Mechanical leg module and robot

Abstract

A mechanical leg module and a robot are provided, which can be applied to various application scenarios such as artificial intelligence, robot application, mechatronics, etc. The mechanical leg module includes: a housing, a floating end, a driving component, and a rope member; wherein two floating ends are relatively installed on the inner sides of the top and bottom of the housing, the driving component includes a rope wheel, the rope wheel is fixed to the side of the housing, the rope member is wound around the rope wheel and the two ends are respectively fixed to the floating ends of the top and bottom of the housing, so that the housing can be pulled up and down under the drive of the driving component, which can effectively reduce the weight and respond quickly, thereby improving the movement effect.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent devices, and more specifically, to a mechanical leg module and a robot. Background Art

[0002] The robot uses transmission components to drive the movement or rotation of joints to achieve the movement of the body, arms, wrists, etc. Therefore, the transmission components are important components of the robot. Commonly used linear transmission mechanisms generally use screw nuts for transmission. However, linear transmission mechanisms driven by screw nuts are generally heavy and have slow response speeds, resulting in poor movement effects. Summary of the invention

[0003] The present application provides a mechanical leg module and a robot that can effectively reduce weight and respond quickly, thereby improving exercise effects.

[0004] In a first aspect, a mechanical leg module is provided, comprising: a housing;

[0005] A swimming end, two of which are provided and symmetrically mounted on the inner sides of the top and bottom of the housing;

[0006] A drive assembly connected to a side surface of the housing, the drive assembly comprising a rope pulley;

[0007] A rope member is wound through the rope pulley, and two ends of the rope member are respectively fixed to the floating end installed on the top of the shell and the floating end installed on the bottom of the shell, so that the rope member drives the shell to move up and down under the drive of the driving component.

[0008] In some embodiments, the drive assembly also includes a base and a motor, wherein the base is connected to the side surface inside the housing, the pulley is arranged between a first connecting surface and a second connecting surface of the base, and the motor is arranged on the first connecting surface and away from the surface of the pulley.

[0009] In some implementations, the drive assembly further includes a reducer fixed between the motor and the base.

[0010] In some implementations, the drive assembly further includes a flange, the flange is disposed between the rope pulley and the first connecting surface, the flange includes a connecting hole, and the connecting hole is used to connect the rope pulley and the motor.

[0011] In some implementations, a boss is provided on the base, a mounting hole is provided on the boss, and the rope pulley is rotatably connected to the base via the mounting hole.

[0012] In some implementations, the base further includes a limiting module, the limiting module includes a bearing, and the bearing is disposed between the base and the rope pulley for connecting the rope pulley.

[0013] In some implementations, the limiting module further includes a first retaining ring and a second retaining ring, the outer diameter of the first retaining ring is larger than the outer diameter of the second retaining ring, a gap is provided on a side of the boss close to the outer shell, the gap is used to install the first retaining ring and the second retaining ring, the outer diameter of the first retaining ring is larger than the outer diameter of the bearing, and the inner diameter of the first retaining ring is smaller than the outer diameter of the bearing, the outer diameter of the second retaining ring is larger than the inner diameter of the bearing, the pulley is installed through the first retaining ring, and the second retaining ring is arranged between the pulley and the outer shell.

[0014] In some implementations, the rope pulley further includes a fixing member for fixing the rope member.

[0015] In some implementations, the swimming end includes a support portion, a steel shaft, a sliding bearing, and a connecting portion;

[0016] The steel shaft is connected to the support portion, and the sliding bearing is movably connected to the steel shaft to slide along the length direction of the steel shaft;

[0017] The connecting portion is connected to the sliding bearing, and the connecting portion is used to drive the rope member to follow the movement of the sliding bearing.

[0018] In some implementations, the connecting portion includes a shell, a spring inner shaft and a spring, the spring is wound around the spring inner shaft, the first end of the shell is connected to the sliding bearing, the spring inner shaft and the spring are connected to the second end of the shell, the spring inner shaft is perpendicular to the central axis of the sliding bearing, and a connecting hole is provided on the spring inner shaft for fixing the rope member.

[0019] In a second aspect, a robot is provided, comprising a mechanical leg module as described in the first aspect.

[0020] In some implementations, the robot also includes a hip joint, and two mechanical leg modules are installed on both sides of the hip joint, and the two mechanical leg modules are symmetrical along the hip joint axis.

[0021] In some implementations, the hip joint is coupled to the drive assembly.

[0022] In some implementations, the drive assembly includes a motor coupled to the hip joint.

[0023] The mechanical leg module of the embodiment of the present application includes: a housing, a floating end, a driving component and a rope member, wherein the driving component includes a rope wheel, and the rope member is wound around the rope wheel, and the two ends are respectively fixed to the floating ends at the top and bottom of the housing, so that when the rope wheel moves, the rope member is tightened under the action of friction to pull the housing up and down. In addition, the weight of the mechanical leg module can be reduced through rope drive, and the response of the mechanical leg module can be improved to achieve a better movement effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the structure of the mechanical leg module provided in an embodiment of the present application.

[0025] Figure 2 It is a schematic diagram of the structure of the drive assembly provided in an embodiment of the present application.

[0026] Figure 3 It is a schematic diagram of the structure of the flange provided in an embodiment of the present application.

[0027] Figure 4 It is a schematic diagram of the disassembled structure of the limiting module provided in an embodiment of the present application.

[0028] Figure 5 This is a schematic diagram of the first state of the rope pulley provided in an embodiment of the present application.

[0029] Figure 6 This is a schematic diagram of the second state of the rope pulley provided in an embodiment of the present application.

[0030] Figure 7 It is a structural schematic diagram of the mobile end provided in an embodiment of the present application.

[0031] Figure 8 It is a schematic diagram of the structure of the robot provided in the embodiment of the present application. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of this application.

[0033] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0034] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or mutual communication; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0035] In the present application, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0036] The disclosure below provides many different embodiments or examples to realize the different structures of the present application. In order to simplify the disclosure of the present application, the parts and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the present application. In addition, the present application can repeat reference numbers and / or reference letters in different examples, and this repetition is for the purpose of simplification and clarity, which itself does not indicate the relationship between the various embodiments and / or settings discussed. In addition, the various specific processes and material examples provided by the present application, but those of ordinary skill in the art can appreciate the application of other processes and / or the use of other materials.

[0037] The embodiments of the present application can be applied to various application scenarios such as artificial intelligence, robotics, and mechatronics.

[0038] First, some nouns or terms that appear in the description of the embodiments of the present application are explained as follows:

[0039] Artificial Intelligence (AI) is the theory, method, technology and application system that uses digital computers or machines controlled by digital computers to simulate, extend and expand human intelligence, perceive the environment, acquire knowledge and use knowledge to obtain the best results. In other words, artificial intelligence is a comprehensive technology in computer science that attempts to understand the essence of intelligence and produce a new intelligent machine that can respond in a similar way to human intelligence. Artificial intelligence is to study the design principles and implementation methods of various intelligent machines so that machines have the functions of perception, reasoning and decision-making.

[0040] A robot is a machine that can perform tasks such as operation or movement through programming and automatic control. Robots have basic features such as perception, decision-making, and execution. They can assist or even replace humans in completing dangerous, heavy, and complex tasks, improve work efficiency and quality, serve human life, and expand or extend the scope of human activities and capabilities.

[0041] Mechatronics technology is a comprehensive high-tech technology that combines microelectronics technology, computer technology, information technology and mechanical technology. It is an organic combination of mechanical technology and microelectronics technology.

[0042] Among them, ball screw nut mechanisms are widely used in mechatronic systems. For example, ball screw nut mechanisms are often used in robots. However, since many balls are placed in the spiral groove of the screw nut, the ball screw nut mechanism is very heavy and has a slow response speed.

[0043] An embodiment of the present application provides a mechanical leg module and a robot.

[0044] See also Figure 1 to Figure 2 , the following will combine Figure 1 and Figure 2 The mechanical leg module provided in the embodiment of the present application is described as follows: Figure 1 and Figure 2 As shown, the mechanical leg module 1000 includes a housing 100 , a movable end 200 , a driving assembly 300 and a rope member 400 .

[0045] There are two floating ends 200 which are symmetrically mounted on the inner side of the top and bottom of the housing 100. The driving assembly 300 is connected to the side of the housing 100, and the driving assembly 300 includes a rope wheel 310. The rope member 400 is wound through the rope wheel 310, and the two ends of the rope member 400 are respectively fixed to the floating end 200 mounted on the top of the housing 100 and the floating end 200 mounted on the bottom of the housing 100, so that the rope member 400 drives the housing 100 to move up and down under the drive of the driving assembly 300.

[0046] It is easy to understand that the rope wheel 310 is used to wind the rope member 400, and a spiral groove may be provided thereon. The size and number of turns of the spiral groove may be designed according to the thickness and length of the rope member 400.

[0047] Specifically, by connecting the two ends of the rope member 400 to the two movable ends 200 respectively, the movable ends 200 are symmetrically fixed on the inner side of the top and bottom of the outer shell 100, and the rope member 400 is wound on the pulley 310. When the pulley 310 moves clockwise or counterclockwise, the rope member 400 will be tightened under the action of friction, and then drive the outer shell 100 to move up and down.

[0048] Specifically, the rope member 400 can be a steel wire rope, a fiber rope, etc. Among them, the steel wire rope refers to a flexible rope made of multiple or multiple strands of thin steel wires, which is a rope made of multiple layers of steel wires twisted into strands, and then a certain number of strands are twisted into a spiral rope with the rope core as the center. It has the advantages of high strength, light weight, stable operation, not easy to break suddenly, safe and reliable, etc.

[0049] Specifically, the housing 100 may be configured as a hollow structure to reduce weight. For example, the housing 100 may adopt a truss structure, which can reduce the weight of the module while retaining the rigidity and strength of the structure.

[0050] In some embodiments, the drive assembly 300 also includes a base 320 and a motor 330, wherein the base 320 is connected to the side inside the housing 100, the pulley 310 is arranged between the first connecting surface and the second connecting surface of the base 320, and the motor 330 is arranged on the first connecting surface and away from the surface of the pulley 310.

[0051] Specifically, by fixing the motor 330 and the pulley 310 on the base 320, the torque of the motor 330 is transmitted to the pulley 310 through the base 320, so that the pulley 310 rotates. At this time, the rope member 400 will be tightened under the action of friction, further driving the housing 100 to move up and down.

[0052] Specifically, the base 320 may include four connecting surfaces connected end to end, and each two unconnected connecting surfaces are parallel to each other. The first connecting surface and the second connecting surface are parallel to each other and perpendicular to the central axis of the rope wheel 310, and the rope wheel 310 can be movably connected between the first connecting surface and the second connecting surface.

[0053] In this embodiment, the motor 330 may be a servo motor, which facilitates controlling the rotation direction of the rope pulley 310 .

[0054] Specifically, the base 320 may be movably connected to the side surface of the housing 100 . For example, the base 320 may be hingedly connected or slidably connected to the side surface of the housing 100 .

[0055] Alternatively, the base 320 may be movably connected to the side surface inside the housing 100. For example, a guide rail may be provided on the side surface inside the housing 100 parallel to the rope member 400, and a slider matching the guide rail may be provided on the base 320. By installing the slider on the guide rail, the base 320 and the housing 100 are movably connected, and the base 320 may move up and down along the guide rail inside the housing 100. It is easy to understand that a lock may be provided on the guide rail, and the base 320 may be fixed to the guide rail when necessary.

[0056] It should be understood that the mechanical leg module 1000 can be applied to a robot. For example, the motor 330 can be fixed to the hip joint of the robot during assembly. By setting the guide rail and the slider, the center of gravity of the robot on which the mechanical leg module 1000 is installed can be adjusted when necessary. For example, when there is an obstacle, the base 320 can be controlled to move upward along the guide rail, thereby driving the hip joint to move upward to pass smoothly. For another example, on a flat road, when it is necessary to move quickly, the base 320 can be controlled to move to the highest point along the guide rail to increase the speed of movement. For another example, when the robot is heavily loaded, the base 320 can be controlled to move downward along the guide rail to lower the center of gravity and improve the stability of the robot.

[0057] As can be seen from the above, the rope drive arrangement is flexible, and a driver with a larger mass (eg, motor 330) can be kept away from the end actuator to reduce the inertia of the end actuator and improve the dynamic performance.

[0058] In this embodiment, the driving assembly 300 may further include a reducer 340 , which is disposed between the motor 330 and the base 320 .

[0059] Specifically, the motor 330 can be a servo motor, and the reducer 340 can be a harmonic reducer matched with the servo motor to better increase the torque and reduce the speed. The internal structure of the harmonic reducer is simple, the overall volume is small, and the weight is light. When the transmission ratio is the same as that of other ordinary reducers, the total number of parts of the harmonic reducer is reduced by half compared with that of ordinary reducers, and the volume and weight are greatly reduced. Among them, the servo motor can be "tightly" connected to the harmonic reducer, that is, the output shaft of the servo motor extends into the reducer, and there is a deformable clamp inside the reducer. By operating the locking screw on the reducer, the clamp can clamp the output shaft of the servo motor.

[0060] In some embodiments, the motor 330 may also be a stepper motor, a worm gear motor, or a brushless DC motor, etc. The motor 330 may also be replaced by a rotary cylinder or a hydraulic motor, etc.

[0061] In some embodiments, the driving assembly 300 may further include a flange 350 , which is disposed between the rope pulley 310 and the first connecting surface. The flange 350 includes a connecting hole 351 , which is used to connect the rope pulley 310 and the motor 330 .

[0062] Specifically, Figure 3 As shown, the flange 350 includes an outer ring connecting hole 3511 and an inner ring connecting hole 3512, wherein the outer ring connecting hole 3511 is connected to the motor 330, and the inner connecting hole 3512 is connected to the rope pulley 310, which plays a role in transmitting torque.

[0063] It is easy to understand that the rope pulley 310 is provided with a round hole matching the inner connecting hole 3512, and the round hole can be aligned with the inner connecting hole 3512 and movably connected by bolts.

[0064] In some embodiments, a boss is disposed on the base 320 , and a mounting hole is disposed on the boss. The rope pulley 310 is rotatably connected to the base 320 via the mounting hole.

[0065] For example, the size of the mounting hole may match the diameter of the rope pulley 310 , and the rope pulley 310 is disposed on the base 320 through the mounting hole.

[0066] See also Figure 4 In some embodiments, the base 320 further includes a limiting module 321 , and the limiting module 321 may include a bearing 3211 , and the bearing 3211 is disposed between the base 320 and the rope pulley 310 for connecting the rope pulley 310 .

[0067] Specifically, the bearing 3211 is disposed between the base 320 and the rope pulley 310 to play the role of internal rotation and external fixation, thereby preventing a gap between the rope pulley 310 and the base 320 and preventing the rope pulley 310 from shifting.

[0068] In this embodiment, the limiting module 321 also includes a first retaining ring 3212 and a second retaining ring 3213, the outer diameter of the first retaining ring 3212 is larger than the outer diameter of the second retaining ring 3213, and a gap is provided on the side of the boss close to the outer shell 100, and the gap is used to install the first retaining ring 3212 and the second retaining ring 3213, the outer diameter of the first retaining ring 3212 is larger than the outer diameter of the bearing 3211, and the inner diameter of the first retaining ring 3212 is smaller than the outer diameter of the bearing 3211, the outer diameter of the second retaining ring 3213 is larger than the inner diameter of the bearing 3211, the pulley is installed through the first retaining ring 3212, and the second retaining ring 3213 is arranged between the pulley 310 and the outer shell 100.

[0069] It is easy to understand that the inner diameter of the first retaining ring 3212 is smaller than the outer diameter of the bearing 3211, and the outer side of the bearing 3211 can be fixed. The outer diameter of the second retaining ring 3213 is larger than the inner diameter of the bearing 3211, and the bearing 3211 is further pressed to connect the bearing 3211 with the rope pulley 310, thereby restricting the axial displacement of the rope pulley 310. Among them, the inner diameter of the first retaining ring 3212 is larger than the outer diameter of the second retaining ring 3213.

[0070] In some embodiments, the rope wheel 310 further includes a fixing member 311 for fixing the rope member 400 .

[0071] like Figure 5 As shown, before compression, the rope member 400 can pass through the hole below the fixing member 311, such as Figure 6 As shown, the fixing member 311 presses the rope member 400 downward to prevent it from moving, thereby playing a fixing role, effectively preventing the rope member 400 from sliding, and further increasing the overall strength of the mechanical leg module 1000.

[0072] See also Figure 7 In some embodiments, the movable end 200 may include a support portion 210, a steel shaft 220, a sliding bearing 230 and a connecting portion 240. The steel shaft 220 is connected to the support portion 210. The sliding bearing 230 is movably connected to the steel shaft 220 to slide along the length direction of the steel shaft 220. The connecting portion 240 is connected to the sliding bearing 230. The connecting portion 240 is used to drive the rope member 400 to follow the movement of the sliding bearing 230.

[0073] Specifically, the number of the support parts 210 can be two, and the support parts 210 can be provided with holes matching the diameter of the steel shaft 220, the holes of the two support parts 210 are fixedly connected to the housing 100 oppositely, and the distance between the two support parts 210 is greater than the length of the steel shaft 220. For example, the support parts 210 can be welded or bonded to the housing 100.

[0074] It is easy to understand that the inner diameter of the sliding bearing 230 should be larger than the diameter of the steel shaft 220, and the steel shaft 220 passes through the sliding bearing 230 and is fixed to the support part 210. Specifically, the central axis of the steel shaft 220 is parallel to the central axis of the rope wheel 300, and when the sliding bearing 230 slides along the length direction of the steel shaft 220, it can assist the rope member 400 to wind into the rope groove, and prevent the overlapping winding in one place from causing a formation error.

[0075] In this embodiment, the connecting part 240 may include a shell 241, a spring inner shaft 242 and a spring 243, the spring 243 is wound around the spring inner shaft 242, the first end of the shell 241 is connected to the sliding bearing 230, the spring inner shaft 242 and the spring 243 are connected to the second end of the shell 241, and a connecting hole 2421 is provided on the spring inner shaft 242 for fixing the rope member 400, and the axial direction of the spring inner shaft 242 is parallel to the rope member 400.

[0076] Specifically, the shell 241 may be in a "T" shape. The first end of the shell 241 may be bonded to the sliding bearing 230 to slide along the length direction of the steel shaft 220 following the sliding bearing 230. The connecting hole 2421 may extend out of the shell 241 and be connected to the rope member 400. By fixing the rope member 400 on the connecting hole 2421, a tension is generated on the spring inner shaft 242, and the spring 243 may provide a pre-tightening force to keep the rope member 400 in a taut state at all times to prevent loosening and errors.

[0077] As can be seen from the above description, the mechanical leg module 1000 provided in the embodiment of the present application can drive the driving component with larger mass away from the end actuator through the rope drive method, so as to reduce the inertia of the end actuator and improve the dynamic performance. In addition, the geometric space occupied is small, which increases the flexibility of the arrangement of each component.

[0078] The mechanical leg module 1000 provided in the embodiment of the present application includes a housing 100, a floating end 200, a driving assembly 300 and a rope member 400, wherein two floating ends 200 are provided and symmetrically installed on the inner side of the top and bottom of the housing 100, the driving assembly 300 is connected to the side inside the housing 100, the driving assembly 300 includes a rope wheel 310, the rope member 400 is wound through the rope wheel 310, and the two ends of the rope member 400 are respectively fixed to the floating end 200 installed on the top of the housing and the floating end 200 installed on the bottom of the housing, so that the rope member 400 drives the housing 100 to move up and down under the drive of the driving assembly 300. After the rope member of the present application is wound through the rope wheel, the two ends are respectively connected to the two floating ends fixed on the housing, so that when the rope wheel moves, the rope will be tightened under the action of friction and drive the housing to move up and down, realizing rope drive, with a simple structure, light weight, and rapid response. In addition, the rope drive form is similar to the operating mode of human tendons, and its control is flexible, which can meet certain bionics backgrounds and requirements and is suitable for scenarios requiring human-computer interaction.

[0079] See also Figure 8 , the present application also provides a robot, such as Figure 8 As shown, the robot 2000 includes a mechanical leg module 2100, which includes a shell, a moving end, a driving assembly and a rope member, wherein two moving ends are provided and symmetrically installed on the inner sides of the top and bottom of the shell, the driving assembly is connected to the side inside the shell, the driving assembly includes a pulley, the rope member is wound around the pulley, and the two ends of the rope member are respectively fixed to the moving end installed on the top of the shell and the moving end installed on the bottom of the shell, so that the rope member drives the shell to move up and down under the drive of the driving assembly.

[0080] In some embodiments, the robot 2000 also includes a hip joint 2200 , and two mechanical leg modules 2100 are installed on both sides of the hip joint 2200 , and the two mechanical leg modules 2100 are symmetrical along the axis of the hip joint 2200 .

[0081] Specifically, hip joint 2200 can be connected to a drive assembly.

[0082] In some embodiments, the drive assembly may further include a base and a motor, wherein the base is connected to a side surface inside the housing, the pulley is disposed between a first connecting surface and a second connecting surface of the base, and the motor is disposed on the first connecting surface and away from a surface of the pulley.

[0083] Specifically, the base can be movably connected to the side of the shell, for example, a guide rail can be provided on the side of the shell parallel to the rope member, and a slider matching the guide rail can be provided on the base, and the base and the shell can be movably connected by installing the slider on the guide rail, and the base can move up and down along the guide rail in the shell. It is easy to understand that a lock can be provided on the guide rail, and the base can be fixed on the guide rail when necessary.

[0084] In this embodiment, the motor can be fixed to the hip joint 2200. By setting the guide rail and the slider, the center of gravity of the robot on which the mechanical leg module 2100 is installed can be adjusted when necessary. For example, when there is an obstacle, the base can be controlled to move upward along the guide rail, thereby driving the hip joint to move upward for smooth passage. For another example, on a flat road, when fast travel is required, the base 320 can be controlled to move to the highest point along the guide rail to increase the movement speed. For another example, when the robot is heavily loaded, the base can be controlled to move downward along the guide rail to lower the center of gravity and improve the stability of the robot.

[0085] Accordingly, the robot 2000 may further include a control device for controlling the movement of the motor. The control device may include a camera assembly and an analysis assembly. The camera assembly may be used to obtain a ground image and transmit the ground image to the analysis assembly. The analysis assembly analyzes the ground image to determine the current road condition, such as whether the ground is flat or whether there are obstacles on the ground. The control device may also include a pressure sensor for measuring the load condition of the robot.

[0086] In some embodiments, the driving assembly may further include a reducer disposed between the motor and the base.

[0087] In some embodiments, the driving assembly may further include a flange, which is disposed between the rope pulley and the first connecting surface, and the flange includes a connecting hole, which is used to connect the rope pulley and the motor.

[0088] In some embodiments, a boss may be provided on the base, a mounting hole may be provided on the boss, and the rope pulley may be rotatably connected to the base via the mounting hole.

[0089] Furthermore, the base may also include a limiting module, the limiting module includes a bearing, and the bearing is arranged between the base and the rope pulley for connecting the rope pulley.

[0090] Furthermore, the limiting module may also include a first retaining ring and a second retaining ring, the outer diameter of the first retaining ring is larger than the outer diameter of the second retaining ring, a gap is provided on a side of the boss close to the outer shell, the gap is used to install the first retaining ring and the second retaining ring, the outer diameter of the first retaining ring is larger than the outer diameter of the bearing, and the inner diameter of the first retaining ring is smaller than the outer diameter of the bearing, the outer diameter of the second retaining ring is larger than the inner diameter of the bearing, the pulley is installed through the first retaining ring, and the second retaining ring is arranged between the pulley and the outer shell.

[0091] In some embodiments, the rope pulley may further include a fixing member for fixing the rope member.

[0092] In some embodiments, the movable end may include a supporting part, a steel shaft, a sliding bearing and a connecting part, the steel shaft is connected to the supporting part, the sliding bearing is movably connected to the steel shaft to slide along the length direction of the steel shaft, and the connecting part is connected to the sliding bearing, and the connecting part is used to drive the rope member to follow the movement of the sliding bearing.

[0093] Furthermore, the connecting part may include a shell, a spring inner shaft and a spring, the spring is wound on the spring inner shaft, the first end of the shell is connected to the sliding bearing, the spring inner shaft and the spring are connected to the second end of the shell, a connecting hole is provided on the spring inner shaft for fixing the rope member, and the axial direction of the spring inner shaft is parallel to the rope member.

[0094] In addition, the robot 2000 may also include other components or parts, such as a head, a robotic arm, a foot, a wheel, and the like.

[0095] The robot 2000 provided in the embodiment of the present application includes a mechanical leg module 2100, which includes a shell, a moving end, a driving component and a rope member, wherein two moving ends are provided and symmetrically installed on the inner sides of the top and bottom of the shell, and the driving component is connected to the side inside the shell. The driving component includes a pulley, and the rope member is wound through the pulley, and the two ends of the rope member are respectively fixed to the moving end installed on the top of the shell and the moving end installed on the bottom of the shell, so that the rope member drives the shell to move up and down under the drive of the driving component. The structure is simple, the weight is light, and it has good dynamic performance.

[0096] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0097] In the description of the embodiments of the present application, specific features, structures, materials or characteristics may be combined in a suitable manner in any one or more embodiments or examples.

[0098] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A mechanical leg module, characterized in that: include: The shell is a hollow structure to reduce weight; Two movable ends are provided and symmetrically mounted on the inner sides of the top and bottom of the housing, and are used to be fixedly connected to the two ends of the rope member respectively; A driving assembly is connected to the side surface of the housing, and the driving assembly includes a rope pulley, a base, a motor and a reducer; the base is movably connected to the side surface of the housing; the rope pulley is arranged between the first connecting surface and the second connecting surface of the base; the motor is arranged on the first connecting surface and away from the surface of the rope pulley, and is used to control the rotation direction of the rope pulley; The reducer is arranged between the motor and the base to adapt to the speed and torque requirements of the motor; A rope member, the rope member is wound through the rope wheel, and two ends of the rope member are respectively fixed to the floating end installed on the top of the housing and the floating end installed on the bottom of the housing, so that the rope member, under the drive of the driving assembly, drives the housing to move up and down through the interaction between the rope wheel and the rope member; A guide rail is provided on the side of the shell parallel to the rope member, and a slider matching the guide rail is also provided on the base, and the slider is installed on the guide rail to realize the up and down movement of the base along the guide rail in the shell; The mechanical leg module can be applied to a robot. During assembly, the motor is fixed to the hip joint of the robot, and the housing is driven to move up and down by the drive assembly, the guide rail and the slider to adjust the center of gravity of the robot. The movable end includes a support portion, a steel shaft, a sliding bearing and a connecting portion; the steel shaft is connected to the support portion, the sliding bearing is movably connected to the steel shaft to slide along the length direction of the steel shaft; the connecting portion is connected to the sliding bearing, and the connecting portion is used to drive the rope member to follow the movement of the sliding bearing; The connecting part includes a shell, a spring inner shaft and a spring, wherein the spring is wound on the spring inner shaft, the first end of the shell is connected to the sliding bearing, the spring inner shaft and the spring are connected to the second end of the shell, a connecting hole is provided on the spring inner shaft for fixing the rope member, and the axial direction of the spring inner shaft is parallel to the rope member.

2. The mechanical leg module according to claim 1, characterized in that: The driving assembly further includes a flange, which is disposed between the rope pulley and the first connecting surface. The flange includes a connecting hole, which is used to connect the rope pulley and the motor.

3. The mechanical leg module according to claim 1, characterized in that: The base is provided with a boss, the boss is provided with a mounting hole, and the rope wheel is rotatably connected to the base through the mounting hole.

4. The mechanical leg module according to claim 3, characterized in that: The base also includes a limiting module, and the limiting module includes a bearing. The bearing is arranged between the base and the rope pulley and is used to connect the rope pulley.

5. The mechanical leg module according to claim 4, characterized in that: The limiting module also includes a first retaining ring and a second retaining ring, the outer diameter of the first retaining ring is larger than the outer diameter of the second retaining ring, a gap is provided on a side of the boss close to the outer shell, the gap is used to install the first retaining ring and the second retaining ring, the outer diameter of the first retaining ring is larger than the outer diameter of the bearing, and the inner diameter of the first retaining ring is smaller than the outer diameter of the bearing, the outer diameter of the second retaining ring is larger than the inner diameter of the bearing, the rope pulley is installed through the first retaining ring, and the second retaining ring is arranged between the rope pulley and the outer shell.

6. The mechanical leg module according to claim 1, characterized in that: The rope wheel also includes a fixing member for fixing the rope member.

7. A robot, characterized in that: The robot comprises a mechanical leg module as described in any one of claims 1 to 6.

8. The robot according to claim 7, characterized in that: The robot also includes a hip joint, and two mechanical leg modules are installed on both sides of the hip joint, and the two mechanical leg modules are symmetrical along the hip joint axis.

9. The robot according to claim 8, characterized in that: The hip joint is connected to the drive assembly.

10. The robot according to claim 9, characterized in that: The drive assembly includes a motor connected to the hip joint.

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