Pre-tensioning device, mechanical leg and robot

Abstract

The application provides a pre-tightening device, a mechanical leg and a robot, the pre-tightening device is used for pre-tightening a synchronous belt in the mechanical leg, and the pre-tightening device comprises a pre-tightening body and an adjusting piece, the pre-tightening body comprises a fixed seat, a movable part and a last-stage flexible hinge, the fixed seat is fixed in the mechanical leg, the movable part is connected to the fixed seat through the last-stage flexible hinge, the movable part is at least partially located between the fixed seat and the synchronous belt and is used for contacting the synchronous belt, and the adjusting piece is arranged on the fixed seat, the protruding length of the adjusting piece relative to the fixed seat is adjustable towards the movable part, and the adjusting piece is used for moving the movable part and extruding the synchronous belt when the protruding length is increased. The pre-tightening device provided by the application can move the movable part towards the synchronous belt and extrude the synchronous belt by increasing the protruding length of the adjusting piece relative to the fixed seat, so that the synchronous belt is pre-tightened, and relaxation of the synchronous belt is avoided to affect transmission of the mechanical leg.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a pre-tightening device, a mechanical leg and a robot. BACKGROUND

[0002] A quadruped robot is an important trend in the development of robot technology at present, and is also a hot spot of research by various manufacturers. The quadruped robot, also known as a robot dog, has an appearance similar to a real animal, "dog". It mainly includes a trunk, a leg, a joint motor and a head, etc. The leg specifically includes a thigh, a shank and a knee joint, etc. The leg is driven by the joint motor, so as to realize various motion forms and gaits of the robot. Therefore, the design of the leg is one of the key points of the design of the quadruped robot. The related technology adopts a synchronous belt transmission scheme, which realizes the movement of the leg through the cooperation of a belt wheel and a synchronous belt. However, in the synchronous belt transmission scheme, the synchronous belt will be worn out and its rigidity will be reduced after a long time of work, so that slack will be generated. As a result, the synchronous belt and the belt wheel are not closely matched, and the transmission is not smooth enough. SUMMARY

[0003] The present application aims to provide a pre-tightening device, a mechanical leg and a robot to solve the above problems. The present application achieves the above-mentioned purpose through the following technical solutions.

[0004] In a first aspect, the present application provides a pre-tightening device for pre-tightening a synchronous belt in a mechanical leg. The pre-tightening device includes a pre-tightening body and an adjusting member. The pre-tightening body includes a fixed seat, a movable part and a last-stage flexible hinge. The fixed seat is fixed in the mechanical leg. The movable part is connected to the fixed seat through the last-stage flexible hinge. The movable part is at least partially located between the fixed seat and the synchronous belt, and is used to contact the synchronous belt. The adjusting member is arranged on the fixed seat. The protruding length of the adjusting member towards the movable part relative to the fixed seat is adjustable. When the protruding length increases, the adjusting member is used to move the movable part and press the synchronous belt.

[0005] In a second aspect, the present application provides a mechanical leg. The mechanical leg includes a synchronous belt and the pre-tightening device of the first aspect. The pre-tightening device is used to pre-tighten the synchronous belt.

[0006] In a third aspect, the present application provides a robot. The robot includes a robot main body and the mechanical leg of the second aspect. The mechanical leg is connected to the robot main body.

[0007] The pre-tightening device, the mechanical leg and the robot provided by the embodiments of the present application can adjust the protruding length of the adjusting member relative to the fixed seat towards the movable part, and by increasing the protruding length, the movable part can move towards the synchronous belt and press the synchronous belt to pre-tighten the synchronous belt, so as to avoid the relaxation of the synchronous belt from affecting the transmission of the mechanical leg; and when the protruding length is reduced, the last flexible hinge can reset the movable part by using the elasticity of the last flexible hinge, so that the movable part moves away from the synchronous belt to reduce the pre-tightening amount of the synchronous belt, thereby realizing the free adjustment of the pre-tightening amount of the synchronous belt. BRIEF DESCRIPTION OF DRAWINGS

[0008] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0009] Figure 1 is an exploded view of the mechanical leg provided by the embodiments of the present application.

[0010] Figure 2 is Figure 1 is a structural schematic view of the mechanical leg after the second shell is removed.

[0011] Figure 3 is Figure 1 is a structural schematic view of the mechanical leg after the second shell is removed from another perspective.

[0012] Figure 4 is a structural schematic view of the pre-tightening device provided by the embodiments of the present application.

[0013] Figure 5 is a structural schematic view of the pre-tightening device provided by another embodiment of the present application.

[0014] Figure 6 is a structural schematic view of the pre-tightening device provided by another embodiment of the present application.

[0015] Figure 7 is a structural schematic view of the pre-tightening device provided by another embodiment of the present application.

[0016] Figure 8 is a structural schematic view of the robot provided by the embodiments of the present application. DETAILED DESCRIPTION

[0017] The embodiments of the present application will be described in detail below, and examples of the embodiments are shown in the drawings, wherein the same or similar reference signs represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and are only used to explain the present application, and cannot be understood as a limitation of the present application.

[0018] For the synchronous belt drive scheme, due to the long time work of the synchronous belt, wear will be generated, rigidity will also be reduced, thus slack will be generated, resulting in that the synchronous belt and the pulley are not closely matched, and the transmission is not stable. The related technology provides a compression mechanism to pre-tighten the synchronous part, but the compression mechanism can only initially pre-tighten the synchronous belt, and if the subsequent synchronous belt is slack, the pre-tightening adjustment cannot be performed again. In addition, the compression mechanism only plays a role in adjusting the length of the synchronous belt, and cannot play a role in adjusting the pre-tightening force.

[0019] Therefore, after a large amount of research, the inventor proposes a pre-tightening device, a mechanical leg and a robot. The protruding length of the adjusting member relative to the fixed seat is adjustable. By increasing the protruding length, the movable part can be moved towards the synchronous belt and press the synchronous belt to pre-tighten the synchronous belt, so as to avoid the slack of the synchronous belt affecting the transmission of the mechanical leg. When the protruding length is reduced, the last flexible hinge can reset the movable part, so that the movable part moves away from the synchronous belt to reduce the pre-tightening amount of the synchronous belt, so as to realize the free adjustment of the increase or decrease of the pre-tightening amount of the synchronous belt.

[0020] In order for those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0021] In order to better understand the pre-tightening device, the mechanical leg and the robot provided by the embodiments of the present application, the mechanical leg provided by the embodiments of the present application will be described first, and the pre-tightening device and the robot are suitable for the mechanical leg.

[0022] Please refer to Figure 1 and Figure 2 The mechanical leg 100 provided by the embodiments of the present application includes a joint motor 110, a thigh unit 130 and a calf unit 150. The thigh unit 130 includes a thigh shell 131, and a driving wheel 133, a driven wheel 135 and a synchronous belt 137 installed in the thigh shell 131. The thigh shell 131 can be in a strip shape. The driving wheel 133 and the driven wheel 135 are respectively located at both ends of the length direction of the thigh shell 131 and are transmitted by the synchronous belt 137. The synchronous belt 137 can be a belt or a chain or other materials that can have the same pre-tightening effect. The present embodiment does not limit this, and the present embodiment uses a belt as an example.

[0023] The lower leg unit 150 is connected with the thigh shell 131 through the driven wheel 135, the joint motor 110 is installed at the other end of the thigh shell 131 away from the lower leg unit 150 in the length direction. The driving wheel 133 can be directly installed on the output end of the joint motor 110, or the driving wheel 133 is first installed on the flange plate, and then the flange plate is installed on the output end of the joint motor 110. When the joint motor 110 outputs the rotation speed and torque, the flange plate and the driving wheel 133 are synchronously rotated, the driving wheel 133 drives the driven wheel 135 to synchronously rotate through the synchronous belt 137, and the lower leg unit 150 is further driven to rotate through the driven wheel 135.

[0024] The mechanical leg 100 can further include a pre-tightening device 200 installed in the mechanical leg 100, which is in contact with the outer surface of the synchronous belt 137 to pre-tighten the synchronous belt 137, so as to avoid the relaxation of the synchronous belt 137 affecting the transmission between the driving wheel 133 and the driven wheel 135.

[0025] In the embodiment, the thigh shell 131 can include a first shell 1311 and a second shell 1312. The first shell 1311 includes a first cover plate 1313 and a first side wall 1314 surrounding the periphery of the first cover plate 1313. The second shell 1312 includes a second cover plate 1315 and a second side wall 1316 surrounding the periphery of the second cover plate 1315. The first cover plate 1313 and the second cover plate 1315 are oppositely arranged, and the first side wall 1314 and the second side wall 1316 are connected to each other to form an internal accommodating cavity of the thigh shell 131. The first side wall 1314 and the second side wall 1316 can be detachably connected through fasteners such as screws and bolts, facilitating subsequent maintenance and repair. The lower leg unit 150 is clamped between the first cover plate 1313 and the second cover plate 1315, the synchronous belt 137 is located between the first side wall 1314 and the second side wall 1316 and is spaced from the first side wall 1314 and the second side wall 1316, and the pre-tightening device 200 is installed in the thigh shell 131 and located between the synchronous belt 137 and the first side wall 1314.

[0026] Please refer to Figure 2 and Figure 3The mechanical leg 100 can comprise one or more than one pre-tightening device 200. For example, when the pre-tightening device 200 is one, the pre-tightening device 200 can be installed on the first side wall 1314 to pre-tighten the synchronous belt 137 on one side of the synchronous belt 137. When the pre-tightening device 200 is two, the two pre-tightening devices 200 can be installed on opposite sides of the synchronous belt 137 respectively to pre-tighten the synchronous belt 137 on opposite two outer sides of the synchronous belt 137, so as to improve the pre-tightening effect. Alternatively, the two pre-tightening devices 200 can be installed on the same side of the synchronous belt 137 and arranged at intervals along the conveying direction of the synchronous belt 137 to pre-tighten the synchronous belt 137 on the same side. Of course, the pre-tightening device 200 can also be more than two, and more than two pre-tightening devices 200 can be arranged on opposite sides of the synchronous belt 137 or on the same side of the synchronous belt 137 according to needs, which is not specifically limited herein.

[0027] Referring to Figure 3 and Figure 4 , the pre-tightening device 200 can comprise a pre-tightening body 210 and an adjusting member 230. The pre-tightening body 210 can comprise a fixed seat 211, a movable part 212 and a last-stage flexible hinge 213. The fixed seat 211 is used to be fixed in the mechanical leg 100, for example, in the thigh shell 131. The movable part 212 is connected to the fixed seat 211 through the last-stage flexible hinge 213. The movable part 212 is at least partially located between the fixed seat 211 and the synchronous belt 137, and is used to contact the synchronous belt 137. The adjusting member 230 is arranged on the fixed seat 211. The protruding length of the adjusting member 230 relative to the fixed seat 211 towards the movable part 212 is adjustable. The adjusting member 230 is used to move the movable part 212 towards the synchronous belt 137 and press the synchronous belt 137 when the protruding length is increased.

[0028] Therefore, the pre-tightening device 200 can be used to pre-tighten the synchronous belt 137 to solve the problem of slack synchronous belt 137. Meanwhile, the movable part 212 can move towards the synchronous belt 137 and press the synchronous belt 137 with the last-stage flexible hinge 213 as the pivot. When the protruding length is decreased, the last-stage flexible hinge 213 can reset the movable part 212 by using the elastic restoring force of itself, so that the movable part 212 moves away from the synchronous belt 137 to reduce the pre-tightening amount of the synchronous belt. The free adjustment of the pre-tightening amount of the synchronous belt 137 is realized, and the practicability is greatly enhanced.

[0029] In the embodiment, the pre-tightening device 200 is installed between the synchronous belt 137 and the first side wall 1314, and the fixing seat 211 can be fixedly connected to the inner wall of the first side wall 1314 or the second side wall 1316, or fixedly connected to both the first side wall 1314 and the second side wall 1316, which can be determined according to the width of the fixing seat 211. The width of the movable part 212 can be equal to or greater than the width of the synchronous belt 137, so that the contact area between the movable part 212 and the synchronous belt 137 reaches the maximum value, and the pre-tightening effect of the synchronous belt 137 is improved. Further, the width of the movable part 212 is less than the distance between the first cover plate 1313 and the second cover plate 1315, and the movable part 212 is spaced apart from the first cover plate 1313 and the second cover plate 1315, so as to avoid the interference of the first cover plate 1313 and the second cover plate 1315 with the movement of the movable part 212, and reduce the friction force suffered by the movable part 212.

[0030] As an example, the width of the fixing seat 211 is equal to the width of the movable part 212, and the pre-tightening device 200 can further include a fixing seat connecting member such as a bolt, and the first side wall 1314 is provided with a through hole, and the fixing seat connecting member passes through the through hole to lock the fixing seat 211 on the first side wall 1314.

[0031] In the embodiment, the last-stage flexible hinge 213 is a flexible pivot, and the last-stage flexible hinge 213 has a central axis, and can rotate about the central axis, wherein the central axis of the last-stage flexible hinge 213 can be consistent with the width direction of the synchronous belt 137; the last-stage flexible hinge 213 itself has a certain strength and rigidity, when the movable part 212 moves towards the synchronous belt 137 relative to the fixing seat 211, the last-stage flexible hinge 213 changes its initial position under the driving of the movable part 212, and the last-stage flexible hinge 213 has elasticity, when the external force is removed or reduced, that is, when the protruding length of the adjusting member 230 relative to the fixing seat 211 towards the movable part 212 is reduced, the last-stage flexible hinge 213 can be reset under the action of the elastic restoring force, so as to drive the movable part 212 to move away from the synchronous belt 137.

[0032] In some embodiments, the adjusting member 230 can include an adjusting head 231 and an adjusting body 232, the adjusting head 231 is arranged at one end of the adjusting body 232 and exposed outside the mechanical leg 100, the adjusting body 232 is arranged through the fixing seat 211 and screwed with the fixing seat 211, the screwing length of the adjusting body 232 is increased to push the movable part 212 to move. The protruding length of the adjusting member 230 relative to the fixing seat 211 towards the movable part 212 is the screwing length of the adjusting body 232, so that the pre-tightening amount of the synchronous belt 137 can be adjusted by rotating the adjusting head 231, without using electric components, without additional energy consumption, low cost and high reliability; at the same time, the adjusting head 231 is exposed outside the mechanical leg 100, which can be operated outside the mechanical leg 100 without disassembling the thigh shell 131, which is very convenient to operate.

[0033] In the embodiment, the outer diameter of the adjusting head 231 is larger than that of the adjusting body 232, so as to facilitate the user to operate; as an example, the adjusting member 230 can be a bolt. The fixing seat 211 is provided with a threaded hole, the adjusting body 232 is arranged through the threaded hole to be screwed with the fixing seat 211, the first side wall 1314 or the second side wall 1316 is provided with a through hole corresponding to the adjusting body 232, and the adjusting body 232 extends out of the first side wall 1314 or the second side wall 1316 through the through hole.

[0034] The adjusting member 230 can also include a ball head 233, the ball head 233 is arranged at the other end of the adjusting body 232 relative to the adjusting head 231, the adjusting body 232 is in contact with the movable part 212 through the ball head 233, and the spherical outer surface of the ball head 233 can reduce the friction between the adjusting body 232 and the movable part 212.

[0035] In the embodiment, the pre-tightening device 200 can also include a torsion detector such as a torsion tester for detecting the torsion of the adjusting body 232, so as to accurately determine whether the adjusting body 232 is adjusted in place.

[0036] In other embodiments, the pre-tightening device 200 can also include a pre-tightening force detection device for detecting the pre-tightening force of the synchronous belt 137, so as to directly determine whether the synchronous belt 137 needs to be pre-tightened and whether the synchronous belt 137 is pre-tightened in place through the pre-tightening force of the synchronous belt 137. Alternatively, the synchronous belt 137 can also be determined to be in a relaxed state by measuring the virtual position of the lower leg unit 150, and then determining whether the synchronous belt 137 needs to be pre-tightened. Specifically, when the joint motor 110 does not output the rotating speed, the lower leg unit 150 usually does not change the position, and when the synchronous belt 137 is in a relaxed state, the lower leg unit 150 will produce a small angle of rotation displacement by rotating the lower leg unit 150, which is the virtual position, so that when the virtual position of the lower leg unit 150 is detected, it can be determined that the synchronous belt 137 is in a relaxed state.

[0037] In some other embodiments, the adjusting member 230 can also be a power element capable of outputting linear displacement, such as a stacked piezoelectric ceramic or a linear actuator. The stacked piezoelectric ceramic can also be referred to as a piezoelectric actuator. When a voltage is applied to the stacked piezoelectric ceramic, the stacked piezoelectric ceramic will perform elongation movement in the Z-axis direction, thereby changing the protruding length of the adjusting member 230 relative to the fixed seat 211.

[0038] The pre-tightening force detection device can be electrically connected to the power element. When the pre-tightening force detection device detects that the pre-tightening force of the synchronous belt 137 is less than a set value, the power element can be started to work. When the pre-tightening force of the synchronous belt 137 is equal to or greater than the set value, the power element is turned off. Thus, the automatic adjustment of the pre-tightening of the synchronous belt 137 can be realized without manual operation.

[0039] In some embodiments, the movable part 212 includes a first lever arm 2121. One end of the first lever arm 2121 is used to contact the synchronous belt 137, and the other end of the first lever arm 2121 is connected to the fixed part through the last flexible hinge 213. The adjusting member 230 is in contact with the first lever arm 2121 and is used to push the first lever arm 2121 to rotate about the last flexible hinge 213, so that the first lever arm 2121 can contact and press the synchronous belt 137, and the movement amount of the first lever arm 2121 is converted into the pre-tightening amount of the synchronous belt 137. Through the lever amplification effect of the first lever arm 2121, the protruding length of the adjusting member 230 relative to the fixed seat 211 can be amplified, thereby obtaining a larger adjustment range of the pre-tightening amount of the synchronous belt 137.

[0040] In the embodiment, the movable part 212 further includes a first contact part 2122 connected to one end of the first lever arm 2121. The first lever arm 2121 contacts the synchronous belt 137 through the first contact part 2122. The first lever arm 2121 is substantially in a plate structure, and the first contact part 2122 is in a cylindrical structure. The first lever arm 2121 is connected to the outer peripheral surface of the first contact part 2122. The outer peripheral surface of the first contact part 2122 is also used to contact the synchronous belt 137, so as to reduce the friction between the first contact part 2122 and the synchronous belt 137.

[0041] In some embodiments, the fixing base 211 comprises a first connecting portion 2111 and a second connecting portion 2112 which are arranged at intervals along the conveying direction of the synchronous belt 137, and the first lever arm 2121 is connected to the first connecting portion 2111; the pre-tightening body 210 further comprises a second lever arm 214, one end of the second lever arm 214 is rotatably connected to the second connecting portion 2112, the other end of the second lever arm 214 abuts against the first lever arm 2121, and the adjusting member 230 abuts against the second lever arm 214 for pushing the first lever arm 2121 to rotate about the final flexible hinge 213. The second lever arm 214 can cooperate with the first lever arm 2121 to form a two-stage transmission structure, and can further amplify the protruding length of the adjusting member 230 relative to the fixing base 211, thereby obtaining a larger adjustment range of the pre-tightening amount of the synchronous belt 137.

[0042] In the present embodiment, the pre-tightening body 210 can further comprise a second contact portion 2141 arranged at one end of the second lever arm 214 facing the first lever arm 2121, and the second lever arm 214 contacts the first lever arm 2121 through the second contact portion 2141. In this embodiment, the second lever arm 214 is substantially a plate structure, and the surface of the second contact portion 2141 contacting the first lever arm 2121 is an arc surface. For example, the second contact portion 2141 can be a cylindrical structure, and the arc-shaped outer surface of the second contact portion 2141 can reduce the friction between the second lever arm 214 and the first lever arm 2121, so that the transmission cooperation between the two is smoother.

[0043] In the present embodiment, the second lever arm 214 can be connected to the second connecting portion 2112 through a hinge or other rotating shaft structure. In some embodiments, the pre-tightening body 210 further comprises a primary flexible hinge 215, and the second lever arm 214 is connected to the second connecting portion 2112 through the primary flexible hinge 215. Under the pushing of the adjusting member 230, the second lever arm 214 rotates about the primary flexible hinge 215 towards the synchronous belt 137, and when the protruding length of the adjusting member 230 relative to the fixing base 211 decreases, the primary flexible hinge 215 can reset the second lever arm 214, and the elastic restoring force provided by the primary flexible hinge 215 and the final flexible hinge 213 can reset the first lever arm 2121 and the second lever arm 214 more quickly, so that the pre-tightening adjustment operation is more rapid and sensitive.

[0044] In some embodiments, the fixing base 211 can include a first fixing part 2113 and a second fixing part 2114, the first fixing part 2113 is used to be fixed in the mechanical leg 100, the second fixing part 2114 is connected to the first fixing part 2113 and is bent relative to the first fixing part 2113, the adjusting part 230 is connected to the first fixing part 2113, the first fixing part 2113 is provided with a first connecting part 2111 on the side away from the second fixing part 2114, and the second fixing part 2114 is provided with a second connecting part 2112 on the side away from the first fixing part 2113. Thus, the fixing base 211 can play a role of connecting the first lever arm 2121, the second lever arm 214 and the adjusting part 230, and by installing the fixing base 211, the first lever arm 2121, the second lever arm 214 and the adjusting part 230 can be installed in the mechanical leg 100, which is a clever and practical structure design.

[0045] In the embodiment, the first fixing part 2113 and the second fixing part 2114 are both plate-shaped structures, and the first fixing part 2113 can be stacked on one or both of the first side wall 1314 and the second side wall 1316. When the adjusting part 230 is a fastener such as a bolt, the adjusting part 230 is provided through the first fixing part 2113 and is screwed with the first fixing part 2113; when the adjusting part 230 is a power element, the adjusting part 230 can be installed on the side wall of the first fixing part 2113 facing the synchronous belt 137.

[0046] The included angle between the first fixing part 2113 and the second fixing part 2114 can be an acute angle or a right angle, so that the second fixing part 2114 is arranged substantially perpendicular to the synchronous belt 137. The first lever arm 2121 is arranged obliquely from the first connecting part 2111 to the second connecting part 2112, and the included angle between the first lever arm 2121 and the first fixing part 2113 is an acute angle; the second lever arm 214 is arranged obliquely from the second connecting part 2112 to the first connecting part 2111, and the included angle between the second lever arm 214 and the second fixing part 2114 is an acute angle.

[0047] When the protruding length of the adjusting part 230 relative to the first fixing part 2113 increases, the second lever arm 214 rotates towards the synchronous belt 137 and pushes the first lever arm 2121 to rotate towards the synchronous belt 137, and the included angles between the second lever arm 214 and the second fixing part 2114 and between the first lever arm 2121 and the first fixing part 2113 both increase. When the protruding length of the adjusting part 230 relative to the first fixing part 2113 decreases, the primary flexible hinge 215 resets the second lever arm 214 to rotate towards the first fixing part 2113, and the included angle between the second lever arm 214 and the second fixing part 2114 decreases; at the same time, the secondary flexible hinge 213 resets the first lever arm 2121 to rotate towards the first fixing part 2113, and the included angle between the first lever arm 2121 and the first fixing part 2113 decreases.

[0048] Please see Figure 3 and Figure 5 As shown, in some embodiments, the pretensioning device 200 further includes a sleeve 250, which is rotatably connected to the first lever arm 2121. The first lever arm 2121 abuts against the timing belt 137 through the outer peripheral surface of the sleeve 250. The sleeve 250 can rotate relative to the timing belt 137 to reduce the friction between the two.

[0049] Please see Figure 6 In some embodiments, the pretensioning device 200 further includes a slider 270, which is slidably disposed between the adjusting member 230 and the first lever arm 2121. The adjusting member 230 abuts against the slider 270 and pushes the slider 270 to slide in a fixed direction so that the slider 270 contacts the first lever arm 2121 and pushes the first lever arm 2121 to rotate. The sliding direction of the slider 270 is consistent with the length direction of the adjusting member 230. The slider 270 can increase the contact area with the first lever arm 2121, thereby pushing the first lever arm 2121 more smoothly.

[0050] In this embodiment, a slide rail may be provided inside the thigh housing 131, and the slider 270 slides in cooperation with the slide rail to ensure that the slider 270 can slide in a fixed direction without deviating.

[0051] In some embodiments, the first lever arm 2121 includes an arm body 2123, a push block 2124, and a push flexible hinge 2125. One end of the arm body 2123 is connected to the fixed base 211, and the other end is provided with a first contact portion 2122 for contacting the timing belt 137. The push block 2124 is connected to the arm body 2123 via the push flexible hinge 2125. The push block 2124 is provided with a push inclined surface 2126, and the slider 270 is provided with a slider inclined surface 271, which is used to contact and engage with the push inclined surface 2126. The adjusting member 230 is used to push the slider inclined surface 271 against the push inclined surface 2126 to drive the arm body 2123 to rotate. Thus, the linear motion of the slider 270 can be converted into the rotational motion of the first lever arm 2121. The flexible hinge 2125 is used to reset the push block 2124 so that when the protrusion length of the adjusting member 230 relative to the fixed seat 211 decreases, it can push the push block 2124 toward the fixed seat 211 to wait for the next pre-tightening operation. Of course, in some embodiments, the slider 270 can be fixedly connected to the adjusting member 230, and the adjusting member 230 can directly drive the slider 270 to slide toward or away from the first lever arm 2121.

[0052] In the embodiment, the sliding block inclined surface 271 and the bearing inclined surface 2126 are inclined relative to the sliding direction of the sliding block 270, and the inclinations of the sliding block inclined surface 271 and the bearing inclined surface 2126 are consistent, so that the sliding block 270 and the bearing block 2124 can be completely fitted.

[0053] In the embodiment, the fixing seat 211 can include a first fixing plate 2115 and a second fixing plate 2116, the first fixing plate 2115 is used for being fixed in the mechanical leg 100, one side of the second fixing plate 2116 is connected to the first fixing plate 2115, and the other side extends towards the synchronous belt 137, and the arm body 2123 is connected to the second fixing plate 2116 through the last flexible hinge 213. The first fixing plate 2115 can be stacked in one or both of the first side wall 1314 and the second side wall 1316, the second fixing plate 2116 is substantially perpendicular to the first fixing plate 2115, and the included angle between the arm body 2123 and the second fixing plate 2114 is obtuse.

[0054] Please refer to Figure 7 In some embodiments, the movable part 212 includes a bearing part 216, a first connecting arm 217 and a second connecting arm 218, the bearing part 216 is connected between the first connecting arm 217 and the second connecting arm 218, and is used for contacting the synchronous belt 137; the last flexible hinge 213 includes two, the first connecting arm 217 and the second connecting arm 218 are respectively connected to the fixing seat 211 through the last flexible hinge 213 at the other end of the bearing part 216, the adjusting part 230 contacts the bearing part 216, is used for pushing the bearing part 216 to extrude the synchronous belt 137, and the bearing part 216 drives the first connecting arm 217 and the second connecting arm 218 to rotate with the respective last flexible hinge 213 as the pivot. Through the action of the two last flexible hinges 213, the bearing part 216 can be reset more quickly.

[0055] In the embodiment, the contact surface of the bearing part 216 with the synchronous belt 137 is an arc surface, so as to reduce the contact friction force with the synchronous belt 137. For example, the bearing part 216 can include a bottom plate 2161 and a convex part 2162, the bottom plate 2161 is connected between the first connecting arm 217 and the second connecting arm 218, and is opposite to the fixing seat 211, the convex part 2162 is arranged on the side of the bottom plate 2161 away from the fixing seat 211, the convex part 2162 can be a semi-cylindrical structure, and the outer circumferential surface of the convex part 2162 contacts the synchronous belt 137.

[0056] The first connecting arm 217 is bendable, and includes a first sub-arm 2171, a second sub-arm 2172, a first sub-arm flexible hinge 2173, and a second sub-arm flexible hinge 2174. One end of the first sub-arm 2171 is connected to the abutting part 216 through the first sub-arm flexible hinge 2173, and the other end is connected to the second sub-arm 2172 through the second sub-arm flexible hinge 2174. The second sub-arm 2172 is connected to the fixed seat 211 through the last flexible hinge 213 relative to the other end of the first sub-arm 2171.

[0057] The fixed seat 211 is generally plate-shaped, and can be stacked on one or both of the first side wall 1314 and the second side wall 1316. In the natural state of the last flexible hinge 213, the second sub-arm 2172 is perpendicular to the fixed seat 211, the included angle between the first sub-arm 2171 and the second sub-arm 2172 is obtuse, and the included angle between the first sub-arm 2171 and the bottom plate 2161 is obtuse. When the adjusting part 230 pushes the abutting part 216 to move towards the synchronous belt 137, the included angle between the second sub-arm 2172 and the fixed seat 211 decreases, the included angle between the first sub-arm 2171 and the second sub-arm 2172 increases, and the included angle between the first sub-arm 2171 and the bottom plate 2161 decreases.

[0058] The second connecting arm 218 is bendable, and includes a third sub-arm 2181, a fourth sub-arm 2182, a third sub-arm flexible hinge 2183, and a fourth sub-arm flexible hinge 2184. One end of the third sub-arm 2181 is connected to the abutting part 216 through the third sub-arm flexible hinge 2183, and the other end is connected to the fourth sub-arm 2182 through the fourth sub-arm flexible hinge 2184. The fourth sub-arm 2182 is connected to the fixed seat 211 through the last flexible hinge 213 relative to the other end of the third sub-arm 2181. The second connecting arm 218 and the first connecting arm 217 can be symmetrical relative to the abutting part 216. The specific structure of the second connecting arm 218 can be referred to the first connecting arm 217, and will not be described here.

[0059] Please refer to Figure 8 The embodiment of the application also provides a robot 300, which includes a robot body 310 and the mechanical leg 100 in the above embodiment, and the mechanical leg 100 is connected to the robot body 310. The robot 300 can be a biped robot, a quadruped robot, or a hexapod robot. Figure 8 As shown in the quadruped robot, the robot 300 includes four mechanical legs 100, and the four mechanical legs 100 are connected to the robot body 310.

[0060] The detailed structural features of the mechanical leg 100 and the pre-tightening device 200 are described in the above embodiments. Since the robot 300 comprises the mechanical leg 100 and the pre-tightening device 200 in the above embodiments, the robot 300 has all the beneficial effects of the mechanical leg 100 and the pre-tightening device 200, which will not be described herein again.

[0061] The above embodiments only express several implementation manners of the present application, and the description is relatively specific and detailed, but it should not be understood as a limitation on the patent scope of the present application. It should be pointed out that, for ordinary skilled persons in the art, several modifications and improvements can be made without departing from the concept of the present application, which all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. A pre-tensioning device for pre-tensioning a timing belt in a mechanical leg, characterized in that The pre-tightening device comprises a pre-tightening body and an adjusting member, the pre-tightening body comprises a fixed seat, a movable part and a last-stage flexible hinge, the fixed seat is fixed in the mechanical leg, the movable part comprises a first lever arm, one end of the first lever arm is used for contacting the synchronous belt, the other end of the first lever arm is connected to the fixed seat through the last-stage flexible hinge, the adjusting member is used for pushing the first lever arm to rotate about the last-stage flexible hinge, the movable part is connected to the fixed seat through the last-stage flexible hinge, the fixed seat comprises a first connecting part and a second connecting part arranged at intervals, the first lever arm is connected to the first connecting part, the pre-tightening body further comprises a second lever arm, one end of the second lever arm is rotatably connected to the second connecting part, and the other end of the second lever arm abuts against the first lever arm, the movable part is at least partially located between the fixed seat and the synchronous belt and is used for contacting the synchronous belt; and The adjusting member is arranged on the fixed seat, the protruding length of the adjusting member relative to the fixed seat towards the movable part is adjustable, the adjusting member is used for moving the movable part and pressing the synchronous belt when the protruding length is increased, the adjusting member abuts against the second lever arm and is used for pushing the first lever arm to rotate through the second lever arm.

2. The pre-tensioning device according to claim 1, characterized in that The pre-tightening body further comprises a primary flexible hinge, and the second lever arm is connected to the second connecting part through the primary flexible hinge.

3. The pre-tensioning device according to claim 1, characterized in that The fixed seat comprises a first fixed part and a second fixed part, the first fixed part is fixed in the mechanical leg, the second fixed part is connected to the first fixed part and is bent relative to the first fixed part, the adjusting member is arranged on the first fixed part, and one side of the first fixed part away from the second fixed part is provided with the first connecting part, and one side of the second fixed part away from the first fixed part is provided with the second connecting part.

4. The pre-tensioning device of claim 1, wherein The pre-tightening device further comprises a sleeve, the sleeve is rotatably connected to the first lever arm, and the first lever arm contacts the synchronous belt through the outer circumferential surface of the sleeve.

5. A pre-tensioning device according to any one of claims 1-4, characterized in that The adjusting member comprises an adjusting head and an adjusting body, the adjusting head is arranged on one end of the adjusting body and exposed outside the mechanical leg, the adjusting body is arranged in the fixed seat and screw-connected with the fixed seat, and the rotation length of the adjusting body is increased to push the movable part to move.

6. A mechanical leg, characterized by The mechanical leg comprises a synchronous belt and the pre-tightening device according to any one of claims 1-5, and the pre-tightening device is used for pre-tightening the synchronous belt.

7. A robot, characterized in that The robot comprises a robot body and the mechanical leg according to claim 6, and the mechanical leg is connected to the robot body.

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