member being rotationally connected with the first structural member to form at least part of the first joint, the third structural member being rotationally connected with the second end of the second structural member to form at least part of the second joint, the first and second connecting members being respectively located on opposite sides of the first structural member and being fixedly connected with the first structural member, the first driving member being in transmission connection with the first connecting member, and the second driving member being in transmission connection with the second connecting member, wherein the first structural member is configured to be rotatable around a first central axis passing through the first end of the second structural member, so that the continuous joint structure has a first degree of freedom, the second structural member is configured to be rotatable around a second central axis passing through the second end of the second structural member, so that the continuous joint structure has a second degree of freedom, and the first driving member and the second driving member are configured to drive at least one of the first structural member and the second structural member to rotate through a parallel differential mechanism.

[0046] Another embodiment of the present disclosure provides a robot, and the robot comprises the lower limb structure provided by any one of the embodiments of the present disclosure.

[0047] The lower limb structure, the continuous joint structure and the robot provided by the embodiments of the present disclosure are described below with reference to the accompanying drawings.

[0048] FIG. 1 is a schematic view of a lower limb structure provided by at least one embodiment of the present disclosure; FIG. 2 is a structural schematic view of a lower leg assembly shown in FIG. 1; and FIG. 3 is a partial structural schematic view of the lower leg assembly shown in FIG. 2.

[0049] As shown in FIG. 1, the lower limb structure includes a thigh assembly 100 and a lower leg assembly 200, the thigh assembly 100 includes a thigh part 110, the lower leg assembly 200 includes an adapter 210, and the adapter 210 is fixedly connected with the thigh part 110. For example, as shown in FIG. 2, the adapter 210 includes a protruding part 2101, and the protruding part 2101 can be fixedly connected with one end of the thigh part 110. For example, the protruding part 2101 can be inserted and fixed with one end of the thigh part 110, but embodiments of the present disclosure are not limited thereto.

[0050] As shown in FIG. 1, the lower leg part 220 includes opposite first and second ends 221 and 222, the first end 221 of the lower leg part 220 is rotationally connected with the adapter 210, and the adapter 210 is configured to be rotatable about a first central axis X1 passing through the first end 221 of the lower leg part 220, thereby being capable of driving the thigh assembly 100 to rotate about the first central axis X1. For example, the adapter 210 and the first end 221 of the lower leg part 220 can be connected through a bearing, but are not limited thereto.

[0051] As shown in FIGS. 1 and 2, the lower leg assembly 200 includes first and second knee joint parts 201 and 202. The first and second knee joint parts 201 and 202 are respectively located on opposite sides of the adapter 210 and are fixedly connected with the adapter 210. As shown in FIG. 2, at least part of the first knee joint part 201 and at least part of the second knee joint part 202 are located in the lower leg part 220.

[0052] As shown in FIG. 2, the lower leg assembly 200 further includes a frame 230, and the second end 222 of the lower leg part 220 is rotationally connected with the frame 230, and the lower leg part 220 is configured to be rotatable about a second central axis X2 passing through the second end 222 of the lower leg part 220. For example, the second end 222 of the lower leg part 220 and the frame 230 can be connected through a bearing, so that the lower leg part 220 can rotate relative to the frame 230.

[0053] As shown in FIG. 2, the lower leg assembly 200 further comprises a first driving structure 211 and a second driving structure 212, the first driving structure 211 being in transmission connection with the first knee joint 201, and the second driving structure 212 being in transmission connection with the second knee joint 202. The first driving structure 211 and the second driving structure 212 are configured to drive at least one of the adapter 210 and the lower leg part 220 to rotate, for example, to drive the adapter 210 to rotate around the first central axis X1, and / or to drive the lower leg part 220 to rotate around the second central axis X2. Since the adapter 210 is fixedly connected with the first knee joint 201 and the second knee joint 202 respectively, the adapter 210 can rotate around the first central axis X1 under the joint action of the torque applied by the first driving structure 211 and the torque applied by the second driving structure 212, and meanwhile, since the first end 221 of the lower leg part 220 is rotationally connected with the adapter 210, the above-mentioned torques can act on the first end 221 of the lower leg part 220 through the first knee joint 201 and the second knee joint 202, thereby causing the lower leg part 220 to rotate around the second central axis X2. That is, by using the differential mechanism, the first driving structure 211 and the second driving structure 212 jointly control the rotational movement of the adapter 210 around the first central axis X1, and also jointly control the rotational movement of the lower leg part 220 around the second central axis X2.

[0054] As shown in FIG. 2, the rotational movement of the adapter 210 around the first central axis X1 can correspond to the first degree of freedom of the lower leg assembly 200, and the rotational movement of the lower leg part 220 around the second central axis X2 can correspond to the second degree of freedom of the lower leg assembly 200, so that the first degree of freedom and the second degree of freedom are parallel. For example, the parallel of the degrees of freedom of the two structural assemblies here can mean that one or more driving components drive the two structural assemblies at the same time, and the movement states of the two structural assemblies in the corresponding degrees of freedom are controlled through different outputs of the above-mentioned one or more driving components.

[0055] As described above, the first driving structure and the second driving structure can drive the adapter to rotate around the first central axis, and can also drive the lower leg part to rotate around the second central axis, so that the lower leg assembly has two degrees of freedom to meet the complex movement requirements; at the same time, the parallel mode is adopted to enable the lower leg assembly to bear a strong load, thereby improving the total load capacity of the lower limb structure; in addition, the differential mechanism is adopted for control, so that a high-precision control effect can be achieved, which can be suitable for scenarios requiring high-precision positioning and synchronous control. For example, the lower limb structure can realize operations similar to human lower limbs.

[0056] For example, as shown in FIG. 2, the transmission process of the lower leg assembly 200 satisfies the following formula:

[0057] In the formula, i Diff_L1i represents the first difference coefficient. Diff_R1 Indicates the second difference coefficient, i Drive_L1 Indicates the first driving coefficient, i Drive_R1 θ represents the second driving coefficient. Input_L1 θ represents the rotation angle of the first drive structure 211. Input_R1 θ represents the rotation angle of the second drive structure 212. K1_pitch θ represents the rotation angle of the adapter 210 about the first central axis X1. K2_pitch τ represents the rotation angle of the lower leg 220° around the second central axis X2. Input_L1 τ represents the torque of the first drive structure 211. Input_R1 τ represents the torque of the second drive structure 212. K1_pitch The torque τ of adapter 210 is indicated by... K2_yaw This indicates a torque of 220 in the lower leg.

[0058] For example, as shown in Figure 2, the first differential coefficient, the second differential coefficient, the first driving coefficient, and the second driving coefficient corresponding to the lower leg assembly 200 can all be constant values. By controlling the rotation angle of the first driving structure 211 and the rotation angle of the second driving structure 212, the rotation angle of the corresponding adapter 210 and the rotation angle of the lower leg 220 can be obtained.

[0059] For example, according to the formula above, when θ Input_L1 With θ Input_R1 When they are equal in magnitude and have the same direction, for example, both are 90 degrees, θ K1_pitch Not equal to 0, θ K2_pitch When θ equals 0, the adapter 210 rotates around the first central axis X1, while the lower leg 220 does not rotate around the second central axis X2. For example, when θ Input_L1 With θ Input_R1 When they are equal in magnitude and opposite in direction, for example, θ Input_L1 90 degrees, θ Input_R1 When θ is -90 degrees, K1_pitch Equal to 0, θ K2_pitch Not equal to 0, at this time, the adapter 210 does not rotate around the first central axis X1, and the lower leg 220 rotates around the second central axis X2. Similarly, it can also be based on τ Input_L1 and τ Input_R1 τ was calculated K1_pitch and τ K2_yaw The specific calculation method will not be repeated here. Thus, a high-precision control effect is achieved by utilizing the differential mechanism.

[0060] For example, as shown in FIG. 2, the rotation angle of each driving structure refers to the rotation range around the corresponding rotation axis, and the rotation direction corresponds to the circumferential direction of the rotation axis, for example, the clockwise direction can be taken as the positive direction, and the counterclockwise direction can be taken as the negative direction. For example, the rotation axes of the first driving structure 211 and the second driving structure 212 are both the central axis X0. When the first driving structure 211 rotates 90 degrees clockwise around the central axis X0, the rotation direction is S1, and θ Input_L1 is 90 degrees at this time; when the second driving structure 212 rotates clockwise around the central axis X0, the rotation direction is S2, and θ Input_R1 is 90 degrees at this time.

[0061] For example, as shown in FIG. 2, the first central axis X1 and the second central axis X2 are parallel to each other, thereby facilitating the movement process of the adapter 210 and the lower leg part 220 to be more stable, and facilitating the first driving structure 211 and the second driving structure 212 to more smoothly transmit driving force to the adapter 210, so as to improve the overall movement efficiency of the lower leg assembly 200.

[0062] For example, as shown in FIGS. 2 and 3, the first driving structure 211 and the second driving structure 212 are arranged at intervals, the first knee joint 201 and the second knee joint 202 are arranged at intervals, the first driving structure 211 can independently apply driving force to the first knee joint 201, the second driving structure 212 can independently apply driving force to the second knee joint 202, thereby causing the adapter 210 to rotate under the joint action of the first driving structure 211 and the second driving structure 212, and causing the lower leg part 220 to rotate under the joint action of the first driving structure 211 and the second driving structure 212.

[0063] For example, as shown in FIG. 2, the lower leg assembly 200 further comprises a first ankle joint 231 and a second ankle joint 232. For example, the first ankle joint 231 is in transmission connection with the first driving structure 211 and the first knee joint 201 respectively, and is in rotation connection with the rack 230 with the second central axis X2 as the rotation axis. For example, the first driving structure 211 can apply driving force to the first ankle joint 231 to enable the first ankle joint 231 to rotate relative to the rack 230, and then apply driving force to the first knee joint 201 through the first ankle joint 231. For example, the second ankle joint 232 is in transmission connection with the second driving structure 212 and the second knee joint 202 respectively, and is in rotation connection with the rack 230 with the second central axis X2 as the rotation axis. For example, the second driving structure 212 can apply driving force to the second ankle joint 232 to enable the second ankle joint 232 to rotate relative to the rack 230, and then apply driving force to the second knee joint 202 through the second ankle joint 232.

[0064] The driving force is applied to the first knee joint member by the first ankle joint member, and the driving force is applied to the second knee joint member by the second ankle joint member, which facilitates flexible and simple arrangement of the first driving structure and the second driving structure (and the first driver and the second driver described in subsequent embodiments), and facilitates reduction of assembly difficulty.

[0065] For example, as shown in FIG. 2, the speed reduction ratio between the first driving structure 211 and the first ankle joint member 231 can be the same as or different from the speed reduction ratio between the second driving structure 212 and the second ankle joint member 232. The speed reduction ratio between the first ankle joint member 231 and the first knee joint member 201 can be the same as or different from the speed reduction ratio between the second ankle joint member 232 and the second knee joint member 202, which is not limited in the embodiments of the present disclosure. For example, the driving force received by the first knee joint member 201 and the second knee joint member 202 can be set according to actual needs, for example, can be the same or different, so that the rotation angle and rotation direction of the adapter 210 and the lower leg part 220 can be real-time regulated, and good inertia matching can be achieved.

[0066] For example, as shown in FIG. 3, at least one of the first knee joint member 201, the second knee joint member 202, the first driving structure 211, the second driving structure 212, the first ankle joint member 231, and the second ankle joint member 232 can include a rotary wire disc to facilitate rotary motion around the respective rotation axis. In some embodiments, the first knee joint member 201 can be referred to as a first knee joint wire disc, the second knee joint member 202 can be referred to as a second knee joint wire disc, the first driving structure 211 can be referred to as a first input wire disc, the second driving structure 212 can be referred to as a second input wire disc, the first ankle joint member 231 can be referred to as a first ankle joint wire disc, and the second ankle joint member 232 can be referred to as a second ankle joint wire disc, but the embodiments of the present disclosure are not limited thereto.

[0067] For example, as shown in FIG. 2, the lower leg assembly 200 further includes a base 250, the base 250 is in the form of a plate, and the rack 230 is located on and connected with the base 250. For example, the first ankle joint member 231 and the second ankle joint member 232 are both arranged spaced apart from the base 250, so as to be rotatable along the second central axis X2. The second end 222 of the lower leg part 220 is spaced apart from the base 250, so as to facilitate rotation of the lower leg part 220 along the second central axis X2.

[0068] For example, as shown in FIG. 2, the lower leg assembly 200 further comprises a first driver 261 and a second driver 262. The first driver 261 and the second driver 262 are both located on the base 250 and connected with the base 250. For example, the first driver 261 and the second driver 262 are arranged apart from each other. The first driving structure 211 is connected with an output shaft of the first driver 261, and the second driving structure 212 is connected with an output shaft of the second driver 262. For example, the first driver 261 and the second driver 262 can both be driving motors. The first driver 261 and the second driver 262 are both located on the same side of the second central axis X2, thereby facilitating reducing the risk of interference with the lower leg part 220 when the lower leg part 220 rotates around the second central axis X2. For example, the first driver 261 and the second driver 262 can also be arranged at other positions on the base 250, as long as the motion space of each component in the lower leg assembly 200 is not interfered, and embodiments of the present disclosure are not limited thereto.

[0069] By connecting the output shaft of the first driver to the first driving structure to transmit driving force to the first knee joint member through the first driving structure, and connecting the output shaft of the second driver to the second driving structure to transmit driving force to the second knee joint member through the second driving structure, good inertia matching and stable output efficiency are facilitated.

[0070] For example, as shown in FIG. 2 and FIG. 3, the lower leg part 220 comprises a first transmission rope 241 and a second transmission rope 242. The two ends of the first transmission rope 241 are fixedly connected with the first driving structure 211 and the first ankle joint member 231 respectively, and the two ends of the second transmission rope 242 are fixedly connected with the first driving structure 211 and the first ankle joint member 231 respectively. The first transmission rope 241 and the second transmission rope 242 are wound in opposite directions around the first driving structure 211, and in opposite directions around the first ankle joint member 231. For example, the winding direction of the transmission rope (for example, the first transmission rope 241) relative to the rotating component (for example, the first driving structure 211) is the circumferential direction of the rotating axis (for example, the second central axis X2) of the rotating component.

[0071] For example, as shown in FIG. 3, the winding direction of the first transmission rope 241 relative to the first driving structure 211 can be the same as the winding direction of the first transmission rope 241 relative to the first ankle joint member 231. For example, taking the end of the first transmission rope 241 fixed to the first driving structure 211 as the starting end, when the first transmission rope 241 winds clockwise relative to the first driving structure 211, the first transmission rope 241 winds clockwise relative to the first ankle joint member 231. When the first transmission rope 241 winds counterclockwise relative to the first driving structure 211, the first transmission rope 241 winds counterclockwise relative to the first ankle joint member 231. Similarly, the winding direction of the second transmission rope 242 relative to the first driving structure 211 can be the same as the winding direction of the second transmission rope 242 relative to the first ankle joint member 231. At this time, the portion of the first transmission rope 241 between the first driving structure 211 and the first ankle joint member 231 and the portion of the second transmission rope 242 between the first driving structure 211 and the first ankle joint member 231 do not cross. In this way, the first driving structure 211 can drive the first ankle joint member 231 to rotate in the same direction, for example, to rotate clockwise or counterclockwise relative to the respective rotation axes.

[0072] In some embodiments, the winding direction of the first transmission rope relative to the first driving structure can also be different from the winding direction of the first transmission rope relative to the first ankle joint member. For example, taking the end of the first transmission rope fixed to the first driving structure as the starting end, when the first transmission rope winds clockwise relative to the first driving structure, the first transmission rope winds counterclockwise relative to the first ankle joint member. When the first transmission rope winds counterclockwise relative to the first driving structure, the first transmission rope winds clockwise relative to the first ankle joint member. Similarly, the winding direction of the second transmission rope relative to the first driving structure can be different from the winding direction of the second transmission rope relative to the first ankle joint member. At this time, the portion of the first transmission rope between the first driving structure and the first ankle joint member and the portion of the second transmission rope between the first driving structure and the first ankle joint member cross. In this way, the first driving structure can drive the first ankle joint member to rotate in the opposite direction, for example, when the first driving structure rotates clockwise relative to the rotation axis, the first ankle joint member rotates counterclockwise relative to the rotation axis.

[0073] For example, as shown in FIG. 2 and FIG. 3, the lower leg part 220 further includes a third transmission rope 243 and a fourth transmission rope 244. The two ends of the third transmission rope 243 are fixedly connected with the second driving structure 212 and the second ankle joint member 232 respectively, and the two ends of the fourth transmission rope 244 are fixedly connected with the second driving structure 212 and the second ankle joint member 232 respectively. The third transmission rope 243 and the fourth transmission rope 244 wind the second driving structure 212 in opposite directions, and wind the second ankle joint member 232 in opposite directions.

[0074] For example, as shown in Figures 2 and 3, similar to the connection between the first drive structure 211 and the first ankle joint 231 described above, the winding direction of the third drive rope 243 relative to the second drive structure 212 (e.g., clockwise) can be the same as the winding direction of the third drive rope 243 relative to the second ankle joint 232, and the winding direction of the fourth drive rope 244 relative to the second drive structure 212 can be the same as the winding direction of the fourth drive rope 244 relative to the second ankle joint 232. Conversely, the winding direction of the third drive rope 243 relative to the second drive structure 212 can be opposite to the winding direction of the third drive rope 243 relative to the second ankle joint 232, and the winding direction of the fourth drive rope 244 relative to the second drive structure 212 can be opposite to the winding direction of the fourth drive rope 244 relative to the second ankle joint 232. Therefore, the second drive structure 212 can drive the second ankle joint 232 to rotate in the same direction or in the opposite direction, depending on the design requirements.

[0075] For example, as shown in Figures 2 and 3, the lower leg portion 220 also includes a fifth transmission rope 245 and a sixth transmission rope 246. The two ends of the fifth transmission rope 245 are fixedly connected to the first ankle joint 231 and the first knee joint 201, respectively, and the two ends of the sixth transmission rope 246 are also fixedly connected to the first ankle joint 231 and the first knee joint 201, respectively. The fifth transmission rope 245 and the sixth transmission rope 246 are wound around the first ankle joint 231 in opposite directions. Similar to the connection between the first drive structure 211 and the first ankle joint 231 described above, the winding direction of the fifth transmission rope 245 and the sixth transmission rope 246 can also be set according to design requirements, so that the first ankle joint 231 drives the first knee joint 201 to rotate in the same direction or in the opposite direction.

[0076] For example, as shown in Figures 2 and 3, the lower leg portion 220 also includes a seventh transmission rope 247 and an eighth transmission rope 248. The two ends of the seventh transmission rope 247 are fixedly connected to the second ankle joint 232 and the second knee joint 202, respectively, and the two ends of the eighth transmission rope 248 are fixedly connected to the second ankle joint 232 and the second knee joint 202, respectively. The seventh transmission rope 247 and the eighth transmission rope 248 are wound around the second ankle joint 232 in opposite directions and around the second knee joint 202 in opposite directions. Similar to the connection between the first drive structure 211 and the first ankle joint 231 described above, the winding direction of the seventh transmission rope 247 and the eighth transmission rope 248 can also be set according to design requirements, so that the second ankle joint 232 drives the second knee joint 202 to rotate in the same direction or in the opposite direction.

[0077] As described above, the calf assembly provided by the embodiments of the present disclosure adopts a rope driving manner, so that the transmission ratio between components is stable, good inertia matching can be achieved, the calf assembly has a long service life, and compared with other driving manners, the calf assembly has a lower total weight, a smaller volume, a higher power density, and a lower installation difficulty under the same load.

[0078] For example, in the mounting manner shown in FIG. 3, the winding directions of the first transmission rope 241 and the second transmission rope 242 relative to the first driving structure 211 are opposite, and the winding directions of the first transmission rope 241 and the second transmission rope 242 relative to the first ankle joint member 231 are opposite. The first transmission rope 241 and the second transmission rope 242 are configured to rotate the first driving structure 211 and the first ankle joint member 231 in the same direction. The first transmission rope 241 is wound around the first driving structure 211 and then wound around the first ankle joint member 231 in the same direction. The second transmission rope 242 is wound around the first driving structure 211 and then wound around the first ankle joint member 231 in the same direction.

[0079] For example, as shown in FIG. 3, taking one end of the first transmission rope 241 fixed to the first driving structure 211 as a starting end, the first transmission rope 241 is wound clockwise relative to the first driving structure 211, and then wound clockwise relative to the first ankle joint member 231. Taking one end of the second transmission rope 242 fixed to the first driving structure 211 as a starting end, the second transmission rope 242 is wound counterclockwise relative to the first driving structure 211, and then wound counterclockwise relative to the first ankle joint member 231.

[0080] For example, as shown in FIG. 3, the first driving structure 211 and the second driving structure 212 are arranged opposite to each other. Similarly, the third transmission rope 243 and the fourth transmission rope 244 are configured to rotate the second driving structure 212 and the second ankle joint member 232 in the same direction. Any one of the third transmission rope 243 and the fourth transmission rope 244 is wound around the second driving structure 212 and then wound around the second ankle joint member 232 in the same direction. Taking one end of the third transmission rope 243 fixed to the second driving structure 212 as a starting end, the third transmission rope 243 is wound counterclockwise relative to the second driving structure 212, and then wound counterclockwise relative to the second ankle joint member 232. Taking one end of the fourth transmission rope 244 fixed to the second driving structure 212 as a starting end, the fourth transmission rope 244 is wound clockwise relative to the second driving structure 212, and then wound clockwise relative to the second ankle joint member 232.

[0081] For example, as shown in FIG. 3, the fifth transmission rope 245 and the sixth transmission rope 246 are configured to make the first ankle joint 231 and the first knee joint 201 rotate in opposite directions. Either of the fifth transmission rope 245 and the sixth transmission rope 246 is wound around the first ankle joint 231 and then wound around the first knee joint 201 in the opposite direction. The seventh transmission rope 247 and the eighth transmission rope 248 are configured to make the second ankle joint 232 and the second knee joint 202 rotate in the same direction. Either of the seventh transmission rope 247 and the eighth transmission rope 248 is wound around the second ankle joint 232 and then wound around the second knee joint 202 in the same direction. Thus, the first ankle joint 231 can be made to drive the first knee joint 201 to rotate in opposite directions, and the second ankle joint 232 can be made to drive the second knee joint 202 to rotate in the same direction. For the winding principle of the transmission ropes, please refer to the relevant description in the above embodiments, which will not be repeated here.

[0082] In some embodiments, with reference to FIG. 3, the lower leg part 220 can also not be provided with the first ankle joint 231 and the second ankle joint 232. For example, the first knee joint 201 can be directly driven by the first driving structure 211, and the second knee joint 202 can be directly driven by the second driving structure 212. For example, the lower leg part 220 can include a first group of transmission ropes and a second group of transmission ropes, the first driving structure 211 is in transmission connection with the first knee joint 201 through the first group of transmission ropes, and the first group of transmission ropes is configured to make the first driving structure 211 rotate in the same direction or in opposite directions with the first knee joint 201. The second driving structure 212 is in transmission connection with the second knee joint 202 through the second group of transmission ropes, and the second group of transmission ropes is configured to make the second driving structure 212 rotate in the same direction or in opposite directions with the second knee joint 202.

[0083] For example, with reference to FIG. 3, the connection mode between the first driving structure 211 and the first knee joint 201 can refer to the connection mode between the first ankle joint 231 and the first knee joint 201. For example, the first group of transmission ropes can include two transmission ropes, and the installation mode of the two transmission ropes can refer to the installation mode of the fifth transmission rope 245 and the sixth transmission rope 246 in the above embodiments, which will not be repeated here. Thus, the first driving structure 211 can be directly in transmission connection with the first knee joint 201.

[0084] For example, with reference to FIG. 3, the connection mode between the second driving structure 212 and the second knee joint 202 can refer to the connection mode between the second ankle joint 232 and the second knee joint 202. For example, the second group of transmission ropes can include two transmission ropes, and the installation mode of the two transmission ropes can refer to the installation mode of the seventh transmission rope 247 and the eighth transmission rope 248 in the above embodiments, which will not be repeated here. Thus, the second driving structure 212 can be directly in transmission connection with the second knee joint 202.

[0085] In this way, the integration of the overall structure of the calf assembly can be improved, and the weight and size of the calf assembly can be reduced, thereby facilitating miniaturization design.

[0086] FIG. 4 is a structural schematic diagram of the thigh assembly shown in FIG. 1; FIG. 5 is a structural schematic diagram of the thigh assembly shown in FIG. 4 from another perspective; and FIG. 6 is a partial structural schematic diagram of the thigh assembly shown in FIG. 4.

[0087] For example, as shown in FIG. 4, the thigh assembly 100 includes a first output structure 121, which is rotationally connected to an end of the thigh part 110 away from the calf assembly 200 (see FIG. 1). For example, the first output shaft 121 can be bearing-connected to the above-mentioned end of the thigh part 110, so that the first output shaft 121 can rotate about the third central axis X3.

[0088] For example, as shown in FIG. 5, the first output structure 121 includes a first connecting end 101 and a second connecting end 102 opposite to each other, and a third connecting end 103 between the first connecting end 101 and the second connecting end 102. The thigh assembly 100 further includes a first hip joint member 131, a second hip joint member 132, and a second output structure 122, the first hip joint member 131 is rotationally connected to the first connecting end 101 with the third central axis X3 as the rotation axis, the second hip joint member 132 is rotationally connected to the second connecting end 102 with the third central axis X3 as the rotation axis, and at least part of the first output structure 121 is located between the first hip joint member 131 and the second hip joint member 132. For example, the first hip joint member 131 can be bearing-connected to the first connecting end 101, and the second hip joint member 132 can be bearing-connected to the second connecting end 102, but embodiments of the present disclosure are not limited thereto.

[0089] For example, as shown in FIG. 5, the thigh assembly 100 further includes a second output structure 122, which is rotationally connected to the third connecting end 103 of the first output structure 121 with the fourth central axis X4 as the rotation axis, and is drivingly connected to the first hip joint member 131 and the second hip joint member 132, respectively. The third central axis X3 and the fourth central axis X4 intersect and are perpendicular. For example, the second output structure 122 can be bearing-connected to the third connecting end 103, and drivingly connected to the first hip joint member 131 and the second hip joint member 132 through driving ropes, but embodiments of the present disclosure are not limited thereto.

[0090] For example, as shown in FIG. 5, the thigh assembly 100 further comprises a third driving structure 141 and a fourth driving structure 142, the third driving structure 141 being in driving connection with the first hip joint 131, and the fourth driving structure 142 being in driving connection with the second hip joint 132. The third driving structure 141 and the fourth driving structure 142 are configured to drive at least one of the first output structure 121 to rotate around the third central axis X3 and the second output structure 122 to rotate around the fourth central axis X4. For example, the third driving structure 141 and the fourth driving structure 142 are configured to drive the first output structure 121 to rotate around the third central axis X3 and / or drive the second output structure 122 to rotate around the fourth central axis X4. For example, the third driving structure 141 can apply a driving force to the first hip joint 131 to drive the first hip joint 131 to rotate, and the fourth driving structure 142 can apply a driving force to the second hip joint 132 to drive the second hip joint 132 to rotate, while the first hip joint 131 and the second hip joint 132 can apply driving forces to the second output structure 122, respectively. For example, the second output structure 122 can rotate around the fourth central axis X4 under the common driving of the first hip joint 131 and the second hip joint 132, and can also drive the first output structure 121 to rotate along the third central axis X3.

[0091] For example, as shown in FIG. 5, the rotation movement of the first output structure 121 around the third central axis X3 can correspond to a third degree of freedom of the thigh assembly 100, and the rotation movement of the second output structure 122 around the fourth central axis X4 can correspond to a fourth degree of freedom of the thigh assembly 100, so that the third degree of freedom and the fourth degree of freedom are parallel.

[0092] Therefore, the thigh assembly can have two degrees of freedom to meet complex movement requirements, and the parallel connection can enable the thigh assembly to bear strong load, thereby improving the total load capacity of the lower limb structure. Meanwhile, the differential mechanism can be used for control to achieve high-precision control effect and facilitate reduction of the size of the thigh assembly.

[0093] For example, as shown in FIG. 4, the transmission process of the thigh assembly 100 satisfies the following formula:

[0094] In the formula, i Diff_L2 represents the third differential coefficient, i Diff_R2 represents the fourth differential coefficient, i Drive_L2 represents the third driving coefficient, i Drive_R2 represents the fourth driving coefficient, θ Input_L2 represents the rotation angle of the third driving structure 141, θ Input_R2 represents the rotation angle of the fourth driving structure 142, θ G1_pitchdenotes the rotation angle of the first output structure 121 around the third central axis X3, θ G2_pitch denotes the rotation angle of the second output structure 122 around the fourth central axis X4, τ Input_L2 denotes the torque of the first driving structure, τ Input_R1 denotes the torque of the second driving structure, τ K1_pitch denotes the torque of the adapter, τ K2_yaw denotes the torque of the lower leg part.

[0095] For example, as shown in FIG. 4, the above-mentioned third differential coefficient, fourth differential coefficient, third driving coefficient and fourth driving coefficient corresponding to the thigh assembly 100 can all be constant values, and by controlling θ Input_L2 and θ Input_R2 , the corresponding θ G1_pitch and θ G2_pitch can be obtained. For example, according to the above-mentioned formula, when θ Input_L2 and θ Input_R2 are equal in size and direction, for example, both are 90 degrees, θ G1_pitch is not equal to 0, and θ G2_pitch is equal to 0, at this time, the first output structure 121 rotates around the third central axis X3, and the second output structure 122 does not rotate around the fourth central axis X4, which can be manifested as only “pitching” motion. For example, when θ Input_L2 and θ Input_R2 are equal in size and opposite in direction, for example, θ Input_L2 is 90 degrees and θ Input_R2 is -90 degrees, θ G1_pitch is equal to 0, and θ G2_pitch is not equal to 0, the first output structure 121 does not rotate around the third central axis X3, and the second output structure 122 rotates around the fourth central axis X4, which can be manifested as only “yawing” motion. Similarly, τ Input_L2 and τ Input_R2 can also be calculated to obtain τ G1_pitch and τ G2_yaw , and the specific calculation method will not be repeated. Thus, the differential mechanism is used to achieve high-precision control effect.

[0096] For example, as shown in FIG. 6, at least one of the first hip joint member 131, the second hip joint member 132, the second output structure 122, the third driving structure 141, and the fourth driving structure 142 includes a rotary wire disc to facilitate rotational movement about a respective rotation axis. In some embodiments, the first hip joint member 131 can be referred to as a first hip joint wire disc, the second hip joint member 132 can be referred to as a second hip joint wire disc, the second output structure 122 can be referred to as a differential output wire disc, the third driving structure 141 can be referred to as a third input wire disc, and the fourth driving structure 142 can be referred to as a fourth input wire disc, although embodiments of the present disclosure are not limited thereto.

[0097] For example, as shown in FIG. 5, the thigh assembly 100 further includes a third driver 161 and a fourth driver 162, at least a portion of the third driver 161 and at least a portion of the fourth driver 162 are located in the thigh portion 110, the third driving structure 141 is connected to an output shaft of the third driver 161, and the fourth driving structure 142 is connected to an output shaft of the fourth driver 162. For example, the third driver 161 and the fourth driver 162 can each be a driving motor. For example, the third driver 161 and the fourth driver 162 are spaced apart in the extension direction of the thigh portion 110, and the output shaft of the third driver 161 and the output shaft of the fourth driver 162 are arranged to face away from each other, thereby allowing the third driver 161 and the fourth driver 162 to occupy a larger volume in the thigh portion 110, thereby reducing the occupied space of the third driver 161 and the fourth driver 162.

[0098] By connecting the output shaft of the third driver to the third driving structure to transmit driving force to the first hip joint member through the third driving structure, and connecting the output shaft of the fourth driver to the fourth driving structure to transmit driving force to the second hip joint member through the fourth driving structure, good inertia matching and stable output efficiency can be achieved.

[0099] For example, as shown in FIG. 5, the reduction ratio between the third driving structure 141 and the first hip joint member 131 can be the same as or different from the reduction ratio between the fourth driving structure 142 and the second hip joint member 132, and the reduction ratio between the first hip joint member 131 and the second output structure 122 can be the same as or different from the reduction ratio between the second hip joint member 132 and the second output structure 122, which can be set according to design requirements, and embodiments of the present disclosure are not limited thereto.

[0100] For example, as shown in FIG. 6, the thigh assembly 100 includes a first driving rope 151 and a second driving rope 152. Two ends of the first driving rope 151 are fixedly connected with the third driving structure 141 and the first hip joint piece 131 respectively, and two ends of the second driving rope 152 are fixedly connected with the third driving structure 141 and the first hip joint piece 131 respectively. The first driving rope 151 and the second driving rope 152 are wound in opposite directions around the third driving structure 141, and are wound in opposite directions around the first hip joint piece 131.

[0101] For example, as shown in FIG. 6, similar to the connection mode of the first driving structure 211 and the first ankle joint piece 231 in FIG. 3 described above, the first driving rope 151 and the second driving rope 152 are configured to make the third driving structure 141 and the first hip joint piece 131 rotate in the same direction. For example, any one of the first driving rope 151 and the second driving rope 152 is wound around the third driving structure 141 and then wound around the first hip joint piece 131 in the same direction. The winding direction (for example, clockwise direction) of the first driving rope 151 relative to the third driving structure 141 can be the same as the winding direction of the first driving rope 151 relative to the first driving rope 151, so as to make the third driving structure 141 drive the first hip joint piece 131 to rotate in the same direction. In some embodiments, any one of the first driving rope 151 and the second driving rope 152 can also be wound around the third driving structure 141 and then wound around the first hip joint piece 131 in the opposite direction, and the embodiments of the present disclosure are not limited thereto.

[0102] For example, as shown in FIG. 6, the thigh assembly 100 further includes a third driving rope 153 and a fourth driving rope 154. Two ends of the third driving rope 153 are fixedly connected with the fourth driving structure 142 and the second hip joint piece 132 respectively, and two ends of the fourth driving rope 154 are fixedly connected with the fourth driving structure 142 and the second hip joint piece 132 respectively. The third driving rope 153 and the fourth driving rope 154 are wound in opposite directions around the fourth driving structure 142, and are wound in opposite directions around the second hip joint piece 132.

[0103] Similar to the connection of the first ankle joint member 231 and the first knee joint member 201 in FIG. 3, the third driving rope 153 and the fourth driving rope 154 are configured to drive the fourth driving structure 142 and the second hip joint member 132 in opposite directions. For example, either of the third driving rope 153 and the fourth driving rope 154 is wound around the fourth driving structure 142 and then reversely wound around the second hip joint member 132, so that the second hip joint member 132 can be driven in the opposite direction by the fourth driving structure 142. In some embodiments, either of the third driving rope 153 and the fourth driving rope 154 can also be wound around the fourth driving structure 142 and then wound in the same direction around the second hip joint member 132, so that the second hip joint member 132 can be driven in the same direction by the fourth driving structure 142, which can be set according to design requirements. For the structural features and arrangement of the first driving rope 151, the second driving rope 152, the third driving rope 153, and the fourth driving rope 154, please refer to the above description of FIG. 3, which will not be repeated here.

[0104] FIG. 7 is a schematic view of the connection between the first hip joint member and the second output structure in FIG. 4, and FIG. 8 is a schematic view of the connection between the second hip joint member and the second output structure in FIG. 4. It should be noted that FIGS. 7 and 8 only schematically show the relative positions of the driving ropes, and the structure of the actual product is not limited.

[0105] For example, as shown in FIG. 7, the thigh assembly 100 further includes a fifth driving rope 155 and a sixth driving rope 156. The two ends of the fifth driving rope 155 are fixedly connected with the first hip joint member 131 and the second output structure 122 respectively, and the fifth driving rope 155 is wound around the first hip joint member 131 and then wound around the second output structure 122. The two ends of the sixth driving rope 156 are also fixedly connected with the first hip joint member 131 and the second output structure 122 respectively, and the sixth driving rope 156 is wound around the first hip joint member 131 and then wound around the second output structure 122. The fifth driving rope 155 and the sixth driving rope 156 are wound around the first hip joint member 131 in opposite directions, and wound around the second output structure 122 in opposite directions. For example, when the first hip joint member 131 rotates around its rotation axis, the fifth driving rope 155 and the sixth driving rope 156 drive the second output structure 122 to rotate in the same direction (for example, clockwise) around the fourth center axis X4.

[0106] For example, as shown in FIG. 8, the thigh assembly 100 further comprises a seventh driving rope 157 and an eighth driving rope 158. Similar to the connection between the first hip joint member 131 and the second output structure 122 described above, two ends of the seventh driving rope 157 are fixedly connected with the second hip joint member 132 and the second output structure 122 respectively, the seventh driving rope 157 winds around the second hip joint member 132 and then winds around the second output structure 122, two ends of the eighth driving rope 158 are fixedly connected with the second hip joint member 132 and the second output structure 122 respectively, and the eighth driving rope 158 winds around the second hip joint member 132 and then winds around the second output structure 122. The seventh driving rope 157 and the eighth driving rope 158 wind around the second hip joint member 132 in opposite directions, and wind around the second output structure 122 in opposite directions. For example, when the second hip joint member 132 rotates around its rotation axis, the seventh driving rope 157 and the eighth driving rope 158 both drive the second output structure 122 to rotate in the same direction (for example, the clockwise direction) around the fourth central axis X4.

[0107] As described above, the thigh assembly provided by the embodiments of the present disclosure adopts the rope driving mode, so that the transmission ratio between the components is stable, good inertia matching is achieved, the service life of the thigh assembly is prolonged, and the total weight and volume of the thigh assembly are reduced, so that the thigh assembly has a large power density.

[0108] For example, as shown in FIG. 3, the first driving rope 241, the second driving rope 242, the third driving rope 243 and the fourth driving rope 244 can be a driving rope group, and the fifth driving rope 245, the sixth driving rope 246, the seventh driving rope 247 and the eighth driving rope 248 can be a differential rope group. For example, as shown in FIG. 6, the first driving rope 151, the second driving rope 152, the third driving rope 153 and the fourth driving rope 154 can also be a driving rope group. For example, as shown in FIG. 7 and FIG. 8, the fifth driving rope 155, the sixth driving rope 156, the seventh driving rope 157 and the eighth driving rope 158 can be a differential rope group.

[0109] In some embodiments, the driving rope group mode and the differential rope group mode described above can be replaced by chain transmission, synchronous belt transmission, steel belt transmission, track transmission and other modes. For example, in the case where the volume is allowed, a parallel shaft gear train satisfying the transmission equation can also be used for transmission. For example, in the case where the required movement space is small, a connecting rod transmission mode can also be used, and the embodiments of the present disclosure are not limited in this regard. For example, the driving rope group mode described above can also be replaced by a linear actuator mode. For example, as shown in FIG. 3, the first driving structure 211 can also be connected with the first ankle joint member 231 through a shaft coupling, and the second driving structure 212 can also be connected with the second ankle joint member 232 through a shaft coupling, and the embodiments of the present disclosure are not limited in this regard.

[0110] For example, the lower limb structure provided by the embodiments of the present disclosure can be applied to mechanisms such as the lower limbs of robots, mechanical arms, and the like, which require multiple degrees of freedom, high precision, and high load. For example, it can also be applied to structures such as single legs, arms, or fingers of biped robots, and the embodiments of the present disclosure do not limit this.

[0111] At least one embodiment of the present disclosure also provides a continuous joint structure having a first joint and a second joint, the continuous joint structure comprising a first structural member, a second structural member, a third structural member, a first connecting member, a second connecting member, a first driving member, and a second driving member, the second structural member comprising opposite first and second ends, the first end of the second structural member being rotationally connected to the first structural member to form at least part of the first joint, the third structural member being rotationally connected to the second end of the second structural member to form at least part of the second joint, the first and second connecting members being respectively located on opposite sides of the first structural member and being fixedly connected to the first structural member, the first driving member being in transmission connection with the first connecting member, and the second driving member being in transmission connection with the second connecting member, wherein the first structural member is configured to be rotatable about a first central axis passing through the first end of the second structural member, so that the continuous joint structure has a first degree of freedom, the second structural member is configured to be rotatable about a second central axis passing through the second end of the second structural member, so that the continuous joint structure has a second degree of freedom, and the first driving member and the second driving member are configured to drive at least one of the first structural member and the second structural member to rotate through a parallel differential mechanism.

[0112] In the continuous joint structure provided by at least one embodiment of the present disclosure, the first driving member and the second driving member can drive the first structural member to rotate about the first central axis, or can drive the second structural member to rotate about the second central axis, so that the continuous joint structure has two degrees of freedom to meet complex motion requirements. At the same time, the parallel mode makes the continuous joint structure capable of bearing a strong load, thereby improving the total load capacity. In addition, the parallel differential mechanism is used for control, which can achieve high-precision control effect and can be applied to scenarios requiring high-precision positioning and synchronous control.

[0113] For example, referring to FIGS. 1-3, the continuous joint assembly provided by the embodiments of the present disclosure can include the shank assembly described in the above embodiments. For example, the first joint can correspond to the knee joint formed by the adapter 210 and the first end 221 of the shank 220, and the second joint can correspond to the ankle joint formed by the bracket 230 and the second end 222 of the shank 220. For example, the first structural member can correspond to the adapter 210, the first connecting member can correspond to the first knee joint member 201, the second connecting member can correspond to the second knee joint member 202, the second structural member can correspond to the shank 220, the third structural member can correspond to the bracket 230, the first driving member can correspond to the first driving structure 211, and the second driving member can correspond to the second driving structure 212.

[0114] For example, referring to FIGS. 1-3, the third connecting member can correspond to the first ankle joint member 231, and the fourth connecting member can correspond to the second ankle joint member 232. For example, the fourth structural member can correspond to the base 250. For example, the first transmission member can correspond to the first transmission rope 241 and the second transmission rope 242, the second transmission member can correspond to the third transmission rope 243 and the fourth transmission rope 244, the third transmission member can correspond to the fifth transmission rope 245 and the sixth transmission rope 246, and the fourth transmission member can correspond to the seventh transmission rope 247 and the eighth transmission rope 248. For example, at least one of the first transmission member, the second transmission member, the third transmission member, and the fourth transmission member includes a transmission rope, a transmission belt, a transmission chain, a transmission rod, or a transmission gear.

[0115] For the connection relationship between the components and the transmission principle, please refer to the detailed description in the above embodiments, which will not be repeated here.

[0116] It should be noted that the continuous joint assembly provided by the embodiments of the present disclosure can also correspond to other structures including two continuous joints, such as a single leg, an arm, or a finger of a robot, etc. The embodiments of the present disclosure do not limit this.

[0117] At least one embodiment of the present disclosure also provides a robot including the lower limb structure described in any of the above embodiments. For example, the robot can include a body and two lower limb structures symmetrically arranged on both sides of the body, which can cooperate to jointly complete various operation matters. For example, the robot can also include a head structure connected to the body, and the like, which are not limited by the embodiments of the present disclosure. Since the robot includes the lower limb structure in any of the above embodiments, it also has the technical effects brought by the lower limb structure, which will not be repeated here.

[0118] The following points need to be explained:

[0119] (1) In the drawings of the embodiments of the present disclosure, only structures related to the embodiments of the present disclosure are involved, and other structures can be referred to general designs.

[0120] (2) In the case of no conflict, the features in the same embodiment and different embodiments of the present disclosure can be combined with each other.

[0121] The above only describes exemplary embodiments of the present disclosure, and is not used to limit the protection scope of the present disclosure, and the protection scope of the present disclosure is determined by the appended claims.

Claims

1. A lower extremity structure, comprising: a thigh assembly including a thigh portion; a shank assembly including: an adapter fixedly connected to the thigh portion; a first knee joint and a second knee joint respectively located on opposite sides of the adapter and fixedly connected to the adapter; a shank portion including opposite first and second ends, the first end of the shank portion being rotatably connected to the adapter; a frame rotatably connected to the second end of the shank portion; a first driving structure in driving connection with the first knee joint; and a second driving structure in driving connection with the second knee joint, wherein the adapter is configured to rotate about a first central axis passing through the first end of the shank portion, so that the lower extremity structure has a first degree of freedom, the shank portion is configured to rotate about a second central axis passing through the second end of the shank portion, so that the lower extremity structure has a second degree of freedom, and the first driving structure and the second driving structure are configured to drive at least one of the adapter and the shank portion to rotate through a parallel differential mechanism.

2. The lower leg structure of claim 1, wherein, The first central axis and the second central axis are parallel to each other.

3. The lower leg structure according to claim 1 or 2, wherein The shank assembly further comprises: a first ankle joint in driving connection with the first driving structure and the first knee joint respectively and rotatably connected to the frame; and a second ankle joint in driving connection with the second driving structure and the second knee joint respectively and rotatably connected to the frame, wherein the rotation axes of the first ankle joint and the second ankle joint are both the second central axis.

4. The lower leg structure of claim 3, wherein, The shank portion further comprises: first and second driving ropes, either of which has two ends fixedly connected to the first driving structure and the first ankle joint respectively, the first and second driving ropes being wound in opposite directions around the first driving structure and in opposite directions around the first ankle joint; third and fourth driving ropes, either of which has two ends fixedly connected to the second driving structure and the second ankle joint respectively, the third and fourth driving ropes being wound in opposite directions around the second driving structure and in opposite directions around the second ankle joint; fifth and sixth driving ropes, either of which has two ends fixedly connected to the first ankle joint and the first knee joint respectively, the fifth and sixth driving ropes being wound in opposite directions around the first ankle joint and in opposite directions around the first ankle joint; seventh and eighth driving ropes, either of which has two ends fixedly connected to the second ankle joint and the second knee joint respectively, the seventh and eighth driving ropes being wound in opposite directions around the second ankle joint and in opposite directions around the second knee joint.

5. The lower leg structure of claim 4, wherein, The first and second driving ropes are configured to rotate the first driving structure and the first ankle joint in the same direction. The third transmission rope and the fourth transmission rope are configured to rotate the second driving structure and the second ankle joint member in the same direction; The fifth transmission rope and the sixth transmission rope are configured to rotate the first ankle joint member and the first knee joint member in opposite directions; The seventh transmission rope and the eighth transmission rope are configured to rotate the second ankle joint member and the second knee joint member in the same direction.

6. The lower extremity structure of any of claims 1-5, wherein, The lower leg assembly further comprises: a first group of transmission ropes, the first driving structure being in transmission connection with the first knee joint member through the first group of transmission ropes, the first group of transmission ropes being configured to rotate the first driving structure and the first knee joint member in the same direction or in opposite directions; and a second group of transmission ropes, the second driving structure being in transmission connection with the second knee joint member through the second group of transmission ropes, the second group of transmission ropes being configured to rotate the second driving structure and the second knee joint member in the same direction or in opposite directions.

7. The lower extremity structure of any of claims 1-6, wherein, The lower leg assembly further comprises: a base, the base being plate-shaped, the frame being located on and connected with the base; a first driving device located on and connected with the base, the first driving structure being connected with an output shaft of the first driving device; and a second driving device located on and connected with the base, the second driving structure being connected with an output shaft of the second driving device.

8. The lower extremity structure of any of claims 1-7, wherein, The transmission process of the lower leg assembly satisfies the following equation: wherein, i Diff_L1 represents a first differential coefficient, i Diff_R1 represents a second differential coefficient, i Drive_L1 represents a first driving coefficient, i Drive_R1 represents a second driving coefficient, θ Input_L1 represents a rotation angle of the first driving structure, θ Input_R1 represents a rotation angle of the second driving structure, θ K1_pitch represents a rotation angle of the adapter around the first central axis, θ K1_pitch represents a rotation angle of the lower leg part around the second central axis, τ Input_L1 represents a torque of the first driving structure, τ Input_R1 represents a torque of the second driving structure, τ K1_pitch represents a torque of the adapter, τ K2_yaw represents a torque of the lower leg part.

9. The lower extremity structure of any of claims 1-8, wherein, The upper leg assembly further comprises: a first output structure being rotationally connected with an end of the upper leg portion away from the lower leg assembly, and comprising a first connecting end and a second connecting end opposite to each other, and a third connecting end located between the first connecting end and the second connecting end; a first hip joint member being rotationally connected with the first connecting end of the first output structure with a third central axis as a rotation axis; a second hip joint member being rotationally connected with the second connecting end of the second output structure with the third central axis as a rotation axis, at least part of the first output structure being located between the first hip joint member and the second hip joint member; a second output structure being rotationally connected with the third connecting end of the first output structure with a fourth central axis as a rotation axis, and being in transmission connection with the first hip joint member and the second hip joint member respectively, the third central axis intersecting with the fourth central axis and being perpendicular to the fourth central axis; a third driving structure being in transmission connection with the first hip joint member; and a fourth driving structure being in transmission connection with the second hip joint member, the third driving structure and the fourth driving structure being configured to drive at least one of the first output structure to rotate around the third central axis and the second output structure to rotate around the fourth central axis.

10. The lower leg structure of claim 9, wherein, The upper leg assembly further comprises: a first driving rope and a second driving rope, two ends of any one of the first driving rope and the second driving rope being fixedly connected with the third driving structure and the first hip joint member respectively, the first driving rope and the second driving rope being wound around the third driving structure in opposite directions, and being wound around the first hip joint member in opposite directions; a third driving rope and a fourth driving rope, two ends of any one of the third driving rope and the fourth driving rope are fixedly connected with the fourth driving structure and the second hip joint member respectively, the third driving rope and the fourth driving rope are wound around the fourth driving structure in opposite directions, and are wound around the second hip joint member in opposite directions; a fifth driving rope and a sixth driving rope, two ends of any one of the fifth driving rope and the sixth driving rope are fixedly connected with the first hip joint member and the second output structure respectively, any one of the fifth driving rope and the sixth driving rope is wound around the first hip joint member and then is wound around the second output structure, the fifth driving rope and the sixth driving rope are wound around the first hip joint member in opposite directions, and are wound around the second output structure in opposite directions; a seventh driving rope and an eighth driving rope, two ends of any one of the seventh driving rope and the eighth driving rope are fixedly connected with the second hip joint member and the second output structure respectively, any one of the seventh driving rope and the eighth driving rope is wound around the second hip joint member and then is wound around the second output structure, the seventh driving rope and the eighth driving rope are wound around the second hip joint member in opposite directions, and are wound around the second output structure in opposite directions.

11. The lower leg structure of claim 10, wherein, the first driving rope and the second driving rope are configured to make the third driving structure and the first hip joint member rotate in the same direction; the third driving rope and the fourth driving rope are configured to make the fourth driving structure and the second hip joint member rotate in opposite directions.

12. The lower leg structure of claim 10 or 11, wherein, the thigh assembly further comprises: a third driver, at least a part of the third driver is located in the thigh part, and the third driving structure is connected with an output shaft of the third driver; and a fourth driver, at least a part of the fourth driver is located in the thigh part, and the fourth driving structure is connected with an output shaft of the fourth driver.

13. The lower leg structure according to any one of claims 3-5, wherein, at least one of the first knee joint member, the second knee joint member, the first driving structure, the second driving structure, the first ankle joint member and the second ankle joint member comprises a rotating wire disc.

14. The lower leg structure according to any one of claims 9-12, wherein, at least one of the first hip joint member, the second hip joint member, the second output structure, the third driving structure and the fourth driving structure comprises a rotating wire disc.

15. A robot comprising the lower limb structure according to any one of claims 1-14.

16. A continuous articulation structure having a first articulation and a second articulation, wherein, the continuous joint structure comprises: a first structure member; a second structure member comprising opposite first and second ends, the first end of the second structure member being rotationally connected with the first structure member to constitute at least part of the first joint; a third structure member being rotationally connected with the second end of the second structure member to constitute at least part of the second joint; a first connecting member and a second connecting member being located on opposite sides of the first structure member respectively and being fixedly connected with the first structure member; a first driving member and a second driving member, the first driving member being in transmission connection with the first connecting member, and the second driving member being in transmission connection with the second connecting member, The first structure is configured to rotate around a first central axis passing through the first end of the second structure, so that the continuous joint structure has a first degree of freedom, the second structure is configured to rotate around a second central axis passing through the second end of the second structure, so that the continuous joint structure has a second degree of freedom, and the first driving member and the second driving member are configured to drive at least one of the first structure and the second structure to rotate through a parallel differential mechanism.

17. The continuous joint structure of claim 16, wherein, The first central axis and the second central axis are parallel to each other.

18. The continuous joint structure according to claim 16 or 17, further comprising: a third connecting member in driving connection with the first driving member and the first connecting member respectively, and in rotational connection with the third structure; and a fourth connecting member in driving connection with the second driving member and the second connecting member respectively, and in rotational connection with the third structure, wherein the rotational axes of the third connecting member and the fourth connecting member are both the second central axis.

19. The continuous joint structure according to any one of claims 16-18, further comprising: a fourth structure, the fourth structure being plate-shaped, the third structure being located on and connected with the fourth structure; a first driving device located on and connected with the fourth structure, the first driving member being connected with an output shaft of the first driving device; and a second driving device located on and connected with the fourth structure, the second driving member being connected with an output shaft of the second driving device.

21. The continuous joint structure according to claim 18, further comprising:

20. The continuous joint structure of any of claims 16-19, wherein, The transmission process of the continuous joint structure satisfies the following formula: wherein, i Diff_L represents a first differential coefficient, i Diff_R represents a second differential coefficient, i Drive_L represents a first driving coefficient, i Drive_R represents a second driving coefficient, θ Input_L represents a rotation angle of the first driving member, θ Input_R represents a rotation angle of the second driving member, θ K1_pitch represents a rotation angle of the adapter member around the first central axis, θ K1_pitch represents a rotation angle of the lower leg part around the second central axis, τ Input_L1 represents a torque of the first driving structure, τ Input_R1 represents a torque of the second driving structure, τ K1_pitch represents a torque of the adapter member, τ K2_yaw represents a torque of the lower leg part. a first transmission member, the first driving member and the third connecting member being in driving connection through the first transmission member, the first transmission member being configured to make the first driving member and the third connecting member rotate in the same direction or in opposite directions; a second transmission member, the second driving member and the fourth connecting member being in driving connection through the second transmission member, the second transmission member being configured to make the second driving member and the fourth connecting member rotate in the same direction or in opposite directions; a third transmission member, the third connecting member and the first connecting member being in driving connection through the third transmission member, the third transmission member being configured to make the third connecting member and the first connecting member rotate in the same direction or in opposite directions; a fourth transmission member, the fourth connecting member and the second connecting member being in driving connection through the fourth transmission member, the fourth transmission member being configured to make the fourth connecting member and the second connecting member rotate in the same direction or in opposite directions. At least one of the first transmission member, the second transmission member, the third transmission member and the fourth transmission member comprises a transmission rope, a transmission belt, a transmission chain, a transmission rod or a transmission gear.

22. The continuous joint structure of claim 21, wherein, ​

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