A mechanical leg for a mobile platform

Abstract

The present invention relates to a mechanical leg for a mobile platform, belonging to the technical field of mobile vehicles, and solves the problem that the motor of the mechanical leg-type mobile platform in the prior art generates torque changes instantly when it rotates forward and reverse, causing the mechanical leg to vibrate during operation, and the frequent forward and reverse switching will cause a large impact on the mechanical transmission components, accelerating the wear of the components. The present invention includes a driving unit, a thigh unit and a calf unit, the driving unit can be connected to the mobile platform, the thigh unit is connected to the driving unit, and the calf unit is arranged on the thigh unit. The first motor of the mechanical leg of the present invention rotates, which can drive the driving rod to rotate around the output shaft of the first motor and drive the transmission rod to reciprocate; the first motor does not need to switch forward and reverse, and will not frequently generate torque changes. The present invention can avoid vibration of the mechanical leg and the impact on the mechanical transmission components, and slow down the wear of the components.

Description

Technical Field

[0001] The present invention belongs to the technical field of mobile vehicles, and in particular relates to a mechanical leg for a mobile platform. Background Art

[0002] Most common mobile platform devices are mobile platforms that slide by rotating wheels. This type of wheeled mobile platform has a low chassis and is highly affected by the external environment. It is not suitable for use in places with complex external environments such as large ground undulations or many obstacles. Therefore, common wheeled mobile platforms will be limited in many applications. Mechanical leg mobile platforms have a strong ability to adapt to complex environments and can also be used on uneven roads or places with many obstacles.

[0003] Existing mechanical leg mobile platform solutions mostly use the forward and reverse switching of the motor to drive the mechanical legs to swing and realize the platform's forward movement. However, the instantaneous forward and reverse rotation of the motor will produce a large torque change, which may cause the mechanical legs to vibrate during operation. Frequent forward and reverse switching will cause a large impact on the mechanical transmission components and accelerate the wear of these components. This may cause the accuracy of the mechanical legs to decrease, requiring more frequent maintenance and replacement of parts, increasing the cost of use and maintenance workload.

[0004] Therefore, there is an urgent need for a mechanical leg for a mobile platform to solve the problem that the mechanical leg-type mobile platform solution in the prior art uses the forward and reverse switching of the motor to drive the mechanical leg to swing and realize the advancement of the platform. The forward and reverse rotation of the motor instantly produces torque changes, causing the mechanical leg to vibrate during operation; frequent forward and reverse switching will cause a greater impact on the mechanical transmission components and accelerate the wear of the components. Summary of the invention

[0005] In view of the above analysis, the present invention aims to provide a mechanical leg for a mobile platform to solve the problem that the torque changes generated by the instantaneous forward and reverse rotation of the motor of the mechanical leg-type mobile platform in the prior art cause the mechanical leg to vibrate during operation; and the frequent forward and reverse switching will cause a greater impact on the mechanical transmission components and accelerate the wear of the components.

[0006] The purpose of the present invention is mainly achieved through the following technical solutions:

[0007] A mechanical leg for a mobile platform, comprising a driving unit, a thigh unit and a calf unit, wherein the driving unit can be connected to the mobile platform, the thigh unit is connected to the driving unit, and the calf unit is arranged on the thigh unit;

[0008] The driving unit comprises a connecting seat, a positioning assembly and a driving assembly;

[0009] The positioning assembly includes a positioning rod and a positioning rod shaft, one end of the positioning rod shaft is rotatably connected to the connecting seat, the other end of the positioning rod shaft is fixedly connected to one end of the positioning rod, and the other end of the positioning rod is rotatably connected to the thigh unit. The positioning rod can rotate around the positioning rod shaft, and the thigh unit can rotate around the end of the positioning rod. By changing the angle between the positioning rod and the moving platform, the distance between the thigh unit and the moving platform can be changed, thereby changing the distance between the moving platform and the ground;

[0010] The driving assembly comprises a first motor, a driving rod and a transmission rod, wherein the first motor is arranged on the connecting seat, one end of the driving rod is fixedly connected to the output shaft of the first motor, the other end of the driving rod is rotatably connected to one end of the transmission rod, and the other end of the transmission rod is rotatably connected to the thigh unit;

[0011] The first motor rotates continuously in the same direction, which can drive the driving rod to rotate around the output shaft of the first motor, thereby driving the transmission rod to perform reciprocating motion, and driving the thigh unit and the calf unit to swing, so that the mobile platform moves.

[0012] Furthermore, the positioning assembly also includes a second motor, a positioning worm and a positioning worm wheel, the second motor is arranged on the connecting seat, the positioning worm is connected to the output shaft of the second motor, and the positioning worm wheel is sleeved on the positioning rod shaft; the positioning worm can be connected to the positioning worm wheel, the rotation of the second motor can drive the positioning worm to rotate, the positioning worm can drive the positioning worm wheel to rotate, and drive the positioning rod to rotate around the positioning rod axis, so as to adjust the angle between the positioning rod and the moving platform.

[0013] Furthermore, the positioning worm and the positioning worm wheel can be self-locking. When the second motor stops rotating, the positioning worm wheel cannot rotate, so that the angle between the positioning rod and the mobile platform remains unchanged, thereby fixing the distance between the thigh unit and the mobile platform.

[0014] Further, the thigh unit includes a first vertical pole, a second vertical pole, a first pivot rod and a second pivot rod, the two ends of the first pivot rod are respectively fixedly connected to the first vertical pole and the second vertical pole, and the two ends of the second pivot rod are respectively fixedly connected to the first vertical pole and the second vertical pole; the first pivot rod is used for rotationally connecting with the positioning rod, and the second pivot rod is used for rotationally connecting with the transmission rod, and the first vertical pole and the second vertical pole can rotate around the first pivot rod at the same time.

[0015] Further, the calf unit includes a mounting frame, a third motor, a first gear, a second gear, a screw and a nut. The outer wall of the mounting frame is fixedly connected to the first upright pole and the second upright pole respectively. The third motor is arranged on the mounting frame. One end of the screw is rotatably connected to the mounting frame, and the other end of the screw is connected to the nut. The first gear is sleeved on the output shaft of the third motor, and the second gear is sleeved on the screw. The third motor can drive the first gear to rotate and drive the second gear to rotate, thereby driving the screw to rotate and driving the nut to move linearly along the calf unit.

[0016] Furthermore, the calf unit also includes a first sleeve and a second sleeve, one end of the first sleeve is connected to the mounting frame, the other end of the first sleeve can be connected to the second sleeve, and one end of the second sleeve is fixedly connected to the nut; the nut can drive the second sleeve to slide inside the first sleeve along the first sleeve.

[0017] Furthermore, the telescopic leg assembly also includes a leg hook, and the leg hook is arranged on the second sleeve.

[0018] Furthermore, it also includes a foot unit, the foot unit includes a grounding block and a foot hook, the foot hook is arranged on the grounding block, and the foot hook is hinged to the leg hook.

[0019] Furthermore, it also includes a distance sensor, which is arranged on the thigh unit and is used to measure the distance between the thigh unit and the ground.

[0020] Furthermore, it also includes a buffer unit, which includes a connecting block, a connecting bolt and a buffer spring. The connecting block is used to connect to the mobile platform, and the connecting block is movably connected to the connecting seat through the connecting bolt. The buffer spring is sleeved on the connecting bolt, and one end of the buffer spring is connected to the connecting block, and the other end of the buffer spring is connected to the connecting seat of the connecting block. The buffer spring is used to maintain the connection block and the connecting seat in a separated state.

[0021] Compared with the prior art, the present invention can achieve at least one of the following beneficial effects:

[0022] (1) The first motor of the mechanical leg of the present invention rotates, which can drive the driving rod to rotate around the output shaft of the first motor and drive the transmission rod to reciprocate. The first motor does not need to switch between forward and reverse rotations, and does not frequently generate torque changes, thereby avoiding vibration of the mechanical leg and impact on the mechanical transmission components, and reducing component wear.

[0023] (2) The positioning rod of the present invention can rotate around the axis of the positioning rod, and the thigh unit can rotate around the end of the positioning rod. By changing the angle between the positioning rod and the mobile platform, the distance between the thigh unit and the mobile platform can be changed, thereby changing the distance between the mobile platform and the ground, which greatly facilitates the adjustment of the passability of the mobile platform;

[0024] (3) The positioning worm and the positioning worm wheel of the present invention can be self-locking. When the second motor stops rotating, the positioning worm wheel cannot rotate, thereby ensuring that the angle between the positioning rod and the moving platform remains unchanged, thereby fixing the distance between the thigh unit and the moving platform.

[0025] (4) The third motor of the present invention can drive the first gear to rotate and drive the second gear to rotate, thereby driving the screw to rotate and driving the nut to move linearly along the calf unit. The nut can drive the second sleeve to slide along the first sleeve in the first sleeve to achieve telescopic changes of the telescopic leg assembly;

[0026] (5) When the mechanical leg of the present invention swings backward, the calf unit can be lengthened all the time, but the distance between the thigh unit and the ground can remain unchanged; when the mechanical leg swings forward, the calf unit can be shortened all the time, but the distance between the thigh unit and the ground can remain unchanged. The mobile platform does not fluctuate during the forward movement, and the mobile platform remains stable.

[0027] (6) When the mechanical leg of the present invention swings, the driving unit can compress the buffer spring, and the buffer spring can buffer the driving unit to prevent the vibration of the driving unit from being transmitted to the mobile platform, thereby making the operation of the mobile platform more stable.

[0028] In the present invention, the above-mentioned technical solutions can be combined with each other to achieve more preferred combination solutions. Other features and advantages of the present invention will be described in the following content, and some advantages can become obvious from the description or be understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained through the contents particularly pointed out in the text and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The accompanying drawings are only used for the purpose of illustrating specific embodiments and are not to be considered as limiting the present invention. In the entire drawings, the same reference symbols represent the same components;

[0030] Figure 1 It is a schematic diagram of the overall structure of the mechanical leg of the present invention;

[0031] Figure 2 is a schematic diagram of the overall structure of the drive unit;

[0032] Figure 3 It is a schematic diagram of the overall structure of the calf unit and the foot unit;

[0033] Figure 4 Schematic diagram of the decomposed structure of the calf unit and the foot unit;

[0034] Figure 5 Schematic diagram of the overall structure of the buffer unit.

[0035] Reference numerals:

[0036] 1-driving unit; 2-thigh unit; 3-calf unit; 4-foot unit; 5-distance sensor; 6-buffer unit; 11-connecting seat; 12-positioning rod; 13-positioning rod shaft; 14-first motor; 15-driving rod; 16-transmission rod; 17-second motor; 18-positioning worm; 19-positioning worm wheel; 21-first vertical rod; 22-second vertical rod; 23-first rotating shaft rod; 24-second rotating shaft rod; 31-installing frame; 32-third motor; 33-first gear; 34-second gear; 35-screw; 36-nut; 37-first sleeve; 38-second sleeve; 39-leg hanging ear; 41-grounding block; 42-foot hanging ear; 61-connecting block; 62-connecting bolt; 63-buffer spring. DETAILED DESCRIPTION

[0037] The preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of the present invention and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not used to limit the scope of the present invention.

[0038] Example 1

[0039] A specific embodiment of the present invention, as Figure 1 As shown, a mechanical leg for a mobile platform (hereinafter referred to as the mechanical leg) is disclosed, including a driving unit 1, a thigh unit 2 and a calf unit 3, one end of the driving unit 1 is connected to the mobile platform, the other end of the driving unit 1 is connected to the thigh unit 2, and the calf unit 3 is arranged on the thigh unit 2. The driving unit 1 is used to drive the thigh unit 2 and the calf unit 3 to swing, thereby causing the mobile platform to move.

[0040] Preferably, if Figure 2 As shown, the driving unit 1 includes a connecting seat 11, a positioning assembly and a driving assembly, both of which are arranged on the connecting seat 11, and the connecting seat 11 is used to connect with the mobile platform. The positioning assembly is used to adjust the distance between the mobile platform and the thigh unit 2, and the driving assembly is used to drive the thigh unit 2 to swing back and forth, so that the mobile platform produces displacement.

[0041] Preferably, the positioning assembly includes a positioning rod 12 and a positioning rod shaft 13, one end of the positioning rod shaft 13 is rotatably connected to the connecting seat 11, one end of the positioning rod 12 is fixedly connected to the other end of the positioning rod shaft 13, and the other end of the positioning rod 12 is rotatably connected to the thigh unit 2. The positioning rod 12 can rotate around the positioning rod shaft 13, and the thigh unit 2 can rotate around the end of the positioning rod 12. By changing the angle between the positioning rod 12 and the mobile platform, the distance between the thigh unit 2 and the mobile platform can be changed, thereby changing the distance between the mobile platform and the ground, and adjusting the passability of the mobile platform.

[0042] Preferably, the driving assembly includes a first motor 14, a driving rod 15 and a transmission rod 16. The first motor 14 is disposed on the connecting seat 11. One end of the driving rod 15 is fixedly connected to the output shaft of the first motor 14. The other end of the driving rod 15 is rotationally connected to one end of the transmission rod 16. The other end of the transmission rod 16 is rotationally connected to the thigh unit 2. The rotation of the first motor 14 can drive the driving rod 15 to rotate around the output shaft of the first motor 14 and drive the transmission rod 16 to perform reciprocating motion. The first motor 14 can continuously rotate without changing the direction of rotation and drive the thigh unit 2 to perform reciprocating swing. The first motor 14 does not need to switch between forward and reverse rotations and does not frequently generate torque changes, thereby avoiding vibration of the mechanical leg and impact on the mechanical transmission components, and reducing component wear.

[0043] Preferably, in order to adjust the angle between the positioning rod 12 and the mobile platform, the positioning assembly further includes a second motor 17, a positioning worm 18 and a positioning worm wheel 19, wherein the second motor 17 is arranged on the connecting seat 11, the positioning worm 18 is connected to the output shaft of the second motor 17, and the positioning worm wheel 19 is sleeved on the positioning rod shaft 13. The positioning worm 18 can be connected to the positioning worm wheel 19, and the rotation of the second motor 17 can drive the positioning worm 18 to rotate, and the positioning worm 18 can drive the positioning worm wheel 19 to rotate, and drive the positioning rod 12 to rotate around the positioning rod shaft 13, so as to adjust the angle between the positioning rod 12 and the mobile platform. The positioning worm 18 and the positioning worm wheel 19 can be self-locking, and when the second motor 17 stops rotating, the positioning worm wheel 19 cannot rotate, so as to ensure that the angle between the positioning rod 12 and the mobile platform remains unchanged, so as to fix the distance between the thigh unit 2 and the mobile platform.

[0044] Preferably, if Figure 1As shown, the thigh unit 2 includes a first vertical rod 21, a second vertical rod 22, a first rotating shaft rod 23 and a second rotating shaft rod 24. The two ends of the first rotating shaft rod 23 are fixedly connected to the first vertical rod 21 and the second vertical rod 22 respectively, and the two ends of the second rotating shaft rod 24 are fixedly connected to the first vertical rod 21 and the second vertical rod 22 respectively. The first vertical rod 21 and the second vertical rod 22 have the same structure. The first rotating shaft rod 23 is used to be rotatably connected to the positioning rod 12, and the second rotating shaft rod 24 is used to be rotatably connected to the transmission rod 16. The first vertical rod 21 and the second vertical rod 22 can rotate around the first rotating shaft rod 23 at the same time. The positioning rod 12 and the transmission rod 16 are clamped by the first vertical rod 21 and the second vertical rod 22. The first vertical rod 21 and the second vertical rod 22 can ensure that the thigh unit 2 rotates on a plane parallel to the positioning rod 12 and the transmission rod 16 to prevent the thigh unit 2 from twisting.

[0045] During the advancement of the mechanical leg type mobile platform, the mechanical leg swings backwards, and then needs to be lifted and swung forwards, so that the mechanical leg can swing backwards again and drive the mobile platform forward again. Preferably, the calf unit 3 of this embodiment can be retracted, so that the mechanical leg can still swing forwards and backwards without lifting the thigh unit 2, without hindering the advancement of the mobile platform.

[0046] Preferably, if Figure 3 As shown, the calf unit 3 includes a calf drive assembly and a telescopic leg assembly. The calf drive assembly is used to drive the telescopic leg assembly to retract, so that the mechanical leg of this embodiment can be retracted when swinging forward and the mechanical leg can be extended when swinging backward, thereby ensuring the smooth movement of the mobile platform.

[0047] Preferably, if Figure 3 and Figure 4 As shown, the calf drive assembly includes a mounting frame 31, a third motor 32, a first gear 33, a second gear 34, a screw 35 and a nut 36. The outer wall of the mounting frame 31 is fixedly connected to the first upright pole 21 and the second upright pole 22 respectively. The third motor 32 is arranged on the mounting frame 31. One end of the screw 35 is rotatably connected to the mounting frame 31, and the other end of the screw 35 is threadedly connected to the nut 36. The first gear 33 is sleeved on the output shaft of the third motor 32, and the second gear 34 is sleeved on the screw 35. The third motor 32 can drive the first gear 33 to rotate and drive the second gear 34 to rotate, thereby driving the screw 35 to rotate and driving the nut 36 to move linearly along the calf unit 3.

[0048] Preferably, the telescopic leg assembly includes a first sleeve 37 and a second sleeve 38, one end of the first sleeve 37 is connected to the mounting frame 31, the other end of the first sleeve 37 can be connected to the second sleeve 38, and one end of the second sleeve 38 is fixedly connected to the nut 36. The nut 36 can drive the second sleeve 38 to slide inside the first sleeve 37 along the first sleeve 37 to achieve telescopic changes of the telescopic leg assembly.

[0049] The leg length of the existing mechanical leg-type mobile platform solution cannot be changed, and the movement of the legs is a simple pendulum motion. The mechanical leg-type mobile platform solution will fluctuate up and down during movement, affecting the stability of the mobile platform. The mechanical legs of this embodiment can continuously lengthen the calf unit 3 during the backward swing, but the distance between the thigh unit 2 and the ground can remain unchanged; the mechanical legs can continuously shorten the calf unit 3 during the forward swing, but the distance between the thigh unit 2 and the ground can remain unchanged. The mobile platform will not fluctuate during the forward movement, thereby maintaining the stability of the mobile platform.

[0050] Preferably, the first sleeve 37 is a limiting sleeve, the second gear 34, the screw 35 and the nut 36 are all arranged in the first sleeve 37, and the outer surface contour of the nut 36 is the same as the inner surface contour of the first sleeve 37, but the outer surface contour of the nut 36 and the inner surface contour of the first sleeve 37 cannot be circular, the first sleeve 37 is used to prevent the nut 36 from rotating, and the nut 36 can only slide in a straight line along the first sleeve 37.

[0051] Preferably, if Figure 1 and Figure 4 As shown, the telescopic leg assembly also includes a leg hook 39, which is arranged on the second sleeve 38. The mechanical leg of this embodiment also includes a foot unit 4, which includes a grounding block 41 and a foot hook 42, which is arranged on the grounding block 41, and the foot hook 42 is hinged to the leg hook 39. During the swinging process of the thigh unit 2 and the calf unit 3, due to the gravity of the grounding block 41, the grounding block 41 can always remain parallel to the ground. When the grounding block 41 is connected to the ground, the grounding block 41 can maintain the maximum contact area with the ground, thereby ensuring the stable operation of the mechanical leg and the mobile platform of this embodiment.

[0052] Preferably, Figure 1 As shown, the mechanical leg of this embodiment also includes a distance sensor 5, which is arranged on the thigh unit 2. The distance sensor 5 is used to measure the distance between the thigh unit 2 and the ground, and transmit the measured distance data to the controller of the mobile platform in real time. The controller can control the rotation of the third motor 32 according to the distance data, adjust the length of the calf unit 3, and prevent the foot unit 4 from connecting with the ground and hindering the movement of the mobile platform when the calf unit 3 swings forward.

[0053] Compared with the prior art, the rotation of the first motor 14 of this embodiment can drive the driving rod 15 to rotate around the output shaft of the first motor 14, and drive the transmission rod 16 to reciprocate; the first motor 14 does not need to switch between forward and reverse directions, and will not frequently produce torque changes, thereby avoiding vibration of the mechanical legs and impact on mechanical transmission components, and reducing component wear; the positioning rod 12 can rotate around the positioning rod axis 13, and the thigh unit 2 can rotate around the end of the positioning rod 12. By changing the angle between the positioning rod 12 and the mobile platform, the distance between the thigh unit 2 and the mobile platform can be changed, thereby changing the distance between the mobile platform and the ground, which greatly facilitates the adjustment of the passability of the mobile platform; the positioning worm 18 and the positioning worm wheel 19 can be self-locking, and when the second motor 17 stops rotating, the positioning worm wheel 19 cannot rotate. , ensuring that the angle between the positioning rod 12 and the moving platform remains unchanged, thereby fixing the distance between the thigh unit 2 and the moving platform; the third motor 32 can drive the first gear 33 to rotate, and drive the second gear 34 to rotate, thereby driving the screw 35 to rotate, and driving the nut 36 to move linearly along the calf unit 3, the nut 36 can drive the second sleeve 38 to slide along the first sleeve 37 in the first sleeve 37, to achieve the telescopic change of the telescopic leg assembly; during the backward swinging process, the mechanical leg can continuously lengthen the calf unit 3, but the distance between the thigh unit 2 and the ground can remain unchanged; during the forward swinging process, the mechanical leg can continuously shorten the calf unit 3, but the distance between the thigh unit 2 and the ground can remain unchanged, and the moving platform will not produce ups and downs during the forward movement, thereby maintaining the stability of the moving platform.

[0054] Example 2

[0055] Another specific embodiment of the present invention, as Figure 1 As shown, the connection method between the driving unit 1 and the mobile platform of Example 1 is improved, and a buffer unit 6 is added on the basis of Example 1. The buffer unit 6 is used to connect the driving unit 1 with the mobile platform to buffer the vibration transmitted to the mobile platform by the mechanical leg of this embodiment, so that the operation of the mobile platform is more stable.

[0056] Preferably, if Figure 5 As shown, the buffer unit 6 includes a connecting block 61, a connecting bolt 62 and a buffer spring 63. The connecting block 61 is movably connected to the connecting seat 11 through the connecting bolt 62. The buffer spring 63 is sleeved on the connecting bolt 62, and one end of the buffer spring 63 is connected to the connecting block 61, and the other end of the buffer spring 63 is connected to the connecting block 61 connecting seat 11. The buffer spring 63 is used to maintain the connection block 61 and the connecting seat 11 in a separated state.

[0057] Compared with the driving unit 1 in Example 1 that is connected to the mobile platform, the driving unit 1 will transmit all the vibrations of the mechanical legs to the mobile platform. When the mechanical legs of this embodiment swing, the driving unit 1 can compress the buffer spring 63, and the buffer spring 63 can buffer the driving unit 1 to prevent the vibrations of the driving unit 1 from being transmitted to the mobile platform, thereby making the operation of the mobile platform more stable.

[0058] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by any technician familiar with the technical field within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. A mechanical leg for a mobile platform, characterized in that: The device comprises a driving unit (1), a thigh unit (2) and a calf unit (3), wherein the driving unit (1) is connectable to a mobile platform, the thigh unit (2) is connected to the driving unit (1), and the calf unit (3) is arranged on the thigh unit (2); The driving unit (1) comprises a connecting seat (11), a positioning component and a driving component; The positioning assembly comprises a positioning rod (12) and a positioning rod shaft (13); one end of the positioning rod shaft (13) is rotatably connected to the connecting seat (11); the other end of the positioning rod shaft (13) is fixedly connected to one end of the positioning rod (12); the other end of the positioning rod (12) is rotatably connected to the thigh unit (2); the positioning rod (12) can rotate around the positioning rod shaft (13); the thigh unit (2) can rotate around the end of the positioning rod (12); and by changing the angle between the positioning rod (12) and the mobile platform, the distance between the thigh unit (2) and the mobile platform can be changed, thereby changing the distance between the mobile platform and the ground; The driving assembly comprises a first motor (14), a driving rod (15) and a transmission rod (16); the first motor (14) is arranged on the connecting seat (11); one end of the driving rod (15) is fixedly connected to an output shaft of the first motor (14); the other end of the driving rod (15) is rotatably connected to one end of the transmission rod (16); and the other end of the transmission rod (16) is rotatably connected to the thigh unit (2); The first motor (14) rotates continuously in the same direction, and can drive the driving rod (15) to rotate around the output shaft of the first motor (14), thereby driving the transmission rod (16) to perform reciprocating motion, and driving the thigh unit (2) and the calf unit (3) to swing, thereby moving the mobile platform; The positioning assembly further comprises a second motor (17), a positioning worm (18) and a positioning worm wheel (19); the second motor (17) is arranged on the connecting seat (11); the positioning worm (18) is connected to the output shaft of the second motor (17); and the positioning worm wheel (19) is sleeved on the positioning rod shaft (13); the positioning worm (18) can be connected to the positioning worm wheel (19); the rotation of the second motor (17) can drive the positioning worm (18) to rotate; the positioning worm (18) can drive the positioning worm wheel (19) to rotate and drive the positioning rod (12) to rotate around the positioning rod shaft (13), thereby adjusting the angle between the positioning rod (12) and the moving platform; The positioning worm (18) and the positioning worm wheel (19) are capable of self-locking; when the second motor (17) stops rotating, the positioning worm wheel (19) cannot rotate, so that the angle between the positioning rod (12) and the mobile platform remains unchanged, thereby fixing the distance between the thigh unit (2) and the mobile platform.

2. A mechanical leg for a mobile platform according to claim 1, characterized in that: The thigh unit (2) comprises a first vertical rod (21), a second vertical rod (22), a first rotating shaft rod (23) and a second rotating shaft rod (24); two ends of the first rotating shaft rod (23) are respectively fixedly connected to the first vertical rod (21) and the second vertical rod (22); two ends of the second rotating shaft rod (24) are respectively fixedly connected to the first vertical rod (21) and the second vertical rod (22); the first rotating shaft rod (23) is used for rotationally connecting to the positioning rod (12); the second rotating shaft rod (24) is used for rotationally connecting to the transmission rod (16); the first vertical rod (21) and the second vertical rod (22) can rotate around the first rotating shaft rod (23) at the same time.

3. A mechanical leg for a mobile platform according to claim 2, characterized in that: The calf unit (3) comprises a mounting frame (31), a third motor (32), a first gear (33), a second gear (34), a screw rod (35) and a nut (36); the outer wall of the mounting frame (31) is fixedly connected to the first upright pole (21) and the second upright pole (22); the third motor (32) is arranged on the mounting frame (31); one end of the screw rod (35) is rotatably connected to the mounting frame (31); the other end of the screw rod (35) is connected to the nut (36); the first gear (33) is sleeved on the output shaft of the third motor (32); the second gear (34) is sleeved on the screw rod (35); the third motor (32) can drive the first gear (33) to rotate and drive the second gear (34) to rotate, thereby driving the screw rod (35) to rotate and driving the nut (36) to move linearly along the calf unit (3).

4. A mechanical leg for a mobile platform according to claim 3, characterized in that: The calf unit (3) further comprises a first sleeve (37) and a second sleeve (38); one end of the first sleeve (37) is connected to the mounting frame (31); the other end of the first sleeve (37) can be connected to the second sleeve (38); one end of the second sleeve (38) is fixedly connected to the nut (36); the nut (36) can drive the second sleeve (38) to slide inside the first sleeve (37) and along the first sleeve (37).

5. A mechanical leg for a mobile platform according to claim 4, characterized in that: The telescopic leg assembly also includes a leg hanging ear (39), wherein the leg hanging ear (39) is arranged on the second sleeve (38).

6. A mechanical leg for a mobile platform according to claim 5, characterized in that: It also comprises a foot unit (4), the foot unit (4) comprising a grounding block (41) and a foot hook (42), the foot hook (42) being arranged on the grounding block (41), and the foot hook (42) being hinged to the leg hook (39).

7. The mechanical leg for a mobile platform according to claim 1, characterized in that: It also comprises a distance sensor (5), which is arranged on the thigh unit (2) and is used to measure the distance between the thigh unit (2) and the ground.

8. The mechanical leg for a mobile platform according to claim 1, characterized in that: The invention also comprises a buffer unit (6), the buffer unit (6) comprising a connecting block (61), a connecting bolt (62) and a buffer spring (63), the connecting block (61) being used to connect to the mobile platform, the connecting block (61) being movably connected to the connecting seat (11) via the connecting bolt (62), the buffer spring (63) being sleeved on the connecting bolt (62), one end of the buffer spring (63) being connected to the connecting block (61), the other end of the buffer spring (63) being connected to the connecting block (61) and the connecting seat (11), the buffer spring (63) being used to maintain the connection block (61) and the connecting seat (11) in a separated state.

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