A mechanical leg and a robot

Abstract

The present application discloses a mechanical leg and a robot, and relates to the field of robots. The mechanical leg comprises: a driving unit, a thigh unit, a calf unit and a traveling wheel; the driving unit 11 is used to drive the traveling wheel 14 to rotate; the joint end of the thigh unit, the joint end of the calf unit and the traveling wheel are coaxially connected; the calf unit and the traveling wheel switch between unlocking and locking; the thigh unit is provided with a first claw on the side facing the calf unit, and the calf unit is provided with a second claw on the side facing the thigh unit, and the first claw and the second claw are adapted; in the wheeled motion state in which the calf unit and the traveling wheel are unlocked, the first claw and the second claw are locked to fix the calf unit and the thigh unit, and the driving unit drives the traveling wheel to rotate; in the footed motion state in which the calf unit and the traveling wheel are locked, the first claw and the second claw are unlocked, and the driving unit drives the calf unit to rotate relative to the thigh unit through the traveling wheel.

Description

Technical Field

[0001] The present application relates to the field of robots, and in particular to a mechanical leg and a robot. Background Art

[0002] Common robots are divided into two types: wheeled robots and legged robots. Wheeled robots are robots that use wheels for movement, while legged robots are robots that use multiple legs such as two legs, four legs or six legs for movement.

[0003] A related art provides a wheel-leg compound robot, in which a traveling wheel is installed on the robot's mechanical legs, so that the robot has both wheel-type and foot-type motion states. In order to enable the mechanical legs to switch between the two motion states, the mechanical legs are set based on the principle of magnetic adsorption, and the wheel-type motion state is realized when the magnets attract each other, and the foot-type motion state is realized when the magnets repel each other or disconnect.

[0004] Due to the limited adsorption force of magnetic adsorption, when the robot passes through a rough road or is impacted by a large external force, the thigh unit and the calf unit in the mechanical leg are easily detached, making the mechanical leg unable to stably maintain a wheeled motion state. Summary of the invention

[0005] The embodiment of the present application provides a mechanical leg and a robot, which ensure the posture stability of the mechanical leg in different modes by means of locking and unlocking the first claw and the second claw respectively arranged on the thigh unit and the calf unit. The technical solution includes at least the following solutions:

[0006] According to one aspect of the present application, there is provided a mechanical leg, the mechanical leg comprising: a driving unit, a thigh unit, a calf unit and a traveling wheel;

[0007] The driving unit is used to drive the traveling wheel to rotate;

[0008] The joint end of the thigh unit, the joint end of the calf unit and the traveling wheel are coaxially connected;

[0009] The lower leg unit and the travel wheels switch between unlocking and locking;

[0010] The thigh unit is provided with a first claw on a side facing the calf unit, and the calf unit is provided with a second claw on a side facing the thigh unit, and the first claw and the second claw are adapted to each other;

[0011] In the wheeled motion state in which the calf unit and the traveling wheel are unlocked, the first claw and the second claw are locked to fix the calf unit and the thigh unit, and the driving unit drives the traveling wheel to rotate;

[0012] In the foot-type motion state in which the calf unit and the traveling wheel are locked, the first claw and the second claw are unlocked, and the driving unit drives the calf unit to rotate relative to the thigh unit through the traveling wheel.

[0013] According to one aspect of the present application, a robot is provided, comprising the mechanical leg as described above.

[0014] The beneficial effects brought by the technical solution provided by the embodiment of the present application include at least:

[0015] By setting a first claw at the joint end of the thigh unit and a second claw at the joint end of the calf unit, the mechanical leg can be switched between the wheeled motion state and the footed motion state by unlocking and locking the first claw and the second claw, thereby improving the posture stability of the mechanical leg in different modes. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0017] Figure 1 is an overall schematic diagram of a mechanical leg provided by an exemplary embodiment of the present application;

[0018] Figure 2 is a schematic structural diagram of a mechanical leg provided by an exemplary embodiment of the present application;

[0019] Figure 3 is a schematic structural diagram of a first claw provided by an exemplary embodiment of the present application;

[0020] Figure 4 is a schematic structural diagram of a second claw provided by an exemplary embodiment of the present application;

[0021] Figure 5 is a partial schematic diagram of a mechanical leg provided by an exemplary embodiment of the present application;

[0022] Figure 6 is a partial schematic diagram of a mechanical leg provided by an exemplary embodiment of the present application;

[0023] Figure 7 is a schematic structural diagram of a calf unit provided by an exemplary embodiment of the present application;

[0024] Figure 8 is a schematic diagram of the structure of a sliding plug-in provided by an exemplary embodiment of the present application;

[0025] Fig. 9is an exploded view of a mechanical leg provided by an exemplary embodiment of the present application;

[0026] Fig.10 is a partial schematic diagram of a mechanical leg provided by an exemplary embodiment of the present application;

[0027] Fig.11 is a partial schematic diagram of a mechanical leg provided by an exemplary embodiment of the present application;

[0028] Fig.12 is a schematic structural diagram of a driving unit provided by an exemplary embodiment of the present application;

[0029] Fig.13 is a partial schematic diagram of a mechanical leg provided by an exemplary embodiment of the present application;

[0030] Fig.14 A schematic diagram of the structure of a mechanical leg in a wheeled motion state provided by an exemplary embodiment of the present application;

[0031] Fig.15 is a schematic structural diagram of a mechanical leg provided by an exemplary embodiment of the present application when it is in a foot-type motion state;

[0032] Fig.16 is a partial schematic diagram of a mechanical leg provided by an exemplary embodiment of the present application;

[0033] Fig.17 is a structural diagram of a robot provided by an exemplary embodiment of the present application in a wheeled motion state;

[0034] Fig.18 It is a structural diagram of a robot in a foot-based motion state provided by an exemplary embodiment of the present application.

[0035] The following is a description of the various reference numerals in the accompanying drawings:

[0036] 10- Mechanical legs;

[0037] 11-Driver unit:

[0038] 111-pulley assembly: 1111-first pulley; 1112-second pulley; 1113-synchronous belt;

[0039] 112- Joint motor;

[0040] 113- tensioning device;

[0041] 12- Thigh unit:

[0042] 121 - first thigh;

[0043] 122 - second thigh;

[0044] 13- Calf unit:

[0045] 131 - first calf;

[0046] 132 - second calf;

[0047] 14-Travel wheel:

[0048] 141-wheel baffle;

[0049] 142-wheels;

[0050] 15-First Claw:

[0051] 151-first fixed claw;

[0052] 152 - second fixed claw;

[0053] 16- Second claw:

[0054] 161-first movable claw;

[0055] 162-second movable claw;

[0056] 163 - contact surface of the second claw;

[0057] 17-sliding plug-in: 171-upper surface of the sliding plug-in;

[0058] 181- linear motor; 182- motor connector;

[0059] 19-Reset device:

[0060] 191- elastic member;

[0061] 192-sleeve;

[0062] 01-protrusion; 02-groove; 03-slideway; 041-first rod; 042-second rod; 043-third rod; 05-slot;

[0063] 20-Robot;

[0064] 21- Mechanical body. DETAILED DESCRIPTION

[0065] Unless otherwise defined, all technical terms used in the embodiments of the present application have the same meanings as commonly understood by those skilled in the art.

[0066] In the embodiments of the present application, the "front" and "rear" involved are based on the front and rear shown in the drawings. The "first end" and "second end" are two opposite ends.

[0067] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below with reference to the accompanying drawings.

[0068] Figure 1 FIG. 1 is a schematic diagram of a mechanical leg 10 according to an exemplary embodiment of the present application. The mechanical leg 10 includes a driving unit 11 , a thigh unit 12 , a calf unit 13 and a traveling wheel 14 .

[0069] The driving unit 11 is used to drive the traveling wheel 14 to rotate. The driving unit 11 is a power supply device of the mechanical leg 10 and is used to provide driving power to the mechanical leg 10 .

[0070] The specific structure of the thigh unit 12 and the calf unit 13 can be set according to actual needs. For example, the thigh unit 12 includes two symmetrical parts, which are buckled together to form the overall shape of the thigh unit 12; the calf unit 13 includes two symmetrical parts, which are buckled together to form the overall shape of the calf unit 13.

[0071] When the mechanical leg 10 is in a foot-type motion state, the traveling wheel 14 is the power transmission component of the thigh unit 12 and the calf unit 13, and the calf unit 13 is the traveling component of the mechanical leg 10; when the mechanical leg 10 is in a wheel-type motion state, the traveling wheel 14 is the traveling component of the mechanical leg 10.

[0072] Schematically, the joint end of the thigh unit 12, the joint end of the calf unit 13 and the traveling wheel 14 are coaxially connected. The coaxial connection means that the joint end of the thigh unit 12, the joint end of the calf unit 13 and the traveling wheel 14 have the same axis. Optionally, the joint end of the thigh unit 12, the joint end of the calf unit 13 and the traveling wheel 14 can achieve relative motion. For example, the calf unit 13 can rotate relative to the traveling wheel 14, and the traveling wheel 14 can also rotate relative to the calf unit 13.

[0073] Optionally, to achieve coaxial connection, through holes are provided at the joint ends of the thigh unit 12 and the calf unit 13, and a matching shaft is used to sequentially pass through the joint ends of the thigh unit 12, the traveling wheel 14, and the joint ends of the calf unit 13. That is, the joint ends of the thigh unit 12, the traveling wheel 14, and the joint ends of the calf unit 13 are sequentially sleeved on the same shaft.

[0074] Optionally, the driving unit 11 is connected to the thigh unit 12, and the traveling wheel 14 is connected to the pulley assembly 111 in the driving unit 11. The pulley assembly 111 is used to transfer the driving force provided by the driving unit 11 to the traveling wheel 14, so that the driving unit 11 can control the traveling wheel 14. Optionally, the traveling wheel 14 is movably sleeved on a pulley in the pulley assembly 11, so that the driving force provided by the driving unit 11 is transmitted to the traveling wheel 14 through the pulley. Correspondingly, the joint end of the thigh unit 12 and the joint end of the calf unit 13 are also sleeved on the pulley; or, the joint end of the thigh unit 12, the joint end of the calf unit 13 and the pulley are sleeved on the same axis.

[0075] Indicatively Figure 2 As shown, the thigh unit 12 is provided with a first claw 15 on the side facing the calf unit 13, and the calf unit 13 is provided with a second claw 16 on the side facing the thigh unit 12, and the first claw 15 and the second claw 16 are adapted. Optionally, the first claw 15 is provided on the side of the joint end of the thigh unit 12 facing the calf unit 13, and the second claw 16 is provided on the side of the joint end of the calf unit 13 facing the thigh unit 12.

[0076] The first claw 15 and the second claw 16 are used to switch between the wheeled motion state and the footed motion state of the mechanical leg 10. The shape, size, number and specific setting position of the first claw 15 and the second claw 16 can be selected according to actual needs.

[0077] Schematically, the first claw 15 is arranged at the joint end of the thigh unit 12 and close to the traveling wheel 14, and the second claw 16 is arranged at the joint end of the calf unit 13 and close to the traveling wheel 14. At the same time, the first claw 15 and the second claw 16 are at the same distance from the traveling wheel 14.

[0078] In an optional implementation scenario, one of the first claw 15 and the second claw 16 is a fixed claw, and the other is a movable claw.

[0079] Taking the example that the first claw 15 is a fixed claw and the second claw 16 is a movable claw, in the mechanical leg 10 provided in the embodiment of the present application, the first claw 15 is fixedly connected to the thigh unit 12, and the second claw 16 is rotatably connected to the calf unit 13; the second claw 16 rotates relative to the calf unit 13 to approach or move away from the first claw 15.

[0080] That is, the first claw 15 cannot move relative to the thigh unit 12, and the second claw 16 can move relative to the calf unit 13. At the same time, when the thigh unit 12 and the calf unit 13 are closed, the first claw 15 and the second claw 16 are located at the same position. Optionally, one end of the second claw 16 is movably connected to the calf unit 13, and the other end of the second claw 16 rotates relative to the calf unit 13.

[0081] The following embodiments all take the case where the first claw 15 is a fixed claw and the second claw 16 is a movable claw as an example.

[0082] Indicatively Figure 2 As shown, according to different configurations of the first claw 15 and the second claw 16, the switching of the motion state of the mechanical leg 10 is described as follows:

[0083] In the wheeled motion state in which the calf unit 13 and the traveling wheel 14 are unlocked, the first claw 15 and the second claw 16 are locked to fix the calf unit 13 and the thigh unit 12, and the driving unit 11 drives the traveling wheel 14 to rotate;

[0084] In the foot-type motion state in which the calf unit 13 and the traveling wheel 14 are locked, the first claw 15 and the second claw 16 are unlocked, and the driving unit 11 drives the calf unit 13 to rotate relative to the thigh unit 12 via the traveling wheel 14 .

[0085] This is equivalent to that, when the mechanical leg 10 is in a wheeled motion state, the calf unit 13 and the traveling wheel 14 are unlocked, and the first claw 15 and the second claw 16 are locked; when the mechanical leg 10 is in a footed motion state, the calf unit 13 and the traveling wheel 14 are locked, and the first claw 15 and the second claw 16 are unlocked.

[0086] Among them, unlocking between the calf unit 13 and the traveling wheel 14 means that the calf unit 13 and the traveling wheel 14 are movably connected, and locking between the first claw 15 and the second claw 16 means that the first claw 15 and the second claw 16 are fixedly connected, that is, the calf unit 13 and the traveling wheel 14 can move relative to each other, and the relative positions of the first claw 15 and the second claw 16 are fixed.

[0087] The locking between the calf unit 13 and the traveling wheel 14 means that the calf unit 13 and the traveling wheel 14 are fixedly connected, and the unlocking between the first claw 15 and the second claw 16 means that the first claw 15 and the second claw 16 are movably connected, that is, the relative position of the calf unit 13 and the traveling wheel 14 is fixed, and the first claw 15 and the second claw 16 can move relative to each other.

[0088] Specifically, the calf unit 13 and the traveling wheel 14 can achieve relative rotation, and the connection mode between the joint end of the calf unit 13 and the traveling wheel 14 at this time is a movable connection; the relative position of the calf unit 13 and the traveling wheel 14 is fixed, and relative movement cannot be achieved between the two, and the connection mode between the calf unit 13 and the traveling wheel 14 at this time is a fixed connection.

[0089] The locking and unlocking between the calf unit 13 and the traveling wheel 14 may be achieved in a variety of ways, including but not limited to at least one of the following ways: a snap structure, a latch structure, a clamping structure, and an elastic structure.

[0090] For example, the calf unit 13 and the traveling wheel 14 are buckle structures, a hook is provided on the calf unit 13, and a slot is provided on the traveling wheel 14, the slot will limit the hook, and the calf unit 13 and the traveling wheel 14 are locked; when the hook is withdrawn from the slot, the slot will not be able to limit the hook, and the calf unit 13 and the traveling wheel 14 are unlocked. For another example, a latch is provided at the joint end of the calf unit 13, the latch is separated from the traveling wheel 14, and the calf unit 13 and the traveling wheel 14 are unlocked; the latch is plugged into the traveling wheel 14, and the calf unit 13 and the traveling wheel 14 are locked.

[0091] Accordingly, the locking and unlocking between the first claw 15 and the second claw 16 can be achieved in a variety of ways, including but not limited to at least one of the following ways: a snap structure, a latch structure, a clamping structure, and an elastic structure.

[0092] For example, the first claw 15 and the second claw 16 are snap-fit ​​structures, and for example, the first claw 15 has a slot and the second claw 16 has a hook, when the hook is inserted into the slot, the slot will limit the hook, and the first claw 15 and the second claw 16 are locked; when the hook is withdrawn from the slot, the slot will not be able to limit the hook, and the first claw 15 and the second claw 16 are unlocked. For another example, the first claw 15 and the second claw 16 are elastic structures, and for example, the first claw 15 has a spring and the second claw 16 has a fixing, the spring is fixed by the fixing, the spring cannot be tightened or relaxed, and the first claw 15 and the second claw 16 are locked; when the spring is not fixed by the fixing, the spring can be tightened or relaxed, and the first claw 15 and the second claw 16 are unlocked.

[0093] For example, the first claw 15 is a fixed claw and the second claw 16 is a movable claw, that is, the first claw 15 is fixedly arranged at the joint end of the thigh unit 12, and the second claw 16 is movably arranged at the joint end of the calf unit 13. At this time, the unlocking and locking of the first claw 15 and the second claw 16 are achieved by the movement of the second claw 16.

[0094] Schematically, the motion states of the mechanical leg 10 include two types: a foot-type motion state and a wheel-type motion state.

[0095] Among them, in the foot-type motion state, the first claw 15 and the second claw 16 are unlocked, the calf unit 13 and the traveling wheel 14 are locked, the calf unit 13 and the thigh unit 12 are extended, the end of the calf unit 13 touches the ground, and the driving unit 11 drives the calf unit 13 to walk through the traveling wheel 14, so that the calf unit 13 rotates relative to the thigh unit 12; in the wheel-type motion state, the first claw 15 and the second claw 16 are locked, the calf unit 13 and the traveling wheel 14 are unlocked, the calf unit 13 and the thigh unit 12 are closed, the traveling wheel 14 touches the ground, and the driving unit 11 drives the traveling wheel 14 to rotate.

[0096] Accordingly, the switching of the motion state of the mechanical leg 10 is specifically described as follows:

[0097] Switching from the foot-type motion state to the wheel-type motion state: that is, the first claw 15 and the second claw 16 are changed into a locked state, and the calf unit 13 and the traveling wheel 14 are changed into an unlocked state.

[0098] Specifically, the pulley assembly 111 in the driving unit 11 drives the calf unit 13 to approach the thigh unit 12 through the traveling wheel 14, and stops when the thigh unit 12 and the calf unit 13 reach the mechanical limit. Equivalently, the pulley assembly 111 drives the traveling wheel 14 to rotate, so that the calf unit 13 approaches the thigh unit 12, and stops when the acute angle formed between the two reaches the minimum angle, so that the calf unit 13 and the thigh unit 12 are closed.

[0099] Subsequently, the second claw 16 approaches the first claw 15 until the first claw 15 and the second claw 16 are locked to form a fixed connection, so that the relative positions of the thigh unit 12 and the calf unit 13 are fixed, and relative rotation between the calf unit 13 and the traveling wheel 14 can be achieved.

[0100] That is, the first claw 15 and the second claw 16 are locked, and the calf unit 13 and the traveling wheel 14 are unlocked. At this time, the traveling wheel 14 is grounded, and the driving unit 11 drives the traveling wheel 14 to rotate, and the mechanical leg 10 is in a wheeled motion state.

[0101] Switching from the wheeled motion state to the footed motion state: that is, the first claw 15 and the second claw 16 are changed to an unlocked state, and the calf unit 13 and the traveling wheel 14 are changed to a locked state.

[0102] Specifically, the second claw 16 moves away from the first claw 15 until the first claw 15 and the second claw 16 are unlocked, and the calf unit 13 is locked with the traveling wheel 14. That is, the movement of the calf unit 13 will drive the traveling wheel 14 to move in the same manner; correspondingly, the movement of the traveling wheel 14 will drive the calf unit 13 to move in the same manner.

[0103] Subsequently, the driving unit 11 drives the calf unit 13 away from the thigh unit 12 until the calf unit 13 and the thigh unit 12 are extended. In other words, the pulley assembly 111 drives the calf unit 13 away from the thigh unit 12 by driving the rotation of the traveling wheel 14, and stops when the calf unit 13 stands upright or the obtuse angle formed between the calf unit 13 and the thigh unit 12 reaches a preset angle, thereby extending the calf unit 13 and the thigh unit 12.

[0104] At this time, the distal end of the calf unit 13 touches the ground, and the driving unit 11 drives the calf unit 13 to rotate relative to the thigh unit 12 through the traveling wheel 14, and the mechanical leg 10 is in a foot-type motion state.

[0105] According to the above content, the number and shape of the first claw 15 and the second claw 16 can be adjusted according to actual needs. When there are multiple first claws 15 and second claws 16, the setting position of the first claw 15 on the thigh unit 12 and the setting position of the second claw 16 on the calf unit 13 can also be adjusted according to actual needs. For example, the number of the first claw 15 and the second claw 16 is 1 or 2. Optionally, the shape of the first claw 15 is as follows: Figure 3 As shown, the shape of the second claw 16 is as follows Figure 4 shown.

[0106] Schematically, to achieve the matching of the first claw 15 and the second claw 16, the first claw 15 and the second claw 16 respectively have a mutually matching and oppositely oriented protrusion 01 and a groove 02. That is, the first claw 15 has a protrusion 01, and the second claw 16 has a groove 02 matching the protrusion 01.

[0107] According to different configurations of the first claw 15 and the second claw 16, the relative position relationship between the protrusion 01 and the groove 02 is described as follows:

[0108] When locked between the first claw 15 and the second claw 16, the protrusion 01 is embedded in the groove 02, so that the angle between the thigh unit 12 and the calf unit 13 remains fixed;

[0109] When the first claw 15 and the second claw 16 are unlocked, the protrusion 01 leaves the groove 02 , so that the angle fixation between the thigh unit 12 and the calf unit 13 is released.

[0110] The first claw 15 has a through hole or a threaded hole for fixing the first claw 15 to the joint end of the thigh unit 12. The protrusion 01 is in a conical round head shape and has a certain angle with the main body of the first claw 15. The second claw 16 has a through hole for movably sleeved on the joint end of the calf unit 13. The shape of the indented part of the groove 02 matches the shape of the protrusion 01, and the indented direction corresponds to that of the protrusion 01.

[0111] Illustratively, in the case of locking between the first claw 15 and the second claw 16 , the first claw 15 and the second claw 16 are locked within the calf unit 13 or the thigh unit 12 .

[0112] refer to Figure 2 , the first claw 15 and the second claw 16 are locked in the calf unit 13.

[0113] Specifically, take the first claw 15 and the second claw 16 as an example, in which the protrusion 01 and the groove 02 are respectively adapted to each other and in opposite directions. In the process of the first claw 15 and the second claw 16 changing from unlocking to locking, the calf unit 13 gradually approaches the thigh unit 12, so that the peripheral side of the joint end of the calf unit 13 and the peripheral side of the joint end of the thigh unit 12 overlap, so that the protrusion 01 on the first claw 15 can extend into the interior of the calf unit 13, and achieve locking with the groove on the second claw 16. In summary, in the mechanical leg 10 provided in the embodiment of the present application, by fixing the first claw 15 at the joint end of the thigh unit 12, and movably sleeved the second claw 16 at the joint end of the calf unit 13, according to the locking and unlocking of the first claw 15 and the second claw 16, the mechanical leg 10 is switched between the wheeled motion state and the footed motion state, thereby improving the posture stability of the mechanical leg 10 in different modes.

[0114] Specifically, the first claw 15 and the second claw 16 are locked to achieve a fixed connection between the two, and the calf unit 13 and the traveling wheel 14 are unlocked to achieve a movable connection between the two. At this time, the driving unit 11 can only drive the traveling wheel 14 to rotate, so that the mechanical leg 10 is in a wheeled motion state; the first claw 15 and the second claw 16 are unlocked to achieve separation between the two, and the calf unit 13 and the traveling wheel 14 are locked to achieve a fixed connection between the two. The driving unit 11 can drive the calf unit 13 to walk through the traveling wheel 14, so that the mechanical leg 10 is in a footed motion state.

[0115] During the mode switching process of the mechanical leg 10, there are many ways to implement the movable connection and fixed connection between the joint end of the calf unit 13 and the traveling wheel 14. Figure 5 As shown, an embodiment of the present application provides an optional implementation method, a sliding plug-in 17 is provided on the calf unit 13, and the calf unit 13 and the traveling wheel 14 are switched between unlocking and locking through the sliding plug-in 17; the sliding plug-in 17 has the freedom of movement to move away from or close to the traveling wheel 14.

[0116] The sliding plug-in unit 17 can slide relative to the calf unit 13. That is, the sliding plug-in unit 17 moves freely within a preset sliding range so that the sliding plug-in unit 17 moves away from or close to the traveling wheel 14.

[0117] According to the different shapes of the sliding insert 17 , the relative position of the sliding insert 17 and the calf unit 13 can be set in a variety of ways.

[0118] Optionally, taking the number of the second claws 16 as two as an example, schematically as follows Figure 6As shown, the second claw 16 and the sliding plug-in 17 can be implemented in the following configuration: the second claw 16 abuts against the first end of the sliding plug-in 17. For example, if the second claw 16 is a movable claw, in the foot-type motion state, the first end of the sliding plug-in 17 is engaged with the top of the movable claw, and when the sliding plug-in 17 moves away from the traveling wheel 14, the first end of the sliding plug-in 17 abuts against the movable claw to push the movable claw to rotate counterclockwise, so that the top of the movable claw moves in an arc with the bottom of the movable claw as the center.

[0119] In addition, the sliding plug-in 17 has different shapes and the engagement method with the joint end of the calf unit 13 is also different. For example, the sliding plug-in 17 is a plate-shaped structure, and the joint end of the calf unit 13 is provided with a strip groove body, which is adapted to the sliding plug-in 17 so that the sliding plug-in 17 can slide within a fixed length in the strip groove body.

[0120] According to the foregoing, the sliding insert 17 is arranged at the joint end of the calf unit. Figure 7 An optional structural schematic diagram of the calf unit 13 is shown, and a slide groove 03 is provided at the joint end of the calf unit 13. The slide groove 03 is used for the sliding plug-in 17 to slide in the groove body. The shape, width, depth, number, and setting position of the slide groove 03 can be adjusted according to the shape change of the sliding plug-in 17.

[0121] Accordingly, Figure 8 An optional structural diagram of the sliding plug-in 17 is given. Taking the sliding plug-in 17 as an H-shaped latch as an example, the H-shaped latch includes a first rod 041 and a second rod 042 .

[0122] The second claw 16 has a locking groove, and the first rod 041 and the second rod 042 are slidably disposed in the sliding groove 03 on the calf unit 13 .

[0123] Combination Figure 4 The specific structure of the second claw 16 is shown, and Figure 6 In the partial schematic diagram shown, the second claw 16 includes a first movable claw 161 and a second movable claw 162 as an example. The first movable claw 161 and the second movable claw 162 are symmetrically distributed about the H-shaped latch.

[0124] Schematically, in the wheeled motion state, the first movable claw 161 has a snap-fit ​​groove at the position abutting against the first rod 041, and the snap-fit ​​groove abuts against the bottom of the first rod 041 to fix the position of the first movable claw 161, so that the first movable claw 161 is locked with the second claw 15; the second movable claw 162 also has a snap-fit ​​groove at the position abutting against the second rod 042, and the snap-fit ​​groove abuts against the bottom of the second rod 042 to fix the position of the second movable claw 162, so that the second movable claw 162 is locked with the second claw 15. Optionally, taking the joint end of the calf unit 13 provided with two slide grooves 03 as an example, the top of the first rod 041 and the top of the second rod 042 are slidably engaged in the groove 02.

[0125] Optionally, the H-shaped latch further includes a third rod 043 for supporting the first rod 041 and the second rod 042. Specifically, the first rod 041 and the second rod 042 are parallel to each other, and the third rod 043 is perpendicular to the first rod 041 and the second rod 042.

[0126] According to the foregoing, when the joint end of the calf unit 13 is provided with a movable plug 17, the switching of the motion state of the mechanical leg 10 can be regarded as the switching between the locked and unlocked states of the first claw 15 and the second claw 16, which is described as follows:

[0127] When the sliding plug-in 17 moves in a direction away from the traveling wheel 14, the calf unit 13 and the traveling wheel 14 are in an unlocked state and the second claw 16 and the first claw 15 are in a locked state;

[0128] When the sliding plug-in 17 moves toward the direction approaching the traveling wheel 14, the calf unit 13 and the traveling wheel 14 are in a locked state and the second claw 16 and the first claw 15 are in an unlocked state.

[0129] Specifically, the unlocking and locking between the calf unit 13 and the traveling wheel 14 are achieved as follows: the sliding plug-in 17 is configured to move in a direction away from the traveling wheel 14, so that the second end of the sliding plug-in 17 is separated from the traveling wheel 14, and the first end of the sliding plug-in 17 pushes the second claw 16; the sliding plug-in 17 is configured to move in a direction close to the traveling wheel 14, so that the second end of the sliding plug-in 17 is engaged with the traveling wheel 14, and the first end of the sliding plug-in 17 releases the push of the second claw 16.

[0130] The second end of the sliding plug-in 17 can be separated and connected to the traveling wheel 14 directly or indirectly. For example, the second end of the sliding plug-in 17 is separated and connected to the traveling wheel 14 through a clamping member; or, for another example, there is a plug-in portion on the second end of the sliding plug-in 17, and there is a groove on the traveling wheel 14, and the plug-in portion is adapted to the groove.

[0131] The locking and unlocking of the first claw 15 and the second claw 16 can be described in the above contents, which will not be described in detail. Specifically, the positions of the sliding plug-in 17 and the second claw 16 can be adjusted according to actual needs. For example, an opening area is formed on the sliding plug-in 17, and the second claw 16 extends from the opening area so that the second claw 16 can move with the sliding plug-in 17; for another example, the bottom of the sliding plug-in 17 abuts against the second claw 16 to provide a driving force to the second claw 16.

[0132] According to the foregoing, the unlocking and locking of the first claw 15 and the second claw 16 are achieved by the movement of the second claw 16. Figure 5 Taking the first direction being the direction in which the sliding plug-in 17 moves away from the pulley baffle 141 in parallel, and the second direction being the direction in which the sliding plug-in 17 moves toward the pulley baffle 141 in parallel as an example, the switching of the motion state of the mechanical leg 10 is specifically described as follows:

[0133] Switching from the foot-type motion state to the wheel-type motion state: that is, the first claw 15 and the second claw 16 change to a locked state.

[0134] Specifically, the pulley assembly 111 in the driving unit 11 drives the calf unit 13 to approach the thigh unit 12 through the pulley baffle 141, and stops when the thigh unit 12 and the calf unit 13 reach the mechanical limit, that is, the thigh unit 12 and the calf unit 13 are closed.

[0135] Subsequently, the sliding plug-in 17 is configured to slide in the first direction, that is, the sliding plug-in 17 moves in the direction away from the traveling wheel 14, so that the sliding plug-in 17 gradually moves away from the traveling wheel 14. At this time, since the sliding plug-in 17 is connected to the second claw 16, the sliding plug-in 17 will push the second claw 16 away from the traveling wheel 14, so that the second claw 16 approaches the first claw 15, until the first claw 15 and the second claw 16 are locked to form a fixed connection, thereby realizing the unlocking between the calf unit 13 and the traveling wheel 14.

[0136] This is equivalent to locking the first claw 15 and the second claw 16, fixing the relative positions of the thigh unit 12 and the calf unit 13, and enabling relative rotation between the calf unit 13 and the traveling wheel 14. Specifically, the traveling wheel 14 can rotate relative to the joint end of the calf unit 13, so that the traveling wheel 14 touches the ground, and the driving unit 11 can drive the traveling wheel 14 to rotate, and the mechanical leg 10 is in a wheeled motion state.

[0137] Switching from the wheeled motion state to the footed motion state: that is, the first claw 15 and the second claw 16 change to an unlocked state.

[0138] Specifically, the sliding plug-in 17 is configured to slide in the second direction, that is, the sliding plug-in 17 moves in the direction close to the traveling wheel 14, so that the sliding plug-in 17 is engaged with the traveling wheel 14. At this time, since the push of the sliding plug-in 17 on the second claw 16 is released, the second claw 16 moves in the direction close to the traveling wheel 14, and the second claw 16 moves away from the first claw 15 until the first claw 15 and the second claw 16 are unlocked.

[0139] Subsequently, the driving unit 11 drives the calf unit 13 away from the thigh unit 12 until the calf unit 13 and the thigh unit 12 are extended. This is equivalent to the pulley assembly 111 driving the calf unit 13 away from the thigh unit 12 by driving the rotation of the traveling wheel 14, and stops when the calf unit 13 stands upright or the obtuse angle formed between the calf unit 13 and the thigh unit 12 reaches a preset angle, thereby extending the calf unit 13 and the thigh unit 12. At this time, the end of the calf unit 13 touches the ground, and the driving unit 11 drives the calf unit 13 to walk through the traveling wheel 14, and the mechanical leg 10 is in a foot-type motion state.

[0140] Specifically, the pushing and releasing of the second claw 16 by the sliding plug-in 17 can be realized as follows:

[0141] Indicatively Figure 6 As shown, the sliding plug-in 17 has an abutment end, which is an end close to the second claw 16 .

[0142] When the sliding plug-in 17 moves in a direction away from the traveling wheel 14, the abutting end causes the second claw 16 to approach the first claw 15 so that the first claw 15 and the second claw 16 are locked; when the sliding plug-in 17 moves in a direction close to the traveling wheel 14, the abutting end causes the second claw 16 to move away from the first claw 15 so that the first claw 15 and the second claw 16 are unlocked.

[0143] This is equivalent to the sliding plug-in 17 being configured to move in a direction away from the traveling wheel 14, the abutting end being used to push the second claw 16 to rotate, the abutting end sliding on the abutting surface of the second claw 16 until it passes through the engaging groove on the second claw 16, so that the sliding plug-in 17 engages with the second claw 16, and the second claw 16 rotates to a preset position and locks with the first claw 15; the sliding plug-in 17 is configured to move in a direction close to the traveling wheel 14, the abutting end releases the push of the second claw 16, so that the second claw 16 moves away from the first claw 15, so that the first claw 15 and the second claw 16 are unlocked.

[0144] refer to Figure 6 , taking the second claw 16 as an active claw, the bottom of the second claw 16 having a snap-fit ​​groove, and the sliding plug-in 17 having an abutting end as an example.

[0145] The engaging groove is located below the contact surface 163 of the second claw 16. In the foot-type motion state, the abutting end of the sliding plug-in 17 abuts against the upper side of the engaging groove, that is, the plane where the upper surface 171 of the sliding plug-in 17 is located is not parallel to the plane where the contact surface 163 is located; in the wheeled motion state, the abutting end of the sliding plug-in 17 passes through the engaging groove, and the upper surface 171 of the sliding plug-in 17 is fixedly engaged with the engaging groove, and at this time, the plane where the upper surface 171 is located is parallel to the plane where the contact surface 163 is located.

[0146] In the process of changing from the foot-type movement state to the wheel-type movement state, since the plane where the upper surface 171 is located is not parallel to the plane where the contact surface 163 is located, the sliding plug-in 17 moves in the direction away from the traveling wheel 14, and the abutment end will push the second claw 16 to rotate counterclockwise until the plane where the upper surface 171 is located is parallel to the plane where the contact surface 163 is located, so that the abutment end passes through the locking groove for fixation.

[0147] Correspondingly, in the case where an abutting end is formed on the sliding plug-in 17 , a plug-in end may be formed on the other end of the sliding plug-in 17 , and the plug-in end is used to realize the connection and separation of the calf unit 13 and the traveling wheel 14 .

[0148] The plug-in end is the end close to the traveling wheel 14. Specifically, when the sliding plug-in 17 moves in a direction away from the traveling wheel 14, the plug-in end leaves the traveling wheel 14 so that the calf unit 13 and the traveling wheel 14 are unlocked; when the sliding plug-in 17 moves in a direction close to the traveling wheel 14, the plug-in end is used to be plugged into the traveling wheel 14 so that the calf unit 13 and the traveling wheel 14 are locked.

[0149] Take the example that the second claw 16 is a movable claw, the bottom of the second claw 16 has a snap-fitting groove, and the two ends of the sliding plug-in 17 are respectively formed with abutting ends and plug-in ends. In the foot-type motion state, the abutting end of the sliding plug-in 17 abuts against the upper side of the snap-fitting groove; in the wheel-type motion state, the abutting end of the sliding plug-in 17 passes through the snap-fitting groove, and the upper surface 171 of the sliding plug-in 17 is snap-fitted and fixed with the snap-fitting groove.

[0150] refer to Figure 6In the foot-type motion state, the sliding plug-in 17 is configured to move in the direction away from the traveling wheel 14. Since the abutting end abuts against the top of the engaging groove of the second claw 16, the abutting end pushes the second claw 16; since the bottom of the second claw 16 is fixed, the top of the second claw 16 rotates counterclockwise with the bottom as the center. At the same time, the abutting end slides downward on the abutting surface of the second claw 16 until the abutting end passes through the engaging groove, so that the second claw 16 rotates to a specified angle, which facilitates the locking of the first claw 15 and the second claw 16. At the same time, the plug-in end gradually moves away from the traveling wheel 14 until it leaves the traveling wheel 14, so that the calf unit 13 and the traveling wheel 14 are unlocked, realizing the switching from the foot-type motion state to the wheel-type motion state.

[0151] Accordingly, in the wheeled motion state, the sliding plug-in 17 is configured to move toward the direction close to the traveling wheel 14, so that the plug-in end approaches the traveling wheel 14 until the plug-in end is plugged into the traveling wheel 14, so that the calf unit 13 is locked with the traveling wheel 14. At the same time, the abutting end gradually moves away from the second claw 16, which is equivalent to the abutting end gradually releasing the push on the second claw 16 to unlock the first claw and the second claw respectively, thereby realizing the switching from the wheeled motion state to the footed motion state.

[0152] In addition, in order to enable the sliding plug-in 17 to move away from or close to the traveling wheel 14, a corresponding power supply device needs to be provided.

[0153] Indicatively Fig. 9 and Fig.10 As shown, the mechanical leg 10 further includes a linear motor 181 . The linear motor 181 is fixed in the calf unit 13 , and the output end of the linear motor 181 is fixedly connected to the sliding plug-in 17 .

[0154] The linear motor 181 is a transmission device that converts electrical energy into mechanical energy of linear motion. The output end of the linear motor 181 is fixedly connected to the sliding plug-in 17, so that the sliding of the sliding plug-in 17 can follow the movement of the output end of the linear motor 181. Optionally, the linear motor 181 is fixed to the inner wall of the calf unit 13, and the output end of the linear motor 181 is fixedly connected to the sliding plug-in 17.

[0155] Schematically, the linear motor 181 is used to drive the sliding plug-in 17 away from or close to the traveling wheel 14, as described in detail as follows:

[0156] In the wheeled motion state, the linear motor 181 drives the sliding plug-in 17 away from the traveling wheel 14;

[0157] In the foot-type motion state, the linear motor 181 drives the sliding plug-in 17 to approach the traveling wheel 14 .

[0158] That is, by sending a control instruction to the linear motor 181, the output shaft of the linear motor 181 is driven to move in the first direction or the second direction, thereby driving the sliding plug-in 17 to move. The first direction and the second direction are opposite directions.

[0159] Optionally, the mechanical leg 10 further includes a motor connector 182, and the output end of the linear motor 181, the motor connector 182 and the sliding plug-in 17 are fixedly connected in sequence. Figure 8 As shown, a through hole is provided at the bottom of the sliding plug-in 17 for fixing the sliding plug-in 17 to the motor connector 182 .

[0160] In addition, refer to Fig. 9 In the exploded view of the mechanical leg 10 shown, the thigh unit 12 and the calf unit 13 have the following optional structural modes:

[0161] Illustratively, the thigh unit 12 includes a first thigh portion 121 and a second thigh portion 122 that are detachably connected, and the calf unit 13 includes a first calf portion 131 and a second calf portion 132 that are detachably connected.

[0162] Among them, the first thigh portion 121 and the first calf portion 131 are located on the first side of the traveling wheel 14, and the second thigh portion 122 and the second calf portion 132 are located on the second side of the traveling wheel 14; the first claw 15 includes a first fixed claw 151 and a second fixed claw 152, the first fixed claw 151 is fixed to the peripheral side of the joint end of the first thigh portion 121, and the second fixed claw 152 is fixed to the peripheral side of the joint end of the second thigh portion 122; the second claw 16 includes a first movable claw 161 and a second movable claw 162, the first movable claw 161 is sleeved on the peripheral side of the joint end of the first calf portion 131, and the second movable claw 162 is sleeved on the peripheral side of the joint end of the second calf portion 132.

[0163] There are many ways to realize the detachable connection between the first thigh part 121 and the second thigh part 122, including but not limited to at least one of the following ways: snap connection, threaded connection, lock connection, pin connection, hinge connection, and plug connection. For example, the first thigh part 121 is provided with a plurality of slots, and the second thigh part 122 is provided with the same number of buckles at corresponding positions, and the detachable connection between the first thigh part 121 and the second thigh part 122 is realized by the cooperation of the slots and the buckles.

[0164] Correspondingly, the detachable connection between the first calf portion 131 and the second calf portion 132 may refer to the above contents and will not be described in detail.

[0165] Optionally, when the first thigh portion 121 and the second thigh portion 122 are buckled, the first fixed claw 151 and the second fixed claw 152 are parallel; when the first calf portion 131 and the second calf portion 132 are buckled, the first movable claw 161 and the second movable claw 162 are parallel. The first fixed claw 151 and the second fixed claw 152 are parallel, and the first movable claw 161 and the second movable claw 162 are parallel, so that the mechanical leg 10 can be stably fixed in the wheeled motion state.

[0166] According to the foregoing, the separation and clamping of the calf unit 13 and the traveling wheel 14 are realized by the separation and clamping of the sliding plug-in 17 and the traveling wheel 14. For example, a slot is provided on the traveling wheel 14, and the sliding plug-in 17 can be inserted into or withdrawn from the slot.

[0167] Indicatively Fig.11 As shown, in order to realize the separation and engagement of the calf unit 13 and the traveling wheel 14, when the mechanical leg 10 includes a sliding plug-in 17, an embodiment of the present application provides an optional implementation method, wherein a plug-in end is formed at one end of the sliding plug-in 17, and the traveling wheel 14 has a slot 05 corresponding to the plug-in end, and the unlocking and locking of the calf unit 13 and the traveling wheel 14 are realized by changing the relative position of the slot 05 and the plug-in end.

[0168] The unlocking and switching of the calf unit 13 and the pulley baffle 141 are described as follows:

[0169] When the sliding plug-in 17 moves in a direction away from the traveling wheel 14 , the plug-in end is separated from the card slot 05 ; when the sliding plug-in 17 moves in a direction close to the traveling wheel 14 , the plug-in end is engaged with the card slot 05 .

[0170] Specifically, the card slot 05 can be arranged on any component of the traveling wheel 14 .

[0171] Optionally, the traveling wheel 14 includes a pulley baffle 141, and the card slot 05 is located on the pulley baffle 141. The joint end of the thigh unit 12 and the joint end of the calf unit 13 are coaxially connected to the pulley baffle 141. Specifically, the pulley baffle 141 is used to cooperate with the sliding plug-in 17 to realize the switching of the motion state of the mechanical leg 10.

[0172] Optionally, the pulley baffle 141 is connected to the pulley assembly 111 in a transmission manner, and the pulley baffle 141 is used to fix the pulley assembly 111 so that the pulley assembly 111 is in a fixed position to transmit a stable driving force. For example, the pulley baffle 141 is fixedly connected to a pulley in the pulley assembly 111, and the drive unit 11 transmits the driving force through the pulley.

[0173] Indicatively Fig.12 As shown, an optional structural schematic diagram of the driving unit 11 is provided.

[0174] The driving unit 11 further comprises a joint motor 112 . The joint motor 112 is fixed to the root end of the thigh unit 12 , the first end of the pulley assembly 111 is fixedly connected to the output shaft of the joint motor 112 , and the second end of the pulley assembly 111 is drivingly connected to the traveling wheel 14 .

[0175] That is, the joint motor 112 is a power supply device for the mechanical leg 10. By sending a control instruction to the joint motor 112, the pulley assembly 111 can be driven to perform corresponding operations, thereby providing driving force for the movement of the mechanical leg 10.

[0176] Taking the traveling wheel 14 including the pulley baffle 141 as an example, specifically, the pulley assembly 111 is in transmission connection with the pulley baffle 141, and the joint motor 112 drives the pulley assembly 111 to rotate, thereby driving the pulley baffle 141 to rotate. When the mechanical leg 10 is in a wheeled motion state, the joint motor 112 drives the pulley baffle 141 to rotate; when the mechanical leg 10 is in a footed motion state, the joint motor 112 drives the calf unit 13 to walk through the pulley baffle 141.

[0177] Combination Fig. 9 In the exploded view of the mechanical leg 10 shown, the traveling wheel 14 also includes a wheel 142. Schematically, the wheel 142 is connected to the pulley assembly 111 in a transmission manner so that the joint motor 112 can drive the wheel 142 to rotate. For example, when the mechanical leg 10 is in a wheeled motion state, the joint motor 112 drives the wheel 142 to rotate. For another example, the pulley assembly 111 is connected to the wheel 142 through a planetary gear set to provide a higher rotation speed to the wheel 142.

[0178] Optionally, when the traveling wheel 14 includes a pulley baffle 141 and a wheel 142, the pulley baffle 141 and the wheel 142 are fixedly connected or movably connected. That is, the pulley baffle 141 and the wheel 142 are connected or separated, that is, the rotation of the pulley baffle 141 may not drive the rotation of the wheel 142, or the rotation speeds of the pulley baffle 141 and the wheel 142 are different. For example, a planetary gear is provided between the pulley baffle 141 and the wheel 142, so that the rotation speed of the wheel 142 is higher than the rotation speed of the pulley baffle 141.

[0179] Indicatively Fig.12 As shown, the pulley assembly 111 includes a first pulley 1111, a second pulley 1112 and a synchronous belt 1113. The first pulley 1111 is fixedly connected to the output shaft of the joint motor 112; the second pulley 1112 is fixedly connected to the traveling wheel 14, and the joint end of the thigh unit 12, the second pulley 1112, the joint end of the calf unit 13 and the traveling wheel 14 are coaxially connected; the synchronous belt 1113 is movably sleeved on the first pulley 1111 and the second pulley 1112.

[0180] That is, the joint motor 112 drives the first pulley 1111 to rotate through the output shaft, and transmits the rotational force to the second pulley 1112 through the synchronous belt 1113. Based on the fixed connection between the second pulley 1112 and the traveling wheel 14, the traveling wheel 14 rotates following the second pulley 1112.

[0181] Optionally, the second pulley 1112 , the joint end of the calf unit 13 and the traveling wheel 14 are coaxially connected, which can be achieved by the joint end of the calf unit 13 and the traveling wheel 14 being sleeved on the second pulley 1112 .

[0182] When the traveling wheel 14 includes a pulley stopper 141 , the pulley stopper 141 is fixed to the second pulley 1112 .

[0183] In addition, to ensure that the synchronous belt 1113 does not fall off the first pulley 1111 and the second pulley 1112, the driving unit 11 further includes a tensioning device 113; the tensioning device 113 is fixed to the thigh unit 12, and the tensioning device 113 is in tight contact with the synchronous belt 1113. Optionally, a rotating shaft is provided on the thigh unit 12, and the tensioning device 113 is fixedly sleeved on the rotating shaft.

[0184] According to the foregoing, when the traveling wheel 14 includes the pulley baffle 141 and the mechanical leg 10 also includes the sliding plug-in 17, the switching of the motion state of the mechanical leg 10 is described as follows:

[0185] When the sliding plug-in 17 moves in a direction away from the traveling wheel 14 , the plug-in end is separated from the card slot 05 ; when the sliding plug-in 17 moves in a direction close to the traveling wheel 14 , the sliding plug-in 17 is engaged with the card slot 05 .

[0186] refer to Fig.11 Taking the example that the card slot 05 is set on the pulley baffle 141, the first direction is the direction in which the sliding plug 17 moves away from the pulley baffle 141 in parallel, and the second direction is the direction in which the sliding plug 17 moves toward the pulley baffle 141 in parallel, the switching of the motion state of the mechanical leg 10 is specifically described as follows:

[0187] Switching from the foot-type motion state to the wheel-type motion state: After the thigh unit 12 and the calf unit 13 are closed, the sliding plug-in 17 moves away from the traveling wheel 14, so that the sliding plug-in 17 gradually moves away from the wheel baffle 141. The sliding plug-in 17 pushes the second claw 16 away from the pulley baffle 141, and the second claw 16 approaches the first claw 15 until the first claw 15 and the second claw 16 are locked to form a fixed connection; at the same time, the sliding plug-in 17 gradually moves away from the pulley baffle 141 until the calf unit 13 is separated from the card slot 05 on the pulley baffle 141.

[0188] This is equivalent to locking the first claw 15 and the second claw 16, fixing the relative positions of the thigh unit 12 and the calf unit 13, and enabling relative rotation between the calf unit 13 and the traveling wheel 14. At this time, the traveling wheel 14 touches the ground, and the driving unit 11 can drive the traveling wheel 14 to rotate, and the mechanical leg 10 is in a wheeled motion state.

[0189] Switching from the wheeled motion state to the footed motion state: the sliding plug-in 17 moves toward the direction close to the traveling wheel 14 until the sliding plug-in 17 engages with the card slot 05 on the traveling wheel 14. At this time, since the push of the sliding plug-in 17 on the second claw 16 is released, the second claw 16 moves away from the first claw 15 until the first claw 15 and the second claw 16 are unlocked.

[0190] Subsequently, the driving unit 11 drives the calf unit 13 away from the thigh unit 12 until the calf unit 13 and the thigh unit 12 are extended. This is equivalent to the pulley assembly 111 driving the calf unit 13 away from the thigh unit 12 by rotating the driving pulley baffle 141, and stops when the calf unit 13 stands upright or the obtuse angle formed between the calf unit 13 and the thigh unit 12 reaches a preset angle, thereby extending the calf unit 13 and the thigh unit 12. At this time, the end of the calf unit 13 touches the ground, and the driving unit 11 drives the calf unit 13 to walk through the pulley baffle 141, and the mechanical leg 10 is in a foot-type motion state.

[0191] Optionally, the separation and engagement of the calf unit 13 and the pulley baffle 141 are achieved by the separation and engagement of the sliding plug-in 17 and the engagement groove 05 on the pulley baffle 141 .

[0192] Indicatively Fig.13 As shown, the card slot 05 has a first wedge shape, and the end of the sliding plug-in 17 close to the pulley baffle 141 is a second wedge shape, and the first wedge shape and the second wedge shape are adapted to each other.

[0193] The card slot 05 is used to separate and connect the sliding plug-in 17 and the pulley baffle 141. The shape, size, quantity and setting position of the card slot 05 can be set according to actual needs. Optionally, 8 card slots 05 of the same size and shape are evenly arranged on the circumference of the pulley baffle 141.

[0194] Optionally, the number of the card slots 05 is not less than two. Fig.13 As shown, at least two slots 05 are evenly distributed in the circumferential direction of the outer side of the pulley baffle 141 .

[0195] Specifically, in the wheeled motion state, one end of the sliding plug-in 17 close to the pulley baffle 141 withdraws from the slot 05, so that the calf unit 13 is separated from the pulley baffle 141; in the footed motion state, one end of the sliding plug-in 17 close to the pulley baffle 141 is inserted into the slot 05, so that the joint end of the calf unit 13 is engaged with the pulley baffle 141.

[0196] refer to Figure 8 For example, the sliding plug 17 is an H-shaped plug, and the second end of the sliding plug 17 is the third lever 043, that is, the third lever 043 has a second wedge shape, and the third lever 043 forms a structure with an inclined surface on the side close to the pulley baffle 141. At this time, the pulley baffle 141 and the H-shaped plug form a conical surface matching structure.

[0197] In summary, in the mechanical leg 10 provided in the embodiment of the present application, the sliding plug-in 17 slides between the second claw 16 and the traveling wheel 14 to unlock and lock the calf unit 13 and the traveling wheel 14, thereby realizing the switching of the mechanical leg 10 between the wheeled motion state and the footed motion state. Specifically, the separation or engagement of the calf unit 13 and the pulley baffle 141 is realized by the cooperation of the pulley baffle 141 and the sliding plug-in 17.

[0198] refer to Fig. 9 In order to unlock the first claw and the second claw, a reset device 19 can be provided to assist the second claw 16. Schematically, the reset device 19 is used to push or pull the second claw 16 to move toward the direction close to the traveling wheel 14, so that the first claw 15 and the second claw 16 are unlocked.

[0199] The reset device 19 is arranged in the movement direction of the second claw 15. For example, taking the second claw 15 as a movable claw, the reset device 19 is arranged in the counterclockwise rotation direction of the second claw 15, or in the clockwise rotation direction.

[0200] Indicatively Fig.14 and Fig.15 As shown, the reset device 19 is arranged in the counterclockwise rotation direction of the second claw 15 , and is used to push the second claw 16 to move toward the direction close to the traveling wheel 14 .

[0201] Specifically, the first end of the reset device 19 is fixedly connected to the calf unit 13, and the second end of the reset device 19 is movably abutted against the second claw 16. The first end of the reset device 19 is fixedly connected to the calf unit 13, which means that the relative position of the first end of the reset device 19 and the calf unit 13 remains unchanged, for example, the first end of the reset device 19 is fixed to the inner wall of the calf unit 13; the second end of the reset device 19 is movably abutted against the second claw 16, so that the second end of the reset device 19 is used to cooperate with the second claw 16 to move. The specific description is as follows: the second claw 16 pushes the reset device 19, so that the second end of the reset device 19 moves away from the traveling wheel 14; the second end of the reset device 19 pushes the second claw 16 to move toward the traveling wheel 14, so that the first claw 15 and the second claw 16 are unlocked.

[0202] Correspondingly, the reset device 19 is arranged in the clockwise rotation direction of the second claw 15, and is used to pull the second claw 16 to move in the direction close to the traveling wheel 14. The specific arrangement is similar to the above content and can be used as a reference and will not be repeated here.

[0203] Schematically, taking the mechanical leg 10 including the sliding plug-in 17 as an example, the specific process of locking or unlocking the second claw 16 and the first claw 15 by the reset device 19 is described as follows:

[0204] When the sliding plug-in 17 moves in a direction away from the traveling wheel 14, the resetting device 19 makes the second claw 16 approach the first claw 15 so that the first claw 15 is locked with the second claw 16;

[0205] When the sliding plug-in 17 moves toward the direction approaching the traveling wheel 14 , the resetting device 19 causes the second claw 16 to move away from the first claw 15 so that the first claw 15 and the second claw 16 are unlocked.

[0206] Optionally, the reset device 19 includes an elastic member 191. The elastic member 191 is used to provide the second claw 16 with a pushing force or a pulling force directed to a preset position of the elastic member 191. Specifically, the preset position of the elastic member 191 refers to a position where the second claw 16 abuts against the elastic member 191.

[0207] In an optional implementation scenario, in order to make the locking and unlocking of the first claw 15 and the second claw 16 smoother, the reset device 19 and the abutment end formed on the sliding plug-in 17 can be used in combination. That is, when the abutment end is formed on the sliding plug-in 17 and the mechanical leg 10 includes the reset device 19, the locking and unlocking of the first claw 15 and the second claw 16 are described as follows:

[0208] When the sliding plug-in 17 moves in a direction away from the traveling wheel 14, the abutting end makes the second claw 16 approach the first claw 15 so that the first claw 15 and the second claw 16 are locked;

[0209] When the sliding plug-in 17 moves toward the direction approaching the traveling wheel 14 , the resetting device 19 causes the second claw 16 to move away from the first claw 15 so that the first claw 15 and the second claw 16 are unlocked.

[0210] Specifically, the sliding plug-in 17 is configured to move in a direction away from the traveling wheel 14, and the abutting end is used to push the second claw 16 to rotate, and the abutting end slides on the abutting surface of the second claw 16 until it passes through the engaging groove on the second claw 16, so that the sliding plug-in 17 engages with the second claw 16, and the second claw 16 rotates to a preset position and locks with the first claw 15; the sliding plug-in 17 is configured to move in a direction close to the traveling wheel 14, and the resetting device 19 pushes the second claw 16 to move in a direction close to the traveling wheel 14, so that the first claw 15 and the second claw 16 are unlocked.

[0211] Optionally, the resetting device 19 further includes a sleeve 192, and the sleeve 192 is used to fix the elastic member 191. Schematically, the elastic member 191 is fixedly connected to the sleeve 192; the sleeve 192 is fixedly connected to the calf unit 13, and the elastic member 191 is movably abutted against the second claw 16. The fixed connection between the elastic member 191 and the sleeve 192 can be realized by the elastic member 191 being sleeved on the sleeve 192.

[0212] Indicatively Fig.14 and Fig.15 As shown, taking the reset device 19 being arranged in the counterclockwise rotation direction of the second claw 15 as an example, the unlocking movement performed by the reset device 19 in cooperation with the second claw 16 is specifically described as follows:

[0213] The second claw 16 presses the elastic member 191 so that the elastic member 191 is in a compressed state;

[0214] The elastic member 191 changes from a compressed state to a relaxed state, pushing the second claw 16 to move toward the direction approaching the traveling wheel 14 .

[0215] This means that, in the wheeled motion state, since the first claw 15 and the second claw 16 are in a locked state, the second claw 16 presses the elastic member 191, so that the elastic member 191 is in a compressed state. Subsequently, the mechanical leg 10 changes from the wheeled motion state to the footed motion state, and at this time, the elastic member 191 gradually changes from a compressed state to a relaxed state. Under the elastic force of the elastic member, the elastic member 191 pushes the second claw 16 to perform a reset motion, that is, the elastic member 191 pushes the second claw 16 to move in a direction close to the traveling wheel 14 until the second claw 16 is separated from the first claw 15 to reach an unlocked state.

[0216] Correspondingly, when the reset device 19 is arranged in the clockwise rotation direction of the second claw 15, the reset device 19 cooperates with the unlocking movement performed by the second claw 16, which is specifically described as follows:

[0217] The second claw 16 pulls the elastic member 191, so that the elastic member 191 is in a tensioned state; the elastic member 191 changes from the tensioned state to the relaxed state, pulling the second claw 16 to move toward the traveling wheel 14. The specific process is similar to the above content, which can be used as a reference and will not be repeated.

[0218] According to the above content, the motion state of the mechanical leg 10 includes two kinds of foot-type motion state and wheel-type motion state. In the foot-type motion state, the first claw 15 and the second claw 16 are unlocked, the calf unit 13 and the traveling wheel 14 are locked, the calf unit 13 and the thigh unit 12 are extended, the end of the calf unit 13 touches the ground, and the driving unit 11 drives the calf unit 13 to walk through the traveling wheel 14; in the wheel-type motion state, the first claw 15 and the second claw 16 are locked, the calf unit 13 and the traveling wheel 14 are unlocked, the calf unit 13 and the thigh unit 12 are closed, the traveling wheel 14 touches the ground, and the driving unit 11 drives the traveling wheel 14 to rotate.

[0219] refer to Figures 14 to 16 , taking the example that the mechanical leg 10 includes the pulley baffle 141, the sliding plug-in 17 and the elastic member 191, the elastic member 191 is arranged in the counterclockwise rotation direction of the second claw 16, the first direction is the direction in which the sliding plug-in 17 moves away from the pulley baffle 141 in parallel, and the second direction is the direction in which the sliding plug-in 17 moves toward the pulley baffle 141 in parallel, the switching of the motion state of the mechanical leg 10 is specifically described as follows:

[0220] Switching from the foot-type motion state to the wheel-type motion state: that is, the first claw 15 and the second claw 16 are changed into a locked state, and the calf unit 13 and the traveling wheel 14 are changed into an unlocked state.

[0221] Specifically, the pulley assembly 111 in the driving unit 11 drives the calf unit 13 to approach the thigh unit 12 through the pulley baffle 141, and stops when the thigh unit 12 and the calf unit 13 reach the mechanical limit. For example, the joint motor 112 receives a control instruction and drives the pulley assembly 111 to control the rotation of the calf unit 13; based on the fixed connection between the pulley assembly 111 and the pulley baffle 141, the calf unit 13 approaches the thigh unit 12, and stops when the acute angle formed between the two reaches the minimum angle, so that the calf unit 13 and the thigh unit 12 are closed.

[0222] Subsequently, the sliding plug-in 17 is configured to slide in the first direction, that is, the sliding plug-in 17 moves in the direction away from the pulley baffle 141, so that the second end of the sliding plug-in 17 is gradually separated from the pulley baffle 141. At this time, since the first end of the sliding plug-in 17 is connected to the second claw 16, the sliding plug-in 17 will drive the second claw 16 away from the pulley baffle 141, and the second claw 16 will approach the first claw 15 until the first claw 15 and the second claw 16 are locked to form a fixed connection. Equivalently, the sliding plug-in 17 squeezes the second claw 16, and the second claw 16 rotates in the counterclockwise direction.

[0223] At the same time, due to the abutment between the second claw 16 and the elastic member 191 , when the second claw 16 rotates in the counterclockwise direction, the second claw 16 squeezes the elastic member 191 , so that the elastic member 191 is in a compressed state.

[0224] The second claw 16 is a movable claw, the bottom of the second claw 16 has a snap-in groove, the first end of the sliding plug-in 17 is an abutment end, and the second end of the sliding plug-in 17 is a plug-in end. In the foot-type motion state, the abutment end of the sliding plug-in 17 abuts against the top of the snap-in groove. Subsequently, the sliding plug-in 17 is configured to move in a direction away from the pulley baffle 141. Since the abutment end abuts against the top of the snap-in groove of the second claw 16, the abutment end pushes the second claw 16; since the bottom of the second claw 16 is fixed, the top of the second claw 16 rotates counterclockwise with the bottom as the center. At the same time, the abutment end slides downward on the abutment surface of the second claw 16 until the abutment end passes through the snap-in groove, so that the second claw 16 rotates to a specified angle, which facilitates the locking of the first claw 15 and the second claw 16. At the same time, the plug-in end gradually moves away from the pulley baffle 141 until it leaves the pulley baffle 141, so that the calf unit 13 and the traveling wheel 14 are unlocked.

[0225] Under the extrusion of the sliding plug-in 17, the second claw 16 rotates counterclockwise and squeezes the elastic member 191. After rotating to a preset angle, the elastic member 191 gradually changes to a compressed state, and the second claw 16 gradually approaches the first claw 15 until the two are locked to form a stable fixed connection structure.

[0226] In an optional implementation scenario, when the second claw 16 rotates to the mechanical limit, that is, when the second claw 16 rotates to the preset angle, since the movement direction of the sliding plug-in 11 and the movement direction of the second claw 16 have a certain angle, the sliding plug-in 17 still slides in the first direction, and finally the sliding plug-in 17 slides into the slide groove 03 set on the calf unit 13, thereby avoiding the sliding plug-in 17 from colliding with other components and causing loss. In particular, a certain safety distance can be maintained between the second end of the sliding plug-in 17 and the traveling wheel 14, thereby avoiding certain rotating components (such as gears, etc.) in the traveling wheel 14 from colliding with the sliding plug-in 17, thereby causing a malfunction. Taking the length of the sliding plug-in 17 as an example, when the sliding plug-in 17 is 8 mm in length, the second claw 16 is locked with the first claw 15 during the movement of the sliding plug-in 17, after the sliding plug-in 17 slides 4 mm in the first direction, and the elastic member 191 is in a compressed state; then, the second claw 16 no longer rotates, and the sliding plug-in 17 continues to slide 4 mm in the first direction, so that the entire length of the sliding plug-in 17 slides into the slide groove 03.

[0227] That is, the first claw 15 and the second claw 16 are locked, the relative positions of the thigh unit 12 and the calf unit 13 are fixed, and the calf unit 13 can achieve relative rotation with the traveling wheel 14. Specifically, the traveling wheel 14 can rotate relative to the joint end of the calf unit 13, at this time, the traveling wheel 14 touches the ground, the driving unit 11 can drive the traveling wheel 14 to rotate, and the mechanical leg 10 is in a wheeled motion state.

[0228] Switching from the wheeled motion state to the footed motion state: that is, the first claw 15 and the second claw 16 are changed to an unlocked state, and the calf unit 13 and the traveling wheel 14 are changed to a locked state.

[0229] Specifically, the sliding plug-in 17 is configured to slide in the second direction, that is, the sliding plug-in 17 moves in a direction close to the traveling wheel 14 , so that the second end of the sliding plug-in 17 is engaged with the traveling wheel 14 .

[0230] At this time, the first end of the sliding plug-in 17 releases the push on the second claw 16. At the same time, since the elastic member 191 has a certain elastic force, the elastic member 191 gradually changes from a compressed state to a relaxed state during the movement of the second claw 16 toward the pulley baffle 141. Based on the elastic force, the elastic member 191 pushes the second claw 16 toward the pulley baffle 141, so that the second claw 16 moves away from the first claw 15 until the two are separated to reach an unlocked state. At the same time, the second claw 16 also pushes the sliding plug-in 17 toward the pulley baffle 141, so that the second end of the calf unit 13 is engaged with the pulley baffle 141.

[0231] The second claw 16 is a movable claw, the bottom of the second claw 16 has a snap-fit ​​groove, the first end of the sliding plug-in 17 is the abutment end, and the second end of the sliding plug-in 17 is the plug-in end. The abutment end of the sliding plug-in 17 passes through the snap-fit ​​groove, and the upper surface 171 of the sliding plug-in 17 is snap-fitted and fixed with the snap-fit ​​groove. Subsequently, the sliding plug-in 17 is configured to move in a direction close to the pulley baffle 141, so that the plug-in end approaches the pulley baffle 141 until the plug-in end is plugged into the snap-fit ​​groove 05 on the pulley baffle 141, so that the calf unit 13 is locked with the traveling wheel 14. At the same time, the abutment end gradually moves away from the second claw 16, which is equivalent to the abutment end gradually releasing the push on the second claw 16 to unlock the first claw and the second claw respectively.

[0232] When the sliding plug-in 17 slides in the second direction, the squeezing force on the second claw 16 disappears; at the same time, the elastic member 191 pushes the second claw 16 to move, so that the sliding plug-in 17 continues to slide in the second direction until the plug-in end of the sliding plug-in 17 is engaged with the pulley baffle 141.

[0233] Subsequently, the driving unit 11 drives the calf unit 13 away from the thigh unit 12 until the calf unit 13 and the thigh unit 12 are extended. In other words, the pulley assembly 111 drives the calf unit 13 away from the thigh unit 12 by driving the rotation of the pulley baffle 141, and stops when the calf unit 13 stands upright or the obtuse angle formed between the calf unit 13 and the thigh unit 12 reaches a preset angle, thereby allowing the calf unit 13 and the thigh unit 12 to extend.

[0234] That is, the first claw 15 and the second claw 16 are unlocked, the calf unit 13 and the thigh unit 12 are extended, and the driving unit 11 drives the calf unit 13 to walk through the traveling wheel 14. At this time, the end of the calf unit 13 touches the ground, and the driving unit 11 drives the calf unit 13 to walk through the traveling wheel 14, and the mechanical leg 10 is in a foot-type motion state.

[0235] Illustratively, the above embodiments can be used in combination and will not be described in detail.

[0236] To summarize, in the mechanical leg 10 provided in the embodiment of the present application, the separation or engagement of the calf unit 13 and the pulley baffle 141 is achieved through the cooperation of the pulley baffle 141, the sliding plug-in 17 and the elastic member 191, thereby achieving the switching of the mechanical leg 10 between the wheeled motion state and the footed motion state.

[0237] Fig.17 and Fig.18 Schematic diagrams of a robot 20 provided by an exemplary embodiment of the present application in two motion states: a wheeled motion state and a footed motion state are respectively shown.

[0238] Schematically, the robot 20 includes the mechanical leg 10 provided in the above embodiment. The description of the mechanical leg 10 can refer to the relevant content above and will not be repeated here.

[0239] The robot 20 may be a multi-legged robot such as a bipedal robot, a quadrupedal robot or a hexapodal robot.

[0240] Optionally, the robot 20 includes a mechanical body 21 and four mechanical legs 10, and the four mechanical legs 10 are all the mechanical legs provided in the above-mentioned embodiment.

[0241] exist Fig.17 In the wheeled mode shown, the robot 20 drives the travel wheels 14 through the drive unit 11 to move in a wheeled manner. Fig.18 In the foot-type mode shown, the robot 20 drives the calf unit 13 through the driving unit 11 to perform foot-type movement.

[0242] In the present application, it should be understood that the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features.

[0243] All the above optional technical solutions can be arbitrarily combined to form optional embodiments of the present application, which will not be described one by one here.

[0244] The above description is only an optional embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A mechanical leg (10), characterized in that: The mechanical leg (10) comprises: a driving unit (11), a thigh unit (12), a calf unit (13) and a traveling wheel (14); The driving unit (11) is used to drive the traveling wheel (14) to rotate; The joint end of the thigh unit (12), the joint end of the calf unit (13) and the traveling wheel (14) are coaxially connected; The calf unit (13) and the travel wheel (14) are switched between unlocking and locking; The thigh unit (12) is provided with a first claw (15) on a side facing the calf unit (13), and the calf unit (13) is provided with a second claw (16) on a side facing the thigh unit (12); the first claw (15) and the second claw (16) are matched, and the second claw comprises a first movable claw (161) and a second movable claw (162); The calf unit (13) is provided with a sliding plug-in unit (17), the sliding plug-in unit (17) comprising a first rod (041), a second rod (042) and a third rod (043), the first rod (041) and the second rod (042) being parallel to each other, and the third rod (043) being perpendicular to the first rod (041) and the second rod (042); When the sliding plug-in (17) moves in a direction away from the traveling wheel (14), the calf unit (13) and the traveling wheel (14) are in an unlocked state, and the first rod (041) abuts against the first movable claw (161), and the second rod (042) abuts against the second movable claw (162), so that the second claw (16) and the first claw (15) are in a locked state, so as to fix the calf unit (13) and the thigh unit (12); in the wheeled motion state, the driving unit (11) drives the traveling wheel (14) to rotate; When the sliding plug-in (17) moves in a direction approaching the traveling wheel (14), the calf unit (13) and the traveling wheel (14) are in a locked state, and the first rod (041) does not abut against the first movable claw (161), and the second rod (042) does not abut against the second movable claw (162), so that the second claw (16) and the first claw (15) are in an unlocked state; in the foot-type motion state, the driving unit (11) drives the calf unit (13) to rotate relative to the thigh unit (12) via the traveling wheel (14).

2. The mechanical leg (10) according to claim 1, characterized in that: The mechanical leg (10) further comprises a linear motor (181); The linear motor (181) is fixed in the calf unit (13), and the output end of the linear motor (181) is fixedly connected to the sliding plug-in unit (17); The linear motor (181) is used to drive the sliding plug-in unit (17) to move away from or closer to the traveling wheel (14).

3. The mechanical leg (10) according to claim 1, characterized in that: A plug-in end is formed at one end of the sliding plug-in unit (17), and a slot (05) corresponding to the plug-in end is provided on the traveling wheel (14); When the sliding plug-in unit (17) moves in a direction away from the traveling wheel (14), the plug-in end is separated from the card slot (05); When the sliding plug-in unit (17) moves in a direction close to the traveling wheel (14), the plug-in end is engaged with the card slot (05).

4. The mechanical leg (10) according to claim 1, characterized in that: When the first claw (15) and the second claw (16) are locked, the first claw (15) and the second claw (16) are locked within the calf unit (13) or the thigh unit (12).

5. The mechanical leg (10) according to claim 1, characterized in that: The mechanical leg (10) further comprises a resetting device (19); When the sliding plug-in (17) moves in a direction away from the traveling wheel (14), the resetting device (19) causes the second claw (16) to approach the first claw (15) so that the first claw (15) and the second claw (16) are locked; When the sliding plug-in (17) moves in a direction approaching the traveling wheel (14), the resetting device (19) causes the second claw (16) to move away from the first claw (15) so that the first claw (15) and the second claw (16) are unlocked.

6. The mechanical leg (10) according to claim 5, characterized in that: The resetting device (19) comprises an elastic member (191); The elastic member (191) is used to provide the second claw (16) with a pushing force or a pulling force directed toward a preset position of the elastic member (191).

7. The mechanical leg (10) according to any one of claims 1 to 6, characterized in that: The first claw (15) is fixedly connected to the thigh unit (12), and the second claw (16) is rotatably connected to the calf unit (13); The second claw (16) is rotated relative to the calf unit (13) to approach or move away from the first claw (15).

8. A robot (20), characterized in that: The robot comprises a mechanical leg (10) as claimed in any one of claims 1 to 7.

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