Leg-and-foot structure of humanoid robot, robot motion mechanism, and humanoid robot

Abstract

A leg-and-foot structure of a humanoid robot, a robot motion mechanism, and a humanoid robot. The leg-and-foot structure of a humanoid robot comprises a shank (1) and a foot (2) rotatably connected to the shank (1); the foot (2) can swing relative to the distal end of the shank (1) in multiple directions; a first motor (3) and a second motor (4) are provided at the end of the shank (1) distant from the foot (2); the first motor (3) drives, by means of a first connecting member (5) provided in the shank (1), the foot (2) to swing upward and downward; and the second motor (4) drives, by means of a second connecting member (6) provided in the shank (1), the foot (2) to swing leftward and rightward. In the leg-and-foot structure of a humanoid robot, the two motors for driving the foot are arranged at the top of the shank, thereby implementing two degrees of freedom of movement of the foot and significantly reducing the weight of actuation mechanisms such as the distal end of the shank and the foot; and the two motors operate independently without interfering with or affecting each other, thereby facilitating control of said structure of the humanoid robot and improving reliability.

Description

A humanoid robot leg structure, a robot motion mechanism, and a humanoid robot Technical Field

[0001] This invention relates to the field of legged robot technology, and more particularly to a humanoid robot leg structure, robot motion mechanism, and humanoid robot. Background Technology

[0002] In existing humanoid robot foot-driven technologies, the foot drive motors are typically located at the bottom of the lower leg. This leg structure suffers from an unreasonable mass distribution, leading to increased weight at the lower leg end, resulting in a larger moment of inertia for the robot's leg structure. This reduces the robot's mobility and flexibility, increases the energy consumption of leg movements, and is prone to causing the drive motor to overheat. It also places higher demands on the joints and transmission system, and worsens the robot's dynamic response performance and stability.

[0003] Furthermore, Chinese patent application (publication number: CN111071365A) discloses a high-energy-efficiency bipedal robot leg structure, which includes a drive unit, a knee joint, a retractable lower leg, a retractable linkage unit, and a foot. The drive unit is installed inside the knee joint, and the drive unit, retractable lower leg, foot, and retractable linkage unit are connected end-to-end to form a four-bar linkage mechanism. This solution drives the movement of the foot and ankle joints through a quadrilateral linkage mechanism, effectively optimizing the mass distribution of the bipedal robot's leg structure, reducing the rotational inertia of the bipedal robot's leg structure, reducing the energy required to drive the leg movement, and improving the walking energy efficiency of the bipedal robot. Technical issues

[0004] The above-mentioned solution can only achieve the up-and-down swinging of the foot, resulting in the foot having only a single degree of freedom of movement. Furthermore, this low-degree-of-freedom foot-driven solution also brings a series of problems, such as poor terrain adaptability, limited gait and movement patterns, difficulty in stability and balance control, uneven load distribution, and limited precision operation.

[0005] Therefore, the humanoid robot with the above-mentioned design has insufficient flexibility in its feet and poor biomimetic effect, which is not conducive to the promotion and application of humanoid robots.

[0006] Furthermore, if a scheme is adopted to drive the lower leg to indirectly drive the foot to move, although the range of motion of the foot can be increased, it will increase the difficulty of controlling the humanoid robot's foot and make it difficult to guarantee the control accuracy of the humanoid robot's foot.

[0007] The information disclosed in this background section is only for understanding the background of the inventive concept, and therefore may include information that does not constitute prior art. Technical solutions

[0008] In view of the above problems or one of the above problems, the objective of the present invention is to provide a humanoid robot leg structure, which places the drive motor at the end of the foot on the top of the lower leg, thereby greatly reducing the load on the end effector.

[0009] To address the aforementioned problems or one of the aforementioned problems, the second objective of this invention is to provide a robot motion mechanism that places two drive sources at the upper end of the lower leg and transmits driving force through a first connector and a second connector, respectively, thereby achieving multi-degree-of-freedom movement of the foot end and effectively reducing the weight of the lower leg end and other actuators; moreover, the two drive sources are set independently and do not interfere with each other, making robot end-effector control simpler and more reliable.

[0010] In view of the above problems or one of the above problems, the third objective of the present invention is to provide a humanoid robot in which the drive motor of the foot is placed at the top of the lower leg, which greatly reduces the load on the end effector.

[0011] To address the aforementioned problems, or one of them, the fourth objective of this invention is to provide a humanoid robot leg structure, a robot motion mechanism, and a humanoid robot that enables multi-degree-of-freedom movement at the foot end, allows for lightweight end-effector design, effectively optimizes the mass distribution of the robot leg structure, reduces the rotational inertia of the leg structure, improves the robot's mobility and flexibility, reduces the energy consumption required to drive leg movement, avoids overheating of related drive motors, and reduces the performance requirements of joints and transmission systems. This enables rapid response and precise control of the robot's foot end, reduces control difficulty, and makes the robot's gait and movement patterns richer and more flexible, better adapting to complex terrain. Therefore, it exhibits good biomimetic effects, facilitating the widespread application of humanoid robots, and enabling the robot to perform pitching, tilting, jumping, and rolling movements, making it suitable for uneven terrain.

[0012] To achieve one of the above objectives, the first technical solution of the present invention is as follows:

[0013] A humanoid robot leg structure includes a lower leg and a foot end rotatably connected to the lower leg. The foot end can swing around the lower leg end in multiple directions. A first motor and a second motor are provided at the end of the lower leg away from the foot end. The first motor can drive the foot end to swing up and down through a first connector provided in the lower leg, and the second motor can drive the foot end to swing left and right through a second connector provided in the lower leg.

[0014] As a preferred technical solution:

[0015] The first connecting member is a connecting rod; one end of the connecting rod is rotatably connected to the output end of the first motor, and the other end is rotatably connected to the rear end of the foot.

[0016] Alternatively, / the second connecting member may be steel wires symmetrically distributed on both sides of the foot. Using steel wire for the second connecting member further reduces weight, allowing for a further reduction in load on the lower leg and foot, thereby enabling rapid response and precise control of the robot's leg structure.

[0017] As a preferred technical solution:

[0018] The foot end includes a foot shell and a connector disposed within the foot shell;

[0019] The lower leg is rotatably connected to the adapter via a first pivot.

[0020] The foot shell is rotatably connected to the adapter via a second pivot.

[0021] The second connector is symmetrically arranged on both sides of the first rotating shaft.

[0022] To achieve one of the above objectives, the second technical solution of the present invention is as follows:

[0023] A robotic motion mechanism includes a lower leg and a foot end rotatably connected to the lower leg;

[0024] The lower leg is provided with a first driving source and a second driving source at the end away from the foot for driving the foot to swing.

[0025] The first and second drive sources are arranged adjacent to each other and move in coordination, so that the foot can swing around the other end of the lower leg in multiple degrees of freedom.

[0026] Through continuous exploration and experimentation, this invention places two drive sources at the upper end of the lower leg to drive the foot, and transmits driving force through the first and second connectors respectively, thereby realizing multi-degree-of-freedom movement of the foot and effectively reducing the weight of the lower leg end and other actuators. Furthermore, the two drive sources are set independently and do not interfere with each other, making the robot end control simpler and more reliable.

[0027] Furthermore, while achieving multiple degrees of freedom at the foot, this invention also achieves lightweight end effector design, effectively optimizing the mass distribution of the robot's leg structure, reducing the rotational inertia of the leg structure, improving the robot's mobility and flexibility, reducing the energy consumption required to drive leg movement, lowering the performance requirements of joints and transmission systems, and improving the robot's dynamic response capability and stability. This enables rapid response and precise control at the foot, reduces control difficulty, makes the robot's gait and movement patterns more diverse and flexible, better adapts to complex terrain, and has excellent biomimetic effects, which is conducive to the promotion and application of humanoid robots.

[0028] Furthermore, the end furthest from the foot is the upper half, upper surface, or upper end of the lower leg.

[0029] In this application, "more" means two or more.

[0030] As a preferred technical solution:

[0031] The first driving source drives the foot to swing along the width direction of the foot end through a first connecting member disposed inside the lower leg.

[0032] Or / and the second drive source drives the foot to swing along the length of the foot through a second connector located inside the lower leg.

[0033] When a robot stands or walks, the swaying along the width of the foot mainly refers to the up-and-down swaying of the toes; the swaying along the length of the foot mainly refers to the left-right tilting movement of the foot, that is, the up-and-down swaying of the foot.

[0034] Furthermore, the foot can be a block-shaped structure, a biomimetic foot structure, a wheel-like structure, a spherical structure, or a columnar structure. In this application, the length direction of the foot refers to the robot's front-to-back direction, and the width direction refers to the robot's left-to-right direction. Preferably, the foot is a human-like foot structure, conforming to human biomechanics, facilitating robot movement, and enhancing the anthropomorphic effect.

[0035] As a preferred technical solution:

[0036] The first and second drive sources are stacked one on top of the other to reduce the lateral width of the lower leg, making the robot's leg structure compact.

[0037] Or / and the first drive source is a rotary motor, a linear motor, a pneumatic drive source, or a hydraulic drive source;

[0038] Or / and the second drive source is a rotary motor, a linear motor, a pneumatic drive source, or a hydraulic drive source;

[0039] Alternatively, the first drive source can be mounted above the second drive source, both of which are motors. The axes of rotation of the two motors are perpendicular to each other, forming an interleaved drive structure. The staggered assembly and staggered drive of the first and second drive sources further reduce the space occupied by the drive structure.

[0040] As a preferred technical solution:

[0041] The first drive source drives the foot to swing through a first connector located inside the lower leg; the second drive source drives the foot to swing through a second connector located inside the lower leg.

[0042] The first connecting member is a rod-shaped object, strip-shaped object, rope, or wire, made of metal, plastic, rubber, or wood. Its length matches the length of the lower leg, allowing it to pass through the entire lower leg, thus enabling vertical movement of the foot. The structure is simple, practical, and feasible. Alternatively, / the second connecting member is also a rod-shaped object, strip-shaped object, rope, or wire, made of metal, plastic, rubber, or wood. Its length matches the length of the lower leg, allowing it to pass through the entire lower leg, thus enabling horizontal movement of the foot. The structure is simple, practical, and feasible.

[0043] Alternatively, the first connecting member can be a connecting rod; one end of the connecting rod is rotatably connected to the output end of the first driving source, and the other end is rotatably connected to the rear end of the foot; the second connecting member can be a steel wire; one end of the steel wire is connected to the output end of the second driving source, and the other end is connected to the middle part of the foot; the connecting rod and the steel wire alternately drive the foot to move, so as to realize the foot swinging in multiple directions. The solution is simple, practical, easy to manufacture, and has low manufacturing cost.

[0044] Furthermore, the multiple directional swings can be up-and-down swings, left-and-right swings, tilting upwards, tilting downwards, tilting to the left, and tilting to the right, thereby forming multi-degree-of-freedom movements of the foot. Tilting upwards, tilting downwards, tilting to the left, or tilting to the right can be the result of the simultaneous action of the first and second driving sources, or the result of other driving sources.

[0045] The "up and down swing" in this application can be a standard up and down swing or a non-standard up and down swing, such as tilting upwards, tilting downwards, tilting to the left, or tilting to the right. Simultaneously, with the aid of other driving sources, the foot can also achieve lateral swinging and swinging in more directions.

[0046] As a preferred technical solution:

[0047] The lower leg is a rod-shaped structure, a shell structure, or a biomimetic structure, with a square or circular cross-section. Its inner wall is fixedly connected to the fixed ends of the first and second driving sources, respectively, which facilitates effective protection of the driving sources.

[0048] Or / and the foot end includes a foot shell and a connector disposed within the foot shell; the lower leg is rotatably connected to the connector via a first pivot.

[0049] The foot shell is rotatably connected to the adapter via a second pivot.

[0050] The second connector is symmetrically arranged on both sides of the first rotating shaft.

[0051] As a preferred technical solution:

[0052] The first and second shafts are pins, bearings, bolts, or cylinders with protrusions.

[0053] The adapter may be a shell structure, a cavity structure, or a U-shaped structure, and has multiple connecting surfaces, including at least a first connecting surface for connecting the first rotating shaft and a second connecting surface for connecting the second rotating shaft.

[0054] The first and second connecting surfaces are arranged perpendicularly, resulting in a simple, practical, and easy-to-manufacture structure.

[0055] To achieve one of the above objectives, the third technical solution of the present invention is as follows:

[0056] A humanoid robot includes the aforementioned humanoid robot leg structure or the aforementioned robot motion mechanism. Beneficial effects

[0057] Through continuous exploration and experimentation, this invention places two drive sources at the upper end of the lower leg to drive the foot, transmitting driving force through a first connector and a second connector respectively. This enables multi-degree-of-freedom movement of the foot and effectively reduces the weight of the lower leg and foot actuators, optimizing the mass distribution of the robot's leg structure, reducing the rotational inertia of the leg structure, improving the robot's maneuverability and flexibility, and reducing the energy consumption required to drive the leg movement. Furthermore, the dual drive sources are set independently and do not interfere with each other, making the robot's end effector control simpler and more reliable. This allows for rapid response and precise control of the robot's foot, resulting in richer and more flexible gait and movement patterns, better adapting to complex terrain. Therefore, it exhibits good biomimetic effects and is conducive to the widespread application of humanoid robots.

[0058] Furthermore, the humanoid robot leg structure provided by this invention places two motors driving the foot end at the top of the lower leg, enabling the foot to swing left and right, up and down, and front and rear end, achieving two degrees of freedom in movement. This significantly reduces the weight of the lower leg end and other actuators, effectively optimizing the mass distribution of the robot's leg structure, reducing its rotational inertia, and improving the robot's maneuverability and flexibility. The two motors operate independently, without interference or influence, making the humanoid robot's end effector easier to control and more reliable. Therefore, the leg structure of this invention achieves two degrees of freedom in the foot end while enabling lightweight design, resulting in rapid response, precise control, better adaptation to complex terrain, and greatly enhanced flexibility and stability of the leg structure.

[0059] Furthermore, the humanoid robot provided by this invention places two motors driving the foot at the top of the lower leg, achieving two degrees of freedom in the foot's movement. This significantly reduces the weight of the lower leg end and other actuators, lowering the rotational inertia of the leg structure and improving the robot's maneuverability and flexibility. This effectively reduces the energy consumption required to drive the leg movement, prevents overheating of the drive motors, and lowers the performance requirements of the joints and transmission system. Moreover, the two motors operate independently, without interference or influence, making the humanoid robot's end effector easier to control and more reliable. Therefore, the robot of this invention achieves two degrees of freedom in the foot while simultaneously making the end effector lightweight, enabling rapid response, precise control, and better adaptation to complex terrain. This greatly enhances the robot's flexibility and stability, allowing it to perform pitch, tilt, jump, and roll movements, and is suitable for uneven terrain.

[0060] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments. Attached Figure Description

[0061] Figure 1 is an overall schematic diagram of the humanoid robot leg structure of the present invention;

[0062] Figure 2 is a side view of the leg structure of the humanoid robot of the present invention;

[0063] Figure 3 is an enlarged view of part A of the humanoid robot leg structure of the present invention;

[0064] Figure 4 is a schematic diagram of the upward swinging of the humanoid robot leg structure of the present invention;

[0065] Figure 5 is a schematic diagram of the downward swinging leg structure of the humanoid robot of the present invention;

[0066] Figure 6 is a schematic diagram of the rightward swing of the humanoid robot leg structure of the present invention;

[0067] Figure 7 is a schematic diagram of the leftward swing of the humanoid robot leg structure of the present invention.

[0068] In the diagram: 1. Lower leg; 2. Foot end; 3. First motor; 4. Second motor; 5. First connector; 6. Second connector; 7. Foot shell; 8. Adapter; 9. First shaft; 10. Second shaft. Embodiments of the present invention

[0069] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0070] Conversely, this invention encompasses any substitutions, modifications, equivalent methods, and solutions made within the spirit and scope of the invention as defined in the claims. Furthermore, to provide a better understanding of the invention, certain specific details are described in detail below. However, those skilled in the art will fully understand the invention even without these detailed descriptions.

[0071] It should be noted that when two components are "fixed" or "rotatably connected," they can be directly connected or connected through an intermediate component. Conversely, when a component is described as being "directly on" another component, no intermediate component exists. The terms "lateral," "left and right," "up," "down," and similar expressions used in this article are for illustrative purposes only.

[0072] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the invention. The term "or / and" as used herein includes any and all combinations of one or more of the associated listed items.

[0073] As shown in Figures 1-7, Embodiment 1 of the present invention:

[0074] A humanoid robot leg structure includes a lower leg 1 and a foot end 2 rotatably connected to the lower leg 1. The foot end 2 can swing around the end of the lower leg 1 in multiple directions. A first motor 3 and a second motor 4 are provided at the end of the lower leg 1 away from the foot end 2. The first motor 3 drives the foot end 2 to swing up and down through a first connector 5 provided in the lower leg 1. The second motor 4 drives the foot end 2 to swing left and right through a second connector 6 provided in the lower leg 1.

[0075] This invention places the two motors driving the foot end 2 at the top of the lower leg 1, achieving two degrees of freedom movement for the foot end 2. This significantly reduces the weight of the actuators, including the lower leg 1 and foot end 2. Furthermore, the two motors operate independently, without interference or influence, making the humanoid robot's end effector easier to control and more reliable. In addition, this invention achieves two degrees of freedom for the foot end 2 while simultaneously enabling a lightweight end effector, thus achieving rapid response, precise control, better adaptation to complex terrain, and greatly enhancing the robot's flexibility and stability.

[0076] Furthermore, the up-and-down swing of the foot refers to the ability of the foot to rotate or swing (up-and-down swing of the front and rear ends) around a first axis extending in the left-right direction (the width direction of the foot) to adjust the height difference between the front and rear ends of the foot relative to the main body, thereby enabling the robot to achieve jumping and pitching movements to adapt to various ground surfaces, as shown in Figures 1 and 2.

[0077] The left and right side swinging refers to the ability of the foot to rotate or swing (left and right side up and down) around a second axis extending in the front-back direction (foot length direction) to adjust the height difference between the left and right sides of the foot relative to the main body, thereby enabling the robot to achieve side tilting / rolling motion to adapt to uneven ground.

[0078] In this application, the descriptions of "up and down" and "left and right" are based on the robot's normal standing state; the up and down direction can be understood as the robot's height direction, and the left and right direction can be understood as the width direction of the feet.

[0079] In this embodiment, the first connecting member 5 is a connecting rod, one end of which is rotatably connected to the output end of the first motor 3, and the other end is rotatably connected to the rear end of the foot end 2; the second connecting member 6 is a steel wire symmetrically distributed on the left and right sides of the foot end 2. The use of steel wire for the second connecting member 6 further reduces the weight and the load on the lower leg 1 and foot end 2, thereby achieving rapid response and precise control.

[0080] In this embodiment, the first motor and the second motor are servo motors or stepper motors.

[0081] In this embodiment, the foot end 2 includes a foot shell 7 and a connector 8 disposed within the foot shell 7. The lower leg 1 is rotatably connected to the connector 8 via a first pivot 9, and the foot shell 7 is rotatably connected to the connector 8 via a second pivot 10. The second connector 6 is symmetrically disposed on both sides of the first pivot 9, as shown at point A in Figure 1, i.e., Figure 3.

[0082] Embodiment 2 of the present invention:

[0083] A robot motion mechanism includes a lower leg 1 and a foot end 2 rotatably connected to the lower leg 1;

[0084] The lower leg 1 is provided with at least a first driving source for driving the foot end 2 to swing along the width direction of the foot end and a second driving source for driving the foot end 2 to swing along the length direction of the foot end at one end away from the foot end 2.

[0085] The first drive source and the second drive source are arranged adjacent to each other and move in coordination, so that the foot end 2 can swing around the other end of the lower leg 1 in multiple degrees of freedom.

[0086] In this embodiment, the first driving source drives the foot end 2 to swing along the width direction of the foot end through the first connecting member 5 disposed in the lower leg 1; the second driving source drives the foot end 2 to swing along the length direction of the foot end through the second connecting member 6 disposed in the lower leg 1.

[0087] In this embodiment, the first drive source is mounted above the second drive source, which are motors. The rotation axes of the two motors are staggered to form an interleaved drive structure, which further reduces the space occupied by the drive structure.

[0088] In this embodiment, the first connecting member 5 is a connecting rod made of metal material. Its length matches the length of the lower leg 1, so that the first connecting member 5 can pass through the entire lower leg 1, thereby realizing the up and down movement of the foot end 2. The structure is simple, practical and feasible.

[0089] The second connector 6 is a steel wire, the length of which matches the length of the lower leg 1, so that the second connector 6 can pass through the entire lower leg 1, thereby realizing the left and right movement of the foot end 2.

[0090] One end of the connecting rod is rotatably connected to the output end of the first driving source, and the other end is rotatably connected to the rear end of the foot end 2; the second connecting member 6 is a steel wire; one end of the steel wire is connected to the output end of the second driving source, and the other end is connected to the middle part of the foot end 2; the connecting rod and the steel wire alternately drive the foot end 2 to move, so as to realize the swing of the foot end 2 in multiple directions. The solution is simple, practical, easy to manufacture, and has low manufacturing cost.

[0091] In this embodiment, the lower leg 1 is a biomimetic structure with a square cross-section. Its inner wall is fixedly connected to the fixed ends of the first driving source and the second driving source, which facilitates effective protection of the driving source.

[0092] The foot end 2 includes a foot shell 7 and a connector 8 disposed within the foot shell 7; the lower leg 1 is rotatably connected to the connector 8 via a first pivot 9; the foot shell 7 is rotatably connected to the connector 8 via a second pivot 10; the second connector 6 is symmetrically disposed on both sides of the first pivot 9.

[0093] In this embodiment, the first rotating shaft 9 and the second rotating shaft 10 are bearings; the adapter 8 has a U-shaped structure and is provided with multiple connecting surfaces, including at least a first connecting surface for connecting the first rotating shaft 9 and a second connecting surface for connecting the second rotating shaft 10; the first connecting surface and the second connecting surface are arranged vertically, which is simple, practical and easy to manufacture.

[0094] Embodiment 3 of the present invention:

[0095] A humanoid robot, including the aforementioned humanoid robot leg structure.

[0096] This invention provides a humanoid robot in which two motors driving the foot end 2 are positioned at the top of the lower leg 1, enabling two degrees of freedom movement of the foot end 2. This significantly reduces the weight of the actuators, including the lower leg 1 and foot end 2. Furthermore, the two motors operate independently, without interference or influence, making the humanoid robot's end effector easier to control and more reliable. While achieving two degrees of freedom in the foot end 2, this invention also achieves a lightweight end effector, enabling rapid response, precise control, better adaptation to complex terrain, and greatly enhancing the robot's flexibility and stability.

[0097] Embodiment 4 of the present invention:

[0098] A humanoid robot, comprising the aforementioned robot motion mechanism.

[0099] In this application, the fixing method can be screwed, welded, riveted, plugged, or indirectly connected through a third component. Those skilled in the art can make a reasonable choice according to the actual application scenario.

[0100] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art can still modify or make equivalent substitutions to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the protection scope of the claims of the present invention.

Claims

1. A humanoid robot leg-foot structure, characterized by, It includes a lower leg (1) and a foot end (2) rotatably connected to the lower leg (1). The foot end (2) can swing around the end of the lower leg (1) in multiple directions. The lower leg (1) is provided with a first motor (3) and a second motor (4) at the end away from the foot end (2). The first motor (3) can drive the foot end (2) to swing up and down through a first connector (5) provided in the lower leg (1). The second motor (4) can drive the foot end (2) to swing left and right through a second connector (6) provided in the lower leg (1).

2. The humanoid robot leg structure as described in claim 1, characterized in that, The first connecting member (5) is a connecting rod; one end of the connecting rod is rotatably connected to the output end of the first motor (3), and the other end is rotatably connected to the rear end of the foot end (2); Or / and the second connector (6) is a steel wire symmetrically distributed on the left and right sides of the foot end (2).

3. The humanoid robot leg structure as described in claim 2, characterized in that, The foot end (2) includes a foot shell (7) and a connector (8) disposed within the foot shell (7). The lower leg (1) is rotatably connected to the adapter (8) via the first pivot (9); The foot shell (7) is rotatably connected to the adapter (8) via a second pivot (10); The second connector (6) is symmetrically arranged on both sides of the first rotating shaft (9).

4. A robot motion mechanism, characterized in that, It includes a lower leg (1) and a foot end (2) rotatably connected to the lower leg (1); The lower leg (1) is provided with a first driving source and a second driving source at one end away from the foot (2) for driving the foot (2) to swing. The first drive source and the second drive source are arranged adjacent to each other and move in coordination, so that the foot end (2) can swing around the other end of the lower leg (1) with multiple degrees of freedom.

5. A robot motion mechanism as described in claim 4, characterized in that, The first driving source drives the foot end (2) to swing along the width direction of the foot end through the first connecting member (5) provided in the lower leg (1); Or / and the second drive source drives the foot end (2) to swing along the length direction of the foot end through the second connector (6) provided in the lower leg (1).

6. A robot motion mechanism as described in claim 4, characterized in that, The first and second drive sources are stacked one on top of the other to reduce the lateral width of the lower leg (1); Or / and the first drive source is a rotary motor, a linear motor, a pneumatic drive source, or a hydraulic drive source; Or / and the second drive source is a rotary motor, a linear motor, a pneumatic drive source, or a hydraulic drive source; Alternatively, the first drive source can be mounted above the second drive source, which are motors respectively. The straight lines containing the rotation axes of the two motors are perpendicular to each other, forming an interlaced drive structure.

7. A robot motion mechanism as described in claim 4, characterized in that, The first driving source drives the foot (2) to swing through the first connecting member (5) disposed in the lower leg (1); the second driving source drives the foot (2) to swing through the second connecting member (6) disposed in the lower leg (1); The first connector (5) is a rod, strip, rope, or filament made of metal, plastic, rubber, or wood, and its length matches the length of the lower leg (1), so that the first connector (5) can pass through the entire lower leg (1); or / and the second connector (6) is a rod, strip, rope, or filament made of metal, plastic, rubber, or wood, and its length matches the length of the lower leg (1), so that the second connector (6) can pass through the entire lower leg (1); Alternatively, the first connecting member (5) may be a connecting rod; one end of the connecting rod may be rotatably connected to the output end of the first driving source, and the other end may be rotatably connected to the rear end of the foot (2); the second connecting member (6) may be a steel wire; one end of the steel wire may be connected to the output end of the second driving source, and the other end may be connected to the middle part of the foot (2); the connecting rod and the steel wire may alternately drive the foot (2) to move, so as to realize the foot (2) swinging in multiple directions.

8. A robot motion mechanism as described in claim 7, characterized in that, The lower leg (1) is a rod-shaped structure, a shell structure, or a biomimetic structure, with a square or circular cross-section, and its inner wall is fixedly connected to the fixed ends of the first driving source and the second driving source, respectively. Or / and the foot end (2) includes a foot shell (7) and a connector (8) disposed within the foot shell (7); the lower leg (1) is rotatably connected to the connector (8) via a first pivot (9); The foot shell (7) is rotatably connected to the adapter (8) via a second pivot (10); The second connector (6) is symmetrically arranged on both sides of the first rotating shaft (9).

9. A robot motion mechanism as described in claim 8, characterized in that, The first rotating shaft (9) and the second rotating shaft (10) are pins, bearings, bolts, or cylinders with protrusions; The adapter (8) is a shell structure, cavity structure or U-shaped structure, which has multiple connecting surfaces, including at least a first connecting surface for connecting the first rotating shaft (9) and a second connecting surface for connecting the second rotating shaft (10); The first connecting surface and the second connecting surface are arranged perpendicularly.

10. A humanoid robot, characterized by, This includes a humanoid robot leg structure as described in any one of claims 1-3, or a robot motion mechanism as described in any one of claims 4-9.

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