Robot and its mechanical legs

Abstract

The present application mainly relates to a robot and its mechanical leg, which includes a thigh assembly, a drive assembly, a transmission assembly, a calf assembly and an adjustment assembly. The transmission assembly includes a driving wheel, a driven wheel and a transmission belt. The driving assembly is located at one end of the thigh assembly and is connected to the driving wheel. The driven wheel is located at the other end of the thigh assembly away from the drive assembly and is configured to rotate relative to the thigh assembly. The transmission belt is wound around the driving wheel and the driven wheel. One end of the calf assembly is fixedly connected to the driven wheel so as to swing relative to the thigh assembly under the driving action of the drive assembly. The adjustment assembly is located at the other end of the thigh assembly away from the drive assembly and includes a bracket and a cam. The driven wheel is supported on the bracket. The mechanical leg provided in the present application can push the bracket to move relative to the thigh assembly by rotating the cam, thereby pushing the driven wheel to move in a direction away from the driving wheel, so as to increase the spacing between the adjustment driving wheel and the driven wheel and tighten the transmission belt.

Description

Technical Field

[0001] The present application relates to the technical field of robots, and in particular to robots and mechanical legs thereof. Background Art

[0002] With the continuous development of robotics technology, robots are currently a major development trend and a hot research topic for various manufacturers. For example, quadruped robots, commonly known as "robot dogs" due to their resemblance to real dogs, primarily consist of a torso, legs, joint motors, and a head. The legs specifically include the thigh, calf, and knee joints. Joint motors drive the legs to achieve various motions and gaits, making leg design a key element in the robot dog's design. Summary of the Invention

[0003] An embodiment of the present application provides a mechanical leg, which includes a thigh assembly, a drive assembly, a transmission assembly, a calf assembly and an adjustment assembly. The drive assembly is located at one end of the thigh assembly, and the transmission assembly includes a driving wheel, a driven wheel and a transmission belt. The driving wheel is connected to the drive assembly, and the driven wheel is located at the other end of the thigh assembly away from the drive assembly, and is configured to rotate relative to the thigh assembly. The transmission belt is wound around the driving wheel and the driven wheel. One end of the calf assembly is fixedly connected to the driven wheel so as to swing relative to the thigh assembly under the driving action of the drive assembly. The adjustment assembly is located at the other end of the thigh assembly away from the drive assembly, and includes a bracket and a cam. The driven wheel is supported on the bracket, and the cam is configured to adjust the relative position between the bracket and the thigh assembly, thereby adjusting the spacing between the driven wheel and the driving wheel.

[0004] An embodiment of the present application further provides a robot, which includes a mechanical body and the mechanical legs described in the above embodiment, wherein the mechanical legs are connected to the mechanical body.

[0005] The beneficial effect of the present application is that the mechanical leg provided by the present application sets an adjustment component at the other end of the thigh component away from the driving component, so as to push its bracket to move relative to the thigh component through the rotation of its cam, and then push the driven wheel to move in the direction away from the driving wheel, so as to increase the adjustment distance between the driving wheel and the driven wheel, and make the transmission belt tensioned, which is simple and convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0006] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. 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 any creative work.

[0007] Figure 1This is a side structural diagram of an embodiment of a robot provided by the present application;

[0008] Figure 2 yes Figure 1 A schematic structural diagram of an embodiment of a mechanical leg;

[0009] Figure 3 yes Figure 2 A schematic diagram of the exploded structure of an embodiment of a mechanical leg;

[0010] Figure 4 yes Figure 3 A schematic structural diagram of an embodiment of a middle bracket;

[0011] Figure 5 yes Figure 2 A schematic diagram of the partial structure of the second joint end of the first embodiment of the mechanical leg;

[0012] Figure 6 yes Figure 5 Schematic diagram of the cross-sectional structure of the middle mechanical leg along the axial direction of the driven wheel;

[0013] Figure 7 yes Figure 5 A schematic structural diagram of an embodiment of a middle adjustment assembly viewed along the axial direction of a driven wheel;

[0014] Figure 8 yes Figure 3 A schematic structural diagram of an embodiment of a camshaft. DETAILED DESCRIPTION

[0015] The present application will be further described in detail below in conjunction with the accompanying drawings and examples. It is particularly noted that the following examples are only used to illustrate the present application and do not limit the scope of the present application. Similarly, the following examples are only some embodiments of the present application and not all embodiments. All other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0016] Reference to "embodiments" in this application means that a particular feature, structure, or characteristic described in conjunction with the embodiment may be included in at least one embodiment of this application. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described in this application may be combined with other embodiments.

[0017] See Figure 1 , Figure 1 It is a side structural schematic diagram of an embodiment of the robot provided by this application.

[0018] Combine Figure 1The robot 10 may include a mechanical body 11 and mechanical legs 12 connected to the mechanical body 11, and the mechanical legs 12 are configured to be able to move relative to the mechanical body 11. The number of mechanical legs 12 may be four, and the four mechanical legs 12 may be respectively arranged at the four corners of the mechanical body 11 and located on the same side of the mechanical body 11, so as to structurally imitate the basic form of a real animal "dog". In some other embodiments, the number of mechanical legs 12 may also be two, and the two mechanical legs 12 may be respectively arranged at the two corners of one end of the mechanical body 11, so as to structurally imitate a human standing. Of course, the number of mechanical legs 12 and their relative positional relationship with the mechanical body 11 can be reasonably designed based on the form of the object they are imitating, and are not listed here one by one. Furthermore, the robot 10 may also include structural components such as batteries and motherboards, which can be coupled to the mechanical legs 12 respectively, so that the robot 10 can execute corresponding instructions and thus achieve corresponding actions.

[0019] Joint Reference Figure 2 and Figure 3 , Figure 2 yes Figure 1 A schematic structural diagram of an embodiment of a mechanical leg, Figure 3 yes Figure 2 Schematic diagram of the exploded structure of an embodiment of a mechanical leg.

[0020] Combine Figure 2 and Figure 3 , the mechanical leg 12 may include a thigh component 121, a shank component 122, a drive component 123 and a transmission component 124. Among them, the thigh component 121 may have a first joint end and a second joint end along its length direction. The first joint end and related structural components can be used to simulate a hip joint, so that the mechanical leg 12 can move as a whole relative to the mechanical body 11; the second joint end and related structural components can be used to simulate a knee joint, so that the shank component 122 connected thereto can also move locally relative to the thigh component 121, thereby allowing the robot 10 to achieve corresponding actions. Based on this, the drive component 123 can be located at one end of the thigh component 12 (for example, the first joint end) to provide a driving force for the shank component 122 to move relative to the thigh component 121; the shank component 122 can be located at the other end of the thigh component 12 away from the drive component 123 (for example, the second joint end), and can be connected to the drive component 123 through the transmission component 124 to achieve the transmission of the driving force.

[0021] By way of example, thigh assembly 121 may include a thigh inner shell 1211 and a thigh outer shell 1212 that engages with thigh inner shell 1211. Thigh outer shell 1212 and thigh inner shell 1211 cooperate to form a housing for mounting components such as transmission assembly 124. Specifically, thigh inner shell 1211 may include an integrally connected thigh inner shell bottom wall and thigh inner shell side walls, with the thigh inner shell side walls being bent relative to the thigh inner shell bottom wall. Similarly, thigh outer shell 1212 may include an integrally connected thigh outer shell bottom wall and thigh outer shell side walls, with the thigh outer shell side walls being bent relative to the thigh outer shell bottom wall. Thus, when thigh outer shell 1212 engages with thigh inner shell 1211, the end of the thigh outer shell side wall facing away from the thigh outer shell bottom wall abuts against the end of the thigh inner shell side wall facing away from the thigh inner shell bottom wall, and the two may be aligned. The thigh inner shell sidewall and the thigh shell sidewall can each have a notch at the second joint end, forming a passage for the calf assembly 122 to extend into the aforementioned accommodating cavity when the thigh shell 1212 is engaged with the thigh inner shell 1211. Of course, in other embodiments, the thigh shell 1212 can also include only the thigh shell bottom wall, that is, the thigh shell 1212 is configured as a cover-like structural component and can be installed on the end of the thigh inner shell sidewall facing away from the thigh inner shell bottom wall, thus forming the aforementioned accommodating cavity. Accordingly, the aforementioned notch can also be provided only on the thigh inner shell sidewall.

[0022] Furthermore, a guide structure 1213 may be provided on the side of the thigh inner shell 1211 facing the thigh outer shell 1212 and / or on the side of the thigh outer shell 1212 facing the thigh inner shell 1211, as will be described exemplarily below. This embodiment uses the example of guide structures provided on both the bottom wall of the thigh inner shell and the bottom wall of the thigh outer shell to enhance guidance reliability. The bottom wall of the thigh inner shell may also be provided with a passage for connecting the transmission assembly 124 with the drive assembly 123, as will be described exemplarily below.

[0023] As an example, the calf assembly 122 can be configured as a fork-shaped structure to provide a stable connection with the transmission assembly 124. Specifically, the end of the calf assembly 122 close to the thigh assembly 121 can be bifurcated into an inner fork arm and an outer fork arm, and the transmission assembly 124 can be interposed between the inner fork arm and the outer fork arm to increase the stability of the connection between the calf assembly 122 and the transmission assembly 124. Of course, in some other embodiments, the calf assembly 122 can include a calf inner shell and a calf outer shell that snaps together with the calf inner shell, and when the two are snapped together, the forked inner fork arm and outer fork arm can be formed. Furthermore, the calf assembly 122 can also include a roller mounted on the other end of the calf assembly 122 away from the thigh assembly 121.

[0024] By way of example, the drive assembly 123 may include a motor 1231 and a flange 1232, wherein the flange 1232 is connected to the motor 1231 to output driving force. The motor 1231 may be located on the side of the thigh inner shell 1211 facing away from the thigh outer shell 1212 and fixedly connected to the thigh inner shell 1211. For example, the outer shell of the motor 1231 may be fixedly connected to the bottom wall of the thigh inner shell. Furthermore, the flange 1232 may be located on the side of the thigh inner shell 1211 facing the thigh outer shell 1212 and may be connected to the output end of the motor 1231 via a channel on the bottom wall of the thigh inner shell. Specifically, the flange 1232 may include an integrally connected disk body 12321 and an output shaft 12322. The disk body 12321 may be fixedly connected to the output end of the motor 1231, and the output shaft 12322, serving as the output end of the drive assembly 123, may be fixedly connected to the transmission assembly 124. Of course, in some other embodiments, the driving assembly 123 may also only include the motor 1231 , and the output end of the motor 1231 is directly fixedly connected to the transmission assembly 124 .

[0025] As an example, the transmission assembly 124 may include a driving wheel 1241, a driven wheel 1242 and a transmission belt 1243, and the transmission belt 1243 may be wound around the driving wheel 1241 and the driven wheel 1242. Among them, the driving wheel 1241 may be located at one end of the thigh assembly 121 close to the driving assembly 123 (for example, the first joint end), and may be connected to the driving assembly 123, for example, the driving wheel 1241 is sleeved and fixed on the output shaft 12322. Further, the driven wheel 1242 may be located at the other end of the thigh assembly 12 away from the driving assembly 123 (for example, the second joint end), and is configured to be able to rotate relative to the thigh assembly 121. In this way, the driving assembly 123 can drive the driving wheel 1241 to rotate relative to the thigh assembly 121, and the driving wheel 1241 can drive the driven wheel 1242 to rotate relative to the thigh assembly 121 through the transmission belt 1243. Based on this, one end of the calf assembly 122 can be fixedly connected to the driven wheel 1242. For example, the inner fork arm and the outer fork arm of the calf assembly 122 are respectively fixedly connected to opposite sides of the driven wheel 1242 in the axial direction of the driven wheel 1242. In other words, the driven wheel 1242 can be interposed between the inner fork arm and the outer fork arm in the axial direction of the driven wheel 1242 to increase the stability of the connection between the calf assembly 122 and the transmission assembly 124. In this way, when the driven wheel 1242 rotates relative to the thigh assembly 121, the calf assembly 122 can also swing relative to the thigh assembly 121.

[0026] Furthermore, the circumferential surfaces of the driving wheel 1241 and the driven wheel 1242 that cooperate with the transmission belt 1243 can be respectively provided with tooth grooves, and the transmission belt 1243 can be correspondingly provided with belt teeth that mesh with the tooth grooves, thereby meshing with the driving wheel 1241 and the driven wheel 1242. In this way, not only can the transmission belt 1243 be prevented from "slipping", but the synchronization between the driving wheel 1241 and the driven wheel 1242 can also be increased. Of course, in some other embodiments, the driving wheel 1241 and the driven wheel 1242 can also be provided with no tooth grooves, and the transmission belt 1243 can also be provided with no teeth. Under the action of tension, the transmission belt 1243 can form static friction with the driving wheel 1241 and the driven wheel 1242 respectively, and can also transmit the driving force of the drive assembly 123 with a certain degree of synchronization.

[0027] It should be noted that: in addition to the transmission belt 1243, the driving wheel 1241 can also transmit the driving force of the driving component 123 to the driven wheel 1242 through the crank rocker mechanism, which will not be repeated here.

[0028] In the above manner, the driving force of the driving component 123 is transmitted from the first joint end to the second joint end via the transmission component 124, thereby causing the calf component 122 to swing relative to the thigh component 121 under the driving action of the driving component 123.

[0029] However, the inventors of the present application discovered during their long-term research and development work that the transmission assembly 124 will experience a certain degree of wear and tear after working for a long time, and its rigidity will also decrease, resulting in the transmission belt 1243 no longer being tightly engaged with the driving wheel 1241 and the driven wheel 1242, respectively, and the transmission being not smooth. Specifically, the transmission belt 1243 is loose and difficult to tighten. To this end, one inventive concept of the present application may be to provide an adjustment assembly 125 for adjusting the distance between the driving wheel 1241 and the driven wheel 1242, and then adjusting the tension of the transmission belt 1243, so that the transmission belt 1243 can still be tightened again after being loosened, so as to ensure the smooth transmission of the transmission assembly 124. Among them, the distance between the driving wheel 1241 and the driven wheel 1242 can refer to the distance between the axis of the driving wheel 1241 and the axis of the driving wheel 1241 (referred to as "axis center distance"). Obviously, compared with the tensioning wheel in the related art, the adjustment component 125 in the present application may not contact the transmission belt 1243, thereby helping to extend the service life of the transmission belt 1243.

[0030] By way of example, the adjustment assembly 125 may be located at the other end of the thigh assembly 12 (e.g., the second joint end) away from the drive assembly 123, and may include a bracket 1251 and a cam 1252. The driven wheel 1242 may be supported on the bracket 1251, and the cam 1252 may be configured to adjust the relative position between the bracket 1251 and the thigh assembly 121, thereby adjusting the distance between the driven wheel 1242 and the driving wheel 1241. In this way, when the transmission belt 1243 is loose, the cam 1252 can be rotated relative to the thigh component 121, and the bracket 1251 can be moved relative to the thigh component 121, so as to push the driven wheel 1242 away from the driving wheel 1241 through the bracket 1251, thereby increasing the distance between the adjusting driving wheel 1241 and the driven wheel 1242, and tightening the transmission belt 1243; and when the transmission belt 1243 is too tight, the cam 1252 can be rotated relative to the thigh component 121, and the bracket 1251 can be moved relative to the thigh component 121, so as to allow the driven wheel 1242 to approach the driving wheel 1241, thereby reducing the distance between the adjusting driving wheel 1241 and the driven wheel 1242, and allowing the transmission belt 1243 to be stretched a little.

[0031] It should be noted that the trajectory of the movement of the bracket 1251 relative to the thigh assembly 121 can be either straight or curved, as long as the relative position between the bracket 1251 and the thigh assembly 121 can be changed to adjust the spacing between the driven wheel 1242 and the driving wheel 1241. This embodiment uses the example of a straight trajectory of the movement of the bracket 1251 relative to the thigh assembly 121 as an example. Furthermore, the adjustment assembly 125 can be locked with the thigh assembly 121 to maintain the spacing between the driving wheel 1241 and the driven wheel 1242 after the adjustment assembly 125 completes the above-mentioned adjustment.

[0032] Joint Reference Figures 4 to 6 , Figure 4 yes Figure 3 A schematic structural diagram of an embodiment of the middle bracket, Figure 5 yes Figure 2 A schematic diagram of the partial structure of the second joint end of the first embodiment of the mechanical leg. Figure 6 yes Figure 5 Schematic diagram of the cross-sectional structure of the mechanical leg along the axial direction of the driven wheel. It should be noted that: for the convenience of description, compared with Figure 3 , Figure 5 and Figure 6 Some structural components are hidden.

[0033] Combine Figure 4 The bracket 1251 may include a crossbeam 12511 and two fork arms 12512. The two fork arms 12512 may be bent and connected to both ends of the crossbeam 12511 and extend in the same direction to the side of the crossbeam 12511. Figure 5 and Figure 6 The two fork arms 12512 can be located on opposite sides of the driven pulley 1242 in the axial direction, and can rotationally support the driven pulley 1242. In other words, the driven pulley 1242 can rotate relative to the thigh assembly 121 under the support of the bracket 1251. Furthermore, the cam 1252 can abut against the side of the crossbeam 12511 facing away from the fork arms 12512 to apply a force to the bracket 1251, thereby adjusting the relative position between the bracket 1251 and the thigh assembly 121.

[0034] Furthermore, the free end of the fork arm portion 12512, facing away from the cross beam portion 12511, may be provided with a rotation axis hole 12513 to facilitate the clamping of the driven wheel 1242, as will be described in an exemplary manner below. The free end of the fork arm portion 12512, where the rotation axis hole 12513 is provided, may be wider to facilitate cooperation with the guide structure, thereby achieving both guidance and position limiting, as will be described in an exemplary manner below.

[0035] As an example, the adjustment component 125 may also include a joint shaft 1253 and a bearing 1254, and the bearing 1254 may be sleeved and fixed on the joint shaft 1253. The joint shaft 1253 may pass through the driven wheel 1242 along the axial direction of the driven wheel 1242 and bridge between the two fork arms 12512. At this time, the two ends of the joint shaft 1253 may respectively extend into the corresponding rotating shaft holes 12513, and the two may be interference fit. Correspondingly, the outer ring of the bearing 1254 may be fixedly connected to the driven wheel 1242, and the inner ring of the bearing 1254 may be fixedly connected to the joint shaft 1253. In this way, the bracket 1251 can rotate to support the driven wheel 1242, and the two can also move relative to each other in a rolling friction manner, thereby reducing wear and increasing the reliability of the mechanical leg 12. Of course, in other embodiments, the joint shaft 1253 and the driven wheel 1242 may be integrally formed, and may protrude from the driven wheel 1242 in the axial direction of the driven wheel 1242 so as to be inserted into the corresponding rotating shaft hole 12513. Accordingly, the bearing 1254 may be disposed between the joint shaft 1253 and the fork arm portion 12512.

[0036] Furthermore, the number of bearings 1254 can be two, and the two bearings 1254 can be spaced apart in the axial direction of the driven pulley 1242 to be close to the two fork arms 12512, thereby increasing the stability of the bracket 1251 in rotating and supporting the driven pulley 1242. The diameter of the portion of the joint shaft 1253 between the two bearings 1254 (e.g., defined as a "spacer") can be larger to separate the two bearings 1254 and enable them to be spaced apart in the axial direction of the driven pulley 1242. Of course, in other embodiments, the number of bearings 1254 can be only one, or more than two, or no bearing 1254 can be provided, and this is not limited here.

[0037] Based on the above description, combined with Figure 3 , the fork arm portion 12512 can cooperate with the guide structure 1213 to guide the bracket 1251 when the cam 1252 adjusts the relative position between the bracket 1251 and the thigh component 121. Each fork arm portion 12512 can be respectively matched with the corresponding guide structure 1213 to increase the reliability of the guidance. Furthermore, since the width of the free end of the fork arm portion 12512 used to open the shaft hole 12513 can be larger, the guide structure 1213 can be configured to accommodate and guide the slide groove of the fork arm portion 12512 to achieve the guidance requirement. In addition, the free end of the fork arm portion 12512 and the crossbeam portion 12511 can also form an abutment with the guide structure 1213 to further play a limiting role. Of course, in some other embodiments, the guide structure 1213 can also be a guide column protruding from the thigh inner shell 1211 and / or the thigh outer shell 1212, and the fork arm portion 12512 can be provided with a guide groove that cooperates with the guide column, which can also achieve guidance and limitation.

[0038] As an example, the guide structure 1213 is configured to guide the bracket 1251 along the length of the thigh assembly 121. In other words, the motion trajectory of the bracket 1251 relative to the thigh assembly 121 can be collinear with the line connecting the driving wheel 1241 and the axis of the driving wheel 1241, so that the adjustment component 125 can meet the adjustment requirements of the transmission component with a minimal displacement.

[0039] Joint Reference Figure 7 and Figure 8 , Figure 7 yes Figure 5 A schematic structural diagram of an embodiment of the middle adjustment assembly viewed along the axial direction of the driven wheel, Figure 8 yes Figure 3 A schematic structural diagram of an embodiment of a camshaft.

[0040] As an example, the adjustment assembly 125 may further include a camshaft 1255, and the cam 1252 may be fixed to the camshaft 1255 and further rotatably supported on the thigh inner shell 1211 and / or the thigh outer shell 1212. The camshaft 1255 and the joint shaft 1253 may be arranged parallel to each other. Accordingly, in conjunction with FIG7, the outer peripheral surface of the cam 1252 may be eccentrically arranged relative to the camshaft 1255 and may abut against the crossbeam portion 12511. In this way, as the camshaft 1255 rotates relative to the thigh assembly 121, the outer peripheral surface of the cam 1252 pushes the bracket 1251 to move relative to the thigh assembly 121.

[0041] Furthermore, one end of the camshaft 1255 can be exposed outside the thigh assembly 121, allowing the user to apply a torque force through the camshaft 1255 to rotate the cam 1252 relative to the thigh assembly 121. This allows the user to adjust the distance between the driven wheel 1242 and the driving wheel 1241 using the adjustment assembly 125 without disassembling the thigh assembly 121, which is simple and convenient. To this end, the camshaft 1255 is further configured to lock the cam 1252 with the thigh assembly 121, maintaining the distance between the driving wheel 1241 and the driven wheel 1242 after the adjustment assembly 125 completes the adjustment.

[0042] As an example, combining Figure 8 The camshaft 1255 may include an integrally connected main body 12551, an operating portion 12552, and a threaded portion 12553. The operating portion 12552 and the threaded portion 12553 may be located at both ends of the main body 12551, respectively. The cam 1252 may be sleeved and fixed on the main body 12551, and may be prevented from rotating by a top screw. Furthermore, the operating portion 12552 may be exposed to the thigh component 121 to receive the torque applied by the user; the camshaft 1255 may be threadedly engaged with the thigh component 121 (specifically, the nut 1256 on one side thereof) through the threaded portion 12553 to achieve locking. In short, the camshaft 1255 may be bridged on the thigh component 121 to allow the cam 1252 to rotate relative to the thigh component 121, and may be engaged with the nut 1256 to achieve locking.

[0043] Furthermore, the operating portion 12552 can be bent relative to the main body 12551, for example, the two are arranged in an L-shape, so as to increase the lever arm, thereby making it easier for the user to apply torque to the cam shaft 1255 with his bare hands.

[0044] The following is a brief description of the adjustment of the mechanical leg 12 under adverse working conditions such as slack:

[0045] 1) Loosen nut 1256 to release the lock between cam 1252 and thigh assembly 121;

[0046] 2) Applying a torque to the camshaft 1255 causes the cam 1252 to rotate relative to the thigh assembly 121, thereby pushing the bracket 1251 to move relative to the thigh assembly 121, and further pushing the driven pulley 1242 to move away from the driving pulley 1241, thereby increasing the distance between the driving pulley 1241 and the driven pulley 1242 and tightening the transmission belt 1243;

[0047] 3) Screw on the nut 1256 to squeeze the thigh inner shell 1211 and the thigh outer shell 1212 respectively with the cam shaft 1255, thereby achieving locking between the cam 1252 and the thigh component 121.

[0048] In the above manner, the user can quickly adjust the distance between the driven wheel 1242 and the driving wheel 1241 without disassembling the thigh assembly 121, which is simple and convenient.

[0049] The above descriptions are only some embodiments of the present application and do not limit the scope of protection of the present application. Any equivalent device or equivalent process transformation made using the contents of the description and drawings of this application, or directly or indirectly applied in other related technical fields, are also included in the scope of patent protection of this application.

Claims

1. A mechanical leg, characterized in that: The mechanical leg comprises: Thigh assembly; a drive assembly located at one end of the thigh assembly; A transmission assembly, comprising a driving wheel, a driven wheel, and a transmission belt, wherein the driving wheel is connected to the driving assembly, the driven wheel is located at the other end of the thigh assembly away from the driving assembly and is configured to rotate relative to the thigh assembly, and the transmission belt is wound around the driving wheel and the driven wheel; A calf assembly, one end of which is fixedly connected to the driven wheel so as to swing relative to the thigh assembly under the driving action of the driving assembly; and an adjustment assembly, located at the other end of the thigh assembly away from the driving assembly, and comprising a bracket and a cam, the driven wheel being supported on the bracket, the cam being configured to adjust the relative position between the bracket and the thigh assembly, thereby adjusting the distance between the driven wheel and the driving wheel; The adjustment assembly includes a camshaft, the cam is fixed on the camshaft, and the camshaft includes a threaded portion, and the camshaft is threadedly engaged with the thigh assembly through the threaded portion to achieve locking; The bracket includes a crossbeam portion and two fork arms, the two fork arms are respectively bent and connected to both ends of the crossbeam portion and extend in the same direction laterally to the crossbeam portion, the cam abuts against a side of the crossbeam portion away from the fork arms, and the two fork arms are respectively located on opposite sides of the driven wheel in the axial direction of the driven wheel and rotatably support the driven wheel; The transmission assembly further includes a joint shaft and a bearing, wherein the joint shaft passes through the driven wheel along the axial direction of the driven wheel and is bridged between the two fork arms, the outer ring of the bearing is fixedly connected to the driven wheel, and the inner ring of the bearing is fixedly connected to the joint shaft; The thigh assembly includes a thigh inner shell and a thigh outer shell that is buckled with the thigh inner shell. A guide structure is provided on the side of the thigh inner shell facing the thigh outer shell and / or on the side of the thigh outer shell facing the thigh inner shell. The fork arm portion cooperates with the guide structure to guide the bracket when the cam adjusts the relative position between the bracket and the thigh assembly.

2. The mechanical leg according to claim 1, characterized in that: The guide structure is configured to guide the bracket along the length direction of the thigh component.

3. The mechanical leg according to claim 1, characterized in that: The drive assembly includes a motor and a flange. The motor is located on the side of the thigh inner shell facing away from the thigh outer shell and is fixedly connected to the thigh inner shell. The flange is located on the side of the thigh inner shell facing the thigh outer shell and includes an integrally connected disk body and an output shaft. The disk body is fixedly connected to the output end of the motor, and the driving wheel is sleeved and fixed on the output shaft.

4. The mechanical leg according to claim 1, characterized in that: The outer peripheral surface of the cam is eccentrically arranged relative to the cam shaft and abuts against the cross beam portion. Therefore, during the rotation of the cam shaft relative to the thigh component, the outer peripheral surface of the cam pushes the bracket to move relative to the thigh component.

5. The mechanical leg according to claim 4, characterized in that: One end of the cam shaft is exposed from the thigh component to allow a user to apply a torque through the cam shaft to rotate the cam relative to the thigh component. The cam shaft is further configured to lock the cam and the thigh component.

6. The mechanical leg according to claim 5, characterized in that: The camshaft further includes a main body and an operating part which are integrally connected. The operating part and the threaded part are respectively located at two ends of the main body. The operating part is exposed on the thigh component, and the cam sleeve is fixed on the main body.

7. A robot, characterized in that: The robot comprises a mechanical body and the mechanical leg according to any one of claims 1 to 6, wherein the mechanical leg is connected to the mechanical body.

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