Mode-variable bionic mechanical leg

Abstract

The invention discloses a variable-mode bionic mechanical leg which comprises a hip joint, a first support and a second support. The leg assembly comprises a first leg part, a second leg part and a third leg part which are in joint connection in sequence, the first leg part and the second leg part are in joint connection, the second leg part and the third leg part form joint connection and can be folded and positioned to form fixed connection, and therefore the leg assembly can be operated to form a three-joint mode or a two-joint mode; according to the mode-variable bionic mechanical leg, the mechanical leg can have various leg movement structures in the movement process, the application scene of the mechanical leg is improved, a user can conveniently switch bionic mechanical legs of different modes according to different application scenes, and therefore the bionic mechanical leg can adapt to more diverse environments.

Description

Technical Field

[0001] The invention relates to the field of bionic robots, and in particular to a bionic mechanical leg with variable modality. Background Art

[0002] The most important structure of a bionic robot is its leg structure. Currently, there are three main types of mechanical legs: wheeled, tracked, and bionic footed. The first two driving modes cannot move or are difficult to move in uneven terrain or asymmetric structures. Compared with wheeled and tracked robots, bionic footed robots have good environmental adaptability and can move in complex environments such as potholes, rocks, grasslands, and rugged mountains. They can help people complete rescue and exploration tasks in dangerous environments. Therefore, the design and development of bionic footed robots has broad application prospects.

[0003] Hydraulic mechanical legs have outstanding load-bearing capacity, and the leg structure similar to that of mammals allows them to adapt to various complex terrains. Hydraulic-driven mechanical legs have fast and flexible movement capabilities and high load endurance. The leg structure characteristics of cheetahs and horses mainly tend to be load-bearing-adaptable and flexible-high-speed. Therefore, cheetahs and horses have become the best templates for bionic mechanical legs. In the prior art, research on bionic mechanical legs is generally a single type of mechanical leg, and there is less research on foot-type mechanical legs involving multiple modes.

[0004] Therefore, there is an urgent need to develop a bionic mechanical leg with variable modality, which can enable the mechanical leg to have a variety of leg motion structures during movement, improve the application scenarios of the mechanical leg, and facilitate users to switch bionic mechanical legs with different modalities according to different application scenarios, so that the bionic mechanical leg can adapt to more diverse environments. Summary of the invention

[0005] In view of this, the purpose of the present invention is to provide a bionic mechanical leg with variable modality, which can enable the mechanical leg to have a variety of leg movement structures during movement, improve the application scenarios of the mechanical leg, and facilitate users to switch bionic mechanical legs with different modalities according to different application scenarios, so that the bionic mechanical leg can adapt to more diverse environments.

[0006] The bionic mechanical leg with variable modality of the present invention comprises:

[0007] A hip joint, the hip joint comprising a first bracket;

[0008] The leg assembly includes a first leg, a second leg and a third leg which are connected by joints in sequence. The first leg and the second leg are connected by joints, and the second leg and the third leg are connected by joints and can be folded and positioned to form a fixed connection, so that the leg assembly can be operated to form a three-joint mode or a two-joint mode.

[0009] Furthermore, it also includes a connecting and positioning mechanism, including a magnetic attraction component, the magnetic attraction component includes an electromagnetic part and an adsorption part, which are respectively arranged on the second leg and the third leg, the electromagnetic part is provided with a connecting groove, and the adsorption part is provided with a connecting boss that cooperates with the connecting groove, the electromagnetic part and the adsorption part can be operably connected to enable the second leg and the third leg to be folded and positioned to form a fixed connection.

[0010] Furthermore, it also includes a connecting component I and a connecting component II, wherein the connecting component I and the connecting component II are correspondingly arranged on the second leg and the third leg, and the connecting component I and the connecting component II can be operably connected to form a fixed connection between the second leg and the third leg.

[0011] Furthermore, it also includes a driving mechanism, including a first hydraulic mechanism, a second hydraulic mechanism and a third hydraulic mechanism, the first hydraulic cylinder of the first hydraulic mechanism is arranged in the first bracket, the first piston rod is hinged to the first leg through an articulated bracket, the second hydraulic cylinder of the second hydraulic mechanism is arranged in the first leg, the second piston rod is hinged to the second leg through an articulated bracket, the third hydraulic cylinder of the third hydraulic mechanism is arranged in the second leg, and the third piston rod is hinged to the third leg through an articulated bracket.

[0012] Further, the connecting assembly I comprises a housing I, a locking member I and a connecting rod I, wherein the locking member I is rotatably supported in the housing I and can be locked, a sliding portion I is provided on the lower outer side of the housing I, one end of the connecting rod I is supported in the housing I, and the other end abuts against the sliding portion I and can be operated to slide along the sliding portion I in a direction close to the housing I, and a clearance space I is provided at an upper position in the housing I;

[0013] The connecting assembly II includes a shell II, a locking member II and a connecting rod II. The locking member II can be rotatably supported in the shell II and can be locked. A sliding portion II is provided on the upper outer side of the shell II. One end of the connecting rod II is supported in the shell II, and the other end abuts against the sliding portion II and can be operated to slide along the sliding portion II toward the shell II. A clearance space II is provided at the lower position in the shell II.

[0014] Further, it also includes two connecting ears I and two connecting ears II, the two connecting ears I are respectively arranged on the inner side of the sliding part I and one end of the connecting rod I supported in the housing I, and the two connecting ears I are connected by an elastic member I;

[0015] The two connecting ears II are respectively arranged on the inner side of the sliding part II and one end of the connecting rod II supported in the shell body II, and the two connecting ears II are connected by an elastic member II.

[0016] Further, the locking member I is provided with a locking groove I and a force-bearing surface I, the locking member II is provided with a locking groove II and a force-bearing surface II, and the connecting rod I can be operated to apply a force to the force-bearing surface II, so that the locking member II rotates, so that the connecting rod I can enter the clearance space II and engage with the locking groove II;

[0017] The connecting rod II can be operated to apply a force to the force-bearing surface I, so that the locking member I rotates, so that the connecting rod II can enter the clearance space I and engage with the locking groove I.

[0018] Further, the locking member I is provided with a hook mouth I, and a drivable push rod I is provided corresponding to the hook mouth I, the push rod I is inserted into the housing I and abuts against the hook mouth I, and the push rod I can apply a force to the hook mouth I to rotate the locking member I, so that the connecting rod II can be separated from the locking groove I;

[0019] The locking member II is provided with a hook mouth II, and a drivable push rod II is provided corresponding to the hook mouth II. The push rod II is inserted into the shell II and abuts against the hook mouth II. The push rod II can apply a force to the hook mouth II to rotate the locking member II, so that the connecting rod I can be disengaged from the locking groove II.

[0020] Furthermore, the locking member I is also provided with a positioning top block I, and the positioning top block I is used to exert a force on the connecting rod I under the drive of the push rod I, so that the connecting rod I is separated from the locking groove II;

[0021] The locking member II is also provided with a positioning top block II, and the positioning top block II is used to exert a force on the connecting rod II under the drive of the push rod II, so that the connecting rod II is separated from the locking groove I.

[0022] Furthermore, the end of the second leg is provided with a foot end I, and the end of the third leg is provided with a foot end II. The foot end I is a semi-spherical structure, and the outside of the semi-spherical structure is coated with rubber material. The foot end II is a truncated cone structure, and the outside of the truncated cone structure is coated with rubber material.

[0023] Beneficial effects of the present invention: The variable-modality bionic mechanical leg of the present invention can enable the mechanical leg to have a variety of leg movement structures during movement, improve the application scenarios of the mechanical leg, and facilitate users to switch bionic mechanical legs of different modes according to different application scenarios, thereby allowing the bionic mechanical leg to adapt to more diverse environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The present invention will be further described below in conjunction with the accompanying drawings and embodiments:

[0025] Figure 1 It is a structural schematic diagram of the present invention;

[0026] Figure 2 It is a structural schematic diagram of connecting component I and connecting component II;

[0027] Figure 3 It is a schematic diagram of the internal structure of the connection component I and the connection component II;

[0028] Figure 4 is a schematic diagram of the structure when the connecting component I and the connecting component II are in a state to be locked;

[0029] Figure 5 is a schematic diagram of the structure when the connecting component I and the connecting component II are in a locked state;

[0030] Figure 6 It is a structural schematic diagram when the connection component I and the connection component II are unlocked;

[0031] Figure 7 It is a structural schematic diagram of the magnetic suction component;

[0032] Figure 8 Schematic diagram of the internal structure of the magnetic attraction part;

[0033] Fig. 9 It is a schematic diagram of the structure of the leg assembly in the three-joint mode;

[0034] Fig.10 It is a structural schematic diagram of the leg component in the two-joint mode.

[0035] The above drawings contain the following reference numerals:

[0036] 1. First bracket; 2. First leg; 3. Second leg; 301. Foot end Ⅰ; 4. Third leg; 401. Foot end Ⅱ; 5. Connecting assembly Ⅰ; 501. Shell Ⅰ; 502. Locking member Ⅰ; 503. Connecting rod Ⅰ; 504. Elastic member Ⅰ; 505. Sliding part Ⅰ; 506. Bracket Ⅰ; 507. Positioning top block Ⅰ; 508. Hook mouth Ⅰ; 509. Connecting ear Ⅰ; 510. Force surface Ⅰ; 511. Locking groove Ⅰ; 512. Push rod Ⅰ; 6. Connecting assembly Ⅱ; 601. Bracket Ⅱ; 602, shell Ⅱ; 603, push rod Ⅱ; 604, sliding part Ⅱ; 605, connecting rod Ⅱ; 606, locking groove Ⅱ; 607, locking member Ⅱ; 608, hook mouth Ⅱ; 609, positioning top block Ⅱ; 610, elastic member Ⅱ; 611, connecting ear Ⅱ; 612, force surface Ⅱ; 7, electromagnetic part; 701, iron core Ⅰ; 702, coil; 703, electromagnetic sleeve; 8, adsorption part; 801, connecting boss; 9, first hydraulic mechanism; 10, second hydraulic mechanism; 11, third hydraulic mechanism. DETAILED DESCRIPTION

[0037] Figure 1 It is a structural schematic diagram of the present invention, Figure 2 is a schematic diagram of the structure of connecting component I and connecting component II. Figure 3 It is a schematic diagram of the internal structure of the connection component I and the connection component II. Figure 4 is a schematic diagram of the structure when the connecting component I and the connecting component II are in the waiting state for locking. Figure 5 is a schematic diagram of the structure when the connecting component I and the connecting component II are in a locked state. Figure 6 It is a schematic diagram of the structure when the connection component I and the connection component II are unlocked. Figure 7 It is a structural diagram of the magnetic suction component. Figure 8 It is a schematic diagram of the internal structure of the magnetic attraction part. Fig. 9 This is a schematic diagram of the structure of the leg component in the three-joint mode. Fig.10 is a schematic diagram of the structure of the leg component in two-joint mode, such as Figure 1-10 As shown: the variable modality bionic mechanical leg of this embodiment includes: a hip joint, the hip joint includes a first bracket 1; when in use, the first bracket 1 is connected to the body of the robot, the first bracket 1 can be composed of a plurality of strip plates, the cross section of the first bracket 1 is rectangular, and the lower end of the first bracket 1 is provided with an opening (the lower end is relative to the upper and lower directions or Figure 1 , up and down directions);

[0038] The leg assembly comprises a first leg 2, a second leg 3 and a third leg 4 which are connected by joints in sequence, the first leg 2 and the second leg 3 are connected by joints, the second leg 3 and the third leg 4 form a joint connection and can be folded and positioned to form a fixed connection, so that the leg assembly can be operated to form a three-joint mode or a two-joint mode; in this structure, the joint connection is a hinge, the first leg 2 is a cubic structure composed of a plurality of strip plates, the second leg 3 is a cubic structure composed of a plurality of strip plates, the upper and lower ends of the second leg 3 are open (relative to the up and down directions of the fuselage, that is, the second leg 3 is a groove-shaped structure with both ends open), which can effectively reduce the deadweight of the mechanical leg, and the third leg 4 is a round rod structure; the end of the first leg 2 is hinged to the first bracket 1 to form a hip joint, the tail of the first leg 2 is hinged to the end of the second leg 3, and the tail of the second leg 3 is hinged to the end of the third leg 4 (that is Joint connection), when the second leg 3 and the third leg 4 form a joint connection, the leg assembly constitutes a three-joint mode (i.e., horse leg mode), that is, the end of the third leg 4 serves as an ankle joint, and when the second leg 3 and the third leg 4 are folded to form a fixed connection, the leg assembly constitutes a two-joint mode (i.e., leopard leg mode), that is, the position near the hinge of the second leg 3 and the third leg 4 serves as an ankle joint, so that by switching the connection state of the end of the second leg 3 and the tail of the third leg 4, the leg assembly is transformed into a three-joint mode or a two-joint mode, so as to adapt to different usage requirements. For example, in the two-joint mode, the fuselage has a more flexible and faster speed. When it is a three-joint mode, the fuselage has a better load-bearing capacity and can carry more cargo, so that the movement characteristics of the horse leg mode (three-joint mode) or the leopard leg mode (two-joint mode) can be fully utilized to meet different usage needs.

[0039] In the prior art, the research on bionic mechanical legs is generally focused on a single type of mechanical legs, and there is less research on foot-type mechanical legs involving multiple modes. The variable-modality bionic mechanical legs of the present invention can enable the mechanical legs to have diverse leg motion structures during movement, thereby improving the application scenarios of the mechanical legs and making it easier for users to switch between bionic mechanical legs of different modes according to different application scenarios, thereby allowing the bionic mechanical legs to adapt to more diverse environments.

[0040] In this embodiment, a connection and positioning mechanism is also included, including a magnetic attraction component, the magnetic attraction component includes an electromagnetic part 7 and an adsorption part 8, which are respectively arranged on the second leg 3 and the third leg 4, the electromagnetic part 7 is provided with a connecting groove, and the adsorption part 8 is provided with a connecting boss 801 that cooperates with the connecting groove, and the electromagnetic part 7 and the adsorption part 8 can be operably connected to enable the second leg 3 and the third leg 4 to be folded and positioned to form a fixed connection; the electromagnetic part 7 and the adsorption part 8 are respectively arranged on the second leg 3 and the third leg Part 4, the electromagnetic part 7 includes an electromagnetic sleeve 703 and an iron core I 701 fixed on the electromagnetic sleeve 703, a coil 702 is wound on the iron core I 701, and the iron core I 701 and the coil 702 can be fixed by bolts. The adsorption part 8 is provided with an iron core II, and the iron core II is arranged on the connecting boss 801. When power is turned on, the connecting boss 801 is engaged with the connecting groove, thereby realizing the retracted connection of the second leg 3 and the third leg 4. When power is turned off, the connection relationship is released, so that the second leg 3 and the third leg 4 form a three-joint mode.

[0041] In this embodiment, it also includes a connecting component I5 and a connecting component II6, which are correspondingly arranged on the second leg 3 and the third leg 4, and the connecting component I5 and the connecting component II6 can be operably connected to enable the second leg 3 and the third leg 4 to form a fixed connection; the connecting component I5 is installed on the inner side of the end of the second leg 3 (that is, located in the groove with openings at both ends) through the bracket I506, and the connecting component II6 is installed on the inner side of the third leg 4 and close to the adsorption part 8 through the bracket II601 (the inner side is the side close to the hinge of the second leg 3 and the third leg 4). When the second leg 3 and the third leg 4 are driven to be retracted, the second leg 3 and the third leg 4 are fixedly connected by connecting the connecting component I5 to the connecting component II6.

[0042] In this embodiment, a driving mechanism is also included, including a first hydraulic mechanism 9, a second hydraulic mechanism 10 and a third hydraulic mechanism 11. The first hydraulic cylinder of the first hydraulic mechanism 9 is arranged in the first bracket 1, and the first piston rod is hinged to the first leg 2 through an articulated bracket. The second hydraulic cylinder of the second hydraulic mechanism 10 is arranged in the first leg 2, and the second piston rod is hinged to the second leg 3 through an articulated bracket. The third hydraulic cylinder of the third hydraulic mechanism 11 is arranged in the second leg 3, and the third piston rod is hinged to the third leg 4 through an articulated bracket; the first hydraulic cylinder is arranged at the end of the first bracket 1 (the first bracket 1 is provided with a mounting groove and the lower end is open, so that the first piston rod is hinged to the end of the first leg 2 ), the second hydraulic cylinder is arranged at the end of the first leg 2 (the second hydraulic cylinder and the articulated bracket of the first piston rod will not interfere with each other), and the second piston rod is arranged inside the first leg 2 and passes through the first leg 2 and is hinged to the end of the second leg 3 through an articulated bracket (an opening is provided at the end of the first leg 2, and the upper and lower ends of the second leg 3 are opened), the third hydraulic cylinder is arranged at the end of the second leg 3 (the third hydraulic cylinder and the articulated bracket of the second piston rod will not interfere with each other), and the third piston rod is hinged to the end of the third leg 4 through an articulated bracket. The movement of the leg assembly is realized by the movement of the driving mechanism, so that the overall structure is simple and reliable. The hydraulic drive structure is an application of the existing technology and will not be repeated here.

[0043] In this embodiment, the connecting assembly I5 includes a shell I501, a locking member I502 and a connecting rod I503. The locking member I502 can be rotatably supported in the shell I501 and can be locked. A sliding portion I505 is provided on the lower outer side of the shell I501. One end of the connecting rod I503 is supported in the shell I501, and the other end abuts against the sliding portion I505 and can be operated to slide along the sliding portion I505 in a direction close to the shell I501. A clearance space I is provided at the upper position of the shell I501; a door-shaped bracket I506 is provided on the outside of the shell I501, and is fixed to the second leg 3 through the bracket I506. The locking member I502 is of an irregular shape. The shell I501 is an open groove with a cross section similar to a "〔" shape and one end is open. The locking member I502 is rotatably supported in the shell I501 through a rotating shaft and can be locked in position. A sliding portion I505 is provided at the lower position of the shell I501 (the lower position is relative to the top, that is, the lower position is relatively close to the top, i.e. ... Figure 2 One end of the connecting rod Ⅰ503 is supported in the housing Ⅰ501 through a support shaft, and the other end abuts against the sliding portion Ⅰ505, and the connecting rod Ⅰ503 can slide along the sliding portion Ⅰ505;

[0044] The connecting assembly II6 comprises a housing II602, a locking member II607 and a connecting rod II605. The locking member II607 can be rotatably supported in the housing II602 and can be locked. A sliding portion II604 is provided on the upper outer side of the housing II602. One end of the connecting rod II605 is supported in the housing II602, and the other end abuts against the sliding portion II604 and can be operated to slide along the sliding portion II604 toward the housing II602. A clearance space II is provided at the lower position of the housing II602. The shell II 602 is provided with a door-shaped bracket II 601 on the outside, and is fixedly connected to the third leg 4 through the bracket II 601. The structure of the connecting component II 6 has a similar appearance and a similar structure to the connecting component I 5. The locking member II 607 ​​is an irregular shape. The cross section of the shell II 602 is an open groove with an open end in a "〔" shape. The locking member II 607 ​​can be rotatably supported in the shell II 602 through a rotating shaft and can be locked in position. A sliding portion II 604 is provided at the upper position of the shell II 602 (the upper portion is Figure 2 In the up and down direction), one end of the connecting rod Ⅱ605 is supported in the shell Ⅱ602 by a supporting shaft, and the other end abuts against the sliding part Ⅱ604, and the end of the connecting rod Ⅱ605 abutting against the sliding part Ⅱ604 can slide along the sliding part Ⅱ604; the connecting component Ⅰ5 and the connecting component Ⅱ6 can be locked and fixed by the cooperation of the locking member Ⅰ502, the locking member Ⅱ607, the connecting rod Ⅰ503 and the connecting rod Ⅱ605, so that the second leg 3 is fixedly connected with the third leg 4.

[0045] In this embodiment, two connecting ears Ⅰ509 and two connecting ears Ⅱ611 are also included. The two connecting ears Ⅰ509 are respectively arranged on the inner side of the sliding part Ⅰ505 and the end of the connecting rod Ⅰ503 supported in the shell Ⅰ501, and the two connecting ears Ⅰ509 are connected by an elastic member Ⅰ504; the two connecting ears Ⅰ509 are respectively arranged on the inner surface of the sliding part Ⅰ505 and the end of the connecting rod Ⅰ503 located in the shell Ⅰ501, the connecting ear Ⅰ509 is a triangular structure, and an opening is provided on the top, an elastic member Ⅰ504 connects the two connecting ears Ⅰ509 through the opening, the elastic member Ⅰ504 is a spring, the two connecting ears Ⅰ509, the elastic member, the connecting rod Ⅰ503 and the sliding part Ⅰ505 constitute a quadrilateral structure, and the sliding part Ⅰ505 is a semi-conical structure;

[0046] The two connecting ears II611 are respectively arranged on the inner side of the sliding part II604 and the end of the connecting rod II605 supported in the shell II602, and the two connecting ears II611 are connected by an elastic member II610; the two connecting ears II611 are respectively arranged on the inner surface of the sliding part II604 and the end of the connecting rod II605 located in the shell II602, the connecting ear II611 is a triangular structure with an opening on the top, an elastic member II610 connects the two connecting ears II611 through the opening, the elastic member II610 is a spring, the two connecting ears II611, the elastic member II610, the connecting rod II605 and part of the sliding part II604 constitute a quadrilateral structure, and the sliding part II604 is a semi-conical structure.

[0047] In this embodiment, the locking member I502 is provided with a locking groove I511 and a force-bearing surface I510, the locking member II607 is provided with a locking groove II606 and a force-bearing surface II612, and the connecting rod I503 can be operated to apply a force to the force-bearing surface II612, so that the locking member II607 rotates, so that the connecting rod I503 can enter the clearance space II and engage with the locking groove II606;

[0048] The connecting rod II 605 can be operated to apply a force to the force surface I 510, so that the locking member I 502 rotates, so that the connecting rod II 605 can enter the clearance space I and engage in the locking groove I 511; through the action of the third hydraulic mechanism 11 and the magnetic attraction component, the second leg 3 and the third leg 4 can be retracted and fixed, and the magnetic attraction component can achieve the function of connection and positioning. In the process of the second leg 3 and the third leg 4 being retracted under the action of the third hydraulic mechanism 11, the connecting rod I 503 can apply a force to the force surface II 612, and the connecting rod II 605 can apply a force to the force surface I 510. The force surface I 510 and the force surface II 612 are arc-shaped force surfaces, so that the connecting rod I 503 and the connecting rod II 605 can be respectively inserted into the clearance space II and the clearance space I, and respectively engage in the locking groove II 606 and the locking groove I 511.

[0049] In this embodiment, the locking member Ⅰ502 is provided with a hook mouth Ⅰ508, and a drivable push rod Ⅰ512 is provided corresponding to the hook mouth Ⅰ508. The push rod Ⅰ512 is inserted into the housing Ⅰ501 and abuts against the hook mouth Ⅰ508. The push rod Ⅰ512 can apply a force to the hook mouth Ⅰ508 to rotate the locking member Ⅰ502, so that the connecting rod Ⅱ605 can be separated from the locking groove Ⅰ511; when it is in an unconnected state, the hook mouth Ⅰ508 abuts against the push rod Ⅰ512. When unlocking is required, the push rod Ⅰ512 (which can be an electric push rod) is driven and pushes the hook mouth Ⅰ508 to rotate, so that the locking member Ⅰ502 rotates (relative to Figure 2(rotate clockwise in the middle), so that the connecting rod I 503 is disengaged from the locking groove II 606, and unlocking is achieved;

[0050] The locking member II 607 ​​is provided with a hook mouth II 608, and a drivable push rod II 603 is provided corresponding to the hook mouth II 608. The push rod II 603 is inserted into the housing II 602 and abuts against the hook mouth II 608. The push rod II 603 can apply a force to the hook mouth II 608 to rotate the locking member II 607, so that the connecting rod I 503 can be separated from the locking groove II 606; when it is in an unconnected state, the hook mouth II 608 abuts against the push rod II 603. When unlocking is required, the push rod II 603 (which can be an electric push rod) is driven and pushes the hook mouth II 608 to rotate, so that the locking member II 607 ​​rotates (relative to the Figure 2 The structure of the push rod Ⅰ512 and the push rod Ⅱ603 is the existing electric push rod structure, which will not be described in detail here.

[0051] In this embodiment, the locking member Ⅰ502 is further provided with a positioning top block Ⅰ507, and the positioning top block Ⅰ507 is used to exert a force on the connecting rod Ⅰ503 under the drive of the push rod Ⅰ512, so that the connecting rod Ⅰ503 is separated from the locking groove Ⅱ606;

[0052] The locking member II607 is also provided with a positioning top block II609, and the positioning top block II609 is used to apply a force to the connecting rod II605 under the drive of the push rod II603, so that the connecting rod II605 disengages from the locking groove I511; when unlocking, the positioning top block I507 and the positioning top block II609 are respectively driven by the hook mouth I508 and the hook mouth II608 to continue to apply a force to the connecting rod I503 and the connecting rod II605, until the connecting rod I503 and the connecting rod II605 are respectively completely disengaged from the locking groove II and the locking groove I, thereby unlocking.

[0053] In the present invention, the working principle of the connecting assembly I5 and the connecting assembly II6 is as follows: when in the waiting state, the locking member I502 and the locking member II607 are in the waiting position, the elastic member I504 and the elastic member II610 are in the relaxed state, the connecting rod I503 and the connecting rod II605 are respectively in contact with the outer end surfaces of the sliding part I505 and the sliding part II604, and the hook mouth I508 and the hook mouth II608 are respectively in contact with the push rod I512 and the push rod II603; when in the connected state, during the process of the connecting assembly I5 and the connecting assembly II6 being aligned and contacted, the connecting rod I503 and the connecting rod II605 first apply a force to the force-bearing surface II612 and the force-bearing surface I510, respectively, thereby pushing the locking member II607 and The locking member Ⅰ502 rotates, and the connecting rod Ⅰ503 and the connecting rod Ⅱ605 are driven to shrink along the trajectory formed by the inner surfaces of the sliding part Ⅰ505 and the sliding part Ⅱ604. At the same time, under the action of the elastic member Ⅰ504 and the elastic member Ⅱ610, the connecting rod Ⅰ503 and the connecting rod Ⅱ605 retreat horizontally into the sliding part Ⅰ505 and the sliding part Ⅱ604 respectively. At this time, the locking member Ⅰ502 and the locking member Ⅱ607 continue to rotate, so that the connecting rod Ⅰ503 and the connecting rod Ⅱ605 enter the clearance space Ⅱ and the clearance space Ⅰ, until the connecting rod Ⅰ503 and the connecting rod Ⅱ605 are respectively inserted into the locking groove Ⅱ606 and the locking groove Ⅰ511, completing the locking of the connecting assembly Ⅰ5 and the connecting assembly Ⅱ6. At this time, the connecting rod Ⅰ5 03. The connecting rod Ⅱ605, the locking piece Ⅰ502 and the locking piece Ⅱ607 are restored to the initial state due to the action of the elastic piece Ⅰ504 and the elastic piece Ⅱ610, and at this time, the connecting rod Ⅰ503, the connecting rod Ⅱ605, the locking piece Ⅰ502 and the locking piece Ⅱ607 form a parallelogram structure. When subjected to a tensile force, the connecting rod Ⅰ503 and the connecting rod Ⅱ605 evenly distribute the force, so that the connection remains in a stable state; when in the unlocked state, the push rod Ⅰ512 and the push rod Ⅱ603 are driven to move, thereby pushing the hook mouth Ⅰ508 and the hook mouth Ⅱ608 and driving the locking piece Ⅰ502 and the locking piece Ⅱ607 to rotate, so that the connecting rod Ⅰ503 and the connecting rod Ⅱ605 are horizontally retracted into the sliding part Ⅰ505 And sliding part Ⅱ604 (i.e. retreating into shell Ⅰ501 and shell Ⅱ602), at this time, they are respectively acted upon by positioning top block Ⅰ507 and positioning top block Ⅱ609, until connecting rod Ⅰ503 and connecting rod Ⅱ605 are respectively disengaged from locking groove Ⅱ606 and locking groove Ⅰ511, at this time, connecting component Ⅰ5 and connecting component Ⅱ6 are in unlocked state, and finally, under the action of elastic member Ⅰ504 and elastic member Ⅱ610, connecting rod Ⅰ503, connecting rod Ⅱ605, locking member Ⅰ502 and locking member Ⅱ607 are restored to their initial state; when it is necessary to switch the mode of the leg assembly, the second leg 3 and the third leg 4 are retracted through the movement of the third hydraulic mechanism 11, and are fixedly connected through the magnetic suction component and the connecting mechanism.

[0054] In this embodiment, the end of the second leg 3 is provided with a foot end I301, and the end of the third leg 4 is provided with a foot end II401. The foot end I301 is a semi-spherical structure, and the outside of the semi-spherical structure is coated with rubber material. The foot end II401 is a truncated cone structure, and the outside of the truncated cone structure is coated with rubber material. The outside of the foot end I301 and the foot end II401 are coated with rubber material, which can increase friction, reduce noise and buffer, and can protect the foot end I301 and the foot end II401. When moving in the horse leg mode (three-joint mode), the foot end III serves as the part that contacts the ground, and when moving in the leopard leg mode (two-joint mode), the foot end I301 serves as the part that contacts the ground.

[0055] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solution of the present invention, which should be included in the scope of the claims of the present invention.

Claims

1. A bionic mechanical leg with variable modality, characterized in that: include: A hip joint, the hip joint comprising a first bracket; The leg assembly includes a first leg, a second leg and a third leg which are connected by joints in sequence. The first leg and the second leg are connected by joints, and the second leg and the third leg are connected by joints and can be folded and positioned to form a fixed connection, so that the leg assembly can be operated to form a three-joint mode or a two-joint mode.

2. The bionic mechanical leg with variable modality according to claim 1, characterized in that: It also includes a connecting and positioning mechanism, including a magnetic attraction component, the magnetic attraction component includes an electromagnetic part and an adsorption part, which are respectively arranged on the second leg and the third leg, the electromagnetic part is provided with a connecting groove, and the adsorption part is provided with a connecting boss that cooperates with the connecting groove, the electromagnetic part and the adsorption part can be operably connected to enable the second leg and the third leg to be folded and positioned to form a fixed connection.

3. The bionic mechanical leg with variable modality according to claim 2, characterized in that: It also includes a connecting component I and a connecting component II, which are correspondingly arranged on the second leg and the third leg, and the connecting component I and the connecting component II can be operably connected to form a fixed connection between the second leg and the third leg.

4. The bionic mechanical leg with variable modality according to claim 1, characterized in that: It also includes a driving mechanism, including a first hydraulic mechanism, a second hydraulic mechanism and a third hydraulic mechanism, the first hydraulic cylinder of the first hydraulic mechanism is arranged in the first bracket, the first piston rod is hinged to the first leg through an articulated bracket, the second hydraulic cylinder of the second hydraulic mechanism is arranged in the first leg, the second piston rod is hinged to the second leg through an articulated bracket, the third hydraulic cylinder of the third hydraulic mechanism is arranged in the second leg, and the third piston rod is hinged to the third leg through an articulated bracket.

5. The bionic mechanical leg with variable modality according to claim 3, characterized in that: The connecting assembly I comprises a housing I, a locking member I and a connecting rod I, wherein the locking member I is rotatably supported in the housing I and can be locked, a sliding portion I is provided on the lower outer side of the housing I, one end of the connecting rod I is supported in the housing I, and the other end abuts against the sliding portion I and can be operated to slide along the sliding portion I in a direction close to the housing I, and a clearance space I is provided at an upper position in the housing I; The connecting assembly II includes a shell II, a locking member II and a connecting rod II. The locking member II can be rotatably supported in the shell II and can be locked. A sliding portion II is provided on the upper outer side of the shell II. One end of the connecting rod II is supported in the shell II, and the other end abuts against the sliding portion II and can be operated to slide along the sliding portion II toward the shell II. A clearance space II is provided at the lower position in the shell II.

6. The bionic mechanical leg with variable modality according to claim 5, characterized in that: It also includes two connecting ears I and two connecting ears II, wherein the two connecting ears I are respectively arranged on the inner side of the sliding part I and one end of the connecting rod I supported in the housing I, and the two connecting ears I are connected by an elastic member I; The two connecting ears II are respectively arranged on the inner side of the sliding part II and one end of the connecting rod II supported in the shell body II, and the two connecting ears II are connected by an elastic member II.

7. The bionic mechanical leg with variable modality according to claim 5, characterized in that: The locking member I is provided with a locking groove I and a force-bearing surface I, the locking member II is provided with a locking groove II and a force-bearing surface II, and the connecting rod I can be operated to apply a force to the force-bearing surface II, so that the locking member II rotates, so that the connecting rod I can enter the clearance space II and engage with the locking groove II; The connecting rod II can be operated to apply a force to the force-bearing surface I, so that the locking member I rotates, so that the connecting rod II can enter the clearance space I and engage with the locking groove I.

8. The bionic mechanical leg with variable modality according to claim 5, characterized in that: The locking member I is provided with a hook mouth I, and a drivable push rod I is provided corresponding to the hook mouth I. The push rod I is inserted into the housing I and abuts against the hook mouth I. The push rod I can apply a force to the hook mouth I to rotate the locking member I, so that the connecting rod II can be separated from the locking groove I. The locking member II is provided with a hook mouth II, and a drivable push rod II is provided corresponding to the hook mouth II. The push rod II is inserted into the shell II and abuts against the hook mouth II. The push rod II can apply a force to the hook mouth II to rotate the locking member II, so that the connecting rod I can be disengaged from the locking groove II.

9. The bionic mechanical leg with variable modality according to claim 8, characterized in that: The locking member I is also provided with a positioning top block I, and the positioning top block I is used to exert a force on the connecting rod I under the drive of the push rod I, so that the connecting rod I is separated from the locking groove II; The locking member II is also provided with a positioning top block II, and the positioning top block II is used to exert a force on the connecting rod II under the drive of the push rod II, so that the connecting rod II is separated from the locking groove I.

10. The bionic mechanical leg with variable modality according to claim 1, characterized in that: The end of the second leg is provided with a foot end I, and the end of the third leg is provided with a foot end II. The foot end I is a semi-spherical structure, and the semi-spherical structure is coated with rubber material on the outside. The foot end II is a truncated cone structure, and the truncated cone structure is coated with rubber material on the outside.

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