Bionic mechanical leg and bionic device

Abstract

The application provides a bionic mechanical leg and a bionic device. The bionic mechanical leg comprises a mechanical thigh, a mechanical calf, a calf driving device and a thigh driving device. The mechanical calf is rotatably connected with the mechanical thigh. The calf driving device comprises a motor and a driving rod. The motor is arranged on the mechanical thigh. The driving rod is connected with the motor and the mechanical calf, and is used for driving the mechanical calf to rotate. The thigh driving device comprises a ball gear, a first driving gear and a second driving gear. The first driving gear and the second driving gear are both engaged with the ball gear. The rotation axis of the first driving gear and the rotation axis of the second driving gear are perpendicular. The ball gear is connected with the mechanical thigh, and is used for driving the mechanical thigh to rotate. The application has higher driving efficiency, a more compact structure and is more lightweight, and is more suitable for small toy bionic devices.

Description

Technical Field

[0001] This application relates to the field of robotics technology, and more specifically, to a bionic mechanical leg and a bionic device. Background Technology

[0002] Bionic devices mimic the movement patterns and skeletal structures of various organisms in nature. A crucial question is how to map these patterns onto mechanical structures to achieve the desired effect. Bionic research on bipedal or quadrupedal reptiles is a widespread research direction. Since crawling is fundamentally about leg movement, the design of mechanical legs plays a vital role in the performance of robots, bionic toys, and other bionic devices, determining whether they closely resemble the characteristics of real biological movement.

[0003] Currently, existing bionic robotic legs have some shortcomings in their drive methods and structural designs. Some robotic thigh joints use a first motor connected to a second motor, a structure that is not very compact and offers limited resistance to jamming and impacts during movement. Furthermore, the transmission process involves multiple stages, requiring the first motor to provide significant torque, inevitably leading to energy loss. For the control of some lower leg joints, lead screws and nuts are used, resulting in numerous parts that are inconvenient for assembly, production, and weight reduction. Utility Model Content

[0004] This application provides a bionic mechanical leg and bionic device that are more efficient in driving, more compact in structure, and lighter in weight, making them more suitable for small toys.

[0005] This application is achieved through the following technical solution: In a first aspect, embodiments of this application provide a bionic mechanical leg, comprising: a mechanical thigh; a mechanical lower leg rotatably connected to the mechanical thigh; a lower leg driving device including a motor and a driving rod, the motor being disposed on the mechanical thigh, the driving rod connecting the motor and the mechanical lower leg for driving the mechanical lower leg to rotate; and a thigh driving device including a ball gear, a first driving gear, and a second driving gear, the first driving gear and the second driving gear both meshing with the ball gear, and the rotation axes of the first driving gear and the second driving gear being perpendicular, the ball gear being connected to the mechanical thigh for driving the mechanical thigh to rotate.

[0006] In some embodiments, the motor includes an inner stator and an outer rotor, the outer rotor being rotatably connected to the mechanical thigh, one end of the drive rod being hinged to the outer rotor, and the other end of the drive rod being hinged to the mechanical calf.

[0007] In some embodiments, the upper joint of the lower leg of the mechanical calf and the lower joint of the thigh of the mechanical thigh are rotatably connected by a third fixing pin. The upper joint of the thigh of the mechanical thigh is provided with a limiting notch, and the upper joint of the calf is provided with a first fixing ear. The outer rotor is provided with a second fixing ear. One end of the drive rod is hinged to the second fixing ear, and the other end of the drive rod is hinged to the first fixing ear. The second fixing ear extends at least partially into the limiting notch to interfere with both ends of the limiting notch, thereby limiting the rotation angle of the outer rotor. And / or, the motor is a brushless motor.

[0008] In some embodiments, the thigh drive device further includes a housing, in which a ball gear groove, a first gear groove, and a second gear groove are provided, the ball gear being movably disposed in the ball gear groove; the first drive gear being rotatably disposed in the first gear groove, and the second drive gear being rotatably disposed in the second gear groove.

[0009] In some embodiments, the thigh drive device further includes a first fixing frame and a second fixing frame. The first fixing frame is disposed in the first gear groove, and the second fixing frame is disposed in the second gear groove. The first drive gear is rotatably connected to the first fixing frame through a first fixing pin, and the second drive gear is rotatably connected to the second fixing frame through a second fixing pin. The axis of the first fixing pin is perpendicular to the axis of the second fixing pin.

[0010] In some embodiments, the bionic mechanical leg further includes a shock absorber, one end of which is hinged to the mechanical thigh and the other end of which is hinged to the mechanical calf.

[0011] In some embodiments, the shock absorber includes a fixed rod, a spring, and a piston rod. The fixed rod is hinged to the upper thigh joint of the mechanical thigh. One end of the piston rod is telescopically inserted into the fixed rod, and the other end is hinged to the lower leg joint of the mechanical calf. The spring is sleeved on the fixed rod, and both ends of the spring abut against the fixed rod and the piston rod, respectively.

[0012] In some embodiments, the bionic mechanical leg further includes a foot unit, the foot unit including a foot portion, the foot portion being rotatably connected to the lower joint of the mechanical calf.

[0013] In some embodiments, the foot unit further includes a transmission assembly and a support assembly. The support assembly includes support rods located on both sides of the mechanical lower leg. One end of each support rod is connected to the mechanical lower leg, and the other end is rotatably connected to the foot via a connecting shaft. The foot is fixedly connected to the connecting shaft. The transmission assembly includes a third drive gear and a driven gear. The third drive gear is rotatably connected to the lower joint of the lower leg via a locating pin. The driven gear is fixedly mounted on the connecting shaft and meshes with the third drive gear.

[0014] Secondly, embodiments of this application provide a bionic device, including: a bionic mechanical leg as described in any embodiment of the first aspect.

[0015] This application has at least the following beneficial effects: (1) This application drives the mechanical thigh to move in multiple degrees of freedom through a thigh drive device including a ball gear, a first drive gear and a second drive gear, and drives the mechanical lower leg to rotate through a lower leg drive device including a motor and a drive rod. Compared with the traditional method of the first motor driving the second motor to achieve the mechanical thigh to move in multiple degrees of freedom, the screw and nut work together to achieve the rotation of the mechanical lower leg. The drive efficiency is higher, the structure is more compact and lighter, and it is more suitable for small toy-type bionic devices.

[0016] (2) When the motor is powered on, the magnetic field generated by the windings on the inner stator interacts with the magnetic field of the permanent magnet on the outer rotor, causing the outer rotor to rotate relative to the inner stator, thereby driving the drive rod to swing, and in turn driving the mechanical leg to rotate relative to the mechanical thigh. In addition, the radial interaction force generated by the magnetic field generated by the windings on the inner stator and the magnetic field of the permanent magnet on the outer rotor can play a certain role in buffering the radial impact on the outer rotor, making the mechanical leg walk more smoothly and reliably.

[0017] (3) When the mechanical leg structure is walking and jumping, the whole structure will be subjected to the reaction force of the ground. The reaction force is applied to the mechanical leg and then transmitted to the shock absorber to resist the reaction force, suppress vibration, and improve the overall structural stability.

[0018] (4) When the mechanical leg is raised as a whole, the foot of the foot unit will rotate relative to the mechanical lower leg and tilt at a certain angle to the ground, so as to appropriately reduce the gravity on the foot when the mechanical lower leg is raised, thereby achieving good bionic characteristics and stability.

[0019] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0020] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the structure of a bionic mechanical leg provided in some embodiments of this application; Figure 2 This is an exploded view of the structure of a bionic mechanical leg provided in some embodiments of this application; Figure 3 This is an exploded view of the structure of the thigh drive device provided in some embodiments of this application; Figure 4 An exploded view of the structure of a bionic mechanical leg provided in some embodiments of this application from another perspective; Figure 5 This is a structural exploded view of the bionic mechanical leg provided in some embodiments of this application from another perspective. Figure 6 This is a structural schematic diagram of the bionic mechanical leg provided in some embodiments of this application from another perspective.

[0022] icon: 100-Bionic mechanical leg; 10-Mechanical lower leg; 11-First fixing lug; 101-Third fixing pin; 20-Mechanical thigh; 21-Upper thigh joint; 211b-Limiting notch; 212-Mounting shaft; 22-Lower joint; 30- Thigh drive device; 31- Ball gear; 31a- Protruding post; 32- First drive gear; 33- Second drive gear; 34- Housing; 341- Upper housing; 342- Lower housing; 34a- Ball gear groove; 34b- First gear groove; 34c- Second gear groove; 35- First fixing bracket; 36- Second fixing bracket; 37- First fixing pin; 40 - Lower leg drive device; 41 - Motor; 411 - Inner stator; 412 - Outer rotor; 412a - Shaft hole; 413 - Second fixing lug; 42 - Drive rod; 50 - Shock absorber; 51 - Fixed rod; 52 - Spring; 53 - Piston rod; 60 - Foot unit; 61 - Foot; 62 - Connecting shaft; 63 - Support rod; 64 - Third drive gear; 65 - Moving gear. Detailed Implementation

[0023] The embodiments of this application will be described in further detail below with reference to the accompanying drawings and examples. The detailed description of the following embodiments and the accompanying drawings are used to illustrate the principles of this application by way of example, but should not be used to limit the scope of this application, that is, this application is not limited to the described embodiments.

[0024] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used in the description of this application is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms "comprising" and "having" and any variations thereof in the description, claims and foregoing drawings of this application are intended to cover non-exclusive inclusion.

[0025] The terms "first," "second," etc., in the specification, claims, or the accompanying drawings of this application are used to distinguish different objects, rather than to describe a specific order or primary / secondary relationship.

[0026] In this application, the reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described in this application can be combined with other embodiments.

[0027] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "attachment" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0028] In this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, in this application, the character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0029] In this application, "multiple" means two or more (including two).

[0030] Below, refer to Figures 1 to 6 The embodiments of this application will be described in detail below.

[0031] This application provides a bionic mechanical leg, which can be applied to bionic devices. These devices can be bionic toys, such as mechanical cats, dogs, monkeys, kangaroos, or lizards, or other creatures with leg structures. The bionic device can also be a robot.

[0032] The bionic mechanical leg 100 includes a mechanical lower leg 10, a mechanical thigh 20, a thigh drive device 30, and a lower leg drive device 40. The mechanical lower leg 10 is rotatably connected to the mechanical thigh 20. The lower leg drive device 40 includes a motor 41 and a drive rod 42. The motor 41 is disposed on the mechanical thigh 20, and the drive rod 42 connects the motor 41 and the mechanical lower leg 10, and is used to drive the mechanical lower leg 10 to rotate. The thigh drive device 30 includes a ball gear 31, a first drive gear 32, and a second drive gear 33. Both the first drive gear 32 and the second drive gear 33 mesh with the ball gear 31, and the rotation axis of the first drive gear 32 is perpendicular to the rotation axis of the second drive gear 33. The ball gear 31 is connected to the mechanical thigh 20 and is used to drive the mechanical thigh 20 to rotate.

[0033] The upper joint of the lower leg of the mechanical lower leg 10 can be rotatably connected to the lower joint 22 of the mechanical thigh 20 via the third fixing pin 101. The mechanical thigh 20 serves as the basic support joint of the entire mechanical leg, and its rotation drives the entire bionic mechanical leg 100 to rotate.

[0034] The thigh drive device 30 is used to drive the mechanical thigh 20 to rotate. The calf drive device 40 is used to drive the mechanical calf 10 to rotate.

[0035] The outer surface of the ball gear 31 has spherical teeth. The first drive gear 32 and the second drive gear 33 can both be saddle gears, meshing with the spherical teeth on the ball gear 31, thereby driving the ball gear 31 to rotate. The power source driving the first drive gear 32 and the second drive gear 33 can have different shapes, structures, and types. For example, the power source driving the first drive gear 32 and the second drive gear 33 can be a servo motor. For example, the ball gear 31 can be fixed to the upper thigh joint of the mechanical thigh 20.

[0036] The spherical teeth of the ball gear 31 can adopt an involute tooth profile, and the tooth width can be 1 / 3 to 1 / 2 of the diameter of the ball gear 31. The teeth of the first drive gear 32 and the second drive gear 33 are arc-shaped to match the radius of curvature of the spherical teeth, and the distance between the end face of the gear and the center of the ball gear is equal to the pitch circle radius of the spherical teeth, ensuring that the two remain meshed when the ball gear rotates in multiple directions, without the risk of tooth disengagement. In the thigh drive device 30, the first drive gear 32 can rotate around a first rotation axis, and the second drive gear 33 can rotate around a second rotation axis perpendicular to the first rotation axis. When the first drive gear 32 rotates around the first rotation axis, the ball gear 31 rotates around an axis parallel to the first rotation axis to drive the mechanical thigh 20 to rotate around an axis parallel to the first rotation axis (such as swinging), thereby driving the entire mechanical leg to rotate. When the second drive gear 33 rotates around the second rotation axis, the ball gear 31 rotates around an axis parallel to the second rotation axis to drive the mechanical thigh 20 to rotate around an axis parallel to the second rotation axis (such as swinging), thereby driving the entire mechanical leg to rotate. This enables the mechanical thigh to move in multiple degrees of freedom.

[0037] In the calf drive device 40, the motor 41 rotates and drives the drive rod 42 to swing, thereby driving the mechanical calf 10 to rotate relative to the mechanical thigh 20.

[0038] As an example, in the scenario of climbing stairs, the ball gear 31 rotates to drive the mechanical thigh 20 to rotate clockwise, and the motor 41 rotates to drive the drive rod 42 to drive the mechanical lower leg 10 to retract (that is, the angle between the mechanical lower leg 10 and the mechanical thigh 20 becomes smaller), so as to achieve the effect of the entire mechanical leg taking a step upward and forward. Then, the ball gear 31 rotates in the opposite direction to drive the mechanical thigh 20 to rotate counterclockwise, and the motor 41 rotates in the opposite direction to drive the drive rod 42 to drive the mechanical lower leg 10 to open (that is, the angle between the mechanical lower leg 10 and the mechanical thigh 20 becomes larger), so as to achieve the effect of the entire mechanical leg standing. Through the above process, a complete step-climbing action can be achieved.

[0039] This application uses a thigh drive device 30, which includes a ball gear 31, a first drive gear 32, and a second drive gear 33, to drive the mechanical thigh 20 to move in multiple degrees of freedom. A calf drive device 40, which includes a motor 41 and a drive rod 42, drives the mechanical calf 10 to rotate. Compared with the traditional method of using a first motor to drive a second motor to achieve multi-degree-of-freedom movement of the mechanical thigh, the use of a lead screw and nut to achieve rotation of the mechanical calf results in higher driving efficiency, a more compact structure, and lighter weight, making it more suitable for small toy-like bionic devices.

[0040] In some embodiments, the motor 41 includes an inner stator 411 and an outer rotor 412, the outer rotor 412 being rotatably connected to the mechanical thigh 20, one end of the drive rod 42 being hinged to the outer rotor 412, and the other end of the drive rod 42 being hinged to the mechanical calf 10.

[0041] When motor 41 is energized, the magnetic field generated by the windings on the inner stator 411 interacts with the magnetic field of the permanent magnet on the outer rotor 412, causing the outer rotor 412 to rotate relative to the inner stator 411. This, in turn, drives the drive scooter 42 to swing, thereby causing the mechanical lower leg 10 to rotate relative to the mechanical upper leg 20. Furthermore, the radial interaction force between the magnetic field generated by the windings on the inner stator 411 and the magnetic field of the permanent magnet on the outer rotor 412 provides a certain degree of buffering against radial impacts on the outer rotor 412, making the mechanical leg move more smoothly and reliably.

[0042] For example, motor 41 could be a brushless motor. (See reference...) Figure 2 The outer rotor 412 can be rotatably fitted onto the mounting shaft 212 on the upper thigh joint 21 through its shaft hole 412a. The ball gear 31 can be interference-fitted with the mounting hole in the mounting shaft 212 through its protrusion 31a. Thus, the outer rotor 412 is confined between the ball gear 31 and the upper thigh joint 21, preventing the outer rotor 412 from dislodging. In this way, the motor 41 and the ball gear 31 are cleverly combined into the upper thigh joint 21, further improving the structural compactness and making it more suitable for small toy-like bionic devices.

[0043] In some embodiments, refer to Figure 2 and Figure 4 The upper joint of the lower leg of the mechanical lower leg 10 is rotatably connected to the lower joint 22 of the thigh of the mechanical thigh 20 via a third fixing pin 101. The upper joint of the lower leg is provided with a first fixing ear 11. The outer rotor 412 is provided with a second fixing ear 413. One end of the drive rod 42 is hinged to the second fixing ear 413, and the other end of the drive rod 42 is hinged to the first fixing ear 11.

[0044] Furthermore, the upper thigh joint 21 may be provided with a limiting notch 211b, which has two opposing ends. The second fixing ear 413 on the outer rotor 412 extends radially at least partially into the limiting notch 211b. When the outer rotor 412 rotates, the second fixing ear 413 interferes with the two ends of the limiting notch 211b, thereby limiting the rotation angle of the outer rotor 412, and consequently limiting the rotation angle of the mechanical lower leg 10.

[0045] In some embodiments, refer to Figure 2 and Figure 3 The thigh drive device 30 also includes a housing 34, which has a ball gear groove 34a, a first gear groove 34b, and a second gear groove 34c. A ball gear 31 is movably disposed in the ball gear groove 34a. A first drive gear 32 is rotatably disposed in the first gear groove 34b, and a second drive gear 33 is rotatably disposed in the second gear groove 34c.

[0046] The ball gear 31 is clearance-fitted with the ball gear groove 34a, allowing the ball gear 31 to move within the groove. The drive connection end of the ball gear 31 (as described above, the protrusion 31a) protrudes from the groove 34a. Optionally, the inner wall of the ball gear groove 34a is provided with a wear-resistant coating, and the inner diameter of the groove 34a is 0.5mm to 1mm larger than the diameter of the ball gear 31, ensuring the freedom of movement of the ball gear while limiting its radial offset.

[0047] The first gear slot 34b provides mounting space for the first drive gear 32. The second gear slot 34c provides mounting space for the second drive gear 33.

[0048] For example, the housing 34 includes an upper housing 341 and a lower housing 342. The upper housing 341 and the lower housing 342 can be detachably connected by means of snap-fit ​​fasteners, bolts, etc., thereby forming a ball gear groove 34a, a first gear groove 34b, and a second gear groove 34c together. The detachable connection of the upper housing 341 and the lower housing 342 facilitates installation and subsequent maintenance.

[0049] Furthermore, the thigh drive device 30 also includes a first fixing frame 35 and a second fixing frame 36. The first fixing frame 35 is disposed in the first gear groove 34b, and the second fixing frame 36 is disposed in the second gear groove 34c. The first drive gear 32 is rotatably connected to the first fixing frame 35 through the first fixing pin 37, and the second drive gear 33 is rotatably connected to the second fixing frame 36 through the second fixing pin (not shown in the figure). The axis of the first fixing pin 37 is perpendicular to the axis of the second fixing pin.

[0050] Thus, the first drive gear 32 and the first fixed frame 35 form a modular unit, and the second drive gear 33 and the second fixed frame 36 form a modular unit, providing convenience for installation and subsequent maintenance.

[0051] In some embodiments, refer to Figure 1 and Figure 5 The bionic mechanical leg 100 also includes a shock absorber 50, one end of which is hinged to the mechanical thigh 20, and the other end of which is hinged to the mechanical lower leg 10.

[0052] When the mechanical leg structure walks and jumps, it is subjected to the reaction force from the ground. The reaction force acts on the mechanical lower leg 10, and is then transmitted to the shock absorber 50 to resist the reaction force, suppress vibration, and improve the overall structural stability.

[0053] In addition, the shock absorber 50 can also provide a certain elastic force for the mechanical leg to jump. As an example, the mechanical thigh 20 and mechanical lower leg 10 can be bent as much as possible to provide elastic potential energy to the shock absorber 4, which then cooperates with the thigh drive device 30 and the lower leg drive device 40 to achieve the jumping process.

[0054] In some embodiments, the shock absorber 50 includes a fixed rod 51, a spring 52, and a piston rod 53. The fixed rod 51 is hinged to the upper thigh joint 21 of the mechanical thigh 20. One end of the piston rod 53 is telescopically inserted into the fixed rod 51, and the other end is hinged to the lower leg joint of the mechanical lower leg 10. The spring 52 is sleeved on the fixed rod 51, and both ends of the spring 52 abut against the fixed rod 51 and the piston rod 53, respectively.

[0055] When the mechanical leg structure walks and jumps, it will be subjected to the reaction force of the ground. The reaction force acts on the mechanical lower leg 10, which is then transmitted to the piston rod 53 and compresses the spring 52. The spring 52 generates elastic force due to the force to resist the reaction force and improve the stability of the overall structure.

[0056] In some embodiments, refer to Figure 1 and Figure 6 The bionic mechanical leg 100 also includes a foot unit 60, which includes a foot 61, and the foot 61 is rotatably connected to the lower joint of the mechanical lower leg 10.

[0057] When the entire mechanical leg is raised, the foot 61 of the foot unit 60 will rotate relative to the mechanical lower leg 10 and tilt at a certain angle to the ground, so as to appropriately reduce the gravity on the foot when the mechanical lower leg 10 is raised, thereby achieving good bionic characteristics and stability.

[0058] In some embodiments, the foot unit 60 further includes a transmission assembly and a support assembly. The support assembly includes support rods 63 located on both sides of the mechanical lower leg 10. One end of each support rod 63 is connected to the mechanical lower leg, and the other end is rotatably connected to the foot 61 via a connecting shaft 62. The foot 61 is fixedly connected to the connecting shaft 62. When the foot 61 rotates, the connecting shaft 62 rotates along with the foot.

[0059] The transmission assembly includes a third drive gear 64 and a driven gear 65. The third drive gear 64 is rotatably connected to the lower joint of the mechanical leg 10 via a locating pin. The driven gear 65 is fixedly mounted on the connecting shaft 62 and meshes with the third drive gear 64.

[0060] The third drive gear 64 can be connected to a drive unit, such as another motor. The rotation of the third drive gear 64 drives the driven gear 65 to rotate, and the connecting shaft 62 rotates synchronously with the driven gear 65, thereby driving the foot 61 to rotate.

[0061] As an example, the movement of the lower leg during the robot's walking process is as follows: In the initial state, the second fixed lug 413 on the outer rotor 412 of the motor 41 is in a suitable middle position between the two ends of the limiting notch 211b (such as the upper limit end and the lower limit end). At this time, the spring 52 is in a compressed state, storing elastic potential energy for subsequent steps. The outer rotor 412 starts to rotate (such as counterclockwise) to the maximum upper limit angle. At this maximum upper limit angle, the second fixed lug 413 interferes with the upper limit end of the limiting notch 211b. During this process, the spring 52 gradually returns from the compressed state to the natural state, continuously releasing elastic potential energy to assist the rotation of the mechanical lower leg 10. Through the outer rotor 412, the drive rod, and the spring 52, the opening angle between the mechanical lower leg 10 and the mechanical thigh 20 gradually increases, and the foot 61 is lifted off the ground. The outer rotor 412 rotates in the opposite direction (e.g., clockwise) until it reaches the maximum lower limit angle. At this maximum lower limit angle, the second fixed ear 413 interferes with the lower limit end of the limit notch 211b. During this process, the outer rotor 412 drives the mechanical lower leg 10 to rotate in the opposite direction via the drive rod, causing the opening angle between the mechanical lower leg 10 and the mechanical thigh 20 to gradually decrease. The foot 61 then contacts the ground, and the spring 52 is in a compressed state, storing force for the subsequent leg retraction. During this process, when the foot 61 smoothly contacts the ground, the spring 52 can absorb the impact, playing a buffering and shock-absorbing role. The outer rotor 412 rotates back to the initial middle position, the spring 52 returns to the initial compressed state, and the entire mechanism is reset and ready to enter the next stepping cycle.

[0062] Secondly, embodiments of this application provide a bionic device, including: a bionic mechanical leg 100 as mentioned in any of the embodiments above.

[0063] As mentioned above, biomimetic devices can be biomimetic toys, which can be legged pet toys such as mechanical cats, dogs, monkeys, kangaroos, and lizards. Biomimetic devices can also be robots, etc.

[0064] Although this application has been described with reference to preferred embodiments, various modifications can be made thereto and components can be replaced with equivalents without departing from the scope of this application. In particular, the technical features mentioned in the various embodiments can be combined in any manner, provided there is no structural conflict. This application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A bionic mechanical leg, characterized in that, include: Mechanical thigh; The mechanical lower leg is rotatably connected to the mechanical thigh. The lower leg drive device includes a motor and a drive rod. The motor is disposed on the mechanical thigh, and the drive rod connects the motor and the mechanical lower leg for driving the mechanical lower leg to rotate. The thigh drive device includes a ball gear, a first drive gear, and a second drive gear. Both the first drive gear and the second drive gear mesh with the ball gear, and the rotation axis of the first drive gear is perpendicular to the rotation axis of the second drive gear. The ball gear is connected to the mechanical thigh and is used to drive the mechanical thigh to rotate.

2. The bionic mechanical leg according to claim 1, characterized in that, The motor includes an inner stator and an outer rotor. The outer rotor is rotatably connected to the mechanical thigh. One end of the drive rod is hinged to the outer rotor, and the other end of the drive rod is hinged to the mechanical calf.

3. The bionic mechanical leg according to claim 2, characterized in that, The upper joint of the lower leg of the mechanical leg and the lower joint of the thigh of the mechanical thigh are rotatably connected by a third fixing pin. The upper joint of the thigh of the mechanical thigh is provided with a limiting notch, and the upper joint of the lower leg is provided with a first fixing ear. The outer rotor is provided with a second fixing ear. One end of the drive rod is hinged to the second fixing ear, and the other end of the drive rod is hinged to the first fixing ear. The second fixing ear extends at least partially into the limiting notch to interfere with both ends of the limiting notch, thereby limiting the rotation angle of the outer rotor. And / or, The motor is a brushless motor.

4. The bionic mechanical leg according to claim 1, characterized in that, The thigh drive device also includes a housing, in which a ball gear groove, a first gear groove, and a second gear groove are provided. The ball gear is movably disposed in the ball gear groove. The first drive gear is rotatably disposed in the first gear groove, and the second drive gear is rotatably disposed in the second gear groove.

5. The bionic mechanical leg according to claim 4, characterized in that, The thigh drive device further includes a first fixing frame and a second fixing frame. The first fixing frame is disposed in the first gear groove, and the second fixing frame is disposed in the second gear groove. The first drive gear is rotatably connected to the first fixing frame through a first fixing pin, and the second drive gear is rotatably connected to the second fixing frame through a second fixing pin. The axis of the first fixing pin is perpendicular to the axis of the second fixing pin.

6. The bionic mechanical leg according to any one of claims 1-5, characterized in that, The bionic mechanical leg also includes a shock absorber, one end of which is hinged to the mechanical thigh and the other end of which is hinged to the mechanical calf.

7. The bionic mechanical leg according to claim 6, characterized in that, The shock absorber includes a fixed rod, a spring, and a piston rod. The fixed rod is hinged to the upper thigh joint of the mechanical thigh. One end of the piston rod is telescopically inserted into the fixed rod, and the other end is hinged to the lower leg joint of the mechanical calf. The spring is sleeved on the fixed rod, and both ends of the spring abut against the fixed rod and the piston rod, respectively.

8. The bionic mechanical leg according to any one of claims 1-5, characterized in that, The bionic mechanical leg further includes a foot unit, which includes a foot and is rotatably connected to the lower joint of the mechanical leg.

9. The bionic mechanical leg according to claim 8, characterized in that, The foot unit also includes a transmission assembly and a support assembly. The support assembly includes support rods located on both sides of the mechanical lower leg. One end of each support rod is connected to the mechanical lower leg, and the other end is rotatably connected to the foot via a connecting shaft. The foot is fixedly connected to the connecting shaft. The transmission assembly includes a third drive gear and a driven gear. The third drive gear is rotatably connected to the lower joint of the lower leg via a locating pin. The driven gear is fixedly installed on the connecting shaft and meshes with the third drive gear.

10. A biomimetic device, characterized in that, include: The bionic mechanical leg as described in any one of claims 1-9.

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