Machine leg for multi-legged robot

Abstract

The invention relates to a machine leg for a multi-legged robot, belongs to the technical field of mobile carriers, and solves the problems that in the multi-legged robot scheme in the prior art, in order to keep the distance between a trunk and the ground, a motor needs to be powered up for keeping, and limited energy carried by the multi-legged robot is wasted. The multi-legged robot leg comprises a base joint unit, a first leg unit, a second leg unit and a third leg unit, one end of the base joint unit is connected with a trunk of a multi-legged robot, the other end of the base joint unit is connected with the first leg unit, and the two ends of the second leg unit are connected with the first leg unit and the third leg unit respectively. Self-locking can be achieved by changing the first screw and the first gear, when the first motor is not powered on, the first screw can prevent the first gear from rotating, it is ensured that the included angle between the first leg unit and the trunk of the multi-legged robot is not changed, the first motor does not need to be powered on any more, and limited energy carried by the multi-legged robot is saved.

Description

Technical Field

[0001] The invention belongs to the technical field of mobile vehicles, and in particular relates to a machine leg for a multi-legged robot. Background Art

[0002] A multi-legged robot is a bionic robot whose design is inspired by the walking style and leg structure of multi-legged animals such as insects. Multi-legged robots usually use multiple legs to support and move their bodies, and can adapt to complex terrain environments. The design of multi-legged robots is inspired by multi-legged animals such as insects and spiders, and draws on their movement style and leg structure, such as six legs, eight legs, or even more legs, to achieve stable movement and complex movements of robots. Multi-legged robots are widely used in exploration, search and rescue, and surveying, and play an important role in tasks such as fire rescue, disaster monitoring, and outer space exploration.

[0003] Currently, the legs of multi-legged robots are designed by combining thighs and calves. By changing the angle between the thighs and calves, the distance between the torso of the multi-legged robot and the ground can be adjusted. However, the angle between the thighs and the calves needs to be maintained by a motor, which wastes the limited energy carried by the multi-legged robot.

[0004] Therefore, there is an urgent need for a mechanical leg for a multi-legged robot to solve the problem that the multi-legged robot solution in the prior art needs to rely on motor power to maintain the distance between the torso and the ground, which wastes the limited energy carried by the multi-legged robot. Summary of the invention

[0005] In view of the above analysis, the present invention aims to provide a mechanical leg for a multi-legged robot to solve the problem that the multi-legged robot solutions in the prior art need to rely on motor power to maintain the distance between the torso and the ground, thereby wasting the limited energy carried by the multi-legged robot.

[0006] The purpose of the present invention is mainly achieved through the following technical solutions: A robot leg for a multi-legged robot, comprising a base unit, a first leg unit, a second leg unit and a third leg unit, wherein one end of the base unit is connected to the trunk of the multi-legged robot, the other end of the base unit is connected to the first leg unit, and both ends of the second leg unit are respectively connected to the first leg unit and the third leg unit, and the base unit is used to drive the first leg unit, the second leg unit and the third leg unit to swing, thereby causing the multi-legged robot to move; The base unit comprises a base body, a first motor and a first screw, wherein the first motor is arranged on the base body, the first screw is fixedly connected to the output shaft of the first motor, and the first screw can be connected to the first leg unit; the first motor can drive the first leg unit to swing back and forth by rotating forward and reverse directions; The first leg unit includes a first crossbar and a first gear, wherein the first gear is fixedly arranged at an end of the first crossbar and can be rotatably connected to the base segment body, the first screw rod can be connected to the first gear, and the first screw rod can drive the first gear to rotate, thereby driving the first crossbar to swing around the first gear; The unfolded helix angle of the first screw is smaller than the friction angle of contact between the first screw and the first gear. The first screw and the first gear can be self-locking without powering on the first motor. The first screw can prevent the first gear from rotating, thereby ensuring that the angle between the first leg unit and the trunk of the multi-legged robot remains unchanged.

[0007] Furthermore, the first leg unit also includes a second motor and a second screw rod, the second motor is arranged on the first cross bar, the second screw rod is fixedly connected to the output shaft of the second motor, and the second screw rod can be connected to the second leg unit.

[0008] Furthermore, the second leg unit includes a longitudinal rod and a second gear, the second gear is fixedly arranged at the end of the longitudinal rod, and the second gear can be rotatably connected to the first cross rod, the second screw can be connected to the second gear, and the second screw can drive the second gear to rotate, thereby driving the longitudinal rod to swing; the second screw and the second gear can be self-locking.

[0009] Furthermore, the second leg unit also includes a third motor, which is arranged on the longitudinal rod, and the output shaft of the third motor can be connected to the third leg unit; the rotation of the third motor can drive the third leg unit to rotate, and the forward and reverse rotation of the third motor can drive the third leg unit to swing back and forth.

[0010] Furthermore, the third leg unit includes a second cross bar, a cross bar connecting seat and a spring, wherein the cross bar connecting seat is arranged on the second cross bar, the cross bar connecting seat can be connected to the second leg unit, one end of the spring is connected to one end of the second cross bar, and the other end of the spring is connected to the second leg unit, and the spring is used to pull the second cross bar toward the second leg unit to slow down the process of the ground end of the second cross bar approaching the longitudinal bar.

[0011] Furthermore, the third leg unit also includes a fourth motor and a third screw rod, the fourth motor is arranged on the second cross bar, and the third screw rod is fixedly connected to the output shaft of the fourth motor.

[0012] Furthermore, it also includes a support leg unit, which includes a support leg body, a support leg connecting base and a third gear. The support leg connecting base is arranged on the support leg body, and the third gear is fixedly connected to the support leg connecting base. The support leg connecting base is rotatably connected to the ground end of the second cross bar, and the third screw rod can be connected to the third gear, thereby driving the support leg body to rotate around the third gear, so that the support leg unit can switch the position in contact with the ground.

[0013] Furthermore, the foot support unit further includes a first foot pad and a second foot pad, and the first foot pad and the second foot pad are respectively arranged at two ends of the foot support body.

[0014] Furthermore, the area of ​​the first foot pad contacting the ground is smaller than the area of ​​the second foot pad contacting the ground, the first foot pad is used for the multi-legged robot to move on a hard road surface; the second foot pad is used for the multi-legged robot to move on a soft road surface.

[0015] Furthermore, it also includes a foot pad unit, the foot pad unit includes an anti-skid plate, and the anti-skid plate is arranged on the supporting foot body.

[0016] Furthermore, the anti-slip plate includes a plate body, a rotating shaft and an azimuth rod, the two ends of the rotating shaft rod are respectively connected to the plate body and the azimuth rod, the azimuth rod is rotatably connected to the support body, and moving the azimuth rod can drive the rotating shaft rod to rotate and change the angle between the plate body and the support body.

[0017] Furthermore, the foot pad unit also includes a positioning plate, the positioning plate includes a positioning body and a positioning groove, the positioning groove is arranged on the positioning body, the orientation rod can be connected to the positioning groove, and the positioning body is moved in the length direction of the positioning plate to drive the orientation rod to swing, thereby changing the angle between the plate body and the supporting foot body.

[0018] Furthermore, the foot pad unit also includes a fifth motor and a fourth screw, the fifth motor is arranged on the supporting foot body, the fourth screw is connected to the output shaft of the fifth motor, the positioning plate also includes a driving tooth, the driving tooth is arranged on the positioning body, and the fourth screw can be connected to the driving tooth.

[0019] Compared with the prior art, the present invention can achieve at least one of the following beneficial effects: (1) By changing the angle between the first crossbar and the trunk of the multi-legged robot of the present invention, the distance between the trunk of the multi-legged robot and the ground can be changed, and the passability of the multi-legged robot can be adjusted; the first screw and the first gear can be self-locking. When the first motor is not powered, the first screw can prevent the first gear from rotating, ensuring that the angle between the first leg unit and the trunk of the multi-legged robot remains unchanged, and it is no longer necessary to power the first motor, thereby saving the limited energy carried by the multi-legged robot; (2) By changing the angle between the longitudinal rod and the first crossbar of the present invention, the distance between the first crossbar and the ground can be changed, and the passability of the multi-legged robot can be adjusted. When the first leg unit swings forward, the second leg unit can be close to the first leg unit, increasing the distance between the second leg unit and the ground, so that the machine leg of the present invention can swing forward without hindering the movement of the multi-legged robot; the second screw and the second gear can be self-locking. When the second motor is not powered, the second screw can prevent the second gear from rotating, ensuring that the angle between the first leg unit and the trunk of the multi-legged robot remains unchanged, thereby saving the limited energy carried by the multi-legged robot; (3) One end of the spring of the present invention is connected to one end of the second crossbar, and the other end of the spring is connected to the longitudinal bar. The spring is used to pull the second crossbar toward the longitudinal bar. The other end of the second crossbar is a grounding end. When the grounding end of the second crossbar is grounded, the grounding end of the second crossbar approaches the longitudinal bar. The spring can be stretched to decelerate the process of the grounding end of the second crossbar approaching the longitudinal bar, thereby buffering the vibration when the third leg unit is grounded, preventing the vibration from being transmitted to the trunk of the multi-legged robot, and keeping the multi-legged robot stable. (4) The first foot pad of the present invention is arranged on the first grounding portion, and the second foot pad is arranged on the second grounding portion. Both the first foot pad and the second foot pad are used to contact the ground to protect the supporting foot body; the area of ​​the first foot pad contacting the ground is smaller than the area of ​​the second foot pad contacting the ground. The first foot pad is a hard foot pad, which is used for the multi-legged robot to move on a hard road surface; the second foot pad is a soft foot pad, which is used for the multi-legged robot to move on a soft road surface. The multi-legged robot can switch between the first foot pad and the second foot pad to improve the passability and gripping ability on various road surfaces; (5) The present invention has a plurality of anti-skid plates, and the anti-skid plates are not parallel to the outer wall of the second grounding portion. The plurality of anti-skid plates increases the grounding area of ​​the second grounding portion, increases the friction between the leg support unit and the ground, and improves the passability of the multi-legged robot on slippery ground. The anti-skid plates are movable, and the plate body can be switched between being retracted into the anti-skid plate groove and being extended out of the anti-skid plate groove. After the plate body is retracted into the anti-skid plate groove, the contact area with the ground is reduced, thereby preventing the anti-skid plate from causing unnecessary wear. (6) By moving the positioning body in the length direction of the positioning plate of the present invention, the azimuth rod can be driven to swing, thereby changing the angle between the plate body and the second grounding portion. The fifth motor rotates to drive the fourth screw to rotate, so that the positioning body moves in the length direction of the positioning plate, thereby changing the angle between the plate body and the second grounding portion. The fourth screw and the driving tooth can be self-locking. When the fifth motor is not powered, the fourth screw can prevent the positioning plate from moving, ensuring that the angle between the anti-slip plate and the outer wall of the second grounding portion remains unchanged, and there is no need to power the fifth motor, thereby saving the limited energy carried by the multi-legged robot.

[0020] 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

[0021] 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; Figure 1 It is a schematic diagram of the overall structure of the robot leg of the present invention; Figure 2 Schematic diagram of the overall structure of the base unit; Figure 3 is a schematic diagram of the decomposed structure of the first leg unit; Figure 4 is a schematic diagram of the decomposed structure of the second leg unit; Figure 5 is a schematic diagram of the decomposed structure of the third leg unit; Figure 6 This is a schematic diagram of the exploded structure of the foot support unit; Figure 7 is a schematic diagram of the overall structure of the foot pad unit; Figure 8 Schematic diagram of the exploded structure of the foot pad unit.

[0022] Reference numerals: 1-base unit; 2-first leg unit; 3-second leg unit; 4-third leg unit; 5-foot support unit; 6-foot pad unit; 11-base body; 12-first motor; 13-first screw; 21-first crossbar; 22-first gear; 23-second motor; 24-second screw; 31-longitudinal rod; 32-second gear; 33-third motor; 41-second crossbar; 42-crossbar connecting seat; 43-spring; 44- The fourth motor; 45-the third screw; 51-the support foot body; 52-the support foot connecting seat; 53-the third gear; 54-the first foot pad; 55-the second foot pad; 61-the anti-skid plate; 62-the positioning plate; 63-the fifth motor; 64-the fourth screw; 65-the positioning pin; 611-the plate body; 612-the rotating shaft; 613-the azimuth rod; 621-the positioning body; 622-the positioning groove; 623-the driving tooth; 624-the positioning pin groove. DETAILED DESCRIPTION

[0023] 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.

[0024] Example 1 A specific embodiment of the present invention, as Figure 1 As shown, a machine leg for a multi-legged robot (hereinafter referred to as the machine leg) is disclosed, including a base segment unit 1, a first leg unit 2, a second leg unit 3 and a third leg unit 4, one end of the base segment unit 1 is connected to the trunk of the multi-legged robot, the other end of the base segment unit 1 is connected to the first leg unit 2, and both ends of the second leg unit 3 are respectively connected to the first leg unit 2 and the third leg unit 4, and the base segment unit 1 is used to drive the first leg unit 2, the second leg unit 3 and the third leg unit 4 to swing, thereby causing the multi-legged robot to move.

[0025] Preferably, if Figure 2 As shown, the base unit 1 includes a base body 11, a first motor 12 and a first screw 13. The first motor 12 is arranged on the base body 11. The first screw 13 is fixedly connected to the output shaft of the first motor 12. The first screw 13 can be connected to the first leg unit 2. The first motor 12 rotates forward and backward to drive the first leg unit 2 to swing back and forth.

[0026] Preferably, if Figure 3As shown, the first leg unit 2 includes a first crossbar 21 and a first gear 22, the first gear 22 is fixedly arranged at the end of the first crossbar 21, and the first gear 22 can be rotatably connected to the base segment body 11, the first screw 13 can be connected to the first gear 22, and the first screw 13 can drive the first gear 22 to rotate, thereby driving the first crossbar 21 to swing around the first gear 22. By changing the angle between the first crossbar 21 and the trunk of the multi-legged robot, the distance between the trunk of the multi-legged robot and the ground can be changed, and the passability of the multi-legged robot can be adjusted; the first screw 13 and the first gear 22 can be self-locking, and the unfolding helix angle of the first screw 13 is less than the friction angle of the first screw 13 and the first gear 22. When the first motor 12 is not powered, the first screw 13 can prevent the first gear 22 from rotating, ensuring that the angle between the first leg unit 2 and the trunk of the multi-legged robot remains unchanged, and it is no longer necessary to power the first motor 12, saving the limited energy carried by the multi-legged robot.

[0027] Preferably, the first leg unit 2 further includes a second motor 23 and a second screw 24. The second motor 23 is disposed on the first cross bar 21. The second screw 24 is fixedly connected to the output shaft of the second motor 23. The second screw 24 can be connected to the second leg unit 3. The second motor 23 rotates to drive the second leg unit 3 to rotate. The second motor 23 rotates forward and reversely to drive the second leg unit 3 to swing back and forth.

[0028] Preferably, if Figure 4 As shown, the second leg unit 3 includes a longitudinal rod 31 and a second gear 32, the second gear 32 is fixedly arranged at the end of the longitudinal rod 31, and the second gear 32 can be rotatably connected to the first crossbar 21, the second screw 24 can be connected to the second gear 32, and the second screw 24 can drive the second gear 32 to rotate, thereby driving the longitudinal rod 31 to swing. The second screw 24 and the second gear 32 can be self-locking, and when the second motor 23 is not powered, the second screw 24 can prevent the second gear 32 from rotating, ensuring that the angle between the first leg unit 2 and the trunk of the multi-legged robot remains unchanged, and it is no longer necessary to power the second motor 23, further saving the limited energy carried by the multi-legged robot.

[0029] By changing the angle between the longitudinal rod 31 and the first cross bar 21, the distance between the first cross bar 21 and the ground can be changed, and the passability of the multi-legged robot can be adjusted. When the first leg unit 2 swings forward, the second leg unit 3 can be close to the first leg unit 2, increasing the distance between the second leg unit 3 and the ground, so that the machine legs of this embodiment can swing forward without hindering the movement of the multi-legged robot; when the first leg unit 2 swings backward, the second leg unit 3 can be away from the first leg unit 2, driving the multi-legged robot to move forward.

[0030] Preferably, the second leg unit 3 further includes a third motor 33, which is disposed on the longitudinal rod 31, and the output shaft of the third motor 33 can be connected to the third leg unit 4. The rotation of the third motor 33 can drive the third leg unit 4 to rotate, and the forward and reverse rotation of the third motor 33 can drive the third leg unit 4 to swing back and forth.

[0031] Preferably, if Figure 5 As shown, the third leg unit 4 includes a second cross bar 41 and a cross bar connecting seat 42. The cross bar connecting seat 42 is arranged on the second cross bar 41. Specifically, the cross bar connecting seat 42 is arranged at the center position of the second cross bar 41. The cross bar connecting seat 42 can be connected to the output shaft of the third motor 33.

[0032] Preferably, the third leg unit 4 also includes a spring 43, one end of the spring 43 is connected to one end of the second cross bar 41, and the other end of the spring 43 is connected to the longitudinal bar 31. The spring 43 is used to pull the second cross bar 41 toward the longitudinal bar 31. The other end of the second cross bar 41 is a grounding end. When the grounding end of the second cross bar 41 is grounded, the grounding end of the second cross bar 41 approaches the longitudinal bar 31. The spring 43 can be stretched to slow down the process of the grounding end of the second cross bar 41 approaching the longitudinal bar 31, thereby buffering the vibration when the third leg unit 4 is grounded, preventing the vibration from being transmitted to the torso of the multi-legged robot, and keeping the multi-legged robot stable.

[0033] Compared with the prior art, by changing the angle between the first cross bar 21 of this embodiment and the trunk of the multi-legged robot, the distance between the trunk of the multi-legged robot and the ground can be changed, and the passability of the multi-legged robot can be adjusted; the first screw 13 and the first gear 22 can be self-locking. When the first motor 12 is not powered, the first screw 13 can prevent the first gear 22 from rotating, ensuring that the angle between the first leg unit 2 and the trunk of the multi-legged robot remains unchanged, and there is no need to power the first motor 12, thereby saving the limited energy carried by the multi-legged robot; by changing the angle between the longitudinal bar 31 and the first cross bar 21, the distance between the first cross bar 21 and the ground can be changed, and the passability of the multi-legged robot can be adjusted. When the first leg unit 2 swings forward, the second leg unit 3 can approach the first leg unit 2, increase the distance between the second leg unit 3 and the ground, and make the present embodiment effective without hindering the movement of the multi-legged robot. The machine leg of the embodiment swings forward; the second screw 24 and the second gear 32 can be self-locking. When the second motor 23 is not powered, the second screw 24 can prevent the second gear 32 from rotating, ensuring that the angle between the first leg unit 2 and the trunk of the multi-legged robot remains unchanged, and there is no need to power the second motor 23, further saving the limited energy carried by the multi-legged robot; one end of the spring 43 is connected to one end of the second cross bar 41, and the other end of the spring 43 is connected to the longitudinal bar 31. The spring 43 is used to pull the second cross bar 41 toward the longitudinal bar 31. The other end of the second cross bar 41 is the grounding end. When the grounding end of the second cross bar 41 is grounded, the grounding end of the second cross bar 41 approaches the longitudinal bar 31. The spring 43 can be stretched to slow down the process of the grounding end of the second cross bar 41 approaching the longitudinal bar 31, buffering the vibration when the third leg unit 4 is grounded, preventing the vibration from being transmitted to the trunk of the multi-legged robot, and keeping the multi-legged robot stable.

[0034] Example 2 Another specific embodiment of the present invention, as Figure 1 As shown, a foot support unit 5 is added on the basis of Example 1, and the connection method between the third leg unit 4 and the foot support unit 5 is improved, and a driving structure is added. The foot support unit 5 is used for grounding. The machine legs of this embodiment can adapt to a variety of grounds with different hardness and softness, making the multi-legged robot run more smoothly.

[0035] Preferably, if Figure 5 As shown, the third leg unit 4 further includes a fourth motor 44 and a third screw 45. The fourth motor 44 is disposed on the second crossbar 41. The third screw 45 is fixedly connected to the output shaft of the fourth motor 44. The third screw 45 can be connected to the leg support unit 5. The rotation of the fourth motor 44 can drive the leg support unit 5 to rotate.

[0036] Preferably, if Figure 6As shown, the leg support unit 5 includes a leg support body 51, a leg support connecting base 52 and a third gear 53. The leg support connecting base 52 is arranged on the leg support body 51, and the third gear 53 is fixedly connected to the leg support connecting base 52. The leg support connecting base 52 is rotatably connected to the ground end of the second cross bar 41. The third screw 45 can be connected to the third gear 53, so as to drive the leg support body 51 to rotate around the third gear 53, so that the leg support unit 5 can switch the position in contact with the ground; the third screw 45 and the third gear 53 can be self-locking. When the fourth motor 44 is not powered, the third screw 45 can prevent the third gear 53 from rotating, and the angle between the leg support unit 5 and the third leg unit 4 remains unchanged, ensuring that the leg support unit 5 provides stable support for the machine leg of this embodiment.

[0037] Preferably, the foot support body 51 includes a first grounding portion and a second grounding portion, and the area of ​​the first grounding portion is smaller than the area of ​​the second grounding portion. The foot support unit 5 also includes a first foot pad 54 and a second foot pad 55, the first foot pad 54 is arranged on the first grounding portion, and the second foot pad 55 is arranged on the second grounding portion, and the first foot pad 54 and the second foot pad 55 are both used to contact the ground to protect the foot support body 51. The area of ​​the first foot pad 54 contacting the ground is smaller than the area of ​​the second foot pad 55 contacting the ground. The first foot pad 54 is a hard foot pad, which is used for the multi-legged robot to move on a hard road surface; the second foot pad 55 is a soft foot pad, which is used for the multi-legged robot to move on a soft road surface. The multi-legged robot can switch between the first foot pad 54 and the second foot pad 55 to improve the passability and gripping ability on various road surfaces.

[0038] Compared with Example 1, the first foot pad 54 of the machine leg of this embodiment is arranged on the first grounding part, and the second foot pad 55 is arranged on the second grounding part. The first foot pad 54 and the second foot pad 55 are both used to contact the ground to protect the supporting foot body 51; the area of ​​the first foot pad 54 contacting the ground is smaller than the area of ​​the second foot pad 55 contacting the ground. The first foot pad 54 is a hard foot pad, which is used for the multi-legged robot to move on hard roads; the second foot pad 55 is a soft foot pad, which is used for the multi-legged robot to move on soft roads. The multi-legged robot can switch between the first foot pad 54 and the second foot pad 55 to improve the passability and grip ability on various roads.

[0039] Example 3 Another specific embodiment of the present invention, as Figure 7 As shown, on the basis of embodiment 2, the second foot pad 55 is improved into a foot pad unit 6. The foot pad unit 6 is used to increase the ground contact area of ​​the foot support unit 5. The robot legs of this embodiment can adapt to slippery ground and increase the passability of the multi-legged robot.

[0040] Preferably, the foot pad unit 6 includes an anti-skid plate 61, which is arranged on the second grounding portion, and there are multiple anti-skid plates 61, and the anti-skid plates 61 are not parallel to the outer wall of the second grounding portion. Multiple anti-skid plates 61 expand the surface area of ​​the second grounding portion, thereby increasing the grounding area of ​​the second grounding portion, which can increase the friction between the foot support unit 5 and the ground, and improve the passability of the multi-legged robot on slippery ground.

[0041] like Figure 8 As shown, on a hard ground, the anti-skid plate 61 is not needed to increase the friction between the foot support unit 5 and the ground, and cause unnecessary wear on the anti-skid plate 61. For this reason, preferably, the anti-skid plate 61 is a movable anti-skid plate. The second grounding portion includes an anti-skid plate groove. The anti-skid plate 61 includes a plate body 611, a rotating shaft 612 and an orientation rod 613. The two ends of the rotating shaft 612 are respectively connected to the plate body 611 and the orientation rod 613. The orientation rod 613 is rotatably connected to the anti-skid plate groove of the second grounding portion. By turning the orientation rod 613, the rotating shaft 612 can be driven to rotate, and the angle between the plate body 611 and the second grounding portion can be changed, so that the plate body 611 can switch between being retracted into the anti-skid plate groove and extending out of the anti-skid plate groove. After the plate body 611 is retracted into the anti-skid plate groove, the contact area with the ground is reduced, preventing the anti-skid plate 61 from causing unnecessary wear.

[0042] Preferably, in order to adjust the angle between the plate body 611 and the second grounding portion, the foot pad unit 6 also includes a positioning plate 62, the positioning plate 62 includes a positioning body 621 and a positioning groove 622, the positioning groove 622 is arranged on the positioning body 621, the orientation rod 613 can be connected to the positioning groove 622, and the positioning body 621 is moved in the length direction of the positioning plate 62, which can drive the orientation rod 613 to swing, thereby changing the angle between the plate body 611 and the second grounding portion.

[0043] Preferably, in order to enable the robot leg of this embodiment to adjust the extension and retraction of the anti-slide plate 61 by itself, the foot pad unit 6 also includes a fifth motor 63 and a fourth screw 64, the fifth motor 63 is arranged on the supporting foot body 51, and the fourth screw 64 is connected to the output shaft of the fifth motor 63. The positioning plate 62 also includes a driving tooth 623, the driving tooth 623 is arranged on the positioning body 621, and the fourth screw 64 can be connected to the driving tooth 623. The fifth motor 63 rotates to drive the fourth screw 64 to rotate, and drives the driving tooth 623 to make the positioning body 621 move in the length direction of the positioning plate 62, thereby changing the angle between the plate body 611 and the second grounding portion. The fourth screw 64 and the driving tooth 623 can be self-locking. When the fifth motor 63 is not powered, the fourth screw 64 can prevent the positioning plate 62 from moving, ensuring that the angle between the anti-slide plate 61 and the outer wall of the second grounding portion remains unchanged, and it is no longer necessary to power the fifth motor 63, further saving the limited energy carried by the multi-legged robot.

[0044] Preferably, the foot pad unit 6 further includes a positioning nail 65, which can be connected to the supporting foot body 51. The positioning plate 62 further includes a positioning nail groove 624, which is provided on the positioning body 621 and can be connected to the positioning nail 65. The positioning nail 65 prevents the positioning plate 62 from being separated from the supporting foot body 51, and the positioning nail 65 and the positioning nail groove 624 are used to limit the movement direction of the positioning plate 62, so that the positioning plate 62 can only slide along the positioning nail 65.

[0045] Compared with Example 2, the anti-skid plate 61 of the machine leg of this embodiment is multiple, and the anti-skid plate 61 is not parallel to the outer wall of the second grounding portion. The multiple anti-skid plates 61 increase the grounding area of ​​the second grounding portion, increase the friction between the leg support unit 5 and the ground, and improve the passability of the multi-legged robot on slippery ground; the anti-skid plate 61 is a movable anti-skid plate. By turning the azimuth rod 613, the rotating shaft rod 612 can be driven to rotate, and the angle between the plate body 611 and the second grounding portion can be changed, so that the plate body 611 can switch between being retracted into the anti-skid plate groove and being extended out of the anti-skid plate groove; after the plate body 611 is retracted into the anti-skid plate groove, the contact area with the ground is reduced, preventing the anti-skid plate 61 from causing unnecessary wear; the azimuth rod 613 can be connected to the positioning groove 622, and the positioning plate 62 is arranged at the length of the positioning plate 62. By moving the positioning body 621 in the degree direction, the azimuth rod 613 can be driven to swing, thereby changing the angle between the plate body 611 and the second grounding portion. The fourth screw 64 can be connected to the driving tooth 623. The fifth motor 63 rotates to drive the fourth screw 64 to rotate and drive the driving tooth 623 to make the positioning body 621 move in the length direction of the positioning plate 62, thereby changing the angle between the plate body 611 and the second grounding portion. The fourth screw 64 and the driving tooth 623 can be self-locking. When the fifth motor 63 is not powered, the fourth screw 64 can prevent the positioning plate 62 from moving, ensuring that the angle between the anti-slip plate 61 and the outer wall of the second grounding portion remains unchanged, and there is no need to power the fifth motor 63, further saving the limited energy carried by the multi-legged robot.

[0046] 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 robotic leg for a multi-legged robot, characterized in that: The multi-legged robot comprises a base unit (1), a first leg unit (2), a second leg unit (3), a third leg unit (4), a foot support unit (5) and a foot pad unit (6), wherein one end of the base unit (1) is connected to the trunk of the multi-legged robot, the other end of the base unit (1) is connected to the first leg unit (2), and both ends of the second leg unit (3) are respectively connected to the first leg unit (2) and the third leg unit (4), and the base unit (1) is used to drive the first leg unit (2), the second leg unit (3) and the third leg unit (4) to swing, thereby causing the multi-legged robot to move; The base segment unit (1) comprises a base segment body (11), a first motor (12) and a first screw (13); the first motor (12) is arranged on the base segment body (11); the first screw (13) is fixedly connected to the output shaft of the first motor (12); the first screw (13) can be connected to the first leg unit (2); the first motor (12) rotates forward and reversely to drive the first leg unit (2) to swing back and forth; The first leg unit (2) comprises a first crossbar (21) and a first gear (22), wherein the first gear (22) is fixedly arranged at an end of the first crossbar (21), and the first gear (22) is rotatably connected to the base segment body (11), and the first screw (13) is connected to the first gear (22), and the first screw (13) is capable of driving the first gear (22) to rotate, thereby driving the first crossbar (21) to swing around the first gear (22); The first screw (13) has an unfolded helix angle smaller than a friction angle of contact between the first screw (13) and the first gear (22), and the first screw (13) and the first gear (22) are self-locking, and without the first motor (12) being powered, the first screw (13) can prevent the first gear (22) from rotating, thereby ensuring that the angle between the first leg unit (2) and the trunk of the multi-legged robot remains unchanged; The foot support unit (5) comprises a foot support body (51) and a foot support connection seat (52), wherein the foot support connection seat (52) is arranged on the foot support body (51), and the foot support connection seat (52) is rotatably connected to the second cross bar (41) of the third leg unit (4), and the foot pad unit (6) comprises an anti-skid plate (61), and the anti-skid plate (61) is arranged on the foot support body (51).

2. A robotic leg for a multi-legged robot according to claim 1, characterized in that: The third leg unit (4) further comprises a crossbar connecting seat (42) and a spring (43), wherein the crossbar connecting seat (42) is arranged on the second crossbar (41), and the crossbar connecting seat (42) can be connected to the second leg unit (3), one end of the spring (43) is connected to one end of the second crossbar (41), and the other end of the spring (43) is connected to the second leg unit (3), and the spring (43) is used to pull the second crossbar (41) toward the second leg unit (3), thereby slowing down the process of the ground end of the second crossbar (41) approaching the second leg unit (3).

3. A robotic leg for a multi-legged robot according to claim 2, characterized in that: The third leg unit (4) further comprises a fourth motor (44) and a third screw (45), wherein the fourth motor (44) is arranged on the second crossbar (41), and the third screw (45) is fixedly connected to the output shaft of the fourth motor (44).

4. A robotic leg for a multi-legged robot according to claim 3, characterized in that: The support leg unit (5) further includes a third gear (53), the third gear (53) being fixedly connected to the support leg connection base (52), the support leg connection base (52) being rotatably connected to the grounding end of the second crossbar (41), and the third screw rod (45) being capable of being connected to the third gear (53), thereby driving the support leg body (51) to rotate around the third gear (53), so that the support leg unit (5) can switch the position in contact with the ground.

5. The robotic leg for a multi-legged robot according to claim 4, characterized in that: The support foot unit (5) further comprises a first foot pad (54) and a second foot pad (55), wherein the first foot pad (54) and the second foot pad (55) are respectively arranged at two ends of the support foot body (51).

6. The robotic leg for a multi-legged robot according to claim 5, characterized in that: The area of ​​the first foot pad (54) contacting the ground is smaller than the area of ​​the second foot pad (55) contacting the ground. The first foot pad (54) is used for the multi-legged robot to move on a hard road surface; the second foot pad (55) is used for the multi-legged robot to move on a soft road surface.

7. The robotic leg for a multi-legged robot according to claim 6, characterized in that: The anti-slip plate (61) comprises a plate body (611), a rotating shaft (612) and an orientation rod (613), wherein two ends of the rotating shaft (612) are respectively connected to the plate body (611) and the orientation rod (613), and the orientation rod (613) is rotationally connected to the support body (51). When the orientation rod (613) is turned, the rotating shaft (612) can be driven to rotate, thereby changing the angle between the plate body (611) and the support body (51).

8. The robotic leg for a multi-legged robot according to claim 7, characterized in that: The foot pad unit (6) further includes a positioning plate (62), the positioning plate (62) including a positioning body (621) and a positioning groove (622), the positioning groove (622) being arranged on the positioning body (621), the orientation rod (613) being connectable to the positioning groove (622), and the positioning body (621) being moved in the length direction of the positioning plate (62) to drive the orientation rod (613) to swing, thereby changing the angle between the plate body (611) and the supporting foot body (51).

9. The robotic leg for a multi-legged robot according to claim 8, characterized in that: The foot pad unit (6) further includes a fifth motor (63) and a fourth screw (64), wherein the fifth motor (63) is arranged on the support foot body (51), and the fourth screw (64) is connected to the output shaft of the fifth motor (63). The positioning plate (62) further includes a driving tooth (623), wherein the driving tooth (623) is arranged on the positioning body (621), and the fourth screw (64) can be connected to the driving tooth (623).

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