Mechanical legs and robots

Abstract

The application relates to a mechanical leg and a robot, the mechanical leg comprising a leg supporting part, a moving part, a driving mechanism and a flexible mechanism. The driving mechanism comprises a driver and a movable part; the driver is fixed to one of the leg supporting part and the moving part, the driver and the movable part are in transmission connection, and the driver is configured to drive the movable part to reciprocate along the extension direction of the one part; the flexible mechanism comprises a transmission wheel and at least two flexible parts; the transmission wheel is rotatably connected to the movable part; the at least two flexible parts are connected between the leg supporting part and the moving part, and two of the at least two flexible parts are wound around the transmission wheel in opposite circumferential directions and are in tension; wherein the leg supporting part and the moving part can reciprocate in opposite directions under the traction of the movable part via the flexible mechanism. Through the reciprocating linear motion between the leg supporting part and the moving part, the gravitational impact of the load can be effectively resisted, so that the load capacity of the mechanical leg is improved.

Description

TECHNICAL FIELD

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

[0002] With the development of science and technology, robots emerge as the times require, and have a wide development prospect in the fields of logistics distribution, security, etc.

[0003] The leg structure of the existing robot is often designed in a combination mode of rotating joints, including hip, knee, ankle joints, etc., but the leg structure composed of knee joints has certain limitations in robot load, and when doing some squatting or complex movements, the torque on the knee joint is huge, which is not conducive to the high dynamic action of the robot, resulting in weak load capacity of the robot. SUMMARY

[0004] Therefore, it is necessary to provide a mechanical leg and a robot capable of effectively enhancing the load capacity of the robot in view of the above technical problems.

[0005] In a first aspect, the present application provides a mechanical leg, which comprises a leg support component, a moving component, a driving mechanism and a flexible mechanism.

[0006] The driving mechanism comprises a driver and a movable part; the driver is fixed to one of the leg support component and the moving component, the driver and the movable part are in transmission connection, and the driver is configured to drive the movable part to reciprocally move along the extension direction of the one component.

[0007] The flexible mechanism comprises a transmission wheel and at least two flexible parts, the transmission wheel is rotatably connected to the movable part; the at least two flexible parts are connected between the leg support component and the moving component, and two of the at least two flexible parts are wound around the transmission wheel in opposite directions and are tensioned.

[0008] Wherein, the leg support component and the moving component can reciprocally move in opposite directions under the traction of the movable part via the flexible mechanism.

[0009] In a second aspect, the present application provides a robot, which comprises the mechanical leg of the present application, and further comprises a robot body, the robot body is connected to the moving component, and the robot body reciprocally moves along the extension direction of the leg support component following the moving component.

[0010] The mechanical leg and the robot drive the movable component to reciprocate along the extension direction of one of the leg supporting component and the moving component through the driving component, drive the transmission wheel rotatably connected with the movable component to reciprocate along the same direction, connect the leg supporting component and the moving component of the mechanical leg through the at least two flexible components, and make the transmission wheel generate the traction force to the leg supporting component and the moving component when the transmission wheel moves along the extension direction of one of the leg supporting component and the moving component, because two of the at least two flexible components are wound on the transmission wheel in the opposite surrounding direction and are tensioned. Because the flexible component and the transmission wheel form a movable pulley combination, when the transmission wheel moves in one direction by a certain distance, the leg supporting component and the moving component are driven by the traction of the movable component through the flexible mechanism and move in the opposite direction by the same distance, respectively, so that the movement stroke and the movement speed of the mechanical leg are effectively increased. Based on the reciprocating linear motion between the leg supporting component and the moving component, the large torque of the mechanical leg can be avoided in the movement process, and the gravity impact of the load is effectively resisted, so that the load capacity of the mechanical leg is improved. BRIEF DESCRIPTION OF DRAWINGS

[0011] In order to more clearly illustrate the technical solutions in the embodiments or the related art, the drawings needed to be used in the embodiments or the related art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of the provided drawings.

[0012] Figure 1 An application environment diagram of a mechanical leg provided in an embodiment;

[0013] Figure 2 A connection schematic diagram of a mechanical leg in a robot provided in an embodiment;

[0014] Figure 3 An exploded view of a mechanical leg provided in an embodiment;

[0015] Figure 4 A partial structure schematic diagram of a mechanical leg provided in an embodiment;

[0016] Figure 5 A structure side view of a mechanical leg provided in an embodiment;

[0017] Figure 6 An exploded view of a mechanical leg structure provided in another embodiment;

[0018] Figure 7 A relative position schematic diagram of a mechanical leg of a mechanical man in a movement state provided in an embodiment;

[0019] Figure 8 A schematic view of a mechanical leg in a mid position according to an embodiment;

[0020] Figure 9 A schematic view of a mechanical leg in a high position according to an embodiment;

[0021] Figure 10 A schematic view of a mechanical leg in a low position according to an embodiment.

[0022] The reference signs in the figures respectively represent:

[0023] A, robot; B, robot controller;

[0024] A1, mechanical leg; A2, robot body;

[0025] 1, leg support part; 2, moving part;

[0026] 3, driving mechanism; 31, driver; 311, rotary motor; 32, movable member; 321, nut; 322, nut seat; 33, transmission member; 331, screw; 34, coupling; 35, guide assembly; 351, guide rail; 352, slider;

[0027] 4, flexible mechanism; 41, transmission wheel; 42, flexible member; 421, first flexible member; 422, second flexible member; 43, belt pressing plate;

[0028] 5, body connecting part; 51, hip joint member; 511, first hip joint connecting member; 512, second hip joint connecting member;

[0029] 6, ankle joint member; 61, first ankle joint connecting member; 62, second ankle joint connecting member;

[0030] 7, foot bottom part. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions of the embodiments of the present application will be described clearly and completely below with reference to the drawings of the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the described embodiments of the present application, all other embodiments obtained by a person of ordinary skill in the art without any inventive effort fall within the scope of protection of the present application.

[0032] With the research and progress of artificial intelligence technology, artificial intelligence technology is researched and applied in multiple fields. Artificial intelligence technology is a comprehensive discipline, involving a wide range of fields, both hardware and software technologies.

[0033] The scheme provided in the embodiments of the present application mainly relates to the hardware level technology of artificial intelligence, and particularly relates to a robot bionic machine. The robot bionic machine is a typical example of applying biological knowledge to the engineering field, and the purpose is to help and replace humans to work in abnormal environments such as the universe, the ocean, atomic energy production, and disaster sites. The robot is an intelligent machine capable of semi-autonomous or autonomous work. The robot has basic characteristics such as perception, decision-making, and execution, can assist or even replace humans to complete dangerous, heavy, and complex work, improve work efficiency and quality, serve human life, and expand or extend the activity and capability range of humans. The scheme provided in the embodiments of the present application mainly relates to the walking machine technology in the field of robot bionic machine technology, and is used for assisting the movement control of the robot.

[0034] In the embodiments of the present application, “front”, “back”, “upper”, and “lower” are based on the front and back and the upper and lower shown in the drawings; “first end” and “second end” are two opposite ends. To make the purpose, technical scheme, and advantages of the present application more clear, the embodiments of the present application will be further described in detail below with reference to the drawings.

[0035] Figure 1 An application scenario schematic diagram of a mechanical leg is shown. Please refer to Figure 1 , the application scenario includes a robot A and a robot controller B. The robot controller B can be arranged on the robot A, or can be connected with the robot A through a network, and is used for controlling the movement mode and movement state of the robot A. As Figure 2 shown, the robot A includes at least two mechanical legs A1 and a robot body A2 (only part is shown). The robot body A2 is connected with the mechanical leg A1 through a hip joint piece. The mechanical leg A1 is a linear motion leg, and can perform linear reciprocating motion along the extension direction of a leg support part relative to the hip joint piece. The up-down stretching and contracting motion of the linear motion leg relative to a walking surface replaces the knee joint of a traditional biped robot leg. When the robot A is in a walking state on the ground, the robot controller B controls one mechanical leg A1 to move upward relative to the hip joint piece to move away from the ground, and the other mechanical leg A1 stands on the ground.

[0036] As described above, the application scenario of the mechanical leg applied to the biped robot is described by way of example. In another optional embodiment, the mechanical leg involved in the present application can also be applied to the scenario of a quadruped robot. The actual application mode of the mechanical leg is not limited in the present application.

[0037] A mechanical leg A1 is provided in an example embodiment of the present application. The structural schematic diagram is shown in Figure 3 , Figure 4 surrounding Figure 5 . As Figure 3 ,Figure 4 、 Figure 5 As shown in FIG. 1, the mechanical leg A1 includes a leg support component 1, a moving component 2, a driving mechanism 3, and a flexible mechanism 4. The driving mechanism 3 includes a driver 31 and a movable component 32. The driver 31 is fixed to one of the leg support component 1 and the moving component 2. The driver 31 and the movable component 32 are in transmission connection. The driver 31 is configured to drive the movable component 32 to reciprocate along the extension direction of one component. The flexible mechanism 4 includes a transmission wheel 41 and at least two flexible components 42. The transmission wheel 41 is rotatably connected to the movable component 32. The at least two flexible components 42 are connected between the leg support component 1 and the moving component 2. Two of the at least two flexible components 42 are wound around the transmission wheel 41 in opposite circumferential directions and are in tension. The leg support component 1 and the moving component 2 can reciprocate in opposite directions under the traction of the movable component 32 via the flexible mechanism 4.

[0038] The leg support component 1 and the moving component 2 can be made of metal materials such as steel, aluminum, magnesium-aluminum alloy, or other possible materials. When the leg support component 1 and the moving component 2 are made of metal materials, the hollow structure of the leg support component 1 and the moving component 2 can greatly reduce the weight of the mechanical leg A1, improve the precision control of the movement process, and further enhance the flexibility of the mechanical leg A1 during movement. Specifically, the hollow structure can be any possible hollow structure, which can be set according to actual needs in specific applications. For example, the hollow structure can be a similar rectangular hollow structure as shown in FIG. 2. Of course, the hollow structure can also be any other suitable hollow structure, which is not limited in the present application. Figure 3

[0039] In some embodiments, the flexible components 42 and the transmission wheel 41 can achieve flexible transmission. The flexible transmission mode includes belt transmission, chain transmission, and rope transmission. The transmission wheels of the belt transmission, the chain transmission, and the rope transmission are a belt wheel, a chain wheel, and a rope wheel, respectively. The flexible components are a transmission belt, a transmission chain, and a transmission rope, respectively. The mechanical leg uses the flexible mechanism to achieve the relative movement of the leg support component and the moving component, so that the mechanical leg has the characteristics of strong impact resistance, simple structure, and strong carrying capacity.

[0040] In some embodiments, the outer surface of the leg support component 1 forms the leg shell of the mechanical leg A1. The leg support component 1 has a cavity extending along the extension direction of the leg support component 1. At least a part of the moving component 2 is in the cavity. The moving component 2 reciprocates along the extension direction of the cavity.

[0041] ​Specifically, the movable component 2 may be partially or entirely located within the cavity of the leg support component 1. The relative positional relationship between the movable component 2 and the leg support component 1 is adjusted by the positions of the guide components disposed on the leg support component 1 and the movable component 2. The closer the position of the component disposed on the leg support component 1 is to the movable component 2, or the closer the position of the component disposed on the movable component 2 is to the leg support component 1, the smaller the volume of the movable component 2 contained within the leg support component 1; conversely, the larger the volume of the movable component 2 contained within the leg support component 1, the larger the volume of the movable component 2 contained within the leg support component 1.

[0042] In one example, the leg support component 1 can be formed as a cuboid structure with at least one open side and baffles on the remaining sides, so that the movable component 2 can reciprocate within the cavity formed by the leg support component 1. Figure 3 As shown, the leg support component 1 is a component on the mechanical leg A1 on the left side of the robot, for example. Figure 3 As shown, the right side of the leg support component 1 is open, allowing the moving component 2 to connect to the robot body via the right side. This five-sided, one-open leg support structure effectively prevents deformation of the leg support component 1 while ensuring the relative movement of the moving component 2 and the leg support component 1 is not hindered, thus improving the stability of the leg support component 1. Furthermore, the left side of the leg support component 1 can also be designed as an open surface to further reduce its weight. The front and rear side panels of the leg support component 1 are designed as hollow or openwork structures, which reduces the weight of the robotic leg A1 and allows for the use of less material, thereby lowering the cost of the robotic leg A1.

[0043] In this embodiment, by designing the movable component 2 to be housed within the cavity of the leg support component 1, the movable component 2 can move inside the leg support component 1, which can effectively reduce the space required when the leg support component 1 and the movable component 2 move relative to each other, and reduce the volume of the mechanical leg A1.

[0044] It is understood that the robot's left and right mechanical legs are symmetrical structures and can be configured identically. For ease of description, the positional relationships between components in the following embodiments will be expressed in terms of... Figure 3 The robot's left mechanical leg, as shown in the image, will be used as an example for explanation.

[0045] Specifically, the working principle of the mechanical leg A1 includes: a transmission wheel 41 is rotatably coupled to a movable member 32; a driver 31 drives the movable member 32 to move along the extension direction of the leg support member 1 or the moving member 2; the movable member 32 can drive the transmission wheel 41 to move in the same direction; at least two of the flexible members 42 of the flexible mechanism 4 are wound around the transmission wheel 41 in opposite directions and are tensioned; when the transmission wheel 41 moves along the extension direction of one of the leg support member 1 and the moving member 2, the flexible members 42 wound around the transmission wheel 41 will be subjected to tension along that direction of movement, thereby generating tension on the leg support member 1 and the moving member 2. The traction force of the moving part 2, the flexible part 42 and the transmission wheel 41 form a movable pulley combination. When the moving part 32 moves a certain distance in a straight line, the transmission wheel moves the same distance in the same direction. At this time, the distance that the leg support part 1 moves relative to the moving part 2 is twice the distance that the moving part moves, thereby effectively increasing the movement stroke and movement speed of the mechanical leg A1. Based on the reciprocating linear motion between the leg support part 1 and the moving part 2, the mechanical leg A1 can avoid generating a large torque during the movement, thereby effectively resisting the gravitational impact of the load and improving the load capacity of the robot with the mechanical leg A1.

[0046] In this case, the leg support component 1 of the mechanical leg A1 extends in the same direction as the moving component 2. Figure 5 In the example shown, the mechanical leg A1 is in a position perpendicular to the walking surface, and the extension directions of both the leg support component 1 and the moving component 2 are perpendicular to the walking surface. Figure 3 As shown, the driver 31 and the movable part 32 in the drive mechanism 3 are coupled to the moving part 2. It can be understood that in this application, the driver 31 and the movable part 32 in the drive mechanism 3 can also be coupled to the leg support part 1.

[0047] Specifically, in one example, the actuator 31 is designed to be fixed to the leg support member 1, and the movable member 32 is connected to the leg support member 1 via the actuator 31. The actuator 31 is configured to drive the movable member 32 to reciprocate along the extension direction of the leg support member 1. By mating the actuator 31 and the movable member 32 to the leg support member 1, the leg support member 1 can provide a large space, accommodating the installation of actuators 31 and movable members 32 of different sizes.

[0048] In another example, the control component of the driver 31 is mounted on the robot body, the robot body is connected with the moving component 2, in order to facilitate the arrangement of the signal line and to prevent the signal line from being damaged, the driver 31 is designed to be fixed on the moving component 2, the movable component 32 is connected with the moving component 2 through the driver 31, and the driver 31 is configured to drive the movable component 32 to reciprocate along the extension direction of the moving component 2. The structure that the moving component 2 can be directly connected with the robot body can be used to effectively reduce the wear of the connecting line of the driver 31 when the moving component 2 and the leg support component 1 move relative to each other, and the service life of the connecting line of the driver 31 is improved. For the sake of description, the driver 31 is fixed on the moving component 2 in the following examples, and it can be understood that in other examples, the driver 31 can be fixed on the leg support component 1.

[0049] In some examples, the connection between the driver 31 and the movable component 32 can be direct connection. In one example, the driver 31 is designed as a linear motor, the stator of the linear motor is fixed on the moving component 2, and the rotor of the linear motor is arranged along the extension direction of the moving component 2, so that the rotor of the linear motor can reciprocate along the extension direction of the moving component 2. The movable component 32 is connected with the rotor of the linear motor, and the movable component 32 can reciprocate along the extension direction of the moving component 2 following the rotor of the linear motor.

[0050] In another example, the driver 31 is designed as a pneumatic cylinder, the cylinder body of the pneumatic cylinder can be fixed on the moving component 2, and the piston of the pneumatic cylinder is arranged along the extension direction of the moving component 2, so that the piston of the pneumatic cylinder can reciprocate along the extension direction of the moving component 2. The movable component 32 is connected with the piston of the pneumatic cylinder, and the movable component 32 can reciprocate along the extension direction of the leg support component 1 or the moving component 2 following the piston of the pneumatic cylinder. By directly connecting the movable component 32 with the driver, the structure of the driving mechanism 3 can be simplified.

[0051] In some examples, the connection between the driver 31 and the movable component 32 can also be indirect connection through a transmission member 33. Specifically, the driving mechanism 3 includes, in addition to the driver 31 and the movable component 32, a transmission member 33 connected between the driver 31 and the movable component 32, and the driver 31 is configured to drive the transmission member 33 to change direction repeatedly, so as to drive the movable component 32 to reciprocate.

[0052] In one example, the driver 31 is a linear motion driver, and the transmission member 33 is fixedly connected with the linear motion driver and the movable member 32 respectively, and the linear motion of the transmission member 33 driven by the driver 31 is transmitted to the linear motion of the movable member 32. In another example, the driver 31 is a rotary motion driver, and a part of the transmission member 33 is fixedly connected with the output shaft of the rotary motion driver, and another part is rotatably connected with the movable member 32, and the rotary motion of the transmission member 33 driven by the driver 31 is converted to the linear motion of the movable member 32.

[0053] In the embodiment, the transmission member 33 connected between the driver 31 and the movable member 32 can make the selection of the driver 31 not be limited by the linear motion mode required by the movable member 32, and the applicability of different types of drivers 31 to the mechanical leg A1 is expanded.

[0054] In some embodiments, the driver 31 is configured to repeatedly change directions between opposite rotation directions to drive the transmission member 33 to repeatedly change directions between opposite rotation directions, and the movable member 32 is driven by the transmission member 33 to move reciprocally.

[0055] Specifically, in one example, the driver 31 is a rotary motor having a rotary shaft rotating around an axis, and in another example, the driver 31 is a driving device having at least one rotary shaft rotating around a center point at a specified distance.

[0056] In a specific application, the driver 31 is fixed to the moving part 2 by a fixing seat, a part of the transmission member 33 is fixedly connected with the rotary shaft of the driver 31, and another part is rotatably connected with the movable member 32. When the driver 31 drives the transmission member 33 to repeatedly change directions between opposite rotation directions, the transmission member 33 is converted to the linear reciprocating motion of the movable member 32 along the extension direction of the moving part 2 based on the rotary connection between the transmission member 33 and the movable member 32.

[0057] Through the cooperation of the driver 31 and the transmission member 33 repeatedly changing directions between opposite rotation directions, the rotary motion can be converted to linear motion, the interaction space required by the driver 31 is reduced, the structural limitation of the mechanical leg A1 is effectively reduced, and the convenience of the movement of the mechanical leg A1 is improved.

[0058] In some embodiments, the driver 31 is designed as a rotary motor 311, the transmission member 33 is a lead screw 331 coaxially connected with the rotary shaft of the rotary motor 311, the movable member 32 includes a nut seat 322 constituting a lead screw nut pair with the lead screw 331 and a nut 321 fixed to the nut seat 322, and the transmission wheel 41 is rotatably connected to the nut seat 322. The rotary motion of the driver 31 driving the lead screw 331 can be converted to the linear motion of the nut 321 through the lead screw nut pair.

[0059] Specifically, as shown in Figure 3 the rotating motor 311 is fixed at one end of the moving part 2 through a motor base, one end of the lead screw 331 is fixedly connected with the rotating shaft of the rotating motor 311, the other end of the lead screw 331 is movably connected with the other end of the moving part 2, so that the axial direction of the lead screw 331 is the same as the extending direction of the moving part 2, the nut 321 is sleeved outside the lead screw, and the nut 321 and the nut base 322 are fixedly connected. The transmission wheel 41 is rotatably connected to the nut base 322 along the axial direction of the transmission wheel 41. As shown in Figure 3 the rotating motor 311 can be fixed at the upper end of the moving part 2, and the rotating shaft of the rotating motor 311 is downward, and in other embodiments, the rotating motor 311 can be fixed at the lower end of the moving part 2, and the rotating shaft of the rotating motor 311 is upward.

[0060] Specifically, when the rotating shaft of the rotating motor 311 rotates in a first rotating direction (e.g., clockwise), the lead screw 331 is driven to rotate in the first rotating direction, the nut 321 sleeved outside the lead screw 331 moves toward one end of the lead screw 331, thereby driving the nut base 322 and the transmission wheel 41 connected with the nut base 322 to move toward one end of the lead screw 331. When the rotating shaft of the rotating motor 311 rotates in a second rotating direction (e.g., counterclockwise), the lead screw 331 is driven to rotate in the second rotating direction, the nut 321 sleeved outside the lead screw 331 moves toward the other end of the lead screw 331, thereby driving the nut base 322 and the transmission wheel 41 connected with the nut base 322 to move toward the other end of the lead screw 331. When the driver 31 is configured to repeatedly change direction between opposite rotating directions, the transmission wheel 41 is driven to reciprocate along the axial direction of the lead screw 331 by the lead screw 331, the nut 321, and the nut base 322.

[0061] In some embodiments, the axial direction of the rotating shaft of the rotating motor 311 is arranged along the extending direction of the moving part 2, the lead screw 331 is connected with the rotating shaft of the rotating motor 311 through the coupling 34, the coupling 34 fastens the rotating shaft and the lead screw 331, improves the stability of the lead screw, and makes the axial directions of the rotating shaft and the lead screw 331 consistent, which are the same as the extending direction of the moving part 2.

[0062] In some embodiments, the stroke of the lead screw can be at least 1 / 3 of the length of the leg support part 1, and the use of a lead screw with a small stroke can effectively reduce the overall weight of the leg structure. The lead screw and the nut can be designed as a ball screw nut to reduce the friction during the transmission of the lead screw and the nut.

[0063] In some embodiments, the driver 31 is designed as a rotary motor 311, the transmission member 33 is a gear set on the rotary shaft of the rotary motor 311, the movable member 32 includes a rack and a transmission wheel fixing member matched with the rack, the gear and the rack constitute a moving pair, and the transmission wheel 41 is rotatably matched with the transmission wheel fixing member. In one embodiment, as shown in Figure 3 The driving mechanism 3 further includes a guide assembly 35, which includes a guide rail 351 and a sliding block 352. One of the guide rail 351 and the sliding block 352 is arranged on the leg supporting member 1 to face the surface of the moving member 2, and the other is arranged on the moving member 2 to face the surface of the leg supporting member 1. The leg supporting member 1 and the moving member 2 constitute a moving pair through the guide assembly 35.

[0064] The number of guide assemblies 35 can be one or more than two, which can be determined according to the phase setting mode of the leg supporting member 1 and the moving member 2. As shown in Figure 3 The sliding block 352 is arranged on the moving member 2 to face the surface of the leg supporting member 1, and the guide rail 351 matched with the sliding block 352 is arranged on the leg supporting member 1 to face the surface of the moving member 2. The guide rail 351 and the sliding block 352 constitute a moving pair, the moving member 2 and the leg supporting member 1 are connected through the moving pair, which can reduce the sliding resistance and improve the smoothness of the moving member 2 relative to the leg supporting member 1.

[0065] As shown in Figure 4 and Figure 5 For example, the moving member 2 is entirely accommodated in the cavity formed by the leg supporting member 1, two guide rails 351 are symmetrically arranged on the inner side wall of the leg supporting member 1 along the extension direction of the leg supporting member 1, and at least one pair of sliding blocks 352 is arranged on the outer side wall of the moving member 2. Each of the sliding blocks 352 in each pair is matched with one of the two guide rails 351 to constitute a moving pair.

[0066] In one specific application, as shown in Figure 4 A pair of sliding blocks are arranged on the two end surfaces of the moving member 2 to face the leg supporting member 1. By arranging the sliding blocks on the upper and lower ends, the moving member 2 has higher stability when sliding relative to the leg supporting member 1.

[0067] In some embodiments, the leg support member 1 has a first end near the walking surface and a second end away from the walking surface, and the moving member 2 has a first end near the walking surface and a second end away from the walking surface; two flexible members 42 wound around the transmission wheel 41 in opposite directions include a first flexible member 421 and a second flexible member 422. The two ends of the first flexible member 421 are fixed near the first end on the leg support member 1 and the moving member 2, respectively, and the two ends of the second flexible member 422 are fixed near the second end on the leg support member 1 and the moving member 2, respectively; the end of the transmission wheel 41 subjected to the combined pressure of the second flexible member 422 is closer to the first end of the leg support member 1 than the end subjected to the combined pressure of the first flexible member 421. By fixing the flexible members near their respective ends, the length of the flexible members can be increased, thereby increasing the relative movement distance between the leg support member 1 and the moving member 2.

[0068] The leg support component 1 has a foot component 7 connected to its first end near the walking surface, allowing the leg support component 1 to walk on the walking surface via the foot component 7. The walking surface can be the ground, a slope forming an angle with the ground, a vertical plane perpendicular to the ground, or a suspended plane. The robotic leg A1 can walk on various walking surfaces by designing different foot components 7. For example, for the ground or a slope with a gentle gradient, the foot component 7 can be a planar support structure; for a steep slope, a vertical plane, or a suspended plane, the foot component 7 can be a suction cup structure. In other embodiments, the foot component 7 can also be a combination of a planar support structure and a suction cup structure, allowing the robotic leg A1 to switch when contacting different walking surfaces, improving the robot's applicability to different walking surfaces.

[0069] like Figure 5 As shown, taking the ground as the walking surface as an example, the leg support component 1 and the moving component 2 each have an upper end away from the ground and a lower end close to the ground. The two ends of the first flexible member 421 are fixed near the upper ends of the leg support component 1 and the moving component 2, respectively, and are wound around the transmission wheel 41 in a "U"-shaped manner, so that the end of the transmission wheel 41 subjected to the combined pressure of the first flexible member 421 is located near the ground. The two ends of the second flexible member 422 are fixed near the lower ends of the leg support component 1 and the moving component 2, respectively, and are wound around the transmission wheel 41 in an "n"-shaped manner, so that the end of the transmission wheel 41 subjected to the combined pressure of the second flexible member 422 is located far from the ground. The winding method of the flexible member 42 can include winding it around the transmission wheel 41 N+1 / 2 (N is a natural number) times and fixing it to the same end of the leg support component 1 and the moving component 2. For example, winding it half a turn, winding it one and a half turns, etc.

[0070] In some embodiments, the two ends of the first flexible member 421 are fixed to the first ends of the leg support member 1 and the moving member 2 respectively, and the two ends of the second flexible member 422 are fixed to the second ends of the leg support member 1 and the moving member 2 respectively.

[0071] For example, the leg support member 1 and the moving member 2 are both provided with end side baffle plates, the two ends of the first flexible member 421 are fixed to the end side baffle plates of the first ends of the leg support member 1 and the moving member 2 respectively, and the two ends of the second flexible member 422 are fixed to the end side baffle plates of the second ends of the leg support member 1 and the moving member 2 respectively.

[0072] For another example, the leg support member 1 and the moving member 2 are both provided with flexible member fixing positions on the side walls in the extending direction, the two ends of the first flexible member 421 are fixed to the flexible member fixing positions of the first ends of the leg support member 1 and the moving member 2 respectively, and the two ends of the second flexible member 422 are fixed to the flexible member fixing positions of the second ends of the leg support member 1 and the moving member 2 respectively.

[0073] In the embodiment, by fixing the two ends of the flexible member 42 to the two ends of the leg support member 1 and the moving member 2 respectively, the relative moving space of the leg support member 1 and the moving member 2 can be utilized to the maximum, and the relative moving distance of the leg support member 1 and the moving member 2 can be increased.

[0074] In some embodiments, the first flexible member 421 and the second flexible member 422 are both belts, the two ends of the first flexible member 421 are fixed to the first ends of the leg support member 1 and the moving member 2 through corresponding belt pressing plates 43 respectively, and the two ends of the second flexible member 422 are fixed to the second ends of the leg support member 1 and the moving member 2 through corresponding belt pressing plates 43 respectively.

[0075] Specifically, the belt pressing plate 43 can be fixed on the end side baffle plate at the two ends of the leg support member 1 and the moving member 2, or the two ends of the belt pressing plate 43 can be connected to the end point positions on the two side walls of the leg support member 1 and the moving member 2, and parallel to the plane where the end side baffle plate is located.

[0076] In an example, the belt can be a single layer belt, or a multi-layer belt which passes through the belt pressing plate 43. Correspondingly, for the single layer belt, the belt pressing plate 43 includes a belt fastener and a fixing member, the belt can be fastened to the belt pressing plate 43 through the belt fastener, and the belt pressing plate 43 is fixed to the leg support member 1 and the moving member 2 through the fixing member. For the multi-layer belt, the belt pressing plate 43 passes through at least two layers of the multi-layer belt, and is fixed to the leg support member 1 and the moving member 2.

[0077] In this embodiment, a belt is selected for flexible transmission, which can effectively enhance the impact resistance of the leg. By setting a belt pressure plate, the belt in the flexible mechanism can be kept in a compressed state, thereby ensuring that the belt is in a taut state and achieving effective traction of the leg support component 1 and the moving component 2.

[0078] In one embodiment, the number of flexible elements in the at least two flexible elements can be two or more. Among the three or more flexible elements 42, the flexible elements 42 wound around the transmission wheel 41 in the first circumferential direction and the flexible elements 42 wound around the transmission wheel 41 in the second circumferential direction are distributed alternately on the transmission wheel 41.

[0079] The more flexible elements there are in the same circumferential direction, the smaller the traction force borne by each flexible element, which can effectively reduce the wear of a single flexible element and improve its service life. By distributing flexible elements 42 in different circumferential directions on the transmission wheel 41 in an alternating manner, the traction force in different directions can be evenly distributed, improving the stability of the leg support component 1 and the moving component 2 when they move relative to each other.

[0080] Specifically, the number of flexible members 42 connected to the near-ground ends of the leg support member 1 and the moving member 2 can be less than the number of flexible members 42 connected to the near-ground ends of the leg support member 1 and the moving member 2, so as to reduce the difference between the first resultant force of the traction force and its own weight on the drive wheel 41 when it moves to the near-ground end and the second resultant force of the traction force and its own weight on the drive wheel 41 when it moves to the stationary end.

[0081] In a specific application, there are three flexible elements 42. One flexible element 42 has its two ends connected to the lower ends of the leg support component 1 and the moving component 2, respectively, and is wound around the transmission wheel 41 in a first circumferential direction. The other two flexible elements 42 have their two ends connected to the upper ends of the leg support component 1 and the moving component 2, respectively, and are wound around the transmission wheel 41 in a second circumferential direction. The flexible element 42 wound around the transmission wheel 41 in the first circumferential direction is positioned between the two flexible elements 42 wound around the transmission wheel 41 in the second circumferential direction. This ensures that the resultant force of the traction force generated by each flexible element 42 is located in the middle of the transmission wheel 41, improving the stability of the leg support component 1 and the moving component 2 when they move relative to each other.

[0082] In some embodiments, there are multiple transmission wheels 41, the axes of the multiple transmission wheels 41 are parallel or aligned, each of the multiple transmission wheels 41 is wound with at least one of at least two flexible members 42, and there are two flexible members 42 wound on different transmission wheels 41 in opposite directions.

[0083] Specifically, the number of transmission wheels 41 is less than or equal to the number of flexible members 42. In one example, the number of transmission wheels 41 is the same as the number of flexible members 42, one flexible member 42 is wound around each transmission wheel 41, and the winding directions of the flexible members 42 wound around adjacent transmission wheels 41 are different. By driving the flexible members 42 with the plurality of transmission wheels 41 parallel to or consistent with the axis, the direction of the traction force generated when the transmission wheels 41 move along the extension direction of the leg support structure can be ensured to be consistent, thereby improving the stability of the relative movement between the leg support member 1 and the moving member 2.

[0084] In one embodiment, the two flexible members 42 wound around the transmission wheel 41 in opposite winding directions are both belts, and the portions of the two flexible members 42 not in contact with the transmission wheel 41, the leg support member 1 and the moving member 2 are parallel or coplanar.

[0085] Specifically, the flexible member is a belt, and with reference to Figure 3 , the flexible member 42 wound around the transmission wheel 41 in opposite winding directions includes a first belt 421 and a second belt 422. With the transmission wheel 41 as the center, the portion of the first belt 421 not in contact with the transmission wheel 41, the leg support member 1 and the moving member 2 includes a first portion and a second portion, the first portion is located on the first side of the transmission wheel 41 (e.g. Figure 3 the side of the transmission wheel close to the leg support member), and the second portion of the first belt 421 is located on the second side of the transmission wheel 41 (e.g. Figure 3 the side of the transmission wheel close to the moving member). Similarly, the portion of the second belt 422 not in contact with the transmission wheel 41, the leg support member 1 and the moving member 2 also includes a first portion and a second portion, the first portion of the second belt 422 is located on the first side of the transmission wheel 41, and the second portion of the second belt 422 is located on the second side of the transmission wheel 41. Among them, the first portion of the first belt 421 is coplanar with the first portion of the second belt 422, and the first portion of the first belt 421 is parallel to the first portion of the second belt 422, the second portion of the second belt 422 and the second portion of the first belt 421, respectively.

[0086] In this embodiment, by making the portions of the two flexible members 42 wound around the transmission wheel 41 in opposite winding directions not in contact with the transmission wheel 41, the leg support member 1 and the moving member 2 parallel or coplanar, the traction force generated when the transmission wheel 41 moves can be parallel to the direction of the belt, thereby increasing the actual traction force.

[0087] In one embodiment, as Figure 6 shown, the mechanical leg A1 further includes an ankle joint member 6 and a foot bottom member 7, and the leg support member 1 is rotatably connected to the foot bottom member 7 through the ankle joint member 6.

[0088] As Figure 6As shown, the ankle joint component 6 includes a first ankle joint connector 61 and a second ankle joint connector 62. The leg support component 1 is fixedly connected to the first ankle joint connector 61, and the foot component 7 is fixedly connected to the second ankle joint connector 62. The first ankle joint connector 61 and the second ankle joint connector 62 are movably connected, so that the ankle joint component constitutes a kinematic pair with two rotational degrees of freedom. The leg support component 1 and the foot component 7 are rotatably connected through the ankle joint component 6, which allows the foot component 7 to adapt to different walking surfaces and improves the stability of the mechanical leg A1.

[0089] In one embodiment, the mechanical leg A1 further includes a body connection component 5, which is fixedly connected to the moving component 2.

[0090] Among them, such as Figure 4 As shown, the body connecting component 5 is used to connect to the robot body A2, so that the mechanical leg A1 can be directly connected to the robot body A2. When the leg supporting component 1 moves in the opposite direction relative to the moving component 2, the leg supporting component 1 moves in the opposite direction relative to the robot body A2, so that the robot has a linear motion leg, improving the robot's load capacity and movement speed. Specifically, the body connecting component 5 can be a hip joint component connected to the robot body, or at least a part of the hip joint component connected to the mechanical leg, or a component for connecting to the hip joint.

[0091] In one specific application, both the moving part 2 and the body connecting part 5 have the same threaded holes, allowing a portion of the body connecting part 5 to be fixed to the moving part 2 using screws that match the threaded holes. Furthermore, the moving part 2 and a portion of the body connecting part 5 can also be integrally formed.

[0092] Based on the same inventive concept, this application also provides a robot, which includes a robot body A2 and the aforementioned mechanical leg A1. The robot body A2 is connected to the moving part 2 in the mechanical leg A1, and the robot body A2 reciprocates along the extension direction of the leg support part 1 following the moving part 2.

[0093] Specifically, the connection between the robot body A2 and the moving part 2 in the mechanical leg A1 is a movable connection, such as a rotational connection or a connection through components constituting a kinematic pair. In a specific application, such as... Figure 2 As shown, the robot body A2 is connected to the moving part 2 via a body connecting component 5. The body connecting component 5 includes a first connector and a second connector, which are movably connected to form a kinematic pair with three degrees of freedom. The robot body A2 is connected to the first connector, and the moving part 2 is connected to the second connector.

[0094] Specifically, such as Figure 2As shown, the body connecting component 5 is a hip joint component 51, the first connecting component can be a first hip joint connecting component 511 in Figure 2 , and the second connecting component can be a second hip joint connecting component 512 in Figure 2 . The first hip joint connecting component 511 is connected with the robot body A2, and the second hip joint connecting component 512 is connected with the moving component 2.

[0095] In one specific application, as shown in Figure 7 , the number of mechanical legs of the robot is at least two. When the robot is in a standing state, each mechanical leg can contact the walking surface. When the robot is in a walking state, at least one mechanical leg contacts the walking surface, and at least one mechanical leg does not contact the walking surface.

[0096] Figure 7 As shown, the robot has a one-degree-of-freedom linear motion leg structure, which, in combination with the three-degree-of-freedom hip joint and the two-degree-of-freedom ankle joint, can form a six-degree-of-freedom robot leg structure. The linear motion leg structure can replace the knee joint in a traditional six-degree-of-freedom leg, modify the leg with bending motion capability to a linear motion leg, and drive the robot body to move up and down along the direction of the linear leg, replacing the folding and unfolding process of the knee joint of the leg, thereby improving the load capacity of the robot.

[0097] Specifically, when the robot is in a walking state, the robot controller controls one of the mechanical legs to move away from the walking surface by sending a driving signal to the driver, or controls the moving component 2 to move away from the walking surface relative to the leg support component 1, so that one of the mechanical legs of the robot contacts the walking surface, and the other mechanical leg is lifted relative to the walking surface, thereby realizing the movement of the robot relative to the walking surface.

[0098] In one specific application scenario, a robot is provided for use in a load scenario. The load robot includes a linear motion mechanical leg provided by the above embodiments, as shown in Figure 3 , the main components of the linear motion mechanical leg include a leg support component 1 (leg shell 1), a moving component 2 (leg inner shell 2), a rotating motor 311, a nut 321, a nut seat 322, a lead screw 331, a coupling 34, a guide rail 351, a sliding block 352, a transmission wheel 41 (belt wheel 41), a flexible component 42 (belt 42), a belt pressing plate 43, and a hip joint connecting component 512.

[0099] A rotary motor 31 is fixedly mounted on one end of the inner leg housing 2 via a motor mount. The output shaft of the rotary motor 31 is fixed to one end of a lead screw 331 via a coupling 34. The other end of the lead screw 331 is rotatably mounted on the other end of the inner leg housing 2. A nut 321 is mounted on a nut seat 322, and a pulley 41 is rotatably mounted on the side of the nut seat 322. The rotary motor 31 drives the lead screw 331 to rotate, thereby driving the nut seat 322 to move up and down along the axial direction of the lead screw 331 under the transmission of the lead screw and nut pair, which in turn drives the pulley 41 to move up and down.

[0100] One of the two belts 42 passes over a pulley 41 and is fixed at one end to the upper side of the leg outer shell 1 by a belt pressure plate 43, and at the other end is also fixed to the upper side of the leg inner shell 2 by a belt pressure plate 43; the other belt 42 passes over a pulley 41 and is fixed at one end to the lower side of the leg outer shell 1 by a belt pressure plate 43, and at the other end is also fixed to the lower side of the leg inner shell 2 by a belt pressure plate 43. Slider blocks 352 are symmetrically installed on the outer side of the leg inner shell 2, and guide rails 351 are symmetrically installed on the inner side of the leg outer shell 1. The leg outer shell 1 and the leg inner shell 2 form a sliding pair through the guide rails 351 and the sliders 352.

[0101] The movement process of the mechanical leg includes: the rotation of the rotary motor 31 drives the lead screw 331 to rotate, thereby driving the nut 322 to move up and down along the axis of the lead screw 331; the pulley 41 and the belt 42 form a movable pulley combination, so that the leg outer shell 1 moves up and down relative to the leg inner shell 2 under the drive of the belt 42.

[0102] As shown in Figures 8, 9, and 10, schematic diagrams are provided showing the middle, highest, and lowest positions of the outer shell of the leg relative to the inner shell of the leg, respectively. Figure 8 As shown, when the outer shell of the leg is in the middle position relative to the inner shell of the leg, the nut is in the middle position of the lead screw. With the pulley as the dividing line, the first belt fixed to the upper end of the inner shell and the outer shell of the leg are symmetrically distributed with the second belt fixed to the lower end of the inner shell and the outer shell of the leg. The length of the first belt located on the left side of the pulley is the same as the length of the second belt located on the left side of the pulley, and the length of the first belt located on the right side of the pulley is the same as the length of the second belt located on the right side of the pulley.

[0103] like Figure 9 As shown, when the outer shell of the leg is at its highest position relative to the inner shell of the leg, the distance between the foot component and the moving component is the shortest. At this time, the nut is at the top of the lead screw. The length of the first belt fixed to the upper end of the inner shell and the outer shell of the leg is at its maximum value on the side closer to the outer shell of the leg and at its minimum value on the side closer to the inner shell of the leg. The lengths of the belts on both sides of the second belt fixed to the lower end of the inner shell and the outer shell of the leg are basically the same.

[0104] like Figure 10As shown, when the leg shell is at the lowest position relative to the leg inner shell, the distance between the foot bottom part and the moving part is the longest, the nut is at the lowermost position of the screw rod, the lengths of the two sides of the first belt fixed to the upper ends of the leg inner shell and the leg shell are substantially the same, the length of the side close to the leg inner shell of the second belt fixed to the lower ends of the leg inner shell and the leg shell is the maximum, and the length of the side close to the leg inner shell is the minimum.

[0105] In the embodiment, the ball screw with a small stroke is used as the power source, which can effectively reduce the weight of the whole machine, thereby reducing the rotational inertia of the leg and having certain advantages in improving the motion performance of the robot. The transmission principle of the movable pulley is used to effectively amplify the linear leg motion stroke and the linear leg motion speed. In the high-frequency and high-impact motion mode of the foot type, the belt transmission has good buffering and impact resistance.

[0106] Unless otherwise defined, technical terms or scientific terms used in the present application shall have the common meaning understood by one of ordinary skill in the art to which the present application pertains. The terms "first", "second", and similar terms used in the present application do not indicate any order, number, or importance, but are only used to distinguish different components. The terms "include" or "contain" and similar terms mean that the elements or objects before the terms encompass the elements or objects listed after the terms and their equivalents, and do not exclude other elements or objects. The terms "connect" or "connected" and similar terms are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. The terms "upper", "lower", "left", "right", and the like only indicate relative positional relationships, which can change when the absolute positions of the described objects change.

[0107] The sizes of the various components or structures in the drawings are not drawn strictly according to the scale, and the sizes of the various components or structures can be exaggerated or reduced for the sake of clarity, but these should not be used to limit the scope of the present application. In order to keep the following description of the embodiments of the present application clear and concise, the detailed description of known functions and known components can be omitted.

[0108] The technical features of the above embodiments can be combined in any manner. In order to make the description concise, all possible combinations of the technical features in the above embodiments are not described, but as long as the combinations of the technical features do not contradict, they should be considered as the scope of the present application.

[0109] The above embodiments only express several implementation ways of the present application, and the description is specific and detailed, but it should not be understood as a limitation to the patent scope of the present application. It should be pointed out that for ordinary skilled in the art, without departing from the concept of the present application, several modifications and improvements can be made, which all belong to the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. A mechanical leg, characterized by, The mechanical leg comprises a leg supporting part, a moving part, a driving mechanism and a flexible mechanism; The driving mechanism comprises a driver and a movable part; the driver is fixed to one of the leg supporting part and the moving part; the driver and the movable part are in transmission connection; the driver is configured to drive the movable part to reciprocate along the extension direction of the one part; The flexible mechanism comprises a transmission wheel and at least two flexible parts; the transmission wheel is rotatably connected to the movable part; the at least two flexible parts are connected between the leg supporting part and the moving part; two of the at least two flexible parts are wound around the transmission wheel in opposite circumferential directions and are in tension; The leg supporting part and the moving part can reciprocate in opposite directions under the traction of the movable part via the flexible mechanism.

2. The mechanical leg of claim 1, wherein, The driving mechanism further comprises a transmission part; the transmission part is in transmission connection between the driver and the movable part; the driver is configured to drive the transmission part to repeatedly change directions so as to drive the movable part to reciprocate.

3. The mechanical leg of claim 2, wherein, The driver is configured to repeatedly change directions between opposite rotation directions so as to drive the transmission part to repeatedly change directions between opposite rotation directions, and drive the movable part to reciprocate through the transmission part.

4. The mechanical leg of claim 3, wherein, The driver is a rotary motor; the transmission part is a lead screw coaxially connected with the rotary shaft of the rotary motor; the movable part comprises a nut seat and a nut fixed to the nut seat; the nut and the lead screw form a lead screw and nut pair; the transmission wheel is rotatably connected to the nut seat.

5. The mechanical leg of claim 4, wherein, The lead screw is connected with the rotary shaft of the rotary motor through a coupling; the coupling fastens the rotary shaft and the lead screw so that the rotary shaft and the lead screw are in the same axial direction.

6. The mechanical leg of claim 3, wherein, The driver is a rotary motor; the transmission part is a gear sleeved on the rotary shaft of the rotary motor; the movable part comprises a rack and a transmission wheel fixing part connected to the rack; the gear and the rack form a moving pair; the transmission wheel is rotatably connected to the transmission wheel fixing part.

7. The mechanical leg of claim 1, wherein, The driving mechanism further comprises a guide assembly; the guide assembly comprises a guide rail and a sliding block; one of the guide rail and the sliding block is arranged on the surface of the leg supporting part facing the moving part; the other one is arranged on the surface of the moving part facing the leg supporting part; the leg supporting part and the moving part form a moving pair through the guide assembly.

8. The mechanical leg of claim 1, wherein, The outer surface of the leg supporting part forms the leg shell of the mechanical leg; the leg supporting part has a cavity extending along the extension direction of the leg supporting part; at least a part of the moving part is in the cavity; the moving part reciprocates along the extension direction of the cavity.

9. The mechanical leg of claim 1, wherein, The leg supporting part has a first end close to a walking surface and a second end away from the walking surface; the moving part has a first end close to the walking surface and a second end away from the walking surface; the two flexible parts wound around the transmission wheel in opposite circumferential directions comprise a first flexible part and a second flexible part. Two ends of the first flexible member are fixed on the leg support component and the moving component respectively near the first end, and two ends of the second flexible member are fixed on the leg support component and the moving component respectively near the second end.

10. The mechanical leg of claim 9, wherein, Two ends of the first flexible member are fixed on the leg support component and the moving component respectively near the first end, and two ends of the second flexible member are fixed on the leg support component and the moving component respectively near the second end.

11. The mechanical leg of claim 10, wherein, The first flexible member and the second flexible member are both belts, two ends of the first flexible member are fixed on the leg support component and the moving component respectively near the first end through corresponding belt pressing plates, and two ends of the second flexible member are fixed on the leg support component and the moving component respectively near the second end through corresponding belt pressing plates.

12. The mechanical leg of claim 1, wherein, The number of flexible members in the at least two flexible members is more than three, and among the more than three flexible members, the flexible members arranged around the transmission wheel in the first surrounding direction and the flexible members arranged around the transmission wheel in the second surrounding direction are distributed on the transmission wheel alternately.

13. The mechanical leg of claim 1, wherein, The transmission wheel is a plurality of, the axes of the plurality of transmission wheels are parallel or consistent, at least one of the at least two flexible members is arranged around each of the plurality of transmission wheels, and two flexible members are arranged around different transmission wheels in the plurality of transmission wheels in opposite surrounding directions.

14. The mechanical leg of any one of claims 1 to 10, 12 to 13, wherein, The two flexible members arranged around the transmission wheel in opposite surrounding directions are both belts, and the portions of the two flexible members not in contact with the transmission wheel, the leg support component and the moving component are parallel or coplanar.

15. The mechanical leg according to any one of claims 1 to 13, characterized in that, The mechanical leg further comprises an ankle joint member and a foot bottom component, and the leg support component is rotatably connected with the foot bottom component through the ankle joint member.

16. The mechanical leg of claim 15, wherein, The foot bottom component is a planar support structure or a suction disc structure.

17. The mechanical leg of any one of claims 1 to 13, wherein, The mechanical leg further comprises a body connecting component, and the body connecting component is connected with the moving component.

18. A robot, characterized in that The mechanical leg comprises a robot body, the robot body is connected with the moving component, and the robot body follows the moving component to move reciprocally along the extension direction of the leg support component.

19. The robot of claim 18, wherein, The robot body is connected with the moving component through a body connecting component, the body connecting component comprises a first connecting member and a second connecting member, the first connecting member is movably connected with the second connecting member, the robot body is connected with the first connecting member, and the moving component is connected with the second connecting member.

20. The robot according to claim 18 or 19, characterized in that, The number of the mechanical legs of the robot is at least two, and when the robot is in a walking state, at least one of the mechanical legs contacts a walking surface, and at least one of the mechanical legs does not contact the walking surface.

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