Robot, leg components and drive mechanism

Abstract

This application provides a robot, a leg assembly, and a drive mechanism. The drive mechanism includes a first sprocket, a second sprocket assembly, a chain, and a first shifting device. The first sprocket can rotate under the drive of a drive motor. The second sprocket assembly includes a connecting shaft and at least two second sprockets, which are of different diameters and arranged adjacent to each other. The connecting shaft is used to drive the robot's leg structure to rotate. The first shifting device is arranged adjacent to the chain. The first shifting device is used to actuate the chain, allowing the chain to selectively engage with one of the at least two second sprockets, and the chain can switch between the at least two second sprockets, thereby changing the transmission ratio between the first sprocket and the second sprocket assembly. By setting multiple master and slave sprockets of different diameters and cooperating with the shifting device, this drive mechanism can achieve the purpose of changing the transmission ratio of the leg assembly, thereby adjusting the motion parameters of the leg structure under different usage environment conditions to adapt to different scenario functional requirements.

Description

Technical Field

[0001] This invention relates to the technical field of multi-legged robot leg structures, specifically to a robot, leg components, and drive mechanism. Background Technology

[0002] Quadruped robots have a simple structure, and their leg design allows for strong adaptability to various terrains, making them an important development direction and a hot research topic for manufacturers in recent years. Also known as robot dogs, quadruped robots resemble real dogs in appearance. They are widely considered to have promising applications in natural disaster rescue, industrial monitoring, and security patrols. As the structure through which the robot directly interacts with its environment, the legs' power transmission efficiency, operational stability, and range of motion are all important performance indicators.

[0003] The leg structure of conventional quadruped robot dogs mainly suffers from short lifespan and low transmission efficiency. Summary of the Invention

[0004] The first aspect of this application provides a driving mechanism, including:

[0005] The first sprocket can rotate under the drive of the drive motor;

[0006] The second sprocket assembly includes a connecting shaft and at least two second sprockets sleeved on the connecting shaft. The at least two second sprockets have different diameters and are arranged adjacent to each other. The connecting shaft is used to drive the robot's leg structure to rotate.

[0007] A chain is used for meshing and driving with the first sprocket and the second sprocket;

[0008] and

[0009] A first shifting device is disposed adjacent to the chain; the first shifting device is used to shift the chain so that the chain engages with one of the at least two second sprockets, and the chain can switch between the at least two second sprockets, thereby changing the transmission ratio between the first sprocket and the second sprocket group.

[0010] Secondly, embodiments of this application provide a driving mechanism, including:

[0011] A first sprocket assembly is used to connect to a drive motor and can rotate under the drive of the drive motor; wherein, the first sprocket assembly includes at least two first sprockets with different diameters, and the at least two first sprockets are coaxial and arranged adjacent to each other;

[0012] The second sprocket assembly includes a connecting shaft and a second sprocket sleeved on the connecting shaft, wherein the connecting shaft is used to drive the robot's leg structure to rotate;

[0013] A chain is used for meshing and driving with the first sprocket and the second sprocket;

[0014] A shifting device is disposed adjacent to the chain; the shifting device is used to shift the chain so that the chain can switch to engage with first sprockets of different diameters, thereby changing the transmission ratio between the first sprocket group and the second sprocket group.

[0015] Thirdly, embodiments of this application provide a leg assembly for a robot, comprising:

[0016] The first sprocket can rotate under the drive of the drive motor;

[0017] The second sprocket assembly includes a connecting shaft and at least two second sprockets sleeved on the connecting shaft, wherein the at least two second sprockets have different diameters and are arranged adjacent to each other;

[0018] A chain is used for meshing and driving with the first sprocket and the second sprocket;

[0019] The lower leg is connected to the connecting shaft of the second sprocket assembly and can rotate with the connecting shaft; and

[0020] A first shifting device is disposed adjacent to the chain; the first shifting device is used to shift the chain so that the chain engages with one of the at least two second sprockets, and the chain can switch between the at least two second sprockets, thereby changing the transmission ratio between the first sprocket and the second sprocket group.

[0021] In addition, this application provides another robot, which includes a torso and a plurality of leg components connected to the torso as described in any of the above embodiments; the torso is provided with a drive motor for the leg components, the drive motor being used to drive the first sprocket of the leg components to rotate.

[0022] The drive mechanism provided in this application embodiment firstly utilizes a chain transmission structure, which has the advantages of high transmission efficiency, long service life, relatively low cost, and high transmission reliability. In addition, by setting multiple master and slave sprockets of different diameters and cooperating with a shifting device, the transmission ratio of the leg components can be changed, thereby adjusting the motion parameters of the leg structure under different usage environment conditions to adapt to different scenario functional requirements and improve the applicability of the robot. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of the overall structure of an embodiment of the leg assembly for a robot according to this application;

[0025] Figure 2 yes Figure 1 A schematic diagram of the structure of the robot's leg assembly and drive motor in the embodiment;

[0026] Figure 3 yes Figure 1 A schematic diagram of the disassembled structure of the leg assembly used for the robot in the embodiment;

[0027] Figure 4 yes Figure 3 A partial structural diagram of the leg component in the embodiment;

[0028] Figure 5 yes Figure 3 A schematic diagram of the second sprocket assembly in the embodiment;

[0029] Figure 6 This is a schematic diagram of the overall structure of an embodiment of the first gear shifting device of this application;

[0030] Figure 7 yes Figure 6 A structural breakdown diagram of the first gear shifting device in the embodiment;

[0031] Figure 8 This is a schematic diagram of the structure of the first housing in this embodiment;

[0032] Figure 9 This is a schematic diagram of the first gear shifting device in its first working state;

[0033] Figure 10 This is a schematic diagram of the second working state of the first gear shifting device;

[0034] Figure 11 This is a schematic diagram of the third working state of the first gear shifting device;

[0035] Figure 12 This is a partial structural schematic diagram of another embodiment of the leg assembly for a robot according to this application;

[0036] Figure 13 This is a partial structural schematic diagram of yet another embodiment of the leg assembly for a robot according to this application;

[0037] Figure 14 This is a structural schematic diagram of an embodiment of the robot of this application. Detailed Implementation

[0038] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be particularly noted that the following embodiments are for illustrative purposes only and do not limit the scope of the invention. Similarly, the following embodiments are only some, not all, embodiments of the present invention, and all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0039] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0040] Please refer to the following: Figures 1 to 3 , Figure 1 This is a schematic diagram of the overall structure of an embodiment of the leg assembly for a robot according to this application. Figure 2 yes Figure 1 A schematic diagram of the structure of the robot's leg assembly and drive motor in the embodiment; Figure 3 yes Figure 1The embodiment shows a schematic diagram of the disassembled structure of the leg assembly for the robot. It should be noted that the leg assembly in this application can be used on a robot that includes a torso and several leg structures. The robot, under the control of a control system, is a machine capable of walking, running, jumping, and other functions. A typical robot structure is a robot dog, which is a robot structure including a torso and four legs. Of course, the robot in this embodiment can also have two, three, or more legs, or even only one leg (which may have a balancing device, etc.), and is not specifically limited here. The leg assembly 10 for the robot in this embodiment includes, but is not limited to, a first sprocket group 100, a second sprocket group 200, a chain 300, a lower leg 400, a thigh shell 500, and a first shifting device 600. The first sprocket group, the second sprocket group, the chain, and the shifting device together constitute the drive mechanism of the leg assembly. It should be noted that the terms "including" and "having," and any variations thereof, in the embodiments of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the steps or units listed, but may optionally include steps or units not listed, or may optionally include other steps or components inherent to such process, method, product, or device.

[0041] Specifically, optionally, in this embodiment, the thigh shell 500 forms a receiving space 1000, and the first sprocket assembly 100, the second sprocket assembly 200, the chain 300, and the first shifting device 600 may be disposed within the receiving space 1000. In this embodiment, the first sprocket assembly 100 may include a first sprocket 110, which is connected to the drive motor 20 and can rotate under the drive of the drive motor 20.

[0042] Optionally, in this embodiment, the thigh shell 500 may include a first shell 510 and a second shell 520, which are fixedly connected to form the accommodating space 1000. The fixed connection between the first shell 510 and the second shell 520 may be achieved by screws, snap-fit, or adhesive bonding, etc., and is not specifically limited here. Of course, in some other embodiments, the thigh shell 500 may have other structural forms, as long as it can form a sealed or semi-sealed (at least covering or partially obscuring the first sprocket assembly 100, second sprocket assembly 200, chain 300, and first shifting device 600) accommodating space 1000 for accommodating the first sprocket assembly 100, second sprocket assembly 200, chain 300, and first shifting device 600. The first shell 510 and the second shell 520 may be made of stainless steel, hard plastic, resin, or aluminum alloy, etc.

[0043] Please refer to the following: Figure 4 and Figure 5 , Figure 4 yes Figure 3 A partial structural diagram of the leg component in the embodiment. Figure 5 yes Figure 3 A schematic diagram of the second sprocket assembly in the embodiment. Optionally, the second sprocket assembly 200 includes a connecting shaft 210 and at least two second sprockets 220 of different diameters that are sleeved on the connecting shaft 210 and arranged adjacent to each other. The at least two second sprockets 220 may be interference-fitted with the connecting shaft 210, or they may be fixedly connected by drive pins.

[0044] In this embodiment, the second sprocket assembly 200 includes three second sprockets 220 of different diameters as an example. Of course, in some other embodiments, the second sprocket assembly 200 may include two or more second sprockets 220 of different diameters arranged adjacent to each other. The two ends of the connecting shaft 210 may be connected to the first housing 510 and the second housing 520 via bearings.

[0045] Alternatively, please continue reading Figure 3 and Figure 4In this embodiment, the lower leg 400 is connected to the connecting shaft 210 of the second sprocket assembly 200 and can rotate with the connecting shaft 210. The lower leg 400 may include two parts, which are respectively installed on the outer sides of the first housing 510 and the second housing 520 of the thigh outer shell 500. Each part of the lower leg 400 may include a main body 410 and a connecting part 420; the connecting part 420 is connected to the connecting shaft 210 of the second sprocket assembly 200; the main body 410 is used for contact with ground support. In addition, in some other embodiments, a foot (not shown in the figure) may be provided at the end of the main body 410 away from the connecting part 420. The foot may be made of rubber or other materials with a certain degree of elasticity and wear resistance, which plays a role in cushioning the structure of the lower leg 400. It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in the embodiments of this application are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0046] Alternatively, please continue reading Figure 4 The chain 300 is used for meshing and transmission connection with the first sprocket 110 and the second sprocket 220. The structure of multiple second sprockets 220 with different diameters can change the transmission ratio between the first sprocket 110 and the second sprocket 220 when they mesh with the chain 300 respectively.

[0047] Alternatively, please continue reading Figure 3 and Figure 4 The first shifting device 600 is disposed adjacent to the chain 300; the first shifting device 600 is used to shift the chain 300 so that the chain 300 can switch to mesh with the second sprocket 220 of different diameters, thereby changing the transmission ratio between the first sprocket 110 and the second sprocket group 200.

[0048] The leg assembly for robots provided in this application embodiment firstly utilizes a chain drive structure, which has the advantages of high transmission efficiency, long service life, relatively low cost, and high transmission reliability. In addition, by setting multiple sprockets (second sprocket set) of different diameters and cooperating with a shifting device, the transmission ratio of the leg assembly can be changed, thereby adjusting the motion parameters of the leg structure under different usage environment conditions to adapt to different scenario functional requirements and improve the applicability of the robot.

[0049] Please refer to the following: Figure 6 and Figure 7 , Figure 6 This is a schematic diagram of the overall structure of an embodiment of the first gear shifting device of this application. Figure 7 yes Figure 6A schematic diagram of the first shifting device in this embodiment is shown. The first shifting device 600 in this embodiment includes a drive assembly 610 and a shift wheel assembly 620. The shift wheel assembly 620 includes a connecting frame 621 and a shift wheel 622 rotatably connected to the connecting frame 621; the shift wheel 622 meshes with the chain 300. The drive assembly 610 drives the connecting frame 621 in a direction parallel to the axis of the connecting shaft 210 of the second sprocket set 200. Figure 5 The wheel 622 moves back and forth (in the direction of the arrow X), thereby causing the chain 300 to switch to engage with second sprockets 220 of different diameters.

[0050] Optionally, the drive assembly 610 includes a drive unit 611 and a transmission assembly 612; wherein the drive unit 611 is fixedly connected to the thigh shell 500 (specifically, the first shell 510 in this embodiment). Optionally, the drive unit 611 can be a linear motor, a cylinder, or a hydraulic cylinder, etc., and is not specifically limited here. The drive unit 611 can be fixedly connected to the first shell 510 of the thigh shell 500 via two locking members 613.

[0051] Optionally, the transmission assembly 612 is connected to the drive unit 611 and the connecting frame 621 of the dial assembly 620, respectively, and the drive unit 611 can drive the connecting frame 621 to move through the transmission assembly 612. Specifically, in this embodiment, the transmission assembly 612 includes a transmission block 6121 and a transmission frame 6122.

[0052] Please refer to the following: Figure 8 , Figure 8 This is a schematic diagram of the structure of the first housing in this embodiment. The transmission frame 6122 is provided with a guide hole 61220, and the first housing 510 of the thigh outer shell 500 is provided with a guide post 511. The guide hole 61220 of the transmission frame 6122 is fitted onto the guide post 511 on the first housing 510 of the thigh outer shell 500 and is slidably connected to the guide post 511. The guide post 511 serves to guide and position the transmission frame 6122. The number of guide posts 511 and the corresponding guide holes 61220 is not limited to the two shown in the illustration of this embodiment.

[0053] Optionally, the connecting frame 621 is connected to the transmission frame 6122; specifically, the transmission frame 6122 is provided with a connecting post 61221, and the connecting frame 621 may be rotatably connected to the connecting post 61221. The transmission block 6121 can move under the drive of the driving unit 611, specifically, the driving unit 611 can drive the transmission block 6121 to slide along the inner sidewall of the first housing 510. The transmission block 6121 is provided with an inclined surface 61210, which is used to support the transmission frame 6122, thereby pushing the transmission frame 6122 and the dial wheel assembly 620 to slide along the guide post 511 on the first housing 510. The dial wheel 622 of the dial wheel assembly 620 actuates the chain 300, so that the chain 300 can switch to mesh with second sprockets 220 of different diameters, thereby changing the transmission ratio between the first sprocket 110 and the second sprocket group 200.

[0054] Alternatively, please continue reading Figure 7 and Figure 8 The transmission assembly 612 may further include a return spring 6123. Specifically, the return spring 6123 may be a guide post 511 sleeved on the first housing 510. One end of the return spring 6123 may support the second housing 520, and the other end may support the transmission frame 6122. The return spring 6123 is used to support the transmission frame 6122 on the side of the transmission frame 6122 away from the transmission block 6121 to reset it. As a driving member for reverse shifting, it drives the transmission frame 6122 to move closer to the first housing 510, thereby realizing reverse shifting.

[0055] Please refer to the following: Figure 9 , Figure 10 as well as Figure 11 ,in, Figure 9 This is a schematic diagram of the first gear shifting device in its first working state; Figure 10 This is a schematic diagram of the second working state of the first gear shifting device; Figure 11 This is a structural diagram of the first gear shifting device in its third operating state. Among them, Figure 9 , Figure 10 as well as Figure 11This diagram represents three gear positions, specifically the engagement of the chain 300 with three different diameter second sprockets of the second sprocket set 200. The bottom of the transmission block 6121 abuts against the inner wall of the first housing 510, while its top slides against the transmission frame 6122 via an inclined surface 61210. The transmission frame 6122 is restricted by the guide post 511 inside the first housing 510 and can only move along the extension direction of the guide post 511 (i.e., the X direction in the diagram). When the output shaft of the drive unit 611 pushes the transmission block 6121 to different distances, the transmission frame 6122 slides relative to the transmission block 6121 (in the X arrow direction in the diagram). A return spring 6123 is provided on the guide post 511. The return spring 6123 is always in a compressed state. Therefore, when the output shaft of the drive unit 611 retracts, the return spring 6123 forces the transmission frame 6122 to move in the opposite direction along the guide post 511, thereby achieving reverse gear adjustment.

[0056] Alternatively, please continue reading Figure 7 and Figure 8 In this embodiment, the thigh shell 500 (specifically, the inner wall of the first shell 510) is provided with a guide protrusion 513, and the transmission block 6121 is provided with a guide groove 61211 on the side near the thigh shell 500 (first shell 510). The guide protrusion 513 and the guide groove 61211 are slidably engaged, thereby limiting the sliding direction of the transmission block 6121 relative to the thigh shell 500 and the first shell 510. Of course, in this embodiment, the structure of the guide protrusion 513 on the inner wall of the first shell 510 and the guide groove 6121 on the transmission block 6121 is different. In some other embodiments, the structure of the guide groove on the inner wall of the first shell 510 and the guide protrusion on the transmission block 6121 can also be used. Alternatively, the structure of the slide rail on the inner wall of the first shell 510 and the slider at the bottom of the transmission block 6121 can be used to achieve the guiding function between the first shell 510 and the transmission block 6121. The detailed structural features of this part are within the understanding of those skilled in the art and will not be described in detail here.

[0057] Alternatively, please continue reading Figure 4 and Figure 7The derailleur 622 further includes a first derailleur 6221 and a second derailleur 6222 arranged side by side. The first derailleur 6221 and the second derailleur 6222 are respectively connected to the connecting frame 621. The connecting frame 621 is rotatably connected to the transmission frame 6122 via a connecting post 61221 on the transmission frame 6122. The first derailleur 6221 and the second derailleur 6222 respectively mesh with the inner and outer sides of the chain 300. Since the connecting frame 621 can rotate relative to the transmission frame 6122, in different gear positions, the connecting frame 621 can adaptively rotate a certain angle relative to the transmission frame 6122, thereby adjusting the tension of the chain 300. During gear shifting, due to the different diameters of the three second sprockets 220, the length of the chain 300 changes during engagement. At this time, because the connecting frame 621 and the transmission frame 6122 are connected via a connecting post 61221, the connecting frame 621 is pulled by the chain 300 to rotate around the connecting post 61221 on the transmission frame 6122. This changes the positions of the first and second shifters 6221, thereby adjusting the arrangement of the chain 300. It should be noted that the terms "first," "second," and "third" in the embodiments of this application are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined with "first," "second," or "third" may explicitly or implicitly include at least one of those features. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0058] Alternatively, please continue reading Figure 8 The first housing 510 may also be provided with a flange 512, and the drive motor 20 may be positioned with the flange 512 inside the first housing 510 and connected to the first housing 510 by screws.

[0059] In this application, an embodiment provides a structure for a first gear shifting device. This first gear shifting device converts the horizontal movement of the drive unit (movement along the plane of the first housing) into the vertical movement of the transmission frame (perpendicular to the plane of the first housing, i.e., the X direction in the figure). It has the characteristics of compact structure and reliable operation.

[0060] Optionally, in some other embodiments, the first shifting device may also be a structure that directly drives the shift wheel assembly to move in the X direction in the figure through the drive assembly, without setting up an intermediate transmission assembly structure for changing the transmission direction. The detailed structural features of this part are within the understanding of those skilled in the art and will not be described here.

[0061] In the aforementioned embodiment, the first sprocket assembly 100 includes a first sprocket 110, while the second sprocket assembly 200 includes multiple second sprockets 220. That is, it is a shifting scheme with one driving sprocket and multiple driven sprockets. Please refer to [link / reference]. Figure 12 , Figure 12 This is a partial structural diagram of another embodiment of the leg assembly for a robot according to this application. In this embodiment, the first sprocket group 100 includes a first sprocket 110 and a third sprocket 130. The third sprocket 130 is coaxial with and adjacent to the first sprocket 110, and the diameter of the third sprocket 130 is different from the diameter of the first sprocket 110. Similarly, the second sprocket group 200 may include a connecting shaft 210 and three second sprockets 220 of different diameters arranged adjacently on the connecting shaft 210.

[0062] In this illustrated embodiment, only the driven sprocket group (second sprocket group 200) is mentioned as having three gears, while the driving sprocket group (first sprocket group 100) has a two-gear structure. According to the formula: number of gears = number of first sprockets * number of second sprockets; therefore, in the structure of this illustrated embodiment, the number of gears is a transmission scheme of 6 gears: second sprocket 3 * first sprocket 2. Of course, in some other embodiments, other combinations of sprockets can be used, thus forming various numbers of gears. Those skilled in the art will understand that, given sufficient space, the number of gears can be designed as needed. For example, in some embodiments, multiple driving sprockets (i.e., the first sprocket group 100 includes multiple driving sprockets) and one driven sprocket (i.e., the second sprocket group 200 includes only one second sprocket 220) can be used; in this structure, the number of gears is equal to the number of driving sprockets.

[0063] Optionally, to achieve more precise gear shifting control, the technical solution in this embodiment can also include a second gear shifting device (not shown in the figure). This second gear shifting device can be disposed adjacent to the chain and is used to actuate the chain, allowing the chain to switch engagement with the third sprocket and the first sprocket. That is, the first gear shifting device actuates the chain near the driven sprocket (second sprocket group), allowing the chain to switch engagement with multiple second sprockets in the second sprocket group; while the second gear shifting device actuates the chain near the driving sprocket (first sprocket group), allowing the chain to switch engagement with the first and third sprockets (and possibly a fourth and fifth sprockets) in the first sprocket group. Optionally, the structure of the second gear shifting device can be the same as or similar to that of the first gear shifting device, and will not be described in detail here.

[0064] In this embodiment, the leg assembly, by setting two shifting devices, can achieve accurate control of shifting between the master and slave wheels, thereby improving shifting efficiency and reliability.

[0065] Further, please refer to Figure 13 , Figure 13 This is a partial structural diagram of another embodiment of the leg assembly for a robot according to this application. In the aforementioned embodiments, it is generally assumed that the transmission ratio is greater than 1 (the diameter of the driving sprocket is greater than the diameter of the driven sprocket), i.e., a scheme to increase the rotational speed and reduce torque. In this embodiment, the diameter of the driving sprocket (first sprocket 110) can be made smaller, while the diameter of the driven sprocket at the knee joint (second sprocket 220) can be made larger, so that the transmission ratio is less than one, i.e., a scheme to reduce speed and increase torque can be achieved. In the figure, both the driving sprocket (first sprocket group 100) and the driven sprocket (second sprocket group 200) can be configured with multiple sprockets to achieve a multi-gear structure.

[0066] Furthermore, this application also provides a robot structure, please refer to [link to relevant documentation]. Figure 14 , Figure 14 This is a schematic diagram of a robot embodiment according to this application. The robot in this embodiment includes a torso 30 and multiple leg components 10 connected to the torso 30 (the diagram in this embodiment uses the structure of four robot dogs as an example for illustration). For detailed structure of the leg components 10, please refer to the relevant description in the foregoing embodiments. The robot's torso 30 may include a control circuit board and a device for driving the movement of the leg structures. Detailed features of this part are within the understanding of those skilled in the art and will not be elaborated here.

[0067] The robot provided in this application embodiment first utilizes a chain drive structure for its leg assembly, which has the advantages of high transmission efficiency, long service life, relatively low cost, and high transmission reliability. In addition, by setting multiple master and slave sprockets of different diameters and cooperating with a shifting device, the transmission ratio of the leg assembly can be changed, thereby adjusting the motion parameters of the leg structure under different usage environment conditions to adapt to different scenario functional requirements and improve the robot's applicability.

[0068] The above description is only a part of the embodiments of the present invention and does not limit the scope of protection of the present invention. Any equivalent device or equivalent process transformation made based on the content of the present invention specification and drawings, or direct or indirect application in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A leg assembly for a robot, characterized in that, include: Thigh shell; The first sprocket can rotate under the drive of the drive motor; The second sprocket assembly includes a connecting shaft and at least two second sprockets sleeved on the connecting shaft, wherein the at least two second sprockets have different diameters and are arranged adjacent to each other; A chain for engaging and driving with the first sprocket and the second sprocket; The lower leg is connected to the connecting shaft of the second sprocket assembly and can rotate with the connecting shaft; and A first shifting device, disposed adjacent to the chain, includes a drive assembly and a shift wheel assembly; the shift wheel assembly includes a connecting frame and a shift wheel rotatably connected to the connecting frame; the shift wheel engages with the chain; The drive assembly includes a drive unit and a transmission assembly, used to drive the connecting frame to reciprocate in an axial direction parallel to the connecting shaft of the second sprocket group, thereby causing the derailleur to drive the chain to engage with one of the at least two second sprockets, and the chain can switch between the at least two second sprockets, thereby changing the transmission ratio between the first sprocket and the second sprocket group; The drive unit is fixedly connected to the thigh shell, and the transmission assembly is connected to the drive unit and the connecting frame of the dial assembly respectively. The drive unit can drive the connecting frame to move through the transmission assembly. The transmission assembly includes a transmission block and a transmission frame; the transmission frame is slidably connected to a guide post on the thigh shell, and the connecting frame is connected to the transmission frame; the transmission block can move under the drive of the drive unit, and the transmission block is provided with an inclined surface, which is used to support the transmission frame, thereby pushing the transmission frame and the dial assembly to slide along the guide post.

2. The leg assembly according to claim 1, characterized in that, The transmission assembly also includes a return spring, which is used to support the transmission frame on the side of the transmission frame away from the transmission block.

3. The leg assembly according to claim 1, characterized in that, The thigh shell is provided with a guide protrusion, and the transmission block is provided with a guide groove on the side near the thigh shell. The guide protrusion and the guide groove are slidably engaged.

4. The leg assembly according to claim 1, characterized in that, The derailleur includes a first derailleur and a second derailleur arranged side by side, and the first derailleur and the second derailleur respectively mesh with the inner and outer sides of the chain.

5. A robot, characterized in that, The robot includes a torso and a plurality of leg components as described in any one of claims 1-4 connected to the torso; the torso is provided with a drive motor for the leg components, the drive motor being used to drive a first sprocket of the leg components to rotate.

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