Mechanical device

Abstract

The present invention discloses a mechanical device, including a fuselage, an integrated motor, a mechanical leg and a buffer assembly, wherein the integrated motor is installed on the fuselage and is drivingly connected to the mechanical leg; the buffer assembly connects the integrated motor and the fuselage; the buffer assembly is used to be in an initial state when the impulse transmitted to the integrated motor by the mechanical leg is less than a preset impulse; and to be in a deformed state when the impulse transmitted to the integrated motor by the mechanical leg is greater than the preset impulse, so as to alleviate the impulse transmitted to the integrated motor by the mechanical leg. The mechanical leg of the mechanical device proposed by the present invention will not cause damage to the integrated motor when it is impacted by an external force, which greatly improves the impact resistance of the mechanical device. Moreover, the integrated motor and the buffer assembly are all installed in the fuselage, which greatly reduces the deadweight of the mechanical leg, making it simpler, more sensitive and more flexible for the mechanical device to achieve high-speed movement.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, in particular to a mechanical device. Background Art

[0002] In the prior art, when the connecting parts of the robot's leg structure hit the ground from a high place, the instantaneous impact force of the ground on the connecting parts is transmitted to the drive motor, which will cause a strong impact force on the motor and easily cause damage to the motor. While placing high requirements on the motor performance, it is not suitable for daily use. Summary of the invention

[0003] The main purpose of the present invention is to propose a leg structure, which aims to solve the problem in the prior art that after the foot end of the robot leg is impacted by an external force, the momentary reaction force of the external force on the foot end is transmitted to the drive motor, which easily causes damage to the motor.

[0004] To achieve the above object, the present invention provides a mechanical device, comprising:

[0005] body;

[0006] An integrated motor, the integrated motor being mounted on the fuselage;

[0007] A mechanical leg, wherein the integrated motor is drivingly connected to the mechanical leg;

[0008] a buffer assembly, the buffer assembly connecting the integrated motor and the body;

[0009] The buffer component is used to be in an initial state when the impulse transmitted by the mechanical leg to the integrated motor is less than a preset impulse; and to be in a deformed state when the impulse transmitted by the mechanical leg to the integrated motor is greater than the preset impulse, so as to alleviate the impulse transmitted by the mechanical leg to the integrated motor.

[0010] Optionally, the integrated motor has a first rotating shaft, and the buffer assembly connects the first rotating shaft of the integrated motor and the body;

[0011] The buffer assembly includes a transmission block, a first transmission rod, a second transmission rod and an elastic member, the transmission block is rotatably connected to the first rotating shaft of the integrated motor, one end of the first transmission rod is rotatably connected to the transmission block to form a first fulcrum, the other end of the first transmission rod is rotatably connected to the body to form a second fulcrum, one end of the second transmission rod is rotatably connected to the transmission block to form a third fulcrum, and the other end of the second transmission rod is rotatably connected to the body to form a fourth fulcrum;

[0012] The lines connecting the first fulcrum, the second fulcrum, the fourth fulcrum and the third fulcrum in sequence form a quadrilateral;

[0013] One end of the elastic member is installed on the first transmission rod or the second transmission rod, and the other end of the elastic member is connected to the fuselage, so that when the impulse transmitted by the mechanical leg to the integrated motor is greater than the preset impulse, the elastic member is deformed to alleviate the impulse transmitted by the mechanical leg to the integrated motor.

[0014] Optionally, the first rotating shaft is located between the first fulcrum and the third fulcrum on the transmission block.

[0015] Optionally, the second transmission rod includes a first section placed between the third fulcrum and the fourth fulcrum and a second section extending from the fourth fulcrum in a direction away from the third fulcrum, one end of the buffer assembly is rotationally connected to the second section, and the other end of the buffer assembly is rotationally connected to the fuselage.

[0016] Optionally, the deformation direction of the buffer component is arranged at an angle with the second section, and the angle is not less than 60° and not more than 120°.

[0017] Optionally, one end of the elastic member is rotatably connected to the first transmission rod placed between the first fulcrum and the second fulcrum, and the other end of the elastic member is rotatably connected to the fuselage, and the angle between the first transmission rod and the elastic member is not less than 15° and not more than 75°.

[0018] Optionally, the buffer assembly includes a third transmission rod, the third transmission rod includes a first part, a second part and a third part which are connected in sequence, and the connection between the first part and the second part is rotationally connected to the fuselage, and the third part is rotationally connected to the first transmission rod or the second transmission rod; one end of the first part away from the second part is fixedly connected to an elastic member, and the other end of the elastic member is rotationally connected to the fuselage; when the impulse transmitted to the integrated motor by the mechanical leg is greater than a preset impulse, the first transmission rod drives the first part and the second part to rotate relative to the fuselage about the first axis through the third part, and when the second part rotates along the first axis, it drives the elastic member to deform along the second axis to alleviate the impulse transmitted to the integrated motor by the mechanical leg.

[0019] Optionally, the first axis is perpendicular to the second axis, and the second axis is parallel to the rotation axis of the first rotating shaft.

[0020] Optionally, the elastic member includes a spring, one end of which is rotatably connected to the first transmission rod or the second transmission rod, and the other end of the spring abuts against the fuselage, so that when the impulse transmitted by the mechanical leg to the integrated motor is greater than a preset impulse, the spring is compressed to alleviate the impulse transmitted by the mechanical leg to the integrated motor.

[0021] Optionally, the elastic member further comprises a guide rod and a guide sleeve, one of the guide rod and the guide sleeve is arranged on the first transmission rod or the second transmission rod, and the other of the guide rod and the guide sleeve is arranged on the fuselage;

[0022] The guide rod is inserted into the guide sleeve and slidably matched with the guide sleeve, and the spring sleeve is arranged on the guide rod and the guide sleeve.

[0023] Optionally, the integrated motor includes a housing and a first motor, a second motor and a third motor disposed in the housing, the rotating shafts of the first motor and the second motor are parallel to each other, and the first motor and the second motor are rotatably connected to the mechanical leg to drive the mechanical leg to move forward and backward relative to the fuselage;

[0024] A third pair of shafts having the same rotation axis as the shaft of the third motor is provided on one side of the shell away from the shaft of the third motor. The shaft of the third motor is rotationally connected to the fuselage to drive the integrated motor to swing left and right relative to the fuselage. The third pair of shafts is rotationally connected to the buffer assembly.

[0025] Optionally, the mechanical leg comprises a driving arm, a driven arm and an energy storage component, wherein the energy storage component is installed on the driven arm so that when the driving arm drives the driven arm to move, deformation energy is stored, and when the driving force applied by the driving arm to the driven arm disappears, the energy storage component releases the stored energy to drive the driven arm to reset;

[0026] The driving arm comprises a third connecting rod and a fifth connecting rod, and the first driving end of the third connecting rod is rotatably connected to the first motor; the driven arm comprises a first connecting rod, a second connecting rod, a fourth connecting rod and a connecting piece, and the second driving end of the second connecting rod is rotatably connected to the second motor; the driving arm comprises a third connecting rod and a fifth connecting rod, and the first driving end of the third connecting rod is rotatably connected to the first motor, and the second driving end of the second connecting rod is rotatably connected to the second motor; the first driven arm comprises a first connecting rod, a second connecting rod and a fourth connecting rod;

[0027] The first connecting rod and the second connecting rod are rotatably connected to form a first rotation fulcrum;

[0028] The third connecting rod is rotatably connected to the second connecting rod to form a second rotation fulcrum;

[0029] The third connecting rod and the fourth connecting rod are rotatably connected to form a third rotation fulcrum;

[0030] The second connecting rod and the fourth connecting rod are rotatably connected through the connecting member, and form a fourth rotation fulcrum and a fifth rotation fulcrum respectively;

[0031] The second connecting rod, the third connecting rod, the fourth connecting rod and the connecting member form a quadrilateral between the second rotation fulcrum, the third rotation fulcrum, the fifth rotation fulcrum and the fourth rotation fulcrum;

[0032] The first connecting rod is rotatably connected to the third connecting rod to form a sixth rotation fulcrum.

[0033] The mechanical device proposed by the present invention includes a fuselage, an integrated motor, a mechanical leg and a buffer assembly, wherein the integrated motor is installed on the fuselage and is connected to the mechanical leg drive; the buffer assembly connects the integrated motor and the fuselage; the buffer assembly is used to be in an initial state when the impulse transmitted to the integrated motor by the mechanical leg is less than a preset impulse; and to be in a deformed state when the impulse transmitted to the integrated motor by the mechanical leg is greater than the preset impulse, so as to alleviate the impulse transmitted to the integrated motor by the mechanical leg. When the mechanical leg is subjected to the impact of an external force, the force of the external force on the ground-contacting end of the mechanical leg at this moment is much greater than the preset impulse of the buffer assembly, and the transmission speed of the impulse is much greater than the rotation speed of the motor, and the shaft of the integrated motor is equivalent to not rotating. At this time, the buffer assembly is deformed to offset the impact of the external force, alleviate or even eliminate the reaction force transmitted from the ground-contacting end to the shaft of the integrated motor, avoid the reversal of the shaft of the integrated motor, play a role in protecting the integrated motor, greatly improve the impact resistance of the integrated motor, and enable the mechanical device to be applied to more scenarios. The integrated motor and buffer components are placed in the body of the mechanical device, making the entire leg structure more streamlined and lightweight, more agile and faster at high-speed movement. The mechanical leg is a purely mechanical structure, which is more stable and safe. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0035] Figure 1 It is a structural schematic diagram of an embodiment of the mechanical device of the present invention;

[0036] Figure 2 is a structural schematic diagram of another embodiment of the mechanical device of the present invention;

[0037] Figure 3 It is a structural schematic diagram of another embodiment of the mechanical device of the present invention;

[0038] Figure 4 for Figure 1-3 A schematic structural diagram of an embodiment of an integrated motor and a mechanical leg;

[0039] Figure 5 for Figure 1-3 A schematic structural diagram of another embodiment of an integrated motor and a mechanical leg.

[0040] Description of Figure Numbers:

[0041]

[0042] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0043] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0044] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back...), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0045] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0046] In the prior art, when a robot falls from a high place to the ground, the instantaneous impact force of the ground on the legs is transmitted to the drive motor, which easily causes damage to the motor.

[0047] The present invention proposes a mechanical device, such as Figure 1 , Figure 2 as well as Figure 3As shown, it includes a fuselage 1, an integrated motor 10, a mechanical leg 2, and a buffer assembly 40, wherein the integrated motor 10 is installed on the fuselage 1 and is drivingly connected to the mechanical leg 2 to drive the mechanical leg 2 to move relative to the fuselage 1, and the buffer assembly 40 connects the integrated motor 10 and the fuselage 1 to fix the integrated motor 10 on the fuselage 1. The buffer assembly 40 is used to be in an initial state when the impulse transmitted to the integrated motor 10 by the mechanical leg 2 is less than a preset impulse; and to be in a deformed state when the impulse transmitted to the integrated motor 10 by the mechanical leg 2 is greater than the preset impulse, so as to alleviate the reaction force transmitted to the integrated motor 10 by the mechanical leg 2. When the mechanical leg 2 falls from a height or the ground-touching end 341 is subjected to a strong impact force from an external force, the impact force of the ground or external force on the ground-touching end 341 of the mechanical leg 2 at this moment is much greater than the preset impact force of the buffer component 40, and the transmission speed of the impact force is much greater than the rotation speed of the motor. At this moment, the rotating shaft of the integrated motor 10 is equivalent to not rotating, and the impact force of the ground is transmitted to the buffer component 40 through the mechanical leg 2. The buffer component 40 deforms to alleviate or even eliminate the reaction force transmitted from the ground-touching end 341 to the rotating shaft of the integrated motor 10, avoiding irreversible damage to the internal gears of the integrated motor 10, playing a role in protecting the integrated motor 10, greatly improving the impact resistance of the integrated motor 10, and allowing the mechanical device to be applied to more scenarios. Moreover, the integrated motor 10 and the buffer component 40 are both placed in the fuselage 1 of the mechanical device, making the entire leg structure more streamlined and lightweight, more agile at high-speed movement, and faster movement speed, and the mechanical leg 2 is a pure mechanical structure, which is more stable and safe.

[0048] In one embodiment, if Figure 1 As shown, the integrated motor 10 has a first rotating shaft 1041, and the buffer assembly 40 connects the first rotating shaft 1041 of the integrated motor 10 and the fuselage 1 to connect the integrated motor 10 to the fuselage 1. Preferably, the direction of the first rotating shaft 1041 is parallel to the forward direction of the fuselage 1, so that the integrated motor 10 and the mechanical leg 2 rotatably connected to the integrated motor 10 can perform side swing motion along the fuselage 1 as a whole.

[0049] Furthermore, the buffer assembly 40 includes a transmission block 44, a first transmission rod 45, a second transmission rod 46 and an elastic member 41, wherein the integrated motor 10 includes a first motor 101, a second motor 102 and a third motor 104 integrated in the housing 103, the third motor 104 has a first rotating shaft 1041 extending out of the housing 103 and is rotatably connected to the transmission block 44, the first motor 101 and the second motor 102 are respectively connected to the mechanical leg 2, and drive the mechanical leg 2 to move with two degrees of freedom, so that the mechanical leg 2 moves faster and the movement is more flexible and variable. It should be noted that the third motor 104 can be a single-axis motor or a double-axis motor, or an opposite side shaft can be added to the opposite side of the single-axis motor. In this embodiment, considering the production cost of the integrated motor 10, the stability of the installation, and the service life and protection effect of the motor, the third motor 104 is a single-axis motor, and the opposite side of the third motor 104 integrates an opposite side shaft with the same rotation axis as the output shaft of the third motor 104. The output shaft and the opposite side shaft of the third motor 104 together constitute the first rotating shaft 1041, which is low in cost and can effectively improve the strength of the rotating shaft of the third motor 104, and at the same time make the connection between the entire integrated motor 10 and the fuselage 1 more stable. Preferably, the transmission block 44 is an inverted U-shaped rod, wherein the two opposite rods are respectively rotatably connected to the output shaft and the opposite side shaft of the third motor 104, so as to support and fix the integrated motor 10.

[0050] Further, one end of the first transmission rod 45 is rotatably connected with the transmission block 44 to form a first fulcrum 451, and the other end of the first transmission rod 45 is rotatably connected with the fuselage 1 to form a second fulcrum 452. It should be noted that the transmission rod can be a straight rod, or it can be composed of multiple straight rods, or a connecting member 34 of other shapes, which is not limited here. In this embodiment, as shown in the figure, the first transmission rod 45 is composed of two straight rods arranged opposite to each other, and one end of the two straight rods is respectively rotatably connected with the two opposite rods of the transmission block 44 which is a U-shaped rod, forming a first fulcrum 451 with the same rotation axis, and the other ends of the two straight rods can be respectively rotatably connected with the fuselage 1, or can be combined and rotatably connected with the fuselage 1. In this embodiment, considering the installation position of the elastic member 41 and the elastic member 41 being more uniform when subjected to the extrusion force, the other ends of the two straight rods are selected to be connected with a connecting rod, and then extended toward the side close to the fuselage 1 along the pointing direction of the straight rod at the middle position of the connecting rod, and rotatably connected with the fuselage 1 to form a second fulcrum 452. Correspondingly, the second transmission rod 46 is placed above the first transmission rod 45, and is connected in the same manner as the first transmission rod 45. It is rotatably connected to the transmission block 44 to form a third fulcrum 461, and is rotatably connected to the fuselage 1 to form a fourth fulcrum 462, which will not be described in detail here.

[0051] As a preferred embodiment, the lines connecting the first fulcrum 451, the second fulcrum 452, the fourth fulcrum 462 and the third fulcrum 461 in sequence form a quadrilateral, so that the four-bar structure composed of the transmission block 44, the first transmission rod 45, the second transmission rod 46 and the fuselage 1 forms a stable force transmission structure. When the mechanical leg 2 is subjected to an impact force greater than a preset impact force, the force acting on the integrated motor 10 can be transmitted to the buffer assembly 40 to protect the integrated motor 10.

[0052] Furthermore, one end of the elastic member 41 may be mounted on the first transmission rod 45, and the other end may be rotationally connected to the fuselage 1. One end of the elastic member 41 may also be mounted on the second transmission rod 46, and the other end may be rotationally connected to the fuselage 1. This is all feasible, and is not limited here one by one, and is implemented according to the specific structure. In this embodiment, one end of the elastic member 41 is mounted on the first transmission rod 45, so that when the impulse transmitted to the integrated motor 10 by the mechanical leg 2 is greater than the preset impulse, the elastic member 41 is deformed under the rotation of the first transmission rod 45 to alleviate the impulse transmitted to the integrated motor 10 by the mechanical leg 2, thereby protecting the motor.

[0053] In one embodiment, the first rotating shaft 1041 is located between the first fulcrum 451 and the third fulcrum 461 on the transmission block 44, so that the entire buffer assembly 40 can more stably connect and fix the integrated motor 10 to the fuselage 1, and when the mechanical leg 2 of the entire mechanical device is subjected to the impact of the ground, the relative rotation of the first transmission rod 45 and the second transmission rod 46 to play a buffering role is decoupled from the side swing movement of the integrated motor 10 relative to the fuselage 1, so that it can play a buffering role while not affecting the side swing of the integrated motor 10.

[0054] In one embodiment, if Figure 1As shown, the second transmission rod 46 includes a first section 463 placed between the third fulcrum 461 and the fourth fulcrum 462 and a second section 464 extending from the fourth fulcrum 462 in a direction away from the third fulcrum 461, one end of the buffer assembly 40 is rotationally connected to the second section 464, and the other end of the buffer assembly 40 is rotationally connected to the fuselage 1. When the mechanical leg 2 is subjected to an upward impulse, the force is transmitted to the integrated motor 10 and then to the second transmission rod 46, so that the first section 463 of the second transmission rod 46 is subjected to an upward force, and the two ends of the second transmission rod 46 use the fourth fulcrum 462 as the pivot point to make the second section 464 of the second transmission rod 46 move downward. In this embodiment, the elastic member 41 is a spring 41a. When one end of the elastic member 41 is connected to the bottom of the second section 464 of the second transmission rod 46 and the other end is fixed directly below the end of the second transmission rod 46 away from the third fulcrum 461, the elastic member 41 is vertically fixed on the fuselage 1. At this time, when the impulse transmitted to the integrated motor 10 by the mechanical leg 2 is greater than the preset impulse, the spring 41a is compressed to relieve the impulse transmitted to the integrated motor 10 by the mechanical leg 2. At this time, the elastic member 41 is compressed and deformed to play a buffering role.

[0055] In other embodiments, the elastic member 41 is a spring 41a. When one end of the spring 41a is connected to the top of the second transmission rod 46, the other end is fixed directly above the end of the second transmission rod 46 away from the third fulcrum 461. When the impulse transmitted by the mechanical leg 2 to the integrated motor 10 is greater than the preset impulse, the spring 41a stretches and deforms to relieve the impulse transmitted by the mechanical leg 2 to the integrated motor 10, and can also play a buffering protection effect, which is not explained here one by one.

[0056] Furthermore, the deformation direction of the elastic member 41 is set at an angle with the second section 464, and the angle is not less than 60° and not more than 120°. When the deformation direction of the elastic member 41 is between 60° and 120°, when the leg is driven by the impact of the ground to drive the second transmission rod 46 to move upward, the impact is more easily transmitted to the buffer assembly 40 through the second transmission rod 46, so that the buffering effect is better, the buffering of the impact force is more timely, so as to better protect the drive motor and improve the impact resistance of the entire mechanical device.

[0057] In another embodiment, if Figure 2As shown, one end of the elastic member 41 can be rotatably connected to the first transmission rod 45 placed between the first fulcrum 451 and the second fulcrum 452, one end of the elastic member 41 can also be rotatably connected to the first transmission rod 45 placed between the first fulcrum 451 and the second fulcrum 452, and the other end of the elastic member 41 is rotatably connected to the fuselage 1. The first transmission rod 45 is located below the second transmission rod 46. Considering the overall height of the fuselage 1, preferably, when one end of the elastic member 41 is rotated and connected to the middle of the first transmission rod 45 placed between the first fulcrum 451 and the second fulcrum 452, the position where the other end of the elastic member 41 is rotated and connected to the fuselage 1 is higher than the position of the fourth fulcrum 462, and the angle between the deformation direction of the first transmission rod 45 and the elastic member 41 is not less than 15° and not greater than 75°, such as 15°, 30°, 45°, 62°, 75° and any angle therebetween are feasible, so that the elastic member 41 points obliquely upward to the fuselage 1, so that when the mechanical leg 2 falls from a height and is subjected to the impact of the ground, the force originally transmitted to the driving shaft of the integrated motor 10 along the leg structure is transmitted to the buffer assembly 40, so that the first transmission rod 45 and the second transmission rod 46 are rotated, thereby driving the buffer assembly 40 to compress and deform obliquely upward to play a buffering role, thereby protecting the drive motor from being damaged by the impact of the ground, so that the entire mechanical device can be applied to more sports scenes. Alternatively, one end of the elastic member 41 is rotationally connected to the middle part of the second transmission rod 46, and the position where the other end of the elastic member 41 is rotationally connected to the fuselage 1 is lower than the position of the second fulcrum 452, and the angle between the deformation direction of the second transmission rod 46 and the elastic member 41 is not less than 15° and not more than 75°, such as 15°, 30°, 45°, 62°, 75° and any angle therebetween, that is, the elastic member 41 is fixed obliquely downward to the fuselage 1, and when the mechanical leg 2 falls from a height and is subjected to the impact of the ground, the stretching deformation of the elastic member 41 can also play a corresponding buffering role. In this embodiment, the elastic member 41 is selected to be a spring 41a, one end of the spring 41a is rotatably connected to the first transmission rod 45, and the other end is fixed on the fuselage 1 and located above the fourth fulcrum 462. The angle between the deformation direction of the first transmission rod 45 and the elastic member 41 is 45°. The middle part of the first transmission rod 45 protrudes in the direction away from the fuselage 1 with a protrusion 453, and one end of the elastic member 41 is rotatably connected to the protrusion 453, so that the elastic member 41 and the second transmission rod 46 are staggered in space and will not interfere with each other, and the structural design is more reasonable. Of course, in other embodiments, one end of the elastic member 41 can also be directly connected to the first connecting rod 31, and the second connecting rod 32 is provided with an avoidance hole at the intersection with the elastic member 41 in space, which is also feasible and will not be explained and limited one by one here.

[0058] It should be noted that the first transmission rod 45 and the second transmission rod 46 can be a single rod, or can be composed of two connecting rods mirror-connected to the first rotating shaft 1041 and the symmetry axis of the first rotating shaft 1041. This is not limited here and can be adjusted according to the size of the integrated motor 10 actually used and the compactness of the entire mechanical device structure.

[0059] Furthermore, the elastic member 41 further comprises a guide rod 42 and a guide sleeve 43, one of which is rotatably connected to the first transmission rod 45 or the second transmission rod 46, and the other of which is rotatably connected to the fuselage 1; the guide rod 42 is inserted into the guide sleeve 43 and slidably matched with the guide sleeve 43, and the spring 41a is sleeved on the guide rod 42 and the guide sleeve 43 and abuts against the fuselage 1 and the first or second transmission connecting rod respectively. That is, the guide rod 42 is inserted into the guide sleeve 43 and slidably matched with the guide sleeve 43. The guide sleeve 43 has a guide groove for the guide rod 42 to perform piston movement, so that when the mechanical leg 2 is subjected to the reverse force of the driven arm 30, the guide rod 42 performs a stretching movement along the guide groove direction of the guide sleeve 43, providing a force deformation direction for the spring 41a, preventing the spring 41a from bending and deforming under force, causing the entire buffer assembly 40 to deform, thereby affecting the plane movement stability of the entire mechanical leg 2. In this embodiment, the guide rod 42 is fixed on the first transmission rod 45, and the guide sleeve 43 is fixed on the fuselage 1, so that when the impulse transmitted by the mechanical leg 2 to the integrated motor 10 is greater than the preset impulse, the guide rod 42 moves in the guide groove, and the spring 41a is compressed to buffer the impulse and prevent damage to the integrated motor 10. When the mechanical leg 2 does not give the integrated motor 10 an impulse, the elastic member 41 recovers its deformation, driving the mechanical leg 2 to recover to the state before the deformation by the buffer assembly 40, without affecting the motion structure of the mechanical leg 2, so that the movement of the entire mechanical leg 2 is more stable.

[0060] In yet another embodiment, Figure 3As shown, the buffer assembly 40 also includes a third transmission rod 47, and the third transmission rod 47 includes a first part 471, a second part 472 and a third part 473 which are rotatably connected in sequence, and the connection between the first part 471 and the second part 472 is rotatably connected to the fuselage 1. Preferably, the first part 471 and the second part 472 are vertically connected, and the first part 471 of the third transmission rod 47 can be located above the fuselage 1, and the third part 473 is rotatably connected to the first transmission rod 45. When the impulse transmitted to the integrated motor 10 by the mechanical leg 2 is greater than the preset impulse, the first transmission rod 45 drives the first part 471 and the second part 472 to rotate relative to the fuselage 1 about the first axis through the third part 473. Among them, the elastic member 41 is a spring 41a, and in this embodiment, the first axis direction is perpendicular to the first rotating shaft 1041. When the impulse transmitted by the mechanical leg 2 to the integrated motor 10 is greater than the preset impulse, the second part 472 drives the spring 41a to be compressed and deformed along the second axis direction when rotating along the first axis to relieve the impulse transmitted by the mechanical leg 2 to the integrated motor 10. In this embodiment, the second axis direction is parallel to the first rotating shaft 1041. That is, the vertical upward impulse received by the mechanical leg 2 is converted into an impulse along the direction of the third part 473, that is, a horizontal impulse, through the third transmission rod 47. The elastic member 41 is fixedly connected to one end of the first part 471 away from the second part 472, and the other end of the elastic member 41 is rotatably connected to the fuselage 1, so that the elastic member 41 can be horizontally fixed on the fuselage 1 of the mechanical device, and the entire buffer structure occupies less space in the fuselage 1. While playing a buffering role, it does not affect the structure of the fuselage 1 itself.

[0061] It should be noted that, in other embodiments, the third part 473 can also be rotatably connected to the first transmission rod 45. In this case, the first part 471 of the third transmission rod 47 is arranged below the fuselage 1, and the corresponding elastic member 41 is also laterally fixed below the fuselage 1 relative to the fuselage 1, so that the elastic member 41 has a larger space for deformation and can also play the buffering effect of the above-mentioned embodiment.

[0062] Furthermore, in this embodiment, the elastic member 41 also includes a guide rod 42 and a guide sleeve 43. The guide rod 42 is inserted into the guide sleeve 43. The spring 41a is sleeved on the guide rod 42 and the guide sleeve 43, and the two ends of the spring 41a are respectively abutted against the first part 471 of the third transmission rod 47 and the fuselage 1, and one end of the guide rod 42 is rotatably connected to the third part 473 away from the end connected to the second part 472. The other end of the guide rod 42 is inserted into the guide sleeve 43 and reciprocates along the guide sleeve 43. The guide sleeve 43 has a guide groove for the guide rod 42 to perform piston movement. The end of the guide sleeve 43 away from the guide rod 42 is rotatably connected to the fuselage 1 so that it is placed horizontally relative to the fuselage 1. When the impulse transmitted to the integrated motor 10 by the mechanical leg 2 is greater than the preset impulse, the guide rod 42 performs a stretching movement along the guide groove direction, providing a force deformation direction for the spring 41a, thereby preventing the spring 41a from bending and deforming under force, causing the entire buffer assembly 40 to deform, thereby affecting the planar motion stability of the entire mechanical leg 2. And when the mechanical leg 2 does not transmit the impulse to the integrated motor 10, the spring 41a returns to its original state under its own elastic force, driving the mechanical leg 2 to return to the state before the deformation of the buffer component 40, without affecting the motion structure of the mechanical leg 2, making the movement of the entire mechanical leg 2 more stable.

[0063] In one embodiment, the integrated motor 10 includes a housing 103 and a first motor 101, a second motor 102 and a third motor 104 integrated in the housing 103. The rotating shafts of the first motor 101 and the second motor 102 are parallel to each other. The first motor 101 and the second motor 102 are rotatably connected to the mechanical leg 2 to drive the mechanical leg 2 to move forward and backward relative to the fuselage 1. Specifically, when the first motor 101 and the second motor 102 jointly drive the mechanical leg 2 to rotate along the second direction, the mechanical leg 2 as a whole can move forward and backward and up and down relative to the fuselage 1. The entire mechanical leg 2 is jointly driven by the first motor 101, the second motor 102 and the third motor 104. The three motors are driven at the same time or the three motors coordinate to drive and control the mechanical leg 2, so that the entire mechanical leg 2 can achieve movement in a three-dimensional space. By individually controlling the forward and reverse rotation of each motor, the entire mechanical leg 2 has more movement modes, and the end of the slave arm 30 away from the driving motor can reach a specified point in the three-dimensional space, and the position of any point on the mechanical leg 2 can be completed through the robot forward and reverse learning to complete the mutual conversion between each driving motor, so that the control of the entire mechanical action arm is simpler. Furthermore, the integrated motor 10 of the mechanical device is located on the body 1, so that no additional drive components need to be installed on the entire mechanical leg 2, which can effectively reduce the weight of the mechanical leg 2 and further make its movement more flexible and reliable.

[0064] It should be noted that the first motor 101, the second motor 102 and the third motor 104 can be single-axis motors or dual-axis motors, and can be selected according to the size of the mechanical leg 2 and the specific movement requirements. In the present embodiment, considering the cost of the motor, as well as the size and cost of the entire mechanical action arm, the first motor 101 and the second motor 102 are single-axis motors. In other embodiments, according to actual use needs, the first motor 101, the second motor 102 and the third motor 104 can be dual-axis motors accordingly, which are not limited here.

[0065] Furthermore, when the first motor 101 and the second motor 102 are both single-axis motors, the side of the housing 103 away from the rotating shaft of the first motor 101 has a first pair of side shafts with the same rotating axis as the rotating shaft of the first motor 101, and the first driving end 201 includes a first active end 2011 connected to the rotating shaft of the first motor 101 and a first connecting end 2012 connected to the first pair of side shafts, that is, the first driving end 201 of the driving arm 20 is forked into a first active end 2011 and a first connecting end 2012 arranged at intervals, and are respectively rotatably connected to the rotating shaft of the first motor 101 and the first pair of side shafts, thereby improving the bearing capacity of the rotating shaft of the first motor 101, so that when the entire mechanical leg 2 is larger, the rotating shaft of the first motor 101 is more evenly subjected to gravity, and the rotating shaft of the motor is not easily damaged when impacted by external force, while also improving the stability of the structure of the entire mechanical leg 2 and reducing the impact force of the driven arm 30 of the mechanical leg 2 on the rotating shaft and rigidity of the motor when it touches the ground at high speed. The connection method of the corresponding second motor 102 is consistent with the connection method of the first motor 101, and will not be described in detail here.

[0066] In one embodiment, if Figure 4 , Figure 5As shown, the mechanical leg 2 includes a driving arm 20, a driven arm 30 and an energy storage member 50, the energy storage member 50 is installed on the driven arm 30, so that when the driving arm 20 drives the driven arm 30 to move, deformation energy storage is performed, and when the driving force applied by the driving arm 20 to the driven arm 30 disappears, the energy storage member 50 releases the stored energy to drive the driven arm 30 to reset; the driving arm 20 includes a third connecting rod 21 and a fifth connecting rod 22, the first driving end 201 of the third connecting rod 21 is rotatably connected to the first motor 101, and the second driving end 202 of the second connecting rod 32 is rotatably connected to the second motor 102; the first driven arm 30 includes a first connecting rod 31, a second connecting rod 32 and a fourth connecting rod 33; the first connecting rod 31 and the second connecting rod 22 are connected to the second motor 102; the first driven arm 30 includes a first connecting rod 31, a second connecting rod 32 and a fourth connecting rod 33; the first connecting rod 31 and the second connecting rod 22 are connected to the second motor 102; the second driven arm 30 includes a first connecting rod 31, a second connecting rod 32 and a fourth connecting rod 33; the first connecting rod 31 and the second connecting rod 22 are connected to the first motor 101 and the second driving end 202 of the second connecting rod 32 are connected to the second motor 102; the first ... 32 is rotatably connected to form a first rotating fulcrum 311; the third link 21 and the second link 32 are rotatably connected to form a second rotating fulcrum 321; the third link 21 and the fourth link 33 are rotatably connected to form the third rotating fulcrum 211; the second link 32 and the fourth link 33 are rotatably connected through the connecting member 34 to form a fourth rotating fulcrum 322 and a fifth rotating fulcrum 331 respectively; the second link 32, the third link 21, the fourth link 33 and the connecting member 34 form a quadrilateral between the second rotating fulcrum 321, the third rotating fulcrum 211, the fifth rotating fulcrum 331 and the fourth rotating fulcrum 322; the first link 31 is rotatably connected to the third link 21 to form a sixth rotating fulcrum 221. In detail, when the first driving end 201 of the fifth connecting rod 22 is driven by the first motor 101, the fifth connecting rod 22 rotates with the rotation center line of the first driving end 201 as the axis, and drives the first connecting rod 31 to rotate with the sixth rotation fulcrum 221 as the axis, the second connecting rod 32 to rotate with the first rotation fulcrum 311 as the axis, and the fourth connecting rod 33 to rotate with the third rotation fulcrum 211. The connecting member 34 follows the fourth connecting rod 33 with the fifth rotation fulcrum 331 as the axis, and follows the second connecting rod 32 with the fourth rotation fulcrum 322 as the axis, and the third connecting rod 21 rotates with the second connecting rod 32. When one of the driving ends is driven, the entire connecting rod structure can be driven, so there is no need to add motors or electronic components to the rod body, so that the entire mechanical leg 2 is composed of pure machinery, with high reliability and easy maintenance.

[0067] It should be noted that the connecting rods are rotationally connected by hinges. The first connecting rod 31, the second connecting rod 32, the third connecting rod 21, the fourth connecting rod 33 and the fifth connecting rod 22 are all rigid rods. During the rotation process, each connecting rod will not undergo deformation such as elongation or compression due to changes in the force, so that the movement trajectory of each connecting rod during the rotation process is more stable.

[0068] Several installation methods of the energy storage element 50 are as follows: Figure 4As shown, the energy storage member 50 is a tension spring 501, one end of the tension spring 501 is connected to the second connecting rod 32, and the other end of the tension spring 501 is connected to the fourth connecting rod 33. Alternatively, one end of the tension spring 501 is connected to the third connecting rod 21, and the other end of the tension spring 501 is connected to the fourth connecting rod 33. Alternatively, one end of the tension spring 501 is connected to the second connecting rod 32, and the other end of the tension spring 501 is connected to the third connecting rod 21. Alternatively, one end of the tension spring 501 is connected to the second connecting rod 32, the third connecting rod 21 and the fourth connecting rod 33, and the other end of the tension spring 501 is connected to the connecting member 34. When the driving arm 20 is driven by the first motor 101 and the second motor 102, the quadrilateral formed by the second connecting rod 32, the third connecting rod 21, the fourth connecting rod 33 and the rotating connection fulcrum of the connecting member 34 deforms with the driving arm 20, and the stretch spring 501 is stretched accordingly, and the energy storage can achieve the energy storage effect, and the stretch spring 501 can tighten the entire quadrilateral structure, which can reduce or even eliminate the transmission gap between the first driven arm 30 and the connecting member 34, so that the entire mechanical leg 2 structure moves more smoothly. It can be known that when the length of the stretch spring 501 is longer, the deformation range of the two end points connected to the formed quadrilateral is larger, and the energy storage effect is better. According to the actual energy storage performance required by the mechanical leg 2, the two connecting ends of the stretch spring 501 can be adjusted by themselves. As long as it can rotate with the driving arm 20, when the connecting member 34 moves toward the first driven arm 30, the stretch spring 501 can be deformed and stretched to store energy, which is feasible, and is not limited here one by one.

[0069] It should be noted that when one end of the stretch spring 501 is connected to the connecting rods corresponding to two adjacent sides of the quadrilateral, one end of the stretch spring 501 is staggered with the position of the rotation fulcrum corresponding to the two adjacent sides, so that when the shape of the quadrilateral composed of the second connecting rod 32, the third connecting rod 21, the fourth connecting rod 33 and the connecting member 34 changes, that is, the angle between the connecting member 34 and the second connecting rod 32 becomes smaller, the stretch spring 501 can be stretched to store energy, so that when the driving arm 20 is not driven, the stretch spring 501 recovers its deformation under the action of its own elastic force, and never gives the connecting member 34 a force away from the second connecting rod 32, reducing the dependence of the connecting member 34 on the motor drive, thereby reducing the performance requirements of the first motor 101 and the second motor 102, reducing the performance requirements of the entire mechanical leg 2 on the motor, and realizing high-speed and flexible movement of the ordinary driven mechanical leg 2, thereby reducing the cost of the mechanical leg 2.

[0070] As a preferred embodiment, one end of the tension spring 501 is sleeved or fixed on the third rotating fulcrum 211 or the fourth rotating fulcrum 322, and the second connecting rod 32 has a first connecting block protruding toward the fourth connecting rod 33, and the connecting block is located on the line connecting the third rotating fulcrum 211 and the fourth rotating fulcrum 322, and the connecting block has a fixing hole for inserting the tension spring 501, and the other end of the tension spring 501 is fixed in the fixing hole of the connecting block, so that the tension spring 501 is located as a whole on the diagonal connecting line of the quadrilateral formed by the second connecting rod 32, the third connecting rod 21, the fourth connecting rod 33 and the rotating fulcrum of the connecting member 34, so that when the deformation degree of the quadrilateral is the same, the stretching length of the tension spring 501 is the longest, and the energy storage effect is better.

[0071] In other embodiments, correspondingly, one end of the tension spring 501 is sleeved or fixed on the second pivot point 321 or the fifth pivot point 331, the fourth connecting rod 33 protrudes with a second connecting block toward the second connecting rod 32, the second connecting block is provided with a mounting hole for mounting the tension spring 501, and the mounting hole of the second connecting block is located on the line connecting the second pivot point 321 and the fifth pivot point, the other end of the tension spring 501 passes through the mounting hole and is connected to the connecting block, so that the tension spring 501 is located as a whole on the diagonal connecting line of the quadrilateral formed by the pivot points of the second connecting rod 32, the third connecting rod 21, the fourth connecting rod 33 and the connecting member 34, so that when the quadrilateral is in the same degree of deformation, the tension length of the tension spring 501 is the longest, and the energy storage effect is better. It should be noted that the second connecting block can also be formed by protruding from the second connecting rod 32 and the connecting member 34, which is not limited one by one here.

[0072] In another embodiment, if Figure 5As shown, the energy storage member 50 is a torsion spring 502. The torsion spring 502 is sleeved on the second rotation fulcrum 321, and two ends of the torsion spring 502 are rotatably connected to the second connecting rod 32 and the third connecting rod 21 respectively. Specifically, the second connecting rod 32 has an avoidance groove for avoiding the third connecting rod 21, and connecting holes are provided on both sides of the avoidance groove. Correspondingly, the part of the third connecting rod 21 inserted into the avoidance groove is provided with a through hole corresponding to the connecting hole, and the rotating rod passes through the through hole of the third connecting rod 21 and the connecting hole of the second connecting rod 32 in sequence. The second connecting rod 32 and the third connecting rod 21 use this rotating rod as the second rotating fulcrum 321, and nuts are provided at both ends of the rotating rod to prevent the rotating rod from falling out. The torsion spring 502 is sleeved on the rotating rod and placed in the avoidance groove of the second connecting rod 32, one end of the torsion spring 502 is fixed in the direction of the second connecting rod 32 away from the second rotating fulcrum 321, and moves with the second connecting rod 32, and the other end of the torsion spring 502 is stuck in the third connecting rod 21 and moves with the third connecting rod 21, so that when the driving arm 20 is driven by the first motor 101 and the second motor 102, the second connecting rod 32, the third connecting rod 21, the fourth connecting rod 33 and the connecting member 3 4, the quadrilateral formed by the rotating connection fulcrum is deformed as the driving arm 20 moves, and one end of the torsion spring 502 fixed on the second link 32 is stretched away from the second rotating fulcrum 321 along with the second movement. Similarly, the other end of the torsion spring 502 fixed on the third link 21 is stretched away from the second rotating fulcrum 321 along with the movement of the third link 21 to store energy. When the driving arm 20 is not driven at the moment or is subjected to a force opposite to the original movement direction, the torsion spring 502 recovers its deformation under the action of its own elastic force and releases energy. The two ends of the torsion spring 502 respectively drive the second link 32 and the third link 21 to quickly return to their original positions, further accelerating the return of the connecting member 34 to its original position, thereby reducing the dependence of the connecting member 34 on the motor drive, reducing the performance requirements of the entire mechanical leg 2 on the motor, and achieving the purpose of ordinary motors being able to drive the mechanical leg 2 to move at high speed and flexibly, thereby reducing the production cost of the mechanical leg 2. And the torsion spring 502 is installed at the second rotating fulcrum 321, which can make the distance between the second connecting rod 32 and the fourth connecting rod 33 as close as possible. The fourth connecting rod 33 only plays a transmission role, so the smaller the space occupied by the fourth connecting rod 33, the more streamlined the rod structure of the entire mechanical leg 2 is, and the better the movement effect is. Therefore, installing the torsion spring 502 at the second rotating fulcrum 321 can reduce the size of the fourth connecting rod 33 as much as possible, making the transmission part structure of the entire mechanical leg 2 more streamlined and more flexible and reliable during high-speed movement.

[0073] It should be noted that, in other embodiments, the torsion spring 502 may be sleeved on the rotating rod constituting the third rotating fulcrum 211, and the two movable ends of the torsion spring 502 may be respectively fixed on the third connecting rod 21 and the fourth connecting rod 33. Alternatively, when the torsion spring 502 is sleeved on the rotating rod constituting the fifth rotating fulcrum 331, the two movable ends of the torsion spring 502 may be respectively fixed on the second connecting rod 32 and the second transmission rod 46; when the torsion spring 502 is sleeved on the rotating rod constituting the fourth rotating fulcrum 322, and the two movable ends are respectively fixed on the second connecting rod 32 and the second transmission rod 46, the same buffering energy storage effect can be achieved. The above three installation methods of the torsion spring 502 are consistent with the above embodiments, and will not be described one by one here. It should be further explained that installing the torsion spring 502 on the second rotation fulcrum 321 or the fourth rotation fulcrum 322 has a better effect than installing the torsion spring 502 on the third rotation fulcrum 211 or the fifth rotation fulcrum 331, and the response of the torsion spring 502 is faster while occupying less space.

[0074] It should be further explained that the torsion spring 502 with different elastic coefficients can be replaced to adapt to the mechanical leg 2 equipped with electrodes of different rotation speeds and torques, so that the energy storage effect is better without affecting the connection structure of the entire mechanical leg 2.

[0075] In one embodiment, the first connecting rod 31 has a first input end and a first output end opposite to each other, the second connecting rod 32 has a second input end and a second output end opposite to each other, the first output end is rotatably connected with the second input end to form a first rotation fulcrum 311, the second output end is hinged with the connecting member 34 to form a fourth rotation fulcrum 322, the second rotation fulcrum 321 is located between the second input end and the second output end, and the third rotation fulcrum 211 is located between the second driving end 202 and the second rotation fulcrum 321. The rotation points of each connecting rod are set at the ends of each connecting rod, so that multiple connecting rods will not interfere with each other during the rotation process, and the range of motion is larger while the structure is more streamlined.

[0076] Furthermore, a first connecting hole is provided at the rotational connection between the first connecting rod 31 and the second connecting rod 32, and a first matching hole is provided at the matching position of the second connecting rod 32. The first connecting hole and the second connecting hole are aligned, and the first rotating rod passes through the first connecting hole and the second connecting hole in sequence to rotationally connect the first connecting rod 31 and the second connecting rod 32. The first rotating rod is fixed with a screw to facilitate the disassembly and assembly of each connecting rod. The rotating rod serves as the first rotating fulcrum 311. The rotational connection method formed between each connecting rod is consistent. It should be noted that the first connecting rod 31 can be a side of the rotational connection with the second connecting rod 32, or it can be inserted into the interior of the second connecting rod 32. The specific rotation method can be set according to the use requirements and is not limited here.

[0077] In one embodiment, the first connecting rod 31 has a first input end and a first output end opposite to each other, the second connecting rod 32 has a second input end and a second output end opposite to each other, the first output end is rotatably connected with the second input end to form a first rotation fulcrum 311, the second output end is hinged with the connecting member 34 to form a fourth rotation fulcrum 322, the second rotation fulcrum 321 is located between the second input end and the second output end, and the third rotation fulcrum 211 is located between the second driving end 202 and the second rotation fulcrum 321. The rotation points of each connecting rod are set at the ends of each connecting rod, so that multiple connecting rods will not interfere with each other during the rotation process, and the range of motion is larger while the structure is more streamlined.

[0078] It should be noted that the rod-shaped first connecting rod 31, the second connecting rod 32, the third connecting rod 21, the fourth connecting rod 33 and the fifth connecting rod 22 are only one combination method. According to actual usage requirements, when multiple connecting rods are combined, installation positions can be reserved for each other. They can be staggered rotation connections or snap-in rotation connections. The shape of each connecting rod is not limited. It can be rod-shaped, sheet-shaped, or block-shaped. As long as the rotation fulcrum formed by the rotation connection is a quadrilateral, they will not be explained one by one here.

[0079] Furthermore, a first connecting hole is provided at the rotational connection between the first connecting rod 31 and the second connecting rod 32, and a first matching hole is provided at the matching position of the second connecting rod 32. The first connecting hole and the second connecting hole are aligned, and the first rotating rod passes through the first connecting hole and the second connecting hole in sequence to rotationally connect the first connecting rod 31 and the second connecting rod 32. The first rotating rod is fixed with a screw to facilitate the disassembly and assembly of each connecting rod. The rotating rod serves as the first rotating fulcrum 311. The rotational connection method formed between each connecting rod is consistent. It should be noted that the first connecting rod 31 can be a side of the rotational connection with the second connecting rod 32, or it can be inserted into the interior of the second connecting rod 32. The specific rotation method can be set according to the use requirements and is not limited here.

[0080] It should be noted that the mechanical device can be used in a monoped robot, a multi-legged robot or a robotic arm.

[0081] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the inventive concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A mechanical device, characterized in that: include: body; An integrated motor, the integrated motor being mounted on the fuselage; A mechanical leg, wherein the integrated motor is drivingly connected to the mechanical leg; a buffer assembly, the buffer assembly connecting the integrated motor and the body; The buffer component is used to be in an initial state when the impulse transmitted by the mechanical leg to the integrated motor is less than a preset impulse; and to be in a deformed state when the impulse transmitted by the mechanical leg to the integrated motor is greater than the preset impulse, so as to alleviate the impulse transmitted by the mechanical leg to the integrated motor; The integrated motor has a first rotating shaft, and the buffer assembly connects the first rotating shaft of the integrated motor and the body; The buffer assembly includes a transmission block, a first transmission rod, a second transmission rod and an elastic member, the transmission block is rotatably connected to the first rotating shaft of the integrated motor, one end of the first transmission rod is rotatably connected to the transmission block to form a first fulcrum, the other end of the first transmission rod is rotatably connected to the body to form a second fulcrum, one end of the second transmission rod is rotatably connected to the transmission block to form a third fulcrum, and the other end of the second transmission rod is rotatably connected to the body to form a fourth fulcrum; The lines connecting the first fulcrum, the second fulcrum, the fourth fulcrum and the third fulcrum in sequence form a quadrilateral; One end of the elastic member is mounted on the first transmission rod or the second transmission rod, and the other end of the elastic member is connected to the fuselage, so that when the impulse transmitted by the mechanical leg to the integrated motor is greater than a preset impulse, the elastic member is deformed to relieve the impulse transmitted by the mechanical leg to the integrated motor; The second transmission rod comprises a first section disposed between the third fulcrum and the fourth fulcrum and a second section extending from the fourth fulcrum in a direction away from the third fulcrum, one end of the buffer assembly is rotatably connected to the second section, and the other end of the buffer assembly is rotatably connected to the fuselage; The buffer assembly further includes a third transmission rod, the third transmission rod includes a first part, a second part and a third part connected in sequence, and the connection between the first part and the second part is rotatably connected to the fuselage, and the third part is rotatably connected to the first transmission rod or the second transmission rod; an end of the first part away from the second part is fixedly connected to an elastic member, and the other end of the elastic member is rotatably connected to the fuselage; When the impulse transmitted by the mechanical leg to the integrated motor is greater than the preset impulse, the first transmission rod drives the first part and the second part to rotate relative to the fuselage along the first axis through the third part, and when the second part rotates along the first axis, it drives the elastic member to deform along the second axis to relieve the impulse transmitted by the mechanical leg to the integrated motor; The integrated motor includes a shell and a first motor, a second motor and a third motor arranged in the shell, the rotating shafts of the first motor and the second motor are parallel to each other, and the first motor and the second motor are rotatably connected to the mechanical leg to drive the mechanical leg to move forward and backward relative to the fuselage.

2. The mechanical device according to claim 1, characterized in that: The first rotating shaft is located between the first fulcrum and the third fulcrum on the transmission block.

3. The mechanical device according to claim 1, characterized in that: The deformation direction of the buffer component is arranged at an angle with the second section, and the angle is not less than 60° and not more than 120°.

4. The mechanical device according to claim 1, characterized in that: One end of the elastic member is rotatably connected to the first transmission rod placed between the first fulcrum and the second fulcrum, or one end of the elastic member is rotatably connected to the second transmission rod placed between the third fulcrum and the fourth fulcrum, and the other end of the elastic member is rotatably connected to the fuselage, and an angle between the first transmission rod and the elastic member is not less than 15° and not more than 75°.

5. The mechanical device according to claim 1, characterized in that: The first axis is perpendicular to the second axis, and the second axis is parallel to the rotation axis of the first rotating shaft.

6. The mechanical device according to claim 1, characterized in that: The elastic member includes a spring, one end of which is rotatably connected to the first transmission rod or the second transmission rod, and the other end of the spring is in contact with the fuselage, so that when the impulse transmitted by the mechanical leg to the integrated motor is greater than a preset impulse, the spring is compressed to alleviate the impulse transmitted by the mechanical leg to the integrated motor.

7. The mechanical device according to claim 6, characterized in that The elastic member further comprises a guide rod and a guide sleeve, one of the guide rod and the guide sleeve is arranged on the first transmission rod or the second transmission rod, and the other of the guide rod and the guide sleeve is arranged on the fuselage; The guide rod is inserted into the guide sleeve and slidably matched with the guide sleeve, and the spring sleeve is arranged on the guide rod and the guide sleeve.

8. The mechanical device according to claim 1, characterized in that: A third pair of shafts having the same rotation axis as the shaft of the third motor is provided on one side of the shell away from the shaft of the third motor. The shaft of the third motor is rotationally connected to the fuselage to drive the integrated motor to swing left and right relative to the fuselage. The third pair of shafts is rotationally connected to the buffer assembly.

9. The mechanical device according to claim 8, characterized in that The mechanical leg comprises a driving arm, a driven arm and an energy storage component, wherein the energy storage component is installed on the driven arm so that when the driving arm drives the driven arm to move, deformation energy is stored, and when the driving force applied by the driving arm to the driven arm disappears, the energy storage component releases the stored energy to drive the driven arm to reset; The driving arm includes a third connecting rod and a fifth connecting rod, and the first driving end of the third connecting rod is rotatably connected to the first motor; the driven arm includes a first connecting rod, a second connecting rod, a fourth connecting rod and a connecting member, and the second driving end of the second connecting rod is rotatably connected to the second motor; The first connecting rod and the second connecting rod are rotatably connected to form a first rotation fulcrum; The third connecting rod is rotatably connected to the second connecting rod to form a second rotation fulcrum; The third connecting rod and the fourth connecting rod are rotatably connected to form a third rotation fulcrum; The second connecting rod and the fourth connecting rod are rotatably connected through the connecting member, and form a fourth rotation fulcrum and a fifth rotation fulcrum respectively; The second connecting rod, the third connecting rod, the fourth connecting rod and the connecting member form a quadrilateral between the second rotation fulcrum, the third rotation fulcrum, the fifth rotation fulcrum and the fourth rotation fulcrum; The first connecting rod is rotatably connected to the third connecting rod to form a sixth rotation fulcrum.

Images