Leg structure and robot

Abstract

The present invention provides a leg-foot structure and a robot, the robot includes a trunk and a leg-foot structure; the leg-foot structure includes a thigh and a connecting mechanism, the connecting mechanism includes a first connecting part and a second connecting part, the first connecting part is connected to the trunk through a first joint and is connected to the second connecting part through a second joint, and the thigh is connected to the second connecting part through a third joint. Among them, the first joint has a first central axis, the second joint has a second central axis, the third joint has a third central axis, the first central axis, the second central axis and the third central axis are perpendicular to each other, and the first central axis deviates to one side of the third central axis. The connecting mechanism of the present invention can form a larger range for the thigh to move, and the thigh is not easy to interfere with the connecting mechanism, thereby increasing the range of movement of the robot leg-foot structure and improving the flexibility of the robot.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a leg and foot structure and a robot. Background Art

[0002] With the development of robotics technology and the continuous expansion of application scenarios, the mobility and flexibility of robots are receiving more and more attention. In the robot's motion system, the robot's leg and foot structure is the core component to achieve the robot's diversified movement, affecting the robot's motion performance, stability and adaptability. Most existing robots use a leg and foot structure with 5-6 degrees of freedom, connecting 5 to 6 joints in series, parallel or mixed to form a mechanical leg and foot. Affected by the size and mass of the hardware, the existing robot legs and feet have a small range of motion and are prone to collision with other structural parts. Summary of the invention

[0003] The invention provides a leg and foot structure and a robot.

[0004] The leg and foot structure of the embodiment of the present invention comprises a thigh and a connection mechanism, wherein the connection mechanism comprises a first connection part and a second connection part, wherein the first connection part is connected to the trunk through a first joint and is connected to the second connection part through a second joint, and the thigh is connected to the second connection part through a third joint. The first joint has a first central axis, the second joint has a second central axis, and the third joint has a third central axis, wherein the first central axis, the second central axis and the third central axis are perpendicular to each other, and the first central axis deviates to one side of the third central axis.

[0005] In the robot of the embodiment of the present invention, the first central axis, the second central axis and the third central axis are perpendicular to each other, and the first central axis deviates to one side of the third central axis, so that the connecting mechanism can form a larger range of movement for the thigh, and the thigh is not easy to interfere with the connecting mechanism, thereby increasing the range of movement of the robot's leg and foot structure.

[0006] In some embodiments, the first central axis is perpendicular to the mounting surface of the trunk and the first connecting portion, the third central axis is consistent with the width direction of the trunk, and the first central axis and the second central axis are both inclined relative to the horizontal plane.

[0007] In this way, when the first joint rotates, the leg and foot structure can be lifted and lowered on both sides of the robot's torso in the width direction. When the third joint rotates, the leg and foot structure can be driven to move along the front and back directions of the robot's torso, so that the leg and foot structure has two degrees of freedom to swing in the front and back directions and left and right directions of the torso.

[0008] In some embodiments, the leg and foot structure also includes a first driving member and a second driving member, the first driving member is used to drive the first connection part to rotate around a first central axis relative to the torso, and the second driving member is used to drive the second connection part to rotate around a second central axis relative to the first connection part. The first driving member is arranged at the first joint, and the second driving member is arranged at the second joint.

[0009] In this way, since the size and load-bearing capacity of the driving member are relatively large, arranging the driving member at the joint can make the connection mechanism structure compact, reduce the volume, and help improve the compactness of the robot structure.

[0010] In some embodiments, the leg-foot structure further includes a third driving member, which is used to drive the thigh portion to rotate relative to the second connecting portion around a third central axis, and the third driving member is disposed at a third joint.

[0011] In this way, the third joint is driven by an independent driving member, so that the thigh can move independently relative to the trunk and the connecting mechanism, making it easier for the robot to achieve complex movement functions.

[0012] In some embodiments, the third joint and the third drive member are both at least partially disposed inside the thigh.

[0013] In this way, the third joint and the third driving member are installed inside the thigh and connected to the thigh as an integral structure, which increases the connection strength and reliability of the joint, enhances the strength and rigidity of the thigh structure, and also avoids exposure of cables, improves safety and aesthetics, and facilitates styling design.

[0014] In some embodiments, there are two leg-foot structures, which are arranged in parallel, and the third driving member of each leg-foot structure drives the corresponding thigh to move so that the angle formed between the two thighs is greater than 90 degrees.

[0015] In this way, the possibility of structural interference during the movement of the leg and foot structures can be reduced, the swing angle of the thigh can be increased, and the robot can achieve more diverse movements and more complex functions.

[0016] In some embodiments, the leg and foot structure also includes a calf, a fourth drive member and a transmission assembly. The calf is rotatably connected to the thigh via a fourth joint. The transmission assembly connects the fourth drive member and the fourth joint. The fourth drive member is used to drive the transmission assembly to move, thereby driving the fourth joint and the calf to move relative to the thigh.

[0017] In this way, there is no need to install a driving part at the fourth joint, which reduces the size of the fourth joint, allows the fourth joint to have a larger rotation angle, and improves the flexibility of the robot's legs and feet.

[0018] In certain embodiments, the fourth driving member is disposed on the thigh, and the transmission assembly includes a connecting rod mechanism.

[0019] In this way, the fourth driving member is moved upward and closer to the third joint, thereby reducing the end mass and moment of inertia of the thigh, reducing the load of the third joint, and increasing the service life of the components.

[0020] In some embodiments, the fourth drive member is at least partially disposed inside the thigh portion, and the transmission assembly is disposed inside the thigh portion.

[0021] In this way, as described above, the connection and structural rigidity can be strengthened, the cables can be prevented from being exposed, and the safety and aesthetics can be improved.

[0022] The robot according to the embodiment of the present invention comprises the leg and foot structure of any one of the above embodiments.

[0023] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0025] Figure 1 is a front schematic diagram of a robot according to an embodiment of the present invention;

[0026] Figure 2 is a side schematic diagram of a robot according to an embodiment of the present invention;

[0027] Figure 3 is a three-dimensional schematic diagram of a robot according to an embodiment of the present invention;

[0028] Figure 4 is a schematic structural diagram of a leg and foot structure according to an embodiment of the present invention;

[0029] Figure 5 is a schematic diagram of the thigh structure of the leg and foot structure according to an embodiment of the present invention;

[0030] Figure 6 is a schematic diagram of the thigh portion of the leg-foot structure according to an embodiment of the present invention from another perspective;

[0031] Figure 7 is a schematic diagram of the motion state of a robot according to an embodiment of the present invention;

[0032] Figure 8 is a schematic diagram of another motion state of the robot according to an embodiment of the present invention;

[0033] Fig. 9A schematic diagram of another motion state of the robot according to an embodiment of the present invention.

[0034] Description of main component symbols:

[0035] Robot 1000, torso 100, leg and foot structure 200, thigh 10, connecting mechanism 20, first connecting part 21, second connecting part 22, first joint 210, second joint 220, third joint 230, fourth joint 240, fifth joint 250, first central axis 211, second central axis 221, third central axis 231, first driving member 212, second driving member 222, third driving member 232, fourth driving member 242, mounting surface 2101, transmission assembly 243, connecting rod mechanism 244, calf 30, fastening screw 101, first leg plate 110, second leg plate 120, foot 40. DETAILED DESCRIPTION

[0036] The embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0037] 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 invention 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 limiting the present invention. 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 invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0038] 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 the present invention can be understood according to specific circumstances.

[0039] 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.

[0040] The disclosure below provides many different embodiments or examples to realize different structures of the present invention. In order to simplify the disclosure of the present invention, 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 invention. In addition, the present invention can repeat reference numbers and / or reference letters in different examples, and this repetition is for the purpose of simplicity and clarity, which itself does not indicate the relationship between the various embodiments and / or settings discussed. In addition, the present invention provides various specific examples of processes and materials, but those of ordinary skill in the art can be aware of the application of other processes and / or the use of other materials.

[0041] See also Figure 1-Figure 4 The robot 1000 of the embodiment of the present invention includes a trunk 100 and a leg-foot structure 200. The leg-foot structure 200 includes a thigh 10 and a connecting mechanism 20, the connecting mechanism 20 includes a first connecting part 21 and a second connecting part 22, the first connecting part 21 is connected to the trunk 100 through a first joint 210 and connected to the second connecting part 22 through a second joint 220, and the thigh 10 is connected to the second connecting part 22 through a third joint 230. Among them, the first joint 210 has a first central axis 211, the second joint 220 has a second central axis 221, and the third joint 230 has a third central axis 231. The first central axis 211, the second central axis 221 and the third central axis 231 are perpendicular to each other, and the first central axis 211 deviates to one side of the third central axis 231.

[0042] Specifically, the first joint 210 can drive the thigh 10 to rotate around the first central axis 211 to achieve left and right movement of the leg and foot structure 200; the third joint 230 can drive the thigh 10 to rotate around the third central axis 231 to achieve front and back, up and down movement of the leg structure 200.

[0043] In the related technology, when the torso and leg and foot structures are vertical, the first central axis passes through the third central axis and is perpendicular to the horizontal plane, and the second central axis passes through the third central axis and is parallel to the horizontal plane. As a result, when the thigh rotates with the first joint and the third joint, the backward swing and left and right rotation angles are limited by the second joint, thereby limiting the movement of the leg and foot structures and reducing the range of motion.

[0044] In the leg and foot structure 200 of the embodiment of the present invention, since the first center axis 211 and the second center axis 221 are both inclined relative to the horizontal plane, the first center axis 211 deviates to one side of the third center axis 231, and the second joint 220 is moved up relative to the installation position in the related technology, which will not interfere with the movement of the thigh 10, so that the rotation angle of the thigh 10 in the front-to-back direction and the left-to-right direction can reach 180 degrees and above.

[0045] In summary, in the robot 1000 of the embodiment of the present invention, the first center axis 211, the second center axis 221 and the third center axis 231 are perpendicular to each other, and the first center axis 211 deviates to one side of the third center axis 231, so that the connecting mechanism 20 is not easy to interfere with the movement of the thigh 10, thereby increasing the range of motion of the leg and foot structure 200 of the robot 1000.

[0046] Specifically, the first joint 210 is disposed at one end of the trunk 100 and can rotate around a first central axis 211. The second joint 220 is disposed at the rear side of the trunk 100 and can rotate around a second central axis 221 and is rotatably connected to the first joint 210. The third joint 230 is disposed at one end of the thigh 10 and can rotate around a third central axis 231.

[0047] One end of the second connection portion 22 is mounted at the second joint 220 , and the other end is mounted at the third joint 230 on the thigh 10 .

[0048] Both ends of the second connection portion 22 are rotatably connected to the second joint 220 and the third joint 230 , respectively.

[0049] The first joint 210 , the second joint 220 , and the third joint 230 may include angular contact bearings, tapered roller bearings, cross roller bearings, etc., and may withstand radial and axial loads.

[0050] See also Figure 1 and Figure 2 , Figure 1 and Figure 2 It is a schematic diagram of the structure of the robot 1000 when the trunk 100 and the thigh 10 are kept vertical, the first central axis 211 is inclined relative to the horizontal plane, and forms an angle with the height direction of the trunk 100, the second central axis 221 is inclined relative to the horizontal plane, and the inclination direction may be opposite to the first central axis 211. The third central axis 231 may be in a horizontal state.

[0051] Figure 3 is a three-dimensional schematic diagram of a robot 1000 according to an embodiment of the present application, please refer to Figure 3 It should be noted that the width direction of the trunk 100, that is, the left-right direction of the robot 1000, can be parallel to the horizontal line. The height direction of the trunk 100, that is, the up-down direction of the robot 1000, can be parallel to the vertical line. The front-back direction of the robot 1000 is parallel to the horizontal plane and perpendicular to the width direction and the height direction of the trunk 100.

[0052] In the related art, when the trunk and leg and foot structures are vertical, the first central axis passes through the third central axis and is perpendicular to the horizontal plane, and the second central axis passes through the third central axis and is parallel to the horizontal plane, resulting in the movement of the thigh being restricted by the connection mechanism and a small range of motion. In addition, the load is arranged horizontally or vertically with the bearing axis, and the bearing is only subjected to axial or radial forces, resulting in a short service life and high requirements on the strength of the bearing installation position.

[0053] The first joint 210, the second joint 220 and the third joint 230 of the embodiment of the present application are tilted, the first central axis 211 is offset relative to the third joint 230, the second joint 220 is closer to the trunk 100 relative to the installation position in the related art, and the second joint 220 is moved up relative to the third joint 230, thereby reducing the interference of the connection mechanism 20 on the movement of the leg and foot structure 200, so that the third joint 230 drives the thigh 10 to move more widely. At the same time, the first joint 210, the second joint 220, and the third joint 230 are subjected to overall force in their own axial and radial directions, the force is more uniform, the service life is longer, the strength requirements of the bearing installation position are lower, and the positioning effect is good.

[0054] In certain embodiments, see Figure 2 and Figure 3 The first central axis 211 is perpendicular to the mounting surface 2101 of the trunk 100 and the first connecting portion 21 , and the third central axis 231 is consistent with the width direction of the trunk 100 .

[0055] In this way, when the first joint 210 rotates, it can drive the leg and foot structure 200 to be lifted and lowered on both sides of the width direction of the robot 1000 torso 100. When the third joint 230 rotates, it can drive the leg and foot structure 200 to move along the front and back directions of the robot 1000 torso 100, so that the leg and foot structure 200 has two degrees of freedom to swing in the front and back directions and left and right directions of the torso 100.

[0056] Specifically, when the trunk 100 and the thigh 10 remain vertical, an angle is formed between the mounting surface 2101 of the trunk 100 and the first connection part 21 and the horizontal plane. An angle is formed between the mounting surface 2101 of the second connection part 22 and the first connection part 21 and the horizontal plane, and the first central axis 211 is perpendicular to the mounting surface 2101 of the trunk 100 and the first connection part 21, so that when the first joint 210 rotates to drive the second joint 220 to move, it will not interfere with the trunk 100.

[0057] In certain embodiments, see Figure 4 The leg and foot structure 200 also includes a first driving member 212 and a second driving member 222. The first driving member 212 is used to drive the first connection part 21 to rotate relative to the torso 100 around the first central axis 211, and the second driving member 222 is used to drive the second connection part 22 to rotate relative to the first connection part 21 around the second central axis 221. The first driving member 212 is arranged at the first joint 210, and the second driving member 222 is arranged at the second joint 220.

[0058] In this way, since the size and load-bearing capacity of the driving member are relatively large, arranging the driving member at the joint can make the structure of the connecting mechanism 20 compact and reduce the volume, which is beneficial to the compactness of the design of the robot 1000.

[0059] Specifically, the first driving member 212 and the second driving member 222 may be reduction motors, etc. The first driving member 212 may form an integral body with the first joint 210, and similarly, the second driving member 222 may be configured to form an integral body with the second joint 220. The first driving member 212 may independently drive the first joint 210 to rotate, thereby driving the first connecting portion 21 to rotate around the first central axis 211, driving the thigh 10 to swing around the first central axis 211, that is, the thigh 10 may swing left and right relative to the trunk 100. The second driving member 222 may independently drive the second joint 220 to rotate, driving the thigh 10 to independently rotate inward and outward.

[0060] In certain embodiments, see Figure 4 The leg-foot structure 200 further includes a third driving member 232 , which is used to drive the thigh portion 10 to rotate relative to the second connecting portion 22 around a third central axis 231 , and the third driving member 232 is disposed at the third joint 230 .

[0061] In this way, the third joint 230 is driven by an independent driving member, so that the thigh 10 can move independently relative to the trunk 100 and the connecting mechanism 20, which facilitates the robot 1000 to achieve complex movement functions.

[0062] Specifically, the third joint 230 is arranged at the top of the thigh 10, and the third driving member 232 can be arranged overlapping with the third joint 230. The third driving member 232 can drive the third joint 230 to rotate around the third central axis 231, thereby driving the thigh 10 to rotate around the third central axis 231, that is, the thigh 10 can swing forward and backward relative to the trunk 100. A trunk 100 can be provided with two leg-foot structures 200, the first joint 210 rotates to drive the leg-foot structure 200 to swing left and right, driving the robot 1000 to step left and right, and the third joint 230 rotates to drive the leg-foot structure 200 to swing forward and backward, driving the robot 1000 to step forward and backward.

[0063] In certain embodiments, see Figure 5 and Figure 6 The third joint 230 and the third driving member 232 are at least partially disposed inside the thigh portion 10 .

[0064] In this way, the third joint 230 and the third driving member 232 are installed inside the thigh and connected to the thigh 10 as an integral structure, which increases the connection strength and reliability of the third joint 230, enhances the strength and rigidity of the thigh 10 structure, and also avoids exposure of cables, improves safety and aesthetics, and facilitates styling design.

[0065] Specifically, the thigh 10 includes a first leg plate 110 and a second leg plate 120. The first leg plate 110 and the second leg plate 120 are closely and fixedly connected to each other at the sides, and are concave in the middle. The third joint 230 and the third driving member 232 are fixedly installed in the middle of the first leg plate 110 and the second leg plate 120 by fastening screws 101. The first leg plate 110 and the second leg plate 120 can cover part of the third joint 230 and the third driving member 232.

[0066] In certain embodiments, see Figure 1 and Figure 7-Figure 9 There are two leg-foot structures 200, which are arranged in parallel. The third driving member 232 of each leg-foot structure 200 drives the corresponding thigh part 10 to move so that the angle formed between the two thigh parts 10 is greater than 90 degrees.

[0067] In this way, the possibility of mutual interference in the movements of the leg and foot structures 200 is reduced, the flexibility of the robot 1000 is improved, and the robot 1000 can achieve more complex movements and functions.

[0068] Specifically, the two leg structures 200 each have an independent connection mechanism 20 and corresponding joints and driving parts. The two first joints 210 are arranged side by side at the rear end of the trunk 100, and can be located inside the trunk 100. The second joint 220 is rotatably connected to the first joint 210 and is located obliquely below the first joint 210. Figure 7 , Figure 5 The dotted circle in the middle represents the first joint 210. When the first joint 210 rotates around the first central axis 211 and the second joint 220 and the third joint 230 do not rotate around their own axes, the thigh 10 rotates around the first central axis 211 relative to the torso 100, and the two leg-foot structures 200 form an angle α.

[0069] Since the first central axis 211 deviates to one side of the third central axis 231, the two connecting mechanisms 20 of the two leg structures 200 always maintain a distance and will not interfere with each other. Figure 7 As shown, the angle α may be not less than 90 degrees; when the rotation angle of the first joint 210 is large, such as Figure 8 As shown, the angle α can reach 180 degrees. Fig. 9 When the third joint 230 rotates around the third central axis 231, and the first joint 210 and the second joint 220 do not rotate around their own axes, the thigh 10 rotates around the third central axis 231 relative to the torso 100, and an angle β is formed between the two leg-foot structures 200. The angle β can be greater than 90 degrees. When the rotation angle of the third joint 230 is large, the angle β can be greater than 180 degrees.

[0070] In certain embodiments, see Figure 4 The leg and foot structure 200 also includes a calf portion 30, a fourth driving member 242 and a transmission assembly 243. The calf portion 30 is rotatably connected to the thigh portion 10 via a fourth joint 240. The transmission assembly 243 connects the fourth driving member 242 and the fourth joint 240. The fourth driving member 242 is used to drive the transmission assembly 243 to move, thereby driving the fourth joint 240 and the calf portion 30 to move relative to the thigh portion 10.

[0071] In this way, no driving member is provided at the fourth joint 240 , which reduces the size and allows the fourth joint 240 to have a larger range of motion. At the same time, the movement of the calf 30 can be independently driven without being affected by the movement of the thigh 10 .

[0072] Specifically, the thigh 10 and the calf 30 are in a strip shape, and the thigh 10 may be large at one end and small at the other end, and its cross-sectional size gradually decreases from the large end to the small end. The third joint 230 and the third driving member 232 are provided at the large end of the thigh 10, and the fourth joint 240 is provided at the small end and connected to the calf 30. The fourth joint 240 may have a rotation axis parallel to the third central axis 231, and the fourth driving member 242 drives the fourth joint 240 to rotate through the transmission assembly 243, thereby driving the calf 30 to rotate and swing around the fourth joint 240 relative to the thigh 10.

[0073] In certain embodiments, see Figure 4 The fourth driving member 242 is disposed on the thigh 10 , close to the third joint 230 .

[0074] In this way, the fourth driving member 242 is moved upward, the end mass and moment of inertia of the thigh portion 10 are reduced, the load of the third joint 230 is reduced, and the service life of the components is increased.

[0075] Specifically, the third driving member 232 drives the third joint 230 to rotate, and the driven load includes the third driving member 232, the third joint 230, the first leg plate 110, the second leg plate 120, the fourth joint 240, the fourth driving member 242 and other fastening elements and connecting elements. It can be understood that the magnitude of the moment of inertia is positively correlated with the mass and the square of the radius. The fourth driving member 242 is arranged on the thigh 10 near the third joint 230, so that when the third joint 230 drives the thigh 10 to swing, the center of gravity of the thigh 10 is close to the third joint 230, reducing the rotation radius, thereby reducing the moment of inertia and reducing the load of the third joint 230.

[0076] In some embodiments, see Figure 5 and Figure 6 The fourth driving member 242 is at least partially disposed inside the thigh portion 10 , and the transmission assembly 243 is disposed inside the thigh portion 10 .

[0077] As described above, the connection strength can be increased, the strength and rigidity of the thigh portion 10 can be improved, the problem of exposed cables can be solved, and the safety and aesthetics can be improved.

[0078] Specifically, the fourth driving member 242 is fixedly installed at the middle position of the first leg plate 110 and the second leg plate 120 by fastening screws 101. The second leg plate 120 has a protruding structure, which is hollow inside and can accommodate the fourth driving member 242. The first leg plate 110 and the second leg plate 120 can cover the entire outer surface of the fourth driving member 242. The third driving member 232 and the fourth driving member 242 can be connected to the first leg plate 110 and the second leg plate 120 to form an integral structure.

[0079] In certain embodiments, see Figure 4 The transmission assembly 243 includes a connecting rod mechanism 244 .

[0080] In this way, the connecting rod mechanism 244 can realize complex spatial movements such as rotation, swinging, and movement through a simple structure. It is easy to manufacture, has a strong ability to withstand impact, and enhances ease of use.

[0081] Specifically, the connecting rod mechanism 244 can be rotatably connected to the fourth driving member 242 and the fourth joint 240. The fourth driving member 242 drives the connecting rod in the connecting rod mechanism 244 to rotate in multiple directions, driving the fourth joint 240 to rotate, and then driving the calf 30 to move. Figure 4 In the illustration, the connecting rod mechanism 244 is a four-link structure. In other embodiments, the connecting rod mechanism 244 can be a connecting rod mechanism with other numbers.

[0082] In other embodiments, the transmission component 243 may be a rope transmission structure, a gear transmission structure, or other transmission methods. The present application does not limit the specific type of the transmission component 243 .

[0083] See also Figure 4 The leg-foot structure 200 further includes a fifth joint 250 and a foot 40. The fifth joint 250 may be disposed on the calf 30, and the foot 40 is connected to the calf 30 via the fifth joint 250. The foot 40 may rotate around the calf 30 driven by the calf 30 and the fifth joint 250. In some embodiments, the calf 30 may not be provided with an independent driving member, but may be driven by the fourth driving member 242.

[0084] In the description of this specification, the description with reference to the terms "one embodiment", "certain embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0085] Although the embodiments of the present application have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present application, and that the scope of the present application is defined by the claims and their equivalents.

Claims

1. A leg and foot structure, characterized in that: include: Thigh; and A connecting mechanism, the connecting mechanism comprising a first connecting part and a second connecting part, the first connecting part is used to be connected to the trunk of the robot through a first joint and connected to the second connecting part through a second joint, and the thigh is connected to the second connecting part through a third joint; Among them, the first joint has a first central axis, the second joint has a second central axis, and the third joint has a third central axis. The first central axis, the second central axis and the third central axis are perpendicular to each other, the first central axis deviates to one side of the third central axis, and the first central axis and the second central axis are both inclined relative to the horizontal plane.

2. The leg and foot structure according to claim 1, characterized in that: The first central axis is perpendicular to the mounting surface of the trunk and the first connecting portion, and the third central axis is consistent with the width direction of the trunk.

3. The leg and foot structure according to claim 1, characterized in that: The leg and foot structure also includes a first driving member and a second driving member, the first driving member is used to drive the first connection part to rotate around the first central axis relative to the torso, and the second driving member is used to drive the second connection part to rotate around the second central axis relative to the first connection part. The first driving member is arranged at the first joint, and the second driving member is arranged at the second joint.

4. The leg and foot structure according to claim 1, characterized in that: The leg-foot structure further includes a third driving member, which is used to drive the thigh portion to rotate relative to the second connecting portion around the third central axis, and the third driving member is disposed at the third joint.

5. The leg and foot structure according to claim 4, characterized in that: The third joint and the third driving member are at least partially disposed inside the thigh.

6. The leg and foot structure according to claim 4, characterized in that: There are two leg-foot structures, which are arranged in parallel. The third driving member of each leg-foot structure drives the corresponding thigh to move so that the angle formed between the two thighs is greater than 90 degrees.

7. The leg and foot structure according to claim 1, characterized in that: The leg and foot structure also includes a calf, a fourth drive member and a transmission assembly. The calf is rotatably connected to the thigh via a fourth joint. The transmission assembly connects the fourth drive member and the fourth joint. The fourth drive member is used to drive the transmission assembly to move, thereby driving the fourth joint and the calf to move relative to the thigh.

8. The leg and foot structure according to claim 7, characterized in that: The fourth driving member is arranged on the thigh; and / or the transmission assembly includes a connecting rod mechanism.

9. The leg and foot structure according to claim 8, characterized in that: The fourth driving member is at least partially disposed inside the thigh portion, and the transmission assembly is disposed inside the thigh portion.

10. A robot, characterized in that: It comprises the leg and foot structure as described in any one of claims 1-9.

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