A single leg mechanism of a foot type robot with high burst jump capability

Abstract

The application relates to a single-leg mechanism of a foot-type robot with high jumping ability, which comprises a thigh assembly, a shank assembly, a foot plate, a shank driving device, and a foot plate driving device. The first end of the shank assembly is hinged to the second end of the thigh assembly; the foot plate is hinged to the second end of the shank assembly; the shank driving device comprises a shank driver arranged on the thigh assembly and a stroke amplification device driven by the output end of the shank driver; the output end of the stroke amplification device is hinged to the shank and amplifies the displacement stroke of the output end of the shank driver; the foot plate driving device comprises a motor arranged on the thigh assembly, a driving energy storage device driven by the output shaft of the motor, and a foot plate linkage assembly connected between the output end of the driving energy storage device and the foot plate and keeping the rotation angle between the foot plate and the ground when the shank assembly and the thigh assembly rotate. The shank assembly and the foot plate of the robot are designed to be light in weight, so that the robot can realize high gravity center arrangement, reduce the inertia of the shank assembly part of the robot, and greatly improve the jumping height of the robot.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a single-leg mechanism for a legged robot with high explosive jumping ability. Background Technology

[0002] Legged robots have overcome the limitations of wheeled robots, adapting to various terrain environments and possessing strong terrain adaptability. Therefore, humanoid legged robots are a hot topic in today's society. Legged robots have made significant progress in gait planning and control, forming a relatively complete theory. Most legged robots can perform functions such as walking, but their jumping capabilities are still underdeveloped. Currently, no humanoid legged robot can achieve high-burst jumping movements, enabling the robot to reach very high jump heights.

[0003] The single-leg structure is the basic unit of legged robots and the simplest among them. It has the advantages of short research cycle and low R&D cost. By designing a single-leg structure for a robot, we can better study the structural characteristics and motion properties of legged robots, thereby realizing fast and explosive jumping movements of legged robots.

[0004] For example, patent document CN106005079A discloses a single-leg robot jumping mechanism with an active ankle joint and a bionic foot. It includes a body, thigh, lower leg, and foot, sequentially hinged together. A directional drive device for rotating the thigh is located at the hinge point between the body and the thigh. A first jumping drive device for rotating the lower leg is located on the thigh. The upper end of the lower leg has a lower leg top plate hinged to the lower end of the thigh. A knee joint transmission rod is located between the lower leg top plate and the first jumping drive device. Both ends of the knee joint transmission rod are hinged to the lower leg top plate and the first jumping drive device, respectively. A second jumping drive device for rotating the lower leg is located at the hinge point between the thigh and the lower leg. A buffer mechanism is located between the lower leg and the foot. This invention can achieve hip and knee coordination and protect the ankle joint motor from impact during jumping. However, the robot is large and cumbersome, lacking lightweight design, and difficult to achieve high-explosive jumping movements.

[0005] For example, patent document CN105235766A discloses a single leg of a quadrupedal bionic robot capable of jumping. It includes a body, a thigh module, a lower leg module, an ankle, and an energy storage unit. The body is hinged to the thigh module via a hip joint connector, and a hip joint energy storage unit is located between the body and the thigh module. The lower leg module is hinged to the thigh module via a knee joint connector, and a knee joint energy storage unit is located between the lower leg module and the knee joint. The ankle is hinged to the lower leg module via an ankle joint connector, and an ankle joint energy storage unit is located between the ankle and the lower leg module. This modular structure allows the robot to instantly release energy through energy storage units located between the joints, rapidly changing the positional relationship between the two structures connected to the energy storage unit. This simulates the muscle changes in a bionic mammal, enabling the robot to jump on a single leg. However, the robot's energy storage device is passive and cannot achieve controlled jumping.

[0006] For example, patent document CN103879470A discloses a linkage-driven single-leg robot jumping mechanism, including a body, a thigh, and a lower leg that are hinged sequentially. The thigh is equipped with a jumping drive device that drives the lower leg to rotate. A directional drive device that drives the thigh to rotate is located at the hinge between the body and the thigh. The upper end of the lower leg has a lower leg top plate that is hinged to the lower end of the thigh. A transmission rod is provided between the lower leg top plate and the jumping drive device. The two ends of the transmission rod are respectively hinged to the drive device and the lower leg top plate. An elastic energy storage component is also provided between the thigh and the lower leg top plate. The directional drive device can drive the thigh to rotate, realizing directional control. The jumping drive device and the directional drive device are close to the body, which reduces the rotational inertia of the thigh relative to the body, reduces the energy consumption of the first drive motor, and improves the stability and agility of the robot's movement. The stability of the robot is increased by the balancing flywheel. The elastic energy storage component and the balancing component can both store energy and provide cushioning. The robot's energy storage is passive, meaning it cannot actively control the release of stored energy. Furthermore, the robot is equipped with a balancing flywheel, which makes it too heavy and difficult to achieve high jumps.

[0007] Therefore, how to achieve high-explosive jumping motion in humanoid legged robots and how to controllably release energy storage mechanisms are key research areas in the field of robotics. Summary of the Invention

[0008] This invention provides a single-leg mechanism for a legged robot with high explosive jumping ability, aiming to solve at least one of the technical problems existing in the prior art.

[0009] The technical solution of the present invention is a single-leg mechanism for a legged robot, comprising: a thigh assembly; a lower leg assembly, the first end of which is hinged to the second end of the thigh assembly; a footplate, hinged to the second end of the lower leg assembly; a lower leg drive device, comprising a lower leg driver mounted on the thigh assembly and a stroke amplification device driven by the output end of the lower leg driver, the output end of the stroke amplification device being hinged to the lower leg assembly and amplifying the displacement stroke of the lower leg driver output end; and a footplate drive device, comprising a motor mounted on the thigh assembly, an active energy storage device driven by the output shaft of the motor, and a footplate linkage assembly, the footplate linkage assembly being connected between the output end of the active energy storage device and the footplate, and maintaining the rotation angle between the footplate and the ground when rotation occurs between the lower leg assembly and the thigh assembly.

[0010] Furthermore, the stroke amplification device includes: at least one set of first scissor-type modules, each set of first scissor-type modules including two intersecting long rods hinged together at the middle by a pivot, the ends of the long rods between adjacent first scissor-type modules being hinged to each other; a set of second scissor-type modules, respectively disposed at both ends of the at least one set of first scissor-type modules, each second scissor-type module including two short rods, wherein at the same end of the at least one set of first scissor-type modules, the ends of the two short rods near the long rods are respectively hinged to the two long rods, and the ends of the two short rods away from the long rods are hinged to each other; wherein, the output end of the calf driver is hinged to the pivot, the hinge point of the two short rods near the calf driver is hinged to the thigh assembly, and the hinge point of the two short rods away from the calf driver is connected to the calf drive.

[0011] Furthermore, the lower leg assembly is equipped with a drive arm; the stroke amplification device also includes an output universal joint, which is hinged at the hinge point of two short rods away from the lower leg driver; the lower leg drive device also includes a knee joint transmission rod that is respectively hinged between the drive arm and the output universal joint.

[0012] Furthermore, the calf actuator includes an electro-hydraulic actuator, the output of which includes an actuating rod hinged to the rotating shaft.

[0013] Furthermore, the active energy storage device includes: a cylindrical groove cam connected to the output shaft of the motor, the outer periphery of the cylindrical groove cam having a periodic annular groove, the periodic annular groove including at least one straight groove along the axial direction of the motor output shaft and curved grooves respectively connecting the two ends of the straight groove; a compression cylinder fitted on the outer periphery of the cylindrical groove cam, the inner wall of the compression cylinder having a slide rod movable in the periodic annular groove; and an elastic element for driving the compression cylinder to translate in the direction of the motor; wherein, the input end of the foot plate linkage assembly is connected to the compression cylinder.

[0014] Furthermore, the active energy storage device also includes: a shell, which is fixedly connected to the thigh assembly, and a compression cylinder that moves inside the shell.

[0015] Furthermore, the elastic element is disposed inside the cylinder shell, and one end of it abuts against the end of the compression cylinder away from the motor.

[0016] Furthermore, the end of the cylinder shell away from the motor is provided with a ring portion with an inner diameter smaller than the inner diameter of the cylinder shell; the elastic element includes a spring that abuts against the ring portion and the compression cylinder.

[0017] Furthermore, the footplate linkage assembly includes: a triangular linkage, one end of which is hinged to the hinge of the thigh assembly and the calf assembly; an energy storage output linkage, hinged between the end of the compression cylinder away from the motor and one end of the triangular linkage near the footplate; and a heel linkage, hinged between the heel of the footplate and one end of the triangular linkage near the active energy storage device.

[0018] Furthermore, the end of the compression cylinder furthest from the motor is also provided with an output seat that can pass through the ring and exit the cylinder shell, and the energy storage output connecting rod is hinged to the output seat.

[0019] The beneficial effects of this invention include:

[0020] 1. The single-leg structure provided by the present invention concentrates most of the robot's lower leg drive device and foot drive device on the first end of the thigh assembly near the robot. Both the robot's lower leg assembly and foot are designed to be lightweight, which enables the robot to achieve a high center of gravity, reduces the inertia of the robot's lower leg, and greatly improves the robot's jumping height.

[0021] 2. The stroke amplification device provided by the present invention amplifies the actuation distance of the electro-hydraulic actuator in the lower leg drive device through the scissor mechanism. That is, the actuation distance of the electro-hydraulic actuator rod can make the lower leg drive arm, which is the knee joint, rotate a larger angle, thereby driving the lower leg to rotate by the same angle. The stroke amplification device can also increase the rotation speed of the drive arm and the lower leg, so that the robot has the ability to jump explosively.

[0022] 3. The footplate linkage assembly provided by the present invention transmits the action of the active energy storage device to the triangular linkage via the energy storage output linkage. The triangular linkage transmits the action to the heel linkage, and finally the heel linkage transmits the action to the heel of the footplate. This simplifies the transmission structure on the lower leg, making the lower leg lightweight and with low inertia, and further improving the robot's jumping ability.

[0023] 4. The active energy storage device of the present invention can realize the pitching motion control of the foot by means of the cooperation between the slide rod and the cylindrical groove cam curve groove inside the compression cylinder. The release control of the elastic potential energy stored in the spring can be realized by the action of the spring on the compression cylinder and the cooperation between the slide rod and the straight groove, so as to realize the jumping action of the foot.

[0024] 5. This invention enables the robot to have explosive rotation at both the knee and ankle joints through a dual explosive drive of the lower leg assembly and foot plate, thereby generating high-explosive jumping motion in a single-leg structure.

[0025] Furthermore, additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0026] Figure 1 This is a general schematic diagram of the flexed energy storage state according to an embodiment of the present invention.

[0027] Figure 2 This is a general schematic diagram of the state after the energy storage is released according to an embodiment of the present invention.

[0028] Figure 3 This is a detailed schematic diagram of the thigh assembly and lower leg drive device according to an embodiment of the present invention.

[0029] Figure 4 This is a detailed schematic diagram of the lower leg assembly and foot drive device according to an embodiment of the present invention.

[0030] Figure 5 This is an exploded view of the active energy storage device according to an embodiment of the present invention.

[0031] The above figures include the following reference numerals.

[0032] 100. Thigh assembly; 110. Mounting bracket; 120. Mounting plate;

[0033] 200. Lower leg assembly; 210. Drive arm;

[0034] 300. Footboard;

[0035] 400. Lower leg drive device; 410. Electro-hydraulic actuator; 411. Actuating rod; 420. Stroke amplification device; 421. Long rod; 422. Rotating shaft; 423. Short rod; 424. Output universal joint; 430. Knee joint transmission rod;

[0036] 500. Foot drive device; 510. Motor; 520. Cylinder shell; 530. Cylindrical groove cam; 531. Curved groove; 532. Straight groove; 540. Compression cylinder; 541. Slide rod; 542. Output seat; 550. Spring; 560. Energy storage output link; 570. Triangular link; 580. Heel link. Detailed Implementation

[0037] The following will provide a clear and complete description of the concept, specific structure, and technical effects of the present invention in conjunction with the embodiments and accompanying drawings, so as to fully understand the purpose, solution, and effects of the present invention. It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other.

[0038] It should be noted that, unless otherwise specified, when a feature is referred to as "fixed" or "connected" to another feature, it can be directly fixed or connected to the other feature, or indirectly fixed or connected to the other feature. Furthermore, the descriptions of "upper," "lower," "left," "right," "top," and "bottom" used in this invention are only relative to the relative positional relationships of the various components of the invention in the accompanying drawings.

[0039] Furthermore, unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used in this specification is for the purpose of describing particular embodiments only and not for limiting the invention. The term "and / or" as used herein includes any combination of one or more of the associated listed items.

[0040] It should be understood that although the terms first, second, third, etc., may be used in this disclosure to describe various elements, these elements should not be limited to these terms. These terms are only used to distinguish elements of the same type from one another. For example, without departing from the scope of this disclosure, a first element may also be referred to as a second element, and similarly, a second element may also be referred to as a first element.

[0041] Reference Figure 1 and Figure 2 In some embodiments, the single-leg mechanism of the legged robot with high explosive jumping ability according to the present invention comprises a thigh assembly 100, a lower leg assembly 200, a foot plate 300, a lower leg drive device 400, and a foot plate drive device 500. The thigh assembly 100, lower leg assembly 200, and foot plate 300 are sequentially hinged. The lower leg drive device 400 and foot plate drive device 500 are respectively disposed on the first end of the thigh assembly 100, and respectively drive the lower leg assembly 200 to rotate around the thigh assembly 100 and the foot plate 300 to rotate around the lower leg assembly 200, thereby achieving the single-leg structure of the present invention as described above. Figure 1 The posture shown is the knee-bending energy storage state or reaches the state of... Figure 2 The posture shown is the state after the energy storage is released.

[0042] Specifically, refer to Figure 1 and Figure 2The first end of the calf assembly 200 is hinged to the second end of the thigh assembly 100; the footplate 300 is hinged to the second end of the calf assembly 200. The calf drive device 400 includes a calf driver mounted on the thigh assembly 100 and a stroke amplification device 420 driven by the output end of the calf driver. The output end of the stroke amplification device 420 is hinged to the calf assembly 200 and amplifies the displacement stroke of the calf driver output end, thereby amplifying the actuation distance of the calf driver output end, which is beneficial for shorter actuation distances. The distance allows the lower leg assembly 200, which serves as the knee joint, to rotate at a large angle around the hinge point with the thigh assembly 100; the foot drive device 500 includes a motor 510 mounted on the thigh assembly 100, an active energy storage device driven by the output shaft of the motor 510, and a foot linkage assembly. The foot linkage assembly is connected between the output end of the active energy storage device and the foot 300, and maintains the rotation angle between the foot 300 and the ground when rotation occurs between the lower leg assembly 200 and the thigh assembly 100.

[0043] Reference Figures 1 to 3 To achieve a compact and lightweight design of the stroke amplification device 420 and reduce the moment of inertia of the thigh assembly 100, the stroke amplification device 420 includes: at least one set of first scissor-type modules, each set of first scissor-type modules including two intersecting long rods 421 hinged at the middle by a pivot 422, with the ends of the long rods 421 of adjacent first scissor-type modules hinged to each other; and a set of second scissor-type modules, respectively disposed at both ends of the at least one set of first scissor-type modules, each second scissor-type module including two short rods 423, wherein at the same end of the at least one set of first scissor-type modules, the ends of the two short rods 423 near the long rods 421 are respectively hinged to the two long rods 421, and the ends of the two short rods 423 far from the long rods 421 are hinged to the long rods 421. The ends of the long rods 421 are hinged to each other. Specifically, in a preferred embodiment of the present invention, a first scissor-type module is provided in one set, and two second scissor-type modules are provided. The two long rods 421 of the first scissor-type module are hinged in the middle by a pivot 422, and the output end of the calf driver is hinged to the pivot 422. The two long rods 421 of the first scissor-type module and the short rods 423 of the second scissor-type module at both ends are hinged. The hinge point of the two short rods 423 of the second scissor-type module near the calf driver end of the first scissor-type module is hinged to the thigh assembly 100. The hinge point of the two short rods 423 of the second scissor-type module away from the calf driver end of the second scissor-type module is driven connected to the calf assembly 200. Thus, after the lower leg driver outputs a certain distance, because the short rod 423 of the second scissor module near the lower leg driver is hinged to the thigh assembly 100, the stroke amplification device 420 amplifies the output distance of the lower leg driver by a factor of two at the drive connection with the lower leg assembly 200, causing the lower leg assembly 200 to rotate significantly around the second end of the thigh assembly 100.

[0044] It should be mentioned that the magnification factor of the output distance of the calf driver by the stroke amplification device 420 depends on the number of groups of the first scissor-type modules in the stroke amplification device 420. That is, the more groups of the first scissor-type modules there are, the greater the magnification factor of the output distance of the calf driver by the stroke amplification device 420.

[0045] In addition, such as Figure 3 As shown, in a preferred embodiment of the present invention, the calf actuator includes an electro-hydraulic actuator 410, and a mounting base 110 is provided above the first end of the thigh assembly 100. The electro-hydraulic actuator 410 is fixed on the mounting base 110, and the output end of the electro-hydraulic actuator 410 includes an actuating rod 411 hinged to the rotating shaft 422.

[0046] Reference Figure 1 , Figure 2 and Figure 4 To facilitate the arrangement of the stroke amplification device 420 on the thigh assembly 100 and avoid positional interference between the stroke amplification device 420 and the thigh assembly 100 during operation, a drive arm 210 is provided on the calf assembly 200. The drive arm 210 is located at the first end of the calf assembly 200 that is hinged to the thigh assembly 100 and extends in a direction away from the second end of the calf assembly 200. The stroke amplification device 420 also includes an output universal joint 424, which is hinged at the hinge point of two short rods 423 away from the calf drive. The calf drive device 400 also includes a knee joint transmission rod 430 that is respectively hinged between the drive arm 210 and the output universal joint 424. Specifically, the output universal joint 424 allows the hinge point between the knee joint transmission rod 430 and the short rod 423 to be hinged at different angles. The knee joint transmission rod 430, which is hinged between the output universal joint 424 and the drive arm 210, can play a transmission role between the stroke amplification device 420 and the drive arm 210. Moreover, when the drive arm 210 rotates around the hinge point between the lower leg assembly 200 and the thigh assembly 100 and causes displacement perpendicular to the movement direction of the stroke amplification device 420, it can prevent the output end of the stroke amplification device 420 from shifting, so that the stroke amplification device 420 can operate smoothly whether it is located above or to the side of the thigh assembly 100.

[0047] It is worth mentioning that the stroke amplification device 420 of the scissor-type structure can also increase the rotational speed of the drive arm 210 and the lower leg assembly 200, thereby increasing the jumping burst capability of the single-leg robot.

[0048] In an embodiment of the present invention, after the actuating rod 411 of the electro-hydraulic actuator 410 is displaced a distance away from the electro-hydraulic actuator 410, the stroke amplification device 420 drives the driving arm 210 of the lower leg assembly 200 to rotate outward around the hinge point between the lower leg assembly 200 and the thigh assembly 100 via the knee joint transmission rod 430, thereby driving the lower leg assembly 200 to rotate in the same clockwise direction until it reaches the desired position. Figure 1 The knee is in a flexed, energy-storing posture as shown. When the actuating rod 411 of the electro-hydraulic actuator 410 moves a certain distance closer to the electro-hydraulic actuator 410, the stroke amplification device 420 drives the drive arm 210 of the lower leg assembly 200 to rotate around the hinge point between the lower leg assembly 200 and the thigh assembly 100 towards the electro-hydraulic actuator 410, thereby driving the lower leg assembly 200 to rotate in the same clockwise direction until it reaches the position shown. Figure 2 The image shows the stretched posture after the energy storage has been released.

[0049] Reference Figures 2 to 5 The active energy storage device includes a housing 520, a cylindrical groove cam 530, a compression cylinder 540, and an elastic element. A mounting plate 120 is provided at the first end of the thigh assembly 100 below the mounting base 110. A motor 510 is fixed to the side of the mounting plate 120 near the first end of the thigh assembly 100. The housing 520 is mounted on the side of the mounting plate 120 near the second end of the thigh assembly 100. The output shaft of the motor 510 passes through the mounting plate 120 and drives the cylindrical groove cam 530 within the housing 520. The compression cylinder 540 is fitted onto the surface of the cylindrical groove cam 530 and extends along... The motor 510 drives the shaft to slide within the cylindrical shell 520 along its axial direction. The outer periphery of the cylindrical groove cam 530 is provided with a periodic annular groove. The periodic annular groove includes at least one straight groove 532 along the axial direction of the output shaft of the motor 510 and curved grooves 531 connecting the two ends of the straight groove 532 respectively. The inner wall of the compression cylinder 540 is provided with a slide rod 541 that moves within the periodic annular groove. An elastic element is provided within the cylindrical shell 520, and one end of the elastic element abuts against the end of the compression cylinder 540 away from the motor 510. The end of the compression cylinder 540 away from the motor 510 is connected to the foot plate 300 through a foot plate connecting rod assembly.

[0050] Specifically, the output shaft of motor 510 rotates, driving the cylindrical groove cam 530 to rotate. The rotating cylindrical groove cam 530, passing through the curved groove 531 in the periodic annular groove, drives the slide rod 541 inside the compression cylinder 540 to move along the curved groove 531. Since the end of the compression cylinder 540 away from motor 510 is connected to the foot plate linkage assembly, the compression cylinder 540 can only reciprocate along the direction of the output shaft of motor 510 within the cylinder shell 520, thereby achieving synchronous transmission of the foot plate 300 through the foot plate linkage assembly. When the cylindrical groove cam 530 drives the compression cylinder 540 to translate away from motor 510 within the cylinder shell 520 through the curved groove 531, the elastic element inside the cylinder shell 520 gradually completes the storage of elastic potential energy until the slide rod 541 slides to the connection point between the curved groove 531 and the straight groove 532 at the end away from motor 510. At this point, the potential energy of the elastic element is fully stored and can no longer be compressed. At this time, the foot plate 300 reaches the desired position through the foot plate linkage assembly. Figure 1 and Figure 4 The ankle flexion posture is shown; when the motor 510 drives the cylindrical groove cam 530 to rotate a little angle in the same direction, the slide rod 541 of the compression cylinder 540 reaches the end of the straight groove 532 away from the motor 510. The elastic element instantly releases its elastic potential energy, causing the slide rod 541 to slide rapidly in the straight groove 532 and the compression cylinder 540 to move rapidly towards the motor 510 in the cylinder shell 520. At the same time, it pulls the foot plate connecting rod assembly, causing the foot plate 300 to rotate rapidly around the second end of the lower leg assembly 200, generating an explosive jumping force until the foot plate 300 reaches the position shown. Figure 2 The energy storage posture is shown; when the motor 510 drives the cylindrical groove cam 530 to rotate in the opposite direction, the rotation position of the foot plate 300 at the second end of the lower leg assembly 200 can be slowly adjusted, so that the foot plate 300 can be adjusted according to the ground angle when the single leg mechanism is not jumping, so as to fit the ground and improve the grip of the foot plate 300.

[0051] In addition, such as Figure 5 As shown, in order to prevent the elastic element from being touched by the outside during the storage and release of elastic potential energy and to achieve smooth operation within the cylinder shell 520, the end of the cylinder shell 520 away from the motor 510 is provided with a ring portion with an inner diameter smaller than the inner diameter of the cylinder shell 520. The elastic element includes a spring 550 that abuts against the ring portion and the compression cylinder 540. The spring 550 enables the compression cylinder 540 to be uniformly subjected to force and to undergo explosive displacement, so that the jumping force is released more smoothly.

[0052] In this invention, the single-leg mechanism is able to perform explosive rotations at both the knee and ankle joints simultaneously through the acceleration and distance increase of the stroke amplification device 420 and the active energy storage device, as well as the elastic burst motion, thereby generating a high-explosive jumping motion.

[0053] Reference Figure 1 , Figure 2 and Figure 4 The footplate linkage assembly includes a triangular link 570, an energy storage output link 560, and a heel link 580. One end of the triangular link 570 is hinged at the hinge between the thigh assembly 100 and the calf assembly 200. The energy storage output link 560 is hinged between the end of the compression cylinder 540 away from the motor 510 and the end of the triangular link 570 near the footplate 300. The heel link 580 is hinged between the heel of the footplate 300 and the end of the triangular link 570 near the active energy storage device. Specifically, when the compression cylinder 540 is displaced, the hinged energy storage output link 560 drives the triangular link 570 to rotate. The rotating triangular link 570 drives the hinged heel link 580 to move, and the heel link 580 drives the heel of the footplate 300 to move synchronously, thereby enabling the footplate 300, which is hinged to the second end of the calf assembly 200, to achieve up-and-down pitching motion. The invention enables a lightweight and compact design for the lower leg assembly 200 and foot plate 300 of the single-leg structure, thereby achieving a high center of gravity arrangement for the single-leg structure, reducing the inertia of the robot's lower leg assembly 200, and greatly improving the robot's jumping burst capability.

[0054] In addition, refer to Figure 2 and Figure 5 The end of the compression cylinder 540 away from the motor 510 is also provided with an output seat 542 that can pass through the ring portion to the cylinder shell 520. The energy storage output link 560 is hinged to the output seat 542, so that when the lower leg assembly 200 rotates around the thigh assembly 100, interference between the energy storage output link and the ring portion of the cylinder shell 520 is avoided, thus improving the smoothness of the structure.

[0055] It is worth mentioning that, such as Figure 1 , Figure 2 and Figure 4 As shown, in order to make the single-leg mechanism of the present invention generate force more directly and have a simpler structure when jumping, the energy storage output link 560, the triangular link 570 and the heel link 580 are arranged on the inward bending side of the thigh assembly 100 and the lower leg assembly 200 in the folding direction. The end of the heel link 580 near the triangular link 570 is provided with a forked part to avoid the triangular link 570 and the energy storage output link 560. The heel link 580 is hinged to the triangular link 570 through the two ends of the forked part opening.

[0056] The above description is merely a preferred embodiment of the present invention. The present invention is not limited to the above-described embodiments. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this disclosure, as long as they achieve the same technical effects, should be included within the scope of protection of this disclosure and fall under the protection scope of the present invention. Within the protection scope of the present invention, the technical solutions and / or implementation methods can have various modifications and variations.

Claims

1. A single-leg mechanism for a legged robot, characterized in that, include: Thigh assembly (100); Lower leg assembly (200), the first end of which is hinged to the second end of thigh assembly (100); Footplate (300) is hinged to the second end of the lower leg assembly (200); The calf drive device (400) includes a calf driver disposed on the thigh assembly (100) and a stroke amplification device (420) driven by the output end of the calf driver. The output end of the stroke amplification device (420) is hinged to the calf assembly (200) and amplifies the displacement stroke of the output end of the calf driver. The foot drive device (500) includes a motor (510) mounted on the thigh assembly (100), an active energy storage device driven by the output shaft of the motor (510), and a foot linkage assembly. The foot linkage assembly is connected between the output end of the active energy storage device and the foot (300), and maintains the rotation angle between the foot (300) and the ground when rotation occurs between the lower leg assembly (200) and the thigh assembly (100); wherein, The active energy storage device includes: a cylindrical groove cam (530) connected to the output shaft of the motor (510). The outer periphery of the cylindrical groove cam (530) is provided with a periodic annular groove. The periodic annular groove includes at least one straight groove (532) along the axial direction of the output shaft of the motor (510) and curved grooves (531) respectively connecting the two ends of the straight groove (532). A compression cylinder (540) is fitted around the outer periphery of the cylindrical groove cam (530), and the inner wall of the compression cylinder (540) is provided with a slide rod (541) that moves within the periodic annular groove. A cylindrical shell (520) is fixedly connected to the thigh assembly (100), and a compression cylinder (540) moves within the cylindrical shell (520); An elastic element that drives the compression cylinder (540) to translate in the direction of the motor (510); The input end of the footplate linkage assembly is connected to the compression cylinder (540), and the footplate linkage assembly includes: A triangular link (570) is hinged at one end of the triangular link (570) to the hinge of the thigh assembly (100) and the calf assembly (200); The energy storage output link (560) is hinged between the end of the compression cylinder (540) away from the motor (510) and the end corner of the triangular link (570) near the foot plate (300); The heel link (580) is hinged between the heel of the foot plate (300) and one end of the triangular link (570) near the active energy storage device.

2. The single-leg mechanism for a legged robot according to claim 1, characterized in that, The stroke amplification device (420) includes: At least one set of first scissor modules, each set of first scissor modules includes two intersecting long rods (421) hinged in the middle by a pivot (422), the ends of the long rods (421) between adjacent first scissor modules are hinged to each other; A set of second scissor-lift modules are respectively disposed at both ends of the at least one set of first scissor-lift modules. Each second scissor-lift module includes two short rods (423). At the same end of the at least one set of first scissor-lift modules, the ends of the two short rods (423) near the long rods (421) are respectively hinged to the two long rods (421), and the ends of the two short rods (423) away from the long rods (421) are hinged to each other. The output end of the calf actuator is hinged to the rotating shaft (422), the hinge points of the two short rods (423) near the calf actuator are hinged to the thigh assembly (100), and the hinge points of the two short rods (423) away from the calf actuator are driven to the calf assembly (200).

3. The single-leg mechanism for a legged robot according to claim 2, characterized in that, The lower leg assembly (200) is provided with a drive arm (210); The stroke amplification device (420) also includes an output universal joint (424), which is hinged at the hinge of two short rods (423) away from the lower leg actuator; The lower leg drive device (400) also includes a knee joint transmission rod (430) that is hinged between the drive arm (210) and the output universal joint (424).

4. The single-leg mechanism for a legged robot according to claim 2, characterized in that, The calf actuator includes an electro-hydraulic actuator (410), the output end of which includes an actuating rod (411) hinged to a rotating shaft (422).

5. The single-leg mechanism for a legged robot according to claim 1, characterized in that, The elastic element is disposed inside the cylindrical shell (520), and one end of it abuts against the end of the compression cylinder (540) away from the motor (510).

6. The single-leg mechanism for a legged robot according to claim 5, characterized in that, The end of the cylindrical shell (520) away from the motor (510) is provided with a ring with an inner diameter smaller than the inner diameter of the cylindrical shell (520); The elastic element includes a spring (550) that abuts against the ring and the compression cylinder (540).

7. The single-leg mechanism for a legged robot according to claim 6, characterized in that, The end of the compression cylinder (540) away from the motor (510) is also provided with an output seat (542) that can pass through the ring portion and exit the cylinder shell (520). The energy storage output connecting rod (560) is hinged to the output seat (542).

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