A robotic leg for a multi-legged robot

Abstract

The present invention relates to a robotic leg for a multi-legged robot, belonging to the technical field of mobile vehicles, and solves the problem that in the prior art, in order to maintain the distance between the torso and the ground, a multi-legged robot solution needs to rely on the power-on of a motor, wasting the limited energy carried by the multi-legged robot. The present invention includes 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 to the torso of the multi-legged robot, the other end of the base joint 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. By changing the first screw and the first gear of the present invention can be self-locking. When the first motor is not powered on, the first screw can prevent the first gear from rotating, ensuring that the angle between the first leg unit and the torso of the multi-legged robot remains unchanged, and there is no need to power on the first motor anymore, saving the limited energy carried by the multi-legged robot.

Description

Technical Field

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

[0002] A multi-legged robot is a bionic robot, and its design inspiration comes from the walking methods and leg structures of multi-legged animals such as insects. A multi-legged robot usually supports and moves its body through multiple legs and can adapt to complex terrain environments. The design inspiration of multi-legged robots comes from multi-legged animals such as insects and spiders, and draws on their movement methods and leg structures, such as the forms of six-legged, eight-legged, or even more legs, to achieve stable movement and complex actions of the robot. Multi-legged robots are widely used in fields such as exploration, search and rescue, and surveying, such as in tasks like fire rescue, disaster monitoring, and outer space exploration, playing an important role.

[0003] Currently, the robotic legs of multi-legged robots all adopt the design of combining a thigh and a calf. By changing the angle between the thigh and the calf, the distance between the torso of the multi-legged robot and the ground can be adjusted. However, the angle between the thigh and the calf needs to be maintained by the power-on of the motor, wasting the limited energy carried by the multi-legged robot.

[0004] Therefore, there is an urgent need for a robotic leg for a multi-legged robot to solve the problem that in the existing multi-legged robot solutions, in order to maintain the distance between the torso and the ground, it is necessary to rely on the power-on of the motor, wasting 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 robotic leg for a multi-legged robot to solve the problem that in the existing multi-legged robot solutions, in order to maintain the distance between the torso and the ground, it is necessary to rely on the power-on of the motor, wasting the limited energy carried by the multi-legged robot.

[0006] The object of the present invention is mainly achieved by the following technical solutions:

[0007] A robotic leg for a multi-legged robot includes 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 to the torso of the multi-legged robot, the other end of the base joint unit is connected to the first leg unit, both ends of the second leg unit are respectively connected to the first leg unit and the third leg unit, and the base joint unit is used to drive the first leg unit, the second leg unit, and the third leg unit to swing, so as to cause the multi-legged robot to generate displacement;

[0008] The base joint unit includes a base joint body, a first motor, and a first screw. The first motor is disposed on the base joint body. The first screw is fixedly connected to the output shaft of the first motor. The first screw can be connected to the first leg unit. The first motor rotates forward and backward, capable of driving the first leg unit to perform reciprocating swinging.

[0009] The first leg unit includes a first cross bar and a first gear. The first gear is fixedly disposed at the end of the first cross bar, and the first gear can be rotatably connected to the base joint body. The first screw can be connected to the first gear, and the first screw can drive the first gear to rotate, thereby driving the first cross bar to swing around the first gear.

[0010] The helix angle of the unfolded first screw is less than the friction angle between the first screw and the first gear. The first screw and the first gear can be self-locked. Without power supply to the first motor, the first screw can prevent the first gear from rotating, ensuring that the angle between the first leg unit and the torso of the multi-legged robot remains unchanged.

[0011] Further, the first leg unit further includes a second motor and a second screw. The second motor is disposed on the first cross bar. The second screw is fixedly connected to the output shaft of the second motor. The second screw can be connected to the second leg unit.

[0012] Further, the second leg unit includes a vertical rod and a second gear. The second gear is fixedly disposed at the end of the vertical rod, and the second gear can be rotatably connected to the first cross bar. The second screw can be connected to the second gear, and the second screw can drive the second gear to rotate, thereby driving the vertical rod to swing. The second screw and the second gear can be self-locked.

[0013] Further, the second leg unit further includes a third motor. The third motor is disposed on the vertical rod. The output shaft of the third motor can be connected to the third leg unit. When the third motor rotates, it can drive the third leg unit to rotate. When the third motor rotates forward and backward, it can drive the third leg unit to perform reciprocating swinging.

[0014] Further, the third leg unit includes a second cross bar, a cross bar connecting seat, and a spring. The cross bar connecting seat is disposed 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. The spring is used to pull the second cross bar towards the second leg unit to decelerate the process of the grounding end of the second cross bar approaching the vertical rod.

[0015] 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.

[0016] 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.

[0017] 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.

[0018] 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.

[0019] 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.

[0020] 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.

[0021] 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.

[0022] 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.

[0023] Compared with the prior art, the present invention can achieve at least one of the following beneficial effects:

[0024] (1) By changing the angle between the first crossbar of the present invention and the torso of the multi-legged robot, the distance between the torso 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-locked. When the first motor is not powered on, the first screw can prevent the first gear from rotating, ensuring that the angle between the first leg unit and the torso of the multi-legged robot remains unchanged, and there is no need to power on the first motor anymore, saving the limited energy carried by the multi-legged robot;

[0025] (2) By changing the angle between the longitudinal bar 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 approach the first leg unit, increasing the distance between the second leg unit and the ground. Without hindering the movement of the multi-legged robot, the machine leg of the present invention can swing forward; the second screw and the second gear can be self-locked. When the second motor is not powered on, the second screw can prevent the second gear from rotating, ensuring that the angle between the first leg unit and the torso of the multi-legged robot remains unchanged, saving the limited energy carried by the multi-legged robot;

[0026] (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 towards the longitudinal bar. The other end of the second crossbar is the grounding end. When the grounding end of the second crossbar touches the ground, the grounding end of the second crossbar approaches the longitudinal bar, and the spring can be stretched, decelerating the process of the grounding end of the second crossbar approaching the longitudinal bar, buffering the vibration when the third leg unit touches the ground, preventing the vibration from being transmitted to the torso of the multi-legged robot, and keeping the multi-legged robot stable;

[0027] (4) The first footpad of the present invention is arranged on the first grounding part, and the second footpad is arranged on the second grounding part. Both the first footpad and the second footpad are used to contact the ground to protect the support foot body; the area of the first footpad in contact with the ground is smaller than the area of the second footpad in contact with the ground. The first footpad is a hard footpad for the multi-legged robot to move on a hard road surface; the second footpad is a soft footpad for the multi-legged robot to move on a soft road surface. The multi-legged robot can switch between the first footpad and the second footpad to improve the passability and grip ability on various road surfaces;

[0028] (5) There are multiple anti-slip plates in the present invention, and the anti-slip plates are not parallel to the outer wall of the second grounding part. The multiple anti-slip plates increase the grounding area of the second grounding part, increasing the friction between the support leg unit and the ground, and improving the passability of the multi-legged robot on a slippery ground; the anti-slip plates are movable anti-slip plates, and the plate body can switch between being retracted into the anti-slip plate groove and extending out of the anti-slip plate groove; after the plate body is retracted into the anti-slip plate groove, the contact area with the ground is reduced, preventing unnecessary wear of the anti-slip plates;

[0029] (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.

[0030] 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

[0031] 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;

[0032] Figure 1 It is a schematic diagram of the overall structure of the robot leg of the present invention;

[0033] Figure 2 Schematic diagram of the overall structure of the base unit;

[0034] Figure 3 is a schematic diagram of the decomposed structure of the first leg unit;

[0035] Figure 4 is a schematic diagram of the decomposed structure of the second leg unit;

[0036] Figure 5 is a schematic diagram of the decomposed structure of the third leg unit;

[0037] Figure 6 This is a schematic diagram of the exploded structure of the foot support unit;

[0038] Figure 7 is a schematic diagram of the overall structure of the foot pad unit;

[0039] Figure 8 Schematic diagram of the exploded structure of the foot pad unit.

[0040] Reference numerals:

[0041] 1 - Hip joint unit; 2 - First leg unit; 3 - Second leg unit; 4 - Third leg unit; 5 - Support foot unit; 6 - Foot pad unit; 11 - Hip joint body; 12 - First motor; 13 - First screw; 21 - First cross bar; 22 - First gear; 23 - Second motor; 24 - Second screw; 31 - Vertical bar; 32 - Second gear; 33 - Third motor; 41 - Second cross bar; 42 - Cross bar connecting seat; 43 - Spring; 44 - Fourth motor; 45 - Third screw; 51 - Support foot body; 52 - Support foot connecting seat; 53 - Third gear; 54 - First foot pad; 55 - Second foot pad; 61 - Anti - slip plate; 62 - Positioning plate; 63 - Fifth motor; 64 - Fourth screw; 65 - Positioning pin; 611 - Plate body; 612 - Rotating shaft rod; 613 - Azimuth bar; 621 - Positioning body; 622 - Positioning groove; 623 - Driving tooth; 624 - Positioning pin groove. Detailed implementation manners

[0042] The following combines the drawings to specifically describe the preferred embodiments of the present invention. Among them, the drawings constitute a part of the present invention and are used together with the embodiments of the present invention to explain the principle of the present invention, rather than to limit the scope of the present invention.

[0043] Embodiment 1

[0044] A specific embodiment of the present invention, as Figure 1 shown, discloses a machine leg for a multi - legged robot (hereinafter referred to as the machine leg), including a hip joint unit 1, a first leg unit 2, a second leg unit 3, and a third leg unit 4. One end of the hip joint unit 1 is connected to the torso of the multi - legged robot, and the other end of the hip joint unit 1 is connected to the first leg unit 2. Both ends of the second leg unit 3 are respectively connected to the first leg unit 2 and the third leg unit 4. The hip joint unit 1 is used to drive the first leg unit 2, the second leg unit 3, and the third leg unit 4 to swing, so as to enable the multi - legged robot to generate displacement.

[0045] Preferably, as Figure 2 shown, the hip joint unit 1 includes a hip joint body 11, a first motor 12, and a first screw 13. The first motor 12 is arranged on the hip joint body 11, and 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. When the first motor 12 rotates forward and backward, it can drive the first leg unit 2 to make a reciprocating swing.

[0046] Preferably, as Figure 3As shown in the figure, the first leg unit 2 includes a first cross bar 21 and a first gear 22. The first gear 22 is fixedly arranged at the end of the first cross bar 21, and the first gear 22 can be rotatably connected to the base joint body 11. The first screw rod 13 can be connected to the first gear 22, and the first screw rod 13 can drive the first gear 22 to rotate, thereby driving the first cross bar 21 to swing around the first gear 22. By changing the angle between the first cross bar 21 and the torso of the multi-legged robot, the distance between the torso 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 rod 13 and the first gear 22 can be self-locked. The helix angle of the unfolded first screw rod 13 is smaller than the friction angle between the first screw rod 13 and the first gear 22. When the first motor 12 is not powered on, the first screw rod 13 can prevent the first gear 22 from rotating, ensuring that the angle between the first leg unit 2 and the torso of the multi-legged robot remains unchanged, and there is no need to power on the first motor 12 anymore, saving the limited energy carried by the multi-legged robot.

[0047] Preferably, the first leg unit 2 further includes a second motor 23 and a second screw rod 24. The second motor 23 is arranged on the first cross bar 21. The second screw rod 24 is fixedly connected to the output shaft of the second motor 23. The second screw rod 24 can be connected to the second leg unit 3. When the second motor 23 rotates, it can drive the second leg unit 3 to rotate. When the second motor 23 rotates forward and backward, it can drive the second leg unit 3 to make a reciprocating swing.

[0048] Preferably, as Figure 4 shown in the figure, 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 cross bar 21. The second screw rod 24 can be connected to the second gear 32, and the second screw rod 24 can drive the second gear 32 to rotate, thereby driving the longitudinal rod 31 to swing. The second screw rod 24 and the second gear 32 can be self-locked. When the second motor 23 is not powered on, the second screw rod 24 can prevent the second gear 32 from rotating, ensuring that the angle between the first leg unit 2 and the torso of the multi-legged robot remains unchanged, and there is no need to power on the second motor 23 anymore, further saving the limited energy carried by the multi-legged robot.

[0049] 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 approach the first leg unit 2, increasing the distance between the second leg unit 3 and the ground. Without interfering with the movement of the multi-legged robot, the machine leg of this embodiment can swing forward. When the first leg unit 2 swings backward, the second leg unit 3 can move away from the first leg unit 2, driving the multi-legged robot to move forward.

[0050] Preferably, the second leg unit 3 further includes a third motor 33. The third motor 33 is arranged on the vertical rod 31, and the output shaft of the third motor 33 can be connected to the third leg unit 4. When the third motor 33 rotates, it can drive the third leg unit 4 to rotate. When the third motor 33 rotates forward and backward, it can drive the third leg unit 4 to swing reciprocally.

[0051] Preferably, as Figure 5 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 central position of the second cross bar 41, and the cross bar connecting seat 42 can be connected to the output shaft of the third motor 33.

[0052] Preferably, the third leg unit 4 further 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 vertical rod 31. The spring 43 is used to pull the second cross bar 41 towards the vertical rod 31. The other end of the second cross bar 41 is the grounding end. When the grounding end of the second cross bar 41 touches the ground, the grounding end of the second cross bar 41 approaches the vertical rod 31, and the spring 43 can be stretched to decelerate the process of the grounding end of the second cross bar 41 approaching the vertical rod 31, buffer the vibration when the third leg unit 4 touches the ground, prevent the vibration from being transmitted to the torso of the multi-legged robot, and keep the multi-legged robot stable.

[0053] Compared with the prior art, by changing the angle between the first cross bar 21 of this embodiment and the torso of the multi-legged robot, the distance between the torso 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-locked. When the first motor 12 is not powered on, the first screw 13 can prevent the first gear 22 from rotating, ensuring that the angle between the first leg unit 2 and the torso of the multi-legged robot remains unchanged, and there is no need to power on the first motor 12 anymore, saving the limited energy carried by the multi-legged robot; by changing the angle between the vertical 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, increasing the distance between the second leg unit 3 and the ground. Without hindering the movement of the multi-legged robot, the machine leg of this embodiment can swing forward; the second screw 24 and the second gear 32 can be self-locked. When the second motor 23 is not powered on, the second screw 24 can prevent the second gear 32 from rotating, ensuring that the angle between the first leg unit 2 and the torso of the multi-legged robot remains unchanged, and there is no need to power on the second motor 23 anymore, 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 vertical bar 31. The spring 43 is used to pull the second cross bar 41 towards the vertical 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 touches the ground, the grounding end of the second cross bar 41 approaches the vertical bar 31, and the spring 43 can be stretched, decelerating the process of the grounding end of the second cross bar 41 approaching the vertical bar 31, buffering the vibration when the third leg unit 4 touches the ground, preventing the vibration from being transmitted to the torso of the multi-legged robot, and keeping the multi-legged robot stable.

[0054] Embodiment 2

[0055] Another specific embodiment of the present invention is as Figure 1 shown. On the basis of Embodiment 1, a support foot unit 5 is added, and the connection method between the third leg unit 4 and the support foot unit 5 is improved, and a driving structure is added. The support foot unit 5 is used for grounding. The machine leg of this embodiment can adapt to various ground surfaces with different hardness levels, making the operation of the multi-legged robot more stable.

[0056] Preferably, as Figure 5 shown, the third leg unit 4 further includes a fourth motor 44 and a third screw 45. The fourth motor 44 is arranged on the second cross bar 41, and 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 support foot unit 5. When the fourth motor 44 rotates, it can drive the support foot unit 5 to rotate.

[0057] Preferably, as Figure 6As shown, the support leg unit 5 includes a support leg body 51, a support leg connecting seat 52, and a third gear 53. The support leg connecting seat 52 is arranged on the support leg body 51, and the third gear 53 is fixedly connected to the support leg connecting seat 52. The support leg connecting seat 52 is rotatably connected to the grounding end of the second cross bar 41. The third screw 45 can be connected to the third gear 53, so as to drive the support leg body 51 to rotate around the third gear 53, enabling the support leg unit 5 to switch the position in contact with the ground. The third screw 45 and the third gear 53 can be self-locked. When the fourth motor 44 is not powered on, the third screw 45 can prevent the third gear 53 from rotating, and the included angle between the support leg unit 5 and the third leg unit 4 remains unchanged, ensuring that the support leg unit 5 provides stable support for the machine leg of this embodiment.

[0058] Preferably, the support leg body 51 includes a first grounding portion and a second grounding portion, and the area of the first grounding portion is smaller than that of the second grounding portion. The support leg unit 5 further 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. Both the first foot pad 54 and the second foot pad 55 are used for contacting the ground to protect the support leg body 51. The area of the first foot pad 54 in contact with the ground is smaller than that of the second foot pad 55 in contact with the ground. The first foot pad 54 is a hard foot pad and is used for the multi-legged robot to move on a hard road surface. The second foot pad 55 is a soft foot pad and 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 passing performance and the ground gripping ability on various road surfaces.

[0059] Compared with Embodiment 1, in this embodiment of the machine leg, 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. Both the first foot pad 54 and the second foot pad 55 are used for contacting the ground to protect the support leg body 51. The area of the first foot pad 54 in contact with the ground is smaller than that of the second foot pad 55 in contact with the ground. The first foot pad 54 is a hard foot pad and is used for the multi-legged robot to move on a hard road surface. The second foot pad 55 is a soft foot pad and 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 passing performance and the ground gripping ability on various road surfaces.

[0060] Embodiment 3

[0061] Another specific embodiment of the present invention is as Figure 7 shown. On the basis of Embodiment 2, the second foot pad 55 is improved to be a foot pad unit 6. The foot pad unit 6 is used to increase the grounding area of the support leg unit 5. The machine leg of this embodiment can adapt to a slippery ground and improve the passing performance of the multi-legged robot.

[0062] 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.

[0063] 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.

[0064] 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.

[0065] 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.

[0066] 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.

[0067] 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.

[0068] 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 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 the two ends of the second leg unit (3) are respectively connected to the first leg unit (2) and the third leg unit (4); 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 an output shaft of the first motor (12); the first screw (13) can be connected to the first leg unit (2); the first motor (12) can drive the first leg unit (2) to swing back and forth by rotating forward and reverse directions; The first leg unit (2) comprises a first crossbar (21) and a first gear (22); 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); the first screw rod (13) is connected to the first gear (22), and the first screw rod (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 unfolded helix angle of the first screw (13) is smaller than the friction angle of contact between the first screw (13) and the first gear (22), 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), the foot support body (51) comprises a second grounding portion, the foot support connection seat (52) is rotatably connected to the second crossbar (41) of the third leg unit (4), and the foot pad unit (6) comprises an anti-slip plate (61), a positioning plate (62), a fifth motor (63) and a fourth screw rod (64), wherein the anti-slip plate (61) is arranged on the foot support body (51), the fifth motor (63) is arranged on the foot support body (51), and the fourth screw rod (64) is connected to the output shaft of the fifth motor (63); The anti-slip plate (61) comprises a plate body (611), a rotating shaft (612) and an orientation rod (613); 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 supporting foot body (51); by turning the orientation rod (613), the rotating shaft (612) can be driven to rotate, thereby changing the angle between the plate body (611) and the supporting foot body (51); The positioning plate (62) comprises 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); by moving the positioning body (621) in the length direction of the positioning plate (62), the orientation rod (613) can be driven to swing, thereby changing the angle between the plate body (611) and the supporting foot body (51); The positioning plate (62) further comprises a driving tooth (623), wherein the driving tooth (623) is arranged on the positioning body (621), and the fourth screw rod (64) can be connected to the driving tooth (623); the fifth motor (63) rotates to drive the fourth screw rod (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 rod (64) and the driving tooth (623) can be self-locking, and when the fifth motor (63) is not powered, the fourth screw rod (64) can prevent the positioning plate (62) from moving, thereby ensuring that the angle between the anti-slip plate (61) and the outer wall of the second grounding portion remains unchanged.

2. A robotic leg for a multi-legged robot according to claim 1, characterized in that: The third leg unit (4) further comprises a cross bar connecting seat (42) and a spring (43); the cross bar connecting seat (42) is arranged on the second cross bar (41); the cross bar 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 cross bar (41); the other end of the spring (43) is connected to the second leg unit (3); the spring (43) is used to pull the second cross bar (41) towards the second leg unit (3), so as to decelerate the process of the ground end of the second cross bar (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 rod (45); the fourth motor (44) is arranged on the second crossbar (41); and the third screw rod (45) is fixedly connected to an 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 foot unit (5) further comprises a third gear (53), wherein the third gear (53) is fixedly connected to the support foot connection base (52), and the support foot connection base (52) is rotatably connected to the ground-contacting end of the second cross bar (41). The third screw rod (45) can be connected to the third gear (53), thereby driving the support foot body (51) to rotate around the third gear (53), so that the support foot unit (5) can switch the position in contact with the ground.

5. A 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. A 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; and the second foot pad (55) is used for the multi-legged robot to move on a soft road surface.

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