Machine leg assembly and robot

Abstract

The application discloses a machine leg assembly and a robot, and relates to the technical field of bionic robots, wherein the machine leg assembly comprises at least one of a first joint module and a second joint module; the first joint module comprises a first driving body and a first transmission assembly, the first driving body is mounted on a thigh frame, and the first driving body is in transmission connection with a lower leg frame through the first transmission assembly; the second joint module comprises a second driving body and a second transmission assembly, the second driving body is mounted on the thigh frame, and the second driving body is in transmission connection with a foot plate through the second transmission assembly. The application can concentrate the mass center of the machine leg assembly on the thigh frame, thereby improving the control effect on the leg body.

Description

Technical Field

[0001] This application relates to the field of biomimetic robotics, and more particularly to a robotic leg assembly and a robot. Background Technology

[0002] With the rapid development of the robotics industry, various types of robots are constantly emerging. Humanoid robots refer to robots that resemble humans in appearance. The legs of humanoid robots consist of multiple joints and power mechanisms used to control these joints. In related technologies, the power mechanisms for multiple joints are located at the corresponding joint positions. For example, the power mechanism for the ankle joint is located at the ankle joint, the power mechanism for the knee joint is located at the knee joint, and the power mechanism for the inward and outward swing joints of the leg is located at the upper part of the thigh. In the above-mentioned related technologies, the power mechanisms for multiple joints are located at their corresponding joint positions, resulting in a relatively dispersed distribution of the power mechanisms in the legs and a lack of concentration of the leg's center of mass, thus leading to poor control of the robot's legs. Summary of the Invention

[0003] This application provides a robotic leg assembly and a robot to solve the problem in the related art where the center of mass of the robotic leg is not sufficiently concentrated, resulting in poor control of the robotic leg.

[0004] To solve the above-mentioned technical problems, this application is implemented as follows;

[0005] In a first aspect, embodiments of this application provide a robotic leg assembly, including at least one of a first joint module and a second joint module; wherein, the first joint module includes a first drive body and a first transmission component, the first drive body is mounted on a thigh frame, and the first drive body is transmittedly connected to a lower leg frame through the first transmission component; the second joint module includes a second drive body and a second transmission component, the second drive body is mounted on the thigh frame, and the second drive body is transmittedly connected to a footplate component through the second transmission component.

[0006] Secondly, embodiments of this application provide a robot including the robotic leg assembly described in the first aspect.

[0007] In this embodiment, at least one of the first drive body of the first joint module and the second drive body of the second joint module is mounted on the thigh frame. The first drive body drives the lower leg frame through a first transmission component connected to the lower leg frame, and the second drive body drives the foot plate through a second transmission component connected to the foot plate. Compared to related technologies that install corresponding joint modules at the thigh, knee, and ankle joints respectively, this embodiment mounts at least one of the first drive body (which should be installed at the knee joint) and the second drive body (which should be installed at the ankle joint) on the thigh frame. This solves the problem of a dispersed power mechanism caused by installing corresponding joint modules at the thigh, knee, and ankle joints respectively, and concentrates the center of mass of the robotic leg assembly on the thigh frame, thereby improving the control effect on the leg body. Attached Figure Description

[0008] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0009] Figure 1 This is one of the structural diagrams of a robotic leg assembly provided in an embodiment of this application;

[0010] Figure 2 This is a second structural diagram of a robotic leg assembly provided in an embodiment of this application. Detailed Implementation

[0011] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0012] Figure 1 This is one of the structural schematic diagrams of a robotic leg assembly provided in an embodiment of this application. Figure 2 This is a second schematic diagram of a robotic leg assembly provided in an embodiment of this application.

[0013] like Figures 1 to 2As shown, the robotic leg assembly in this embodiment includes at least one of a first joint module and a second joint module; wherein, the first joint module includes a first drive body 211 and a first transmission component, the first drive body 211 is mounted on the thigh frame 11, and the first drive body 211 is connected to the lower leg frame 12 through the first transmission component; the second joint module includes a second drive body 221 and a second transmission component, the second drive body 221 is mounted on the thigh frame 11, and the second drive body 221 is connected to the foot plate 13 through the second transmission component.

[0014] It should be noted that the robotic leg assembly in this embodiment can be installed on the left leg or the right leg of the robot, and this embodiment does not limit this.

[0015] In some embodiments, the robotic leg assembly further includes a leg body, which includes the thigh frame 11, the lower leg frame 12, the foot plate 13, a first joint axis 14, and a second joint axis 15. The first end of the lower leg frame 12 is rotatably connected to the thigh frame 11 via the first joint axis 14, and the second end of the lower leg frame 12 is rotatably connected to the foot plate 13 via the second joint axis 15.

[0016] The first end of the calf frame 12 is rotatably connected to the thigh frame 11 via a first joint axis 14. In some embodiments, to reduce friction, a bearing may be provided at the connection between the first joint axis 14 and the frame, and the thigh frame 11 is hinged to the calf frame 12 via the first joint axis 14 and the bearing. The first joint axis 14 may also be referred to as the knee joint axis, and the calf frame 12 can swing around the first joint axis 14.

[0017] The second end of the calf frame 12 is connected to the foot plate 13 via the second joint axis 15. A bearing may also be provided on the second joint axis 15. The second end of the calf frame 12 is hinged to the foot plate 13 via the second joint axis 15 and the bearing. The second joint axis 15 may also be called the ankle joint axis. The foot plate 13 can swing around the second joint axis 15.

[0018] In related technologies, the knee joint module for driving the lower leg frame 12 is installed at the knee joint, the ankle joint module for driving the foot plate 13 is installed at the ankle joint, and the joint module for driving the thigh frame 11 or the leg body is installed at the thigh frame 11 or the connection between the thigh frame 11 and the torso. The dispersed joint modules in these related technologies result in an insufficiently concentrated center of mass for the robotic leg assembly, leading to high rotational inertia and excessive weight of the end effector, thus resulting in poor control performance of the robotic leg assembly.

[0019] To address the problems in the aforementioned related technologies, in this embodiment, at least one of the first drive body 211 of the first joint module and the second drive body 221 of the second joint module is mounted on the thigh frame 11. The first drive body 211 of the first joint module is used to drive the lower leg; the first joint module can also be referred to as the knee joint module. The second drive body 221 of the second joint module is used to drive the footplate 13; the second joint module can also be referred to as the ankle joint module. In this embodiment, mounting the drive body of the first joint module on the thigh frame 11 achieves an upward shift of the center of mass of the knee joint module; mounting the drive body of the second joint module on the thigh frame 11 achieves an upward shift of the center of mass of the ankle joint module. By mounting at least one of the first drive body 211, which should be mounted on the knee joint, and the second drive body 221, which should be mounted on the ankle joint, on the thigh frame 11, this embodiment solves the problem of a dispersed power mechanism caused by installing corresponding joint modules on the thigh, knee, and ankle joints respectively. This allows the center of mass of the leg to be concentrated, thereby reducing the rotational inertia of the leg and the weight of the end effector, and improving the control effect on the leg body.

[0020] The first joint module and the second joint module are described in detail below.

[0021] The first drive body 211 of the first joint module is mounted on the thigh frame 11, and the housing fixing end of the first drive body 211 can be mounted on the thigh frame 11. The first drive body 211 can be directly fixed to the thigh frame 11 or fixed to the thigh frame 11 through a fastener. The first drive body 211 is connected to the lower leg frame 12 through a first transmission assembly. Specifically, the output end of the first drive body 211 is connected to the lower leg frame 12 through the first transmission assembly. It is worth mentioning that the first drive body 211 can be used to control the lower leg to swing back and forth or swing in other directions. When the first drive body 211 is used to control the lower leg to swing back and forth, the output end of the first drive body 211 is configured to rotate around the width direction of the thigh frame 11 or the leg body (i.e.,...). Figures 1 to 2 The first drive body 211 rotates along its axial direction, and the output end of the first drive body 211 rotates around the width direction of the leg body, which can drive the lower leg frame 12 to swing back and forth (back and forth is the length direction of the foot plate 13) through the first transmission component. As an example, the output end of the first drive body 211 can be the output flange end.

[0022] The second drive body 221 of the second joint module is also mounted on the thigh frame 11. As an example, the two ends of the housing of the second drive body 221 can be hinged to the thigh frame 11 via a first support bearing 228 and a second support bearing 229. The second drive body 221 is connected to the footplate 13 via a second transmission assembly. Specifically, the output end of the second drive body 221 is connected to the footplate 13 via the second transmission assembly. It is worth noting that the second drive body 221 can be used to control the footplate 13 to swing back and forth or in other directions. When the second drive body 221 is used to control the footplate 13 to swing back and forth, the output end of the second drive body 221 is configured to rotate around the width direction of the thigh frame 11 or the leg body (i.e.,...). Figures 1 to 2 The second drive body 221 rotates along its axial direction, and the output end of the second drive body 221 rotates around the width direction of the leg body, which can drive the foot plate 13 body to swing back and forth through the second transmission assembly. As an example, the output end of the second drive body 221 can be an output flange end.

[0023] In some embodiments, the position of the second drive body 221 mounted on the thigh frame 11 is farther from the lower leg than the position of the first drive body 211 mounted on the thigh frame 11, i.e., according to... Figure 1 and Figure 2 As shown, the second drive body 221 is positioned below the first drive body 211. This arrangement facilitates the second drive body 221 driving the foot plate 13 via the second transmission assembly. The first drive body 211 and the second drive body 221 can be positioned as close as possible to further concentrate the center of mass of the leg assembly. For example, both the first drive body 211 and the second drive body 221 can be mounted slightly above the thigh frame 11, and the gap between the first drive body 211 and the second drive body 221 can be set to be greater than a first threshold and less than a second threshold.

[0024] This application embodiment installs at least one of the first drive body 211 that should be installed on the knee joint and the second drive body 221 that should be installed on the ankle joint in the related technology on the thigh frame 11. This can solve the problem of the power mechanism being relatively dispersed due to the installation of corresponding joint modules on the thigh, knee and ankle joints respectively. It can concentrate the center of mass of the robot leg assembly on the thigh frame 11, thereby improving the control effect on the leg body.

[0025] The aforementioned first drive body 211 is connected to the lower leg frame 12 via a first transmission assembly. The first transmission assembly can be any type of transmission assembly, as long as it can perform the transmission function. For example, the first transmission assembly can be a transmission assembly driven by a connecting rod, a transmission assembly driven by a gear set, a transmission assembly driven by a synchronous belt, a transmission assembly driven by a chain, a transmission assembly driven by a worm gear and a worm wheel, or a transmission assembly driven by a bevel gear, etc. Furthermore, the first transmission assembly can also be a transmission assembly composed of at least two of the aforementioned transmission assemblies.

[0026] The following description uses a first transmission assembly that is a transmission assembly that is driven by a linkage as an example.

[0027] Optionally, the first transmission assembly includes a first crank 212 and a first connecting rod 213. The first crank 212 is connected to the output end of the first drive body 211 and the first end of the first connecting rod 213, respectively, and the second end of the first connecting rod 213 is connected to the lower leg frame 12.

[0028] In this embodiment, the first crank 212 is connected to the output end of the first drive body 211 and the first end of the first connecting rod 213, respectively. As an example, the first crank 212 can be fixed to the output end of the first drive body 211, and the first crank 212 and the first end of the first connecting rod 213 can be hinged by bearings.

[0029] The calf frame 12 can be composed of two calf plates arranged opposite each other. In this embodiment, the second end of the first connecting rod 213 is connected to the calf frame 12, and can be connected to either of the two calf plates via a bearing. To simplify the design of the first connecting rod 213, when the output end of the first drive body 211 is near the left side of the thigh frame 11, the first connecting rod 213 is connected to both the output end of the left-side first drive body 211 and the left-side calf plate. Figures 1 to 2 As shown, when the output end of the first drive body 211 is close to the right side of the thigh frame 11, the first link 213 is connected to the output end of the first drive body 211 on the right and the lower leg plate on the right side, respectively.

[0030] In this embodiment, the first transmission assembly includes a first crank 212 and a first connecting rod 213. When the output end of the first drive body 211 rotates, the first crank 212 and the first connecting rod 213 drive the lower leg frame 12 to rotate. By setting the first transmission assembly as described above, the structure is simple, and the first connecting rod 213 occupies little space, which can reduce the impact on other structures of the leg assembly.

[0031] The aforementioned second drive body 221 is connected to the foot plate 13 via a second transmission assembly. The second transmission assembly can be any type of transmission assembly, as long as it can perform the transmission function. For example, the second transmission assembly can be a transmission assembly via a linkage, a transmission assembly via a gear set, a transmission assembly via a synchronous belt, a transmission assembly via a chain, a transmission assembly via a worm gear and worm wheel, or a transmission assembly via a bevel gear, etc. Furthermore, the second transmission assembly can also be a combination of at least two of the aforementioned transmission assemblies. For example, the second transmission assembly can be a transmission assembly composed of a linkage and a gear, or, for another example, a transmission assembly composed of a linkage and a synchronous belt.

[0032] The following example illustrates the second transmission assembly, which is composed of at least two transmission assemblies.

[0033] Optionally, the second transmission assembly includes at least one transmission element, a second crank 222, and a second connecting rod 223. The at least one transmission element is connected to the output end of the second drive body 221 and is connected to the first end of the second connecting rod 223 via the second crank 222. The second end of the second connecting rod 223 is connected to the foot plate 13.

[0034] The output end of the second drive body 221 is connected to the footplate 13 via a second transmission assembly. If the second transmission assembly is configured to include only the second crank 222 and the second connecting rod 223, as with the first transmission assembly, the length of the second connecting rod 223 needs to be configured to be the length from the second drive body 221 to the footplate 13. This results in the second connecting rod 223 being too long and potentially interfering with the swinging of the lower leg. In this embodiment, the second transmission assembly further includes at least one transmission member, which serves as a transition member. The use of at least one transmission member as a transition member can shorten the length of the second connecting rod 223. The first end of the second connecting rod 223 can be hinged to the second crank 222, and the second end of the second connecting rod 223 can be hinged to the footplate 13. When the output end of the second drive assembly rotates, it sequentially drives the footplate 13 to rotate via at least one transmission member, the second crank 222, and the second connecting rod 223.

[0035] In this embodiment, at least one transmission component serves as a transition component. By setting at least one transmission component as a transition component, the length configuration of the second link 223 can be shortened, thereby reducing the interference of the second link 223 on the driving of the lower leg frame 12.

[0036] Optionally, the at least one transmission component includes a first transmission component 224 and a second transmission component 225. The first transmission component 224 is mounted on the second drive body 221 and is connected to the second transmission component 225 in a transmission manner. The second transmission component 225 and the second crank 222 are both sleeved on the first joint shaft 14, and the second crank 222 is mounted on the second transmission component 225.

[0037] The first transmission component 224 is mounted on the second drive body 221, and can be fixedly connected or detachably connected to the output end of the second drive body 221. Both the first transmission component 224 and the second transmission component 225 can be transmission gears, or they can be two pulleys of a transmission belt. The second transmission component 225 is drively connected to the first transmission component 224. When both the first transmission component 224 and the second transmission component 225 are transmission gears, they are driven by gear meshing; when both the first transmission component 224 and the second transmission component 225 are two pulleys of a transmission belt, they are driven by a belt.

[0038] Both the second transmission component 225 and the second crank 222 are sleeved on the first joint shaft 14, and the second crank 222 is fixedly connected to the second transmission component 225 or detachably connected. To reduce friction, the second transmission component 225 and the second crank 222 can be sleeved on the first joint shaft 14 via bearings. When the output end of the second drive body 221 rotates, it sequentially drives the foot plate component 13 through the first transmission component 224, the second transmission component 225, the second crank 222, and the second connecting rod 223.

[0039] In this embodiment, by setting the second transmission component 225 and the second crank 222 to be sleeved on the first joint shaft 14, on the one hand, there is no need to set up a separate shaft to install the second transmission component 225 and the second crank 222; on the other hand, it can avoid the second connecting rod 223 connected to the second crank 222 from interfering with the drive of the lower leg frame 12.

[0040] It is worth mentioning that, when both the first transmission member 224 and the second transmission member 225 are transmission gears, in order to achieve the desired distance between the second drive body 221 and the lower leg, at least one transition gear 226 can also be provided between the first transmission member 224 and the second transmission member 225. For example... Figures 1 to 2 As shown, a transition gear 226 is provided between the first transmission member 224 and the second transmission member 225. The following is in conjunction with... Figure 1 and Figure 2 The transition gear 226 is illustrated by way of example.

[0041] like Figures 1 to 2As shown, the transition gear 226 meshes with the first transmission member 224 and the second transmission member 225 respectively. The thigh frame 11 may be provided with a gear shaft 227 for mounting the transition gear 226, and the transition gear 226 may be sleeved on the gear shaft through a bearing. When the output end of the second drive assembly rotates, the foot plate member 13 is driven to rotate sequentially through the first transmission member 224, the transition gear 226, the second transmission member 225, the second crank 222, and the second connecting rod 223.

[0042] The second transmission component 225 is sleeved on the first joint shaft 14. When the output end of the first drive body 211 rotates around the width direction of the leg body and drives the lower leg frame 12 to swing back and forth through the first crank 212 and the first connecting rod 213, one of the second transmission component 225 and the second drive body 221 may roll. The rolling of the second transmission component 225 will cause the lower leg frame 12 drive and the foot plate component 13 drive to be coupled.

[0043] To solve the above problems, a corresponding structure can be set so that when the first drive body 211 is driven, the second drive body 221 rolls to prevent the second transmission component 225 from rolling. Specifically, in some embodiments, the robot leg assembly further includes a third crank 23, which is connected to both the first transmission component and the second drive body 221; wherein, when the first drive body 211 is driven, the output end of the first drive body 211 rotates about the width direction of the leg body, and drives the second drive body 221 to roll through the first transmission component and the third crank 23.

[0044] The third crank 23 is connected to both the first transmission assembly and the second drive body 221. Specifically, the third crank 23 can be connected to the first connecting rod 213 in the first transmission assembly, and can be hinged to the middle of the first connecting rod 213 via a bearing; the third crank 23 can also be fixedly connected to the housing of the second drive body 221. The housing of the second drive body 221 is connected to the first connecting rod 213 via the third crank 23. When the first drive body 211 is driven, the first drive body 211 drives the second drive body 221 to roll sequentially via the first connecting rod 213 and the third crank 23. The second drive body 221 does not rotate (taking the first transmission component 224 as a gear as an example, the rolling of the second drive body 221 causes the first transmission component 224 to roll slowly on the transition gear 226, but does not cause the transition gear 226 to rotate), and the second transmission component 225 also does not rotate.

[0045] The upward movement (i.e., skipping a stage) of the first drive body 211 and the second drive body 221 will bring about a difficult problem of decoupling between the cross-stage joints. To solve this problem, the embodiments of this application provide a third crank 23 connected to the first transmission component and the second drive body 221 respectively. This enables the second drive body 221, the lower leg frame 12, and the foot plate 13 to rotate together in their original state when the lower leg frame 12 is driven. That is, the foot plate 13 will not rotate relative to the lower leg frame 12, thereby achieving cross-stage decoupling between the drive of the lower leg frame 12 and the drive of the foot plate 13.

[0046] Optionally, the robotic leg assembly further includes a third joint module 24 and a first fixing member 25. The first fixing member 25 includes a first fixing plate and a second fixing plate disposed opposite to each other, and a connecting plate for connecting the first fixing plate and the second fixing plate. The thigh frame 11 includes a first leg plate and a second leg plate disposed opposite to each other.

[0047] The third joint module 24 is fixed to the first fixing plate, and the output end of the third joint module 24 is connected to the first leg plate, and the second fixing plate is connected to the second leg plate;

[0048] When the third joint module 24 is driven, the output end of the third joint module 24 rotates around the width direction of the thigh frame 11 or the leg body (i.e., Figure 1 and Figure 2 The third joint module 24 rotates in the direction of its axis.

[0049] The first fixing member 25 includes a first fixing plate, a second fixing plate, and a connecting plate for connecting the first fixing plate and the second fixing plate. The first fixing member 25 may be a U-shaped fixing member with its opening facing the thigh frame 11. The housing fixing end of the third joint module 24 is connected to the first fixing plate. Specifically, to save space inside the thigh frame 11, the third joint module 24 may be fixedly connected to the outer side of the first fixing plate. The first fixing plate may be a fixing plate near the inner side of the thigh frame 11 (the inner side of the thigh frame 11 is the side of the thigh frame 11 closer to the torso) or a fixing plate near the outer side of the thigh frame 11 (the outer side of the thigh frame 11 is the side of the thigh frame 11 away from the torso). In order to reduce interference with the movement between the two legs, the third joint module 24 may be respectively set on the outer side of the left robotic leg assembly (i.e., the robotic leg assembly set at the left leg position) and the outer side of the right robotic leg assembly (i.e., the robotic leg assembly set at the right leg position), and the first fixing plate is a fixing plate near the outer side of the thigh frame 11.

[0050] By connecting the output end of the third joint module 24 to the first leg plate (which can be a fixed connection) and connecting the second leg plate to the second fixed plate (which can be a hinged connection), dual support for the rotation of the first and second leg plates is achieved. When the third joint module 24 is driven, the output end of the third joint module 24 rotates around the width direction of the leg body, driving the thigh frame 11 and the calf frame 12 to rotate around the axis of the third joint module 24, thereby realizing the forward and backward swinging motion of the leg body. Therefore, the third joint module 24 can also be called the forward and backward swinging joint module. As an example, the output end of the third joint module 24 can be a flange output end.

[0051] In this embodiment of the application, the above settings enable dual support for the rotation of the thigh frame 11, which helps to improve the stability of the robot leg assembly.

[0052] Optionally, the first drive body 211 is disposed between the first fixing plate and the second fixing plate. The housing fixing end of the first drive body 211 can be fixed to the axis position of the third joint module 24 on the thigh frame 11.

[0053] In this embodiment, the first drive body 211 is disposed between the first fixing plate and the second fixing plate, which makes the first drive body 211 closer to the center of mass of the third joint module 24, thereby further concentrating the center of mass of the robot leg assembly.

[0054] Optionally, the robotic leg assembly further includes a fourth joint module 26, the output end of which is connected to the connecting plate. When the fourth joint module 26 is driven, its output end rotates around the length direction of the thigh frame 11 or the leg body (i.e., Figure 1 and Figure 2 The fourth joint module 26 rotates in the axial direction.

[0055] The output end of the fourth joint module 26 is connected to the connecting plate. Specifically, the fourth joint module 26 can be installed at a corresponding position on the upper end of the connecting plate. When the fourth joint module 26 is driven, its output end rotates around the length of the leg body, and drives the leg body to rotate around its length through the first fixing member 25. Therefore, the fourth joint module 26 can also be called a leg self-rotation joint module. As an example, the output end of the fourth joint module 26 can be a flange output end.

[0056] The embodiments of this application, through the above-described configuration, enable the leg body to rotate around its length. This facilitates a wider range of driving methods for the leg body.

[0057] Optionally, the robotic leg assembly further includes a fifth joint module 27 and a second fixing member 28 for fixing the fourth joint module 26 to the output end of the fifth joint module 27, wherein, when the fifth joint module 27 is driven, the output end of the fifth joint module 27 is circumferentially oriented around the length direction of the foot plate 13 (i.e., Figure 1 and Figure 2 The fifth joint module 27 rotates in the axial direction.

[0058] When the fifth joint module 27 is driven, its output end rotates around its axis, and through the second fixing member 28, drives the leg body to rotate around its axis, thus causing the leg body to swing left or right. The fifth joint module 27 controls the degree of freedom of the leg body to swing inward and outward; therefore, it can also be called a leg inward and outward swing joint module. As an example, the output end of the fifth joint module 27 can be a flange output end.

[0059] The embodiments of this application, through the above-described configuration, can drive the leg body to swing in and out. This is beneficial for enriching the driving methods of the leg body.

[0060] This application also provides a robot, including the robotic leg assembly of any of the above embodiments.

[0061] It should be noted that any of the above embodiments of the robotic leg assembly can be applied to the robot in this embodiment and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0062] The specific embodiments described above do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A machine leg assembly, characterized by, The machine leg assembly further comprises a third joint module and a first fixing member, the first fixing member comprises a first fixing plate and a second fixing plate arranged oppositely, and a connecting plate for connecting the first fixing plate and the second fixing plate, the thigh frame comprises a first leg plate and a second leg plate arranged oppositely. The first driving body is arranged between the first fixing plate and the second fixing plate.

2. The machine leg assembly of claim 1, wherein, The machine leg assembly further comprises a fourth joint module, an output end of the fourth joint module is connected with the connecting plate, and the fourth joint module drives to rotate the output end of the fourth joint module around the length direction of the thigh frame.

3. The machine leg assembly of claim 1, wherein, The machine leg assembly further comprises a fifth joint module and a second fixing member for fixing the output end of the fourth joint module to the fifth joint module, wherein the fifth joint module drives to rotate the output end of the fifth joint module around the length direction of the foot plate.

4. The machine leg assembly of claim 3, wherein, The machine leg assembly further comprises a third joint module and a first fixing member, the first fixing member comprises a first fixing plate and a second fixing plate arranged oppositely, and a connecting plate for connecting the first fixing plate and the second fixing plate, the thigh frame comprises a first leg plate and a second leg plate arranged oppositely.

5. The machine leg assembly of any one of claims 1-4, wherein, The third joint module is fixed with the first fixing plate, and an output end of the third joint module is connected with the first leg plate, the second fixing plate is connected with the second leg plate. Wherein, the third joint module drives to rotate the output end of the third joint module around the width direction of the thigh frame. The first driving body is arranged between the first fixing plate and the second fixing plate.

6. The machine leg assembly of claim 5, wherein, The machine leg assembly further comprises a fourth joint module, an output end of the fourth joint module is connected with the connecting plate, and the fourth joint module drives to rotate the output end of the fourth joint module around the length direction of the thigh frame.

7. The machine leg assembly of claim 5, wherein, The machine leg assembly further comprises a fifth joint module and a second fixing member for fixing the output end of the fourth joint module to the fifth joint module, wherein the fifth joint module drives to rotate the output end of the fifth joint module around the length direction of the foot plate.

8. The machine leg assembly of claim 7, wherein, ​ 9. A robot, characterized in that The machine leg assembly of any one of claims 1 to 8.

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