A robotic leg and a robot

Abstract

This invention discloses a robotic leg and a robot. A link and a limiting member are housed within a housing. By controlling the switching between a first state and a second state of the limiting member, the limiting member restricts the movement of the link in the first state, causing the thigh and lower leg to assume a preset posture. In the second state, the limiting member releases the restriction on the link, allowing the link to respond to the control of a drive device and adjust the relative rotation between the lower leg and thigh.

Description

Technical Field

[0001] This invention relates to the field of mechanical equipment, specifically to a robotic leg and a robot. Background Technology

[0002] The robot stands and walks using multiple robotic legs. The switching between standing and walking is usually achieved by the linkage inside the robotic legs, which drives the lower legs to move. When the robot needs to stand, the robotic legs need to work continuously against gravity, which means that the robot's own battery needs to continuously power the drive device to keep the lower legs inactive, thereby enabling the robot to maintain a standing state.

[0003] However, due to the limited amount of electricity stored in the robot's own battery, continuously powering the drive unit with the battery while the robot is standing not only wastes battery power but also shortens the robot's effective working time. Summary of the Invention

[0004] In view of this, embodiments of the present invention provide a robotic leg and a robot to solve the problem of wasted power caused by the need for continuous power supply to the robotic leg when it is standing, and the resulting reduction in the robot's effective working time.

[0005] To achieve the above objectives, the embodiments of the present invention provide the following technical solutions:

[0006] The first aspect of this invention discloses a robotic leg, the robotic leg comprising a thigh and a calf rotatably connected;

[0007] Thighs include:

[0008] case;

[0009] The connecting rod is located inside the housing. One end of the connecting rod is rotatably connected to the lower leg, and the other end is used to connect to the drive device.

[0010] There is a limiting member between the housing and the connecting rod. The limiting member includes at least a first state and a second state. In the first state, the limiting member is used to restrict the movement of the connecting rod so that the thigh and the lower leg are in a preset posture. In the second state, the limiting member is used to release the restriction on the connecting rod so that the connecting rod responds to the control of the drive device and adjusts the relative rotation of the lower leg and the thigh.

[0011] Preferably, in the first state, the connecting rod has a first volume, and in the second state, the connecting rod has a second volume, wherein the first volume is greater than the second volume.

[0012] Preferably, there are multiple limiting components, which are distributed circumferentially along the connecting rod.

[0013] Preferably, the limiting component is an airbag.

[0014] Preferably, the airbag forms an annular airbag for covering the connecting rod when inflated.

[0015] Preferably, it also includes: an exhaust valve, a one-way valve, and an inflation device for inflating the airbag;

[0016] The exhaust valve is located in the airbag;

[0017] The inflation device is connected to the air inlet of the airbag;

[0018] A one-way valve is located at the air inlet.

[0019] Preferably, the connecting rod drives the lower leg to rotate around the thigh in a first relative position and a second relative position. When the lower leg rotates to the first relative position, the force on the connecting rod is different from that when the lower leg rotates to the second relative position.

[0020] Preferably, the limiting element includes a first sub-limiting element and a second sub-limiting element;

[0021] The first sub-limiting member and the second sub-limiting member are respectively disposed on both sides of the connecting rod;

[0022] When the thigh and lower leg are in a first posture, the deformation of the first sub-limiting member and the second sub-limiting member is in a first ratio. When the thigh and lower leg are in a second posture, the deformation of the first sub-limiting member and the second sub-limiting member is in a second ratio. The first ratio and the second ratio are different.

[0023] A second aspect of the present invention discloses a robot comprising: robotic legs as described in the first aspect of the present invention.

[0024] As described above, this invention discloses a robotic leg and a robot. Links and limiting members are housed within a casing. By switching between a first state and a second state, the limiting member restricts the movement of the link in the first state, causing the thigh and lower leg to assume a preset posture. In the second state, the limiting member releases the restriction on the link. This disclosed robotic leg, with its limiting member within the casing and controlling the switching between the first and second states to restrict link movement, effectively limits lower leg movement when the limiting member restricts the link in the first state. This allows the robotic leg to maintain a standing position. In this application, since the limiting member requires power during the switching between the first and second states, compared to existing continuous power supply methods, this invention effectively reduces power consumption when the robotic leg maintains a single posture, thus avoiding excessive power waste and ensuring the robot's effective operating time. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0026] Figure 1 This is a schematic diagram of the structure of a robotic leg provided in an embodiment of the present invention;

[0027] Figure 2 A schematic diagram of the structure of the robotic leg provided in an embodiment of the present invention, showing the thigh and lower leg in another posture;

[0028] Figure 3 A schematic diagram of the structure of the first sub-limiting member and the second sub-limiting member provided in the embodiments of the present invention;

[0029] Figure 4 This is a schematic diagram illustrating the airbag inflation / deflation control principle provided in an embodiment of the present invention.

[0030] The components include: thigh 1, housing 11, connecting rod 12, limiting member 13, first sub-limiting member 13-1, second sub-limiting member 13-2; lower leg 2; and driving device 3. Detailed Implementation

[0031] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0032] In this application, the terms "comprising," "including," or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0033] When a conventional robot stands or walks, it usually moves its lower legs by connecting rods inside the robot's legs. When the robot is standing, it needs its own battery to continuously power the drive unit to keep the lower legs and thighs still so that the robot can maintain a standing position. However, since the battery on the robot has a limited capacity, the battery power is wasted.

[0034] In view of this, this application provides a robotic leg. By setting a limiting member inside the shell of the thigh and positioning the limiting member between the link and the shell, the limiting member can restrict the movement of the link when it is in a first state, so that the thigh and lower leg are in a preset posture. Since the limiting member does not require continuous power from the battery when in the first state, and can still make the thigh and lower leg in a preset posture, the robot can be in a standing state when the limiting member is in the first state, thereby reducing the problem of wasted battery power. The following is an example description of this application with reference to the accompanying drawings.

[0035] See Figures 1 to 3 , Figure 1 This is a schematic diagram of a robotic leg, which includes a thigh 1 and a lower leg 2 that are rotatably connected.

[0036] Thigh 1 includes:

[0037] Casing 11;

[0038] The connecting rod 12 is located inside the housing 11. One end of the connecting rod 12 is rotatably connected to the lower leg 2, and the other end is used to connect to the drive device 3.

[0039] A limiting member 13 is provided between the housing 11 and the connecting rod 12. The limiting member 13 includes at least a first state and a second state. In the first state, the limiting member 13 is used to limit the movement of the connecting rod 12 so that the thigh 1 and the lower leg 2 are in a preset posture. In the second state, the limiting member 13 is used to release the restriction on the connecting rod 12 so that the connecting rod 12 responds to the control of the drive device 3 and adjusts the relative rotation between the lower leg 2 and the thigh 1.

[0040] It should be noted that the preset posture is the angle between the lower leg 2 and the thigh 1, that is, the angle of relative rotation between the lower leg 2 and the thigh 1. This angle is theoretically arbitrary and can be set by those skilled in the art according to their needs.

[0041] It should also be noted that, since the driving device 3 of this application drives the lower leg 2 to rotate relative to the thigh 1 through the connecting rod 12, when the lower leg 2 rotates relative to the thigh 1, it will drive the connecting rod 12 to move along a certain trajectory within the housing 11. After setting the limiting member 13 between the housing 11 and the connecting rod 12 to restrict the movement of the connecting rod 12, the limiting member 13 can keep the connecting rod 12 in a state where it cannot move in the first state. Therefore, when the connecting rod 12 cannot move along a certain trajectory, the lower leg 2 and the thigh 1 can maintain a preset posture.

[0042] In this embodiment, a limiting member 13 is provided inside the housing 11 of the thigh 1, and the limiting member 13 is positioned between the connecting rod 12 and the housing 11. Thus, when the connecting rod 12 is in the first state, the limiting member 13 can restrict the movement of the connecting rod 12, so that the thigh 1 and the lower leg 2 are in a preset state. When the connecting rod 12 is in the second state, the limiting member 13 releases the restriction on the connecting rod 12, so that the connecting rod 12 can respond to the control of the drive device 3 and adjust the lower leg 2 and the thigh 1 to rotate relative to each other. With the aforementioned disclosed robotic leg, when the lower leg 2 and upper leg 1 of the robotic leg need to maintain a certain state, the limiting member 13 can be controlled to the first state, so that the limiting member 13 restricts the movement of the link 12, thereby preventing the upper leg 1 and lower leg 2 from rotating relative to each other, and keeping the upper leg 1 and lower leg 2 in a preset posture. When the upper leg 1 and lower leg 2 need to rotate relative to each other, it is only necessary to control the limiting member 13 to the second state, release the restriction on the link 12, so that the link 12 can respond to the control of the drive device 3 and adjust the lower leg 2 and upper leg 1 to rotate relative to each other, thereby realizing the free movement of the robotic leg. Since the limiting member 13 of this application only needs power when switching between the first state and the second state, when the lower leg 2 and upper leg 1 of the robotic leg maintain a preset posture, it is not necessary to consume additional power from the battery carried by the robot. Therefore, compared with the robotic legs of existing robots, the robotic leg disclosed in this application can effectively reduce power consumption when maintaining a posture, thereby avoiding excessive power waste and effectively ensuring the effective working endurance of the robot.

[0043] Specifically, in the first state, the limiting member 13 has a first volume;

[0044] In the second state, the limiting member 13 has a second volume, and the first volume is larger than the second volume.

[0045] It should be noted that, since the limiting member 13 is disposed between the housing 11 and the connecting rod 12, by changing the volume of the limiting member 13, the limiting member 13 can come into contact with the connecting rod 12, thereby limiting the movement of the connecting rod 12. That is, in the first state, the volume of the limiting member 13 becomes the first volume, limiting the movement of the connecting rod 12, thereby preventing the connecting rod 12 from responding to the control of the driving device 3, thus achieving the lower leg 2 and the thigh 1 in a preset posture; when the limiting member 13 changes from the first volume to the second volume, since the second volume is smaller than the first volume, the limiting member 13 can release the restriction on the connecting rod 12, allowing the connecting rod 12 to respond to the control of the driving device 3, thereby achieving the relative rotation of the lower leg 2 and the thigh 1.

[0046] In this application, the specific sizes of the first volume and the second volume need to be determined according to the space where the connecting rod 12 is located in the movement trajectory within the housing 11, and are not specifically limited here.

[0047] Furthermore, there are multiple limiting members 13, which are distributed circumferentially along the connecting rod 12.

[0048] It should be noted that by setting the number of limiting members 13 to multiple and distributing the multiple limiting members 13 around the connecting rod 12, when it is necessary to make the thigh 1 and the lower leg 2 into a preset posture, the volume of multiple limiting members 13 can be changed at the same time to quickly make the thigh 1 and the lower leg 2 into a preset posture. When it is necessary for the thigh 1 and the lower leg 2 to be able to rotate relative to each other, the restriction on the connecting rod 12 can be quickly released, which can shorten the response time of the robot leg.

[0049] It should also be noted that when the drive device 3 drives the lower leg 2 and the thigh 1 to rotate relative to each other through the connecting rod 12, the connecting rod 12 does not only move along its axial direction. Therefore, by distributing multiple limiting members 13 around the connecting rod 12, the radial movement of the connecting rod 12 can be effectively restricted.

[0050] Specifically, the limiting component 13 is an airbag.

[0051] It should be noted that the limiting component 13 can be an airbag or other components whose volume can be controlled to change (such as components formed of materials whose volume can be affected by temperature changes). Those skilled in the art can choose according to their needs.

[0052] Specifically, when inflated, the airbag forms an annular airbag that covers the connecting rod 12.

[0053] It should be noted that when the airbag is inflated, it forms an annular airbag that covers the connecting rod 12. The outer side of the annular airbag contacts the shell 11, and the inner side contacts the connecting rod 12, which prevents the connecting rod 12 from moving radially, thereby preventing the lower leg 2 from rotating relative to the thigh 1.

[0054] It should also be noted that the annular airbag can be either an O-shaped structure or a C-shaped structure when inflated. Those skilled in the art can choose according to their needs. However, in this application, it is preferred that the airbag be an O-shaped structure when inflated.

[0055] Furthermore, the robotic leg also includes: an exhaust valve, a one-way valve, and an inflation device for inflating the airbag;

[0056] The exhaust valve is located in the airbag;

[0057] The inflation device is connected to the air inlet of the airbag;

[0058] A one-way valve is located at the air inlet.

[0059] It should be noted that by setting an exhaust valve, a one-way valve, and an inflation device, and by placing the exhaust valve in the airbag and connecting the inflation device to the airbag's inlet, and placing the one-way valve in the airbag, when the airbag needs to be inflated, the inflation device inflates the airbag to change its volume, thereby restricting the movement of the connecting rod 12. When the airbag needs to release the restriction on the connecting rod 12, the exhaust valve can be opened to allow the gas inside the airbag to be quickly discharged, so that the connecting rod 12 can respond to the control of the drive device 3, thereby ensuring that the lower leg 2 can rotate relative to the thigh 1.

[0060] It should also be noted that by setting a one-way valve at the air inlet of the airbag, the gas can be prevented from being discharged from the inflation device under the force of the connecting rod 12, so as to keep the current volume of the airbag unchanged, thereby continuously restricting the movement of the connecting rod 12, and thus ensuring that the airbag can keep the lower leg 2 and the thigh 1 in the current position.

[0061] Specifically, the connecting rod 12 drives the lower leg 2 to rotate around the thigh 1 in a first relative position and a second relative position. When the lower leg 2 rotates to the first relative position, the force on the connecting rod 12 is different from the force on the connecting rod 12 when the lower leg 2 rotates to the second relative position.

[0062] Specifically, the limiting component 13 includes: a first sub-limiting component 13-1 and a second sub-limiting component 13-2;

[0063] The first sub-limiting member 13-1 and the second sub-limiting member 13-2 are respectively disposed on both sides of the connecting rod 12;

[0064] When the thigh 1 and the lower leg 2 are in a first posture, the deformation of the first sub-limiting member 13-1 and the second sub-limiting member 13-2 is in a first ratio. When the thigh 1 and the lower leg 2 are in a second posture, the deformation of the first sub-limiting member 13-1 and the second sub-limiting member 13-2 is in a second ratio. The first ratio and the second ratio are different.

[0065] It should be noted that the limiting member 13 is configured as a first sub-limiting member 13-1 and a second sub-limiting member 13-2, and the first sub-limiting member 13-1 and the second sub-limiting member 13-2 are respectively disposed on both sides of the connecting rod 12. Thus, when the thigh 1 and the lower leg 2 are in a first posture, the deformation of the first sub-limiting member 13-1 and the second sub-limiting member 13-2 is in a first ratio; when the thigh 1 and the lower leg 2 are in a second posture, the deformation of the first sub-limiting member 13-1 and the second sub-limiting member 13-2 is in a second ratio. This allows the lower leg 2 and the thigh 1 to maintain different postures and ensures that the force on both ends of the connecting rod 12 is uniform, preventing displacement of the connecting rod 12 due to uneven force. In an optional embodiment, the driving device 3 is a rotating wheel, and one end of the connecting rod 12 is connected to the rotating wheel. When the rotating wheel rotates to a first angle, the thigh 1 and the lower leg 2 form a first included angle relationship; when the rotating wheel rotates to a second angle, the thigh 1 and the lower leg 2 form a second included angle relationship. Since the connecting rod 12 is driven by the rotating wheel, the angle between the connecting rod 12 and the housing 11 is different when the rotating wheel is at different angles. By adjusting the deformation ratio of the first sub-limiting member 13-1 and the second sub-limiting member 13-2, the connecting rod 12 can be subjected to uniform force at different angles.

[0066] For example, if the first sub-restriction 13-1 and the second sub-restriction 13-2 are airbags, then the degree of deformation refers to the extent of airbag deformation, which is directly related to the airbag's inflation volume. Or, if the first sub-restriction 13-1 and the second sub-restriction 13-2 are snap-fit ​​structures, then the degree of deformation refers to the length that the snap-fit ​​structure moves when snapping into the connecting rod.

[0067] Preferably, a plurality of limiting members 13 are provided along the axial direction of the connecting rod 12.

[0068] It should be noted that by setting multiple limiting members 13 along the axial direction of the connecting rod 12, the multiple first sub-limiting members 13-1 and second sub-limiting members 13-2 can simultaneously support the entire connecting rod 12 when limiting it, so that the connecting rod 12 is subjected to uniform force and avoids deformation caused by uneven force on the connecting rod 12.

[0069] Furthermore, the limiting member 13 is provided with an anti-slip structure that contacts the connecting rod 12.

[0070] It should be noted that by setting an anti-slip structure in contact with the connecting rod 12 on the limiting member 13, the friction between the limiting member 13 and the connecting rod 12 can be increased, which can further prevent the connecting rod 12 from moving along the axis and further ensure that the thigh 1 and the lower leg 2 can maintain the preset posture.

[0071] Preferably, the outer wall of the connecting rod 12 is provided with anti-slip texture.

[0072] It should be noted that by providing anti-slip texture on the outer wall of the connecting rod 12, the anti-slip texture, in conjunction with the anti-slip structure of the limiting member 13, can further enhance the friction between the limiting member 13 and the connecting rod 12. Thus, when the limiting member 13 is in the first state, it can further enable the connecting rod 12 to move, so that the thigh 1 and the lower leg 2 can remain in the preset state.

[0073] Based on the robotic legs disclosed in the above embodiments, this application also provides a robot, which includes: robotic legs;

[0074] The robotic leg includes: a rotatably connected thigh 1 and a lower leg 2;

[0075] Thigh 1 includes:

[0076] Casing 11;

[0077] The connecting rod 12 is located inside the housing 11. One end of the connecting rod 12 is rotatably connected to the lower leg 2, and the other end is used to connect to the drive device 3.

[0078] A limiting member 13 is provided between the housing 11 and the connecting rod 12. The limiting member 13 includes at least a first state and a second state. In the first state, the limiting member 13 is used to limit the movement of the connecting rod 12 so that the thigh 1 and the lower leg 2 are in a preset posture. In the second state, the limiting member 13 is used to release the restriction on the connecting rod 12 so that the connecting rod 12 responds to the control of the drive device 3 and adjusts the relative rotation between the lower leg 2 and the thigh 1.

[0079] This embodiment of the application provides a limiting member 13 within the housing 11 of the thigh 1, positioned between the connecting rod 12 and the housing 11. The limiting member 13 has at least a first state and a second state. In the first state, the limiting member 13 restricts the movement of the connecting rod 12, maintaining a preset posture between the lower leg 2 and the thigh 1. In the second state, the limiting member 13 releases the restriction on the connecting rod 12, allowing the connecting rod 12 to respond to the control of the drive device 3 and adjust the relative rotation between the lower leg 2 and the thigh 1. With this disclosed robot, when the robot needs to remain in a certain state, such as standing, it is necessary to keep the robotic legs relatively still. By controlling the limiting member 13 to be in the first state, the limiting member 13 restricts the movement of the connecting rod 12, thus maintaining the preset posture between the thigh 1 and the lower leg 2. The robot can maintain its current state continuously. When the robot needs to walk or perform a certain action, it is only necessary to control the limiting member 13 to be in the second state. Even if the limiting member 13 releases the restriction on the link 12, the link 12 can respond to the control of the drive device 3 and adjust the relative rotation between the lower leg 2 and the thigh 1. Compared with the existing robot legs, the limiting member 13 of this application only needs power when switching between the first state and the second state. Therefore, when the lower leg 2 and the thigh 1 of the robot leg maintain the preset posture, it does not need to consume the power of the battery carried by the robot. Therefore, the robot leg disclosed in this application can effectively reduce power consumption when maintaining a posture compared with the existing robot legs, thereby avoiding excessive power waste and effectively ensuring the robot's effective working endurance.

[0080] For easier understanding of the above scheme, please refer to... Figure 4 The diagram of the airbag inflation and deflation control principle, combined with Figures 1 to 3 Further details will follow.

[0081] In this application, the lower leg 2 swings relative to the thigh 1 by the up-and-down movement of a connecting rod 12 inside the thigh 1. By placing rapidly inflatable and deflated airbags inside the thigh 1 and around the connecting rod 12, the system acquires the robot's status in real time and determines whether the robot is in a standing gait. When the robot is in a standing gait, the airbags can be inflated via I / O control. The air quickly fills the airbags, bringing them into contact with the connecting rod 12. The friction between the airbags and the connecting rod 12 maintains the current state of the connecting rod 12 and the lower leg 2. At this time, the torque of the lower leg 2 motor can be reduced to 0 or a relatively small value, yet the lower leg 2 still maintains balance, i.e., the current state.

[0082] When the robot is not in a standing gait, that is, when the robot is in a walking gait, the airbag can be deflated by controlling the IO method, so that there is no contact or friction between the airbag and the link 12, allowing the robot's lower leg 2 to swing normally relative to the thigh 1.

[0083] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, for system or system embodiments, since they are basically similar to method embodiments, the description is relatively simple, and relevant parts can be referred to the descriptions in the method embodiments. The systems and system embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0084] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0085] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A robotic leg, the robotic leg comprising a thigh and a lower leg rotatably connected; The thigh includes: case; A connecting rod located inside the housing, the first end of the connecting rod being rotatably connected to the lower leg, and the second end being used to connect to the drive device; A limiting member is provided between the housing and the connecting rod. The limiting member includes at least a first state and a second state. In the first state, the limiting member is in contact with the connecting rod and is located between a first end and a second end of the connecting rod. The limiting member is used to restrict the movement of the connecting rod so that the thigh and the lower leg are in a preset posture. In the second state, the limiting member is used to release the restriction on the connecting rod so that the connecting rod responds to the control of the driving device and adjusts the relative rotation of the lower leg and the thigh. In the first state, the limiting member has a first volume; in the second state, the limiting member has a second volume, and the first volume is larger than the second volume.

2. The machine leg according to claim 1, wherein the number of the limiting members is multiple, and the multiple limiting members are distributed circumferentially along the connecting rod.

3. The robotic leg according to claim 1, wherein the limiting element is an airbag.

4. The robotic leg according to claim 3, wherein the airbag, in the inflated state, forms an annular airbag for covering the connecting rod.

5. The robotic leg according to claim 4 or 3, further comprising: An exhaust valve, a check valve, and an inflation device for inflating the airbag; The exhaust valve is disposed on the airbag; The inflation device is connected to the air inlet of the airbag; The one-way valve is located at the air inlet.

6. The robotic leg according to claim 1, wherein the connecting rod drives the lower leg to rotate around the thigh in a first relative position and a second relative position, and the force on the connecting rod when the lower leg rotates to the first relative position is different from the force on the connecting rod when the lower leg rotates to the second relative position.

7. The robotic leg according to claim 1, wherein the limiting member comprises: First sub-limiting component and second sub-limiting component; The first sub-limiting member and the second sub-limiting member are respectively disposed on both sides of the connecting rod; When the thigh and the lower leg are in a first posture, the deformation of the first sub-limiting member and the second sub-limiting member is in a first ratio. When the thigh and the lower leg are in a second posture, the deformation of the first sub-limiting member and the second sub-limiting member is in a second ratio. The first ratio and the second ratio are different.

8. The machine leg according to claim 1, wherein the limiting member is provided with an anti-slip structure that contacts the connecting rod.

9. A robot, comprising: The machine leg as described in any one of claims 1 to 8.

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