Mechanical leg structure and robot

Abstract

The invention relates to the technical field of robots, and discloses a mechanical leg structure and a robot. The ankle joint assembly is movably connected between the shank support and the foot support; the ankle joint assembly comprises a rotating cross shaft, a first rotating shaft and a second rotating shaft, wherein the rotating cross shaft is provided with an ankle first rotating shaft suitable for rotating around an M axis and an ankle second rotating shaft suitable for rotating around an N axis; the first end of the ankle linear actuator is rotationally connected with the shank support, and the second end is rotationally connected with the foot support; the ankle linear actuator is suitable for driving at least one of the foot support and the shank support to move so that at least one of the foot support and the shank support can rotate around the M axis and / or the N axis. According to the mechanical leg structure provided by the invention, an independent driving part does not need to be arranged for rotation of each degree of freedom, so that action combination of multi-degree-of-freedom rotation is realized, the number of the driving parts is reduced, and the structural complexity is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a mechanical leg structure and a robot. Background Art

[0002] Humanoid robots can imitate the appearance and movement of the human body and have broad development prospects. Similar to the human body, the ankle joint component, as a part of the humanoid robot, can connect the robot body and the lower limb mechanism to drive the lower limb mechanism to move in multiple degrees of freedom.

[0003] In the related art, the structural setting of the ankle joint component is unreasonable, resulting in a small range of motion of the ankle joint. Summary of the invention

[0004] In view of this, the present invention provides a mechanical leg structure and a robot to solve the problem of small ankle joint movement range.

[0005] In a first aspect, the present invention provides a mechanical leg structure, comprising:

[0006] calf braces and foot braces;

[0007] An ankle joint assembly is movably connected between the calf support and the foot support; the ankle joint assembly includes: a swivel cross axis, having a first ankle rotation axis suitable for rotating around the M axis and a second ankle rotation axis suitable for rotating around the N axis;

[0008] An ankle linear actuator, the first end of which is rotationally connected to the calf support, and the second end of which is rotationally connected to the foot support; the ankle linear actuator is suitable for driving at least one of the foot support and the calf support to move, so that at least one of the foot support and the calf support rotates around the M axis and / or the N axis.

[0009] Beneficial effect: The mechanical leg structure provided by the embodiment of the present invention adopts an ankle linear actuator to drive the movement of the ankle joint assembly, so that at least one of the foot support and the calf support can rotate around the M axis and / or the N axis. There is no need to provide an independent driving component for each degree of freedom of rotation, thereby realizing a combination of multi-degree-of-freedom rotation actions, reducing the number of driving components, and reducing the complexity of the structure.

[0010] In an optional embodiment, the number of the ankle linear actuators is two, and the two ankle linear actuators are respectively arranged on both sides of the calf support along the N-axis direction;

[0011] The two ankle linear actuators have a first action state of asymmetric extension and contraction, and a second action state of synchronous extension and contraction;

[0012] In the first action state, the calf support and / or the foot support are adapted to rotate about the M axis;

[0013] In a second action state, the calf support and / or the foot support are adapted to rotate about the N axis.

[0014] Beneficial effects: The two ankle linear actuators have a first action state of asymmetric telescopic expansion and contraction. By asymmetric expansion and contraction of the ankle linear actuators on both sides, the two sides of the push rod mounting shaft can be driven to move in different directions respectively, so that in the first action state, the calf support is rotated around the M axis, or the foot support is rotated around the M axis, or the calf support and the foot support are simultaneously rotated around the M axis. The two ankle linear actuators also have a second action state of synchronous expansion and contraction. By synchronous expansion and contraction of the ankle linear actuators on both sides, the two sides of the push rod mounting shaft can be driven to move in the same direction respectively, so that in the second action state, the calf support is rotated around the N axis, or the foot support is rotated around the N axis, or the calf support and the foot support are simultaneously rotated around the N axis.

[0015] In an optional embodiment, the foot support is provided with an ankle first rotation shaft mounting seat, and the ankle first rotation shaft is rotatably connected to the ankle first rotation shaft mounting seat;

[0016] The axial direction of the first rotation axis mounting seat of the ankle coincides with the M axis;

[0017] The first end of the calf support is provided with an ankle second rotation shaft mounting seat, and the ankle second rotation shaft is rotatably connected to the ankle second rotation shaft mounting seat;

[0018] The axial direction of the second rotation axis mounting seat of the ankle coincides with the N axis.

[0019] In an optional embodiment, the ankle linear actuator includes an actuator body, an actuator push rod that is telescopic relative to the actuator body, and a push rod mounting shaft seat located at the end of the actuator push rod;

[0020] The foot bracket is also provided with a push rod installation shaft, and the push rod installation shaft seat is rotatably connected to the push rod installation shaft.

[0021] Beneficial effect: The axial direction of the push rod installation shaft is parallel to the N axis, so when the ankle linear actuator pushes the push rod installation shaft to move, it can ensure that the force on both sides is balanced, making it easier for the foot bracket to rotate around the M axis or around the N axis.

[0022] In an optional embodiment, the actuator body is rotatably connected to an actuator mounting shaft provided on the calf support;

[0023] The push rod mounting shaft seat and the push rod mounting shaft are rotatably connected via the push rod ball joint seat.

[0024] Beneficial effect: When the ankle linear actuators on both sides extend and retract in different directions, the ankle linear actuators will tilt along the N-axis toward or away from the calf support. By adopting a ball joint connection, the requirement for an angle tilt at the connection position between the ankle linear actuator and the push rod mounting shaft can be met, thus avoiding interference and meeting the requirements for multi-degree-of-freedom activities.

[0025] In an optional embodiment, the push rod mounting shaft is arranged at the heel position of the foot support, and the ankle first rotation shaft mounting seat is arranged at the mid-foot position of the foot support.

[0026] In an optional embodiment, the foot support is further provided with a support plate at the heel position, and the push rod mounting shaft is provided on a side of the support plate away from the sole of the foot;

[0027] The foot support is located in the middle of the foot and is recessed to form a receiving space, and the first rotating shaft mounting seat of the ankle is arranged in the receiving space;

[0028] The push rod installation axis is arranged higher than the first rotation axis installation seat of the ankle.

[0029] Beneficial effect: by setting the push rod installation axis higher than the first rotating shaft installation seat of the ankle, when the ankle linear actuator acts on the push rod installation axis, the rotation range of the foot bracket can be larger, the range of free movement is increased, and interference is avoided.

[0030] In an optional embodiment, the first ankle shaft is mounted on the first ankle shaft mounting seat via a first shaft mounting pin;

[0031] A clearance hole is formed through the support plate along the M-axis direction, and the first rotating shaft mounting pin is suitable for passing through the clearance hole and being fixed to the first rotating shaft mounting seat of the ankle.

[0032] Beneficial effect: Since the first ankle pivot mounting seat is arranged in the receiving space, in order to simplify the assembly of the first ankle pivot and the first ankle pivot mounting seat, a first pivot mounting pin is adopted. The first pivot mounting pin is suitable for passing through the clearance hole and being fixed to the first ankle pivot mounting seat, thereby eliminating the need for bilateral fixation, improving assembly efficiency and reducing installation difficulty.

[0033] In an optional embodiment, the foot support is provided with: a foot surface portion, a foot bottom portion, a buffer portion, and a wear-resistant portion in order from top to bottom;

[0034] The foot support further includes: a sensor, the sensor being disposed at one of the sole, the buffer portion or the wear-resistant portion;

[0035] The sensor includes a pressure sensor.

[0036] In a second aspect, the present invention further provides a robot, comprising: a robot body;

[0037] And a mechanical leg structure as described above installed on the robot body.

[0038] Because the robot includes a mechanical leg structure, it has the same effect as the mechanical leg structure and will not be described in detail here. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0040] Figure 1 is a side view of the mechanical leg structure of the present invention in an upright state;

[0041] Figure 2 It is a schematic diagram of the calf support, foot support, ankle linear actuator and ankle joint assembly of the present invention;

[0042] Figure 3 It is an exploded schematic diagram of the calf support, foot support, ankle linear actuator and ankle joint assembly of the present invention;

[0043] Figure 4 is a cross-sectional view of the calf support, foot support, ankle linear actuator and ankle joint assembly of the present invention;

[0044] Figure 5 It is a side view of the mechanical leg structure of the present invention in a squatting state;

[0045] Figure 6 is an exploded schematic diagram of the foot support of the present invention;

[0046] Figure 7 It is an exploded schematic diagram of the buffer part and the sensor of the present invention.

[0047] Description of reference numerals:

[0048] 101. Thigh support; 102. Calf support; 103. Foot support;

[0049] 1021, ankle second shaft mounting seat; 1022, actuator mounting shaft;

[0050] 1031, ankle first rotation axis mounting seat; 1032, push rod mounting axis; 1033, support plate; 1034, foot surface; 1035, foot bottom; 1036, buffer part; 10361, sensor mounting groove; 1037, wear-resistant part; 1038, sensor; 1039, receiving space; 10310, clearance hole; 10311, arch part;

[0051] 4. Ankle joint assembly; 401. Rotating cross axis; 4011. First rotation axis of ankle; 4012. Second rotation axis of ankle; 4013. First rotation axis mounting pin; 402. Putter ball joint seat;

[0052] 503, ankle linear actuator; 5031, actuator body; 5032, actuator push rod; 5033, push rod mounting shaft seat. DETAILED DESCRIPTION

[0053] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0054] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0055] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0056] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0057] Combine the following Figures 1 to 7 , describing an embodiment of the present invention.

[0058] According to an embodiment of the present invention, on the one hand, a mechanical leg structure is provided, comprising:

[0059] A calf support 102 and a foot support 103;

[0060] The ankle joint assembly 4 is movably connected between the calf support 102 and the foot support 103; the ankle joint assembly 4 comprises: a swivel cross axis 401, having an ankle first rotation axis 4011 suitable for rotating around the M axis and an ankle second rotation axis 4012 suitable for rotating around the N axis;

[0061] The ankle linear actuator 503 has a first end that is rotationally connected to the calf support 102 and a second end that is rotationally connected to the foot support 103. The ankle linear actuator 503 is suitable for driving at least one of the foot support 103 and the calf support 102 to move so that at least one of the foot support 103 and the calf support 102 rotates around the M axis and / or the N axis.

[0062] In this embodiment, the calf support 102 is similar to the tibia of the human body and plays a supporting force role, and the foot support 103 is similar to the foot bone of the human body and is convenient for standing support; the calf support 102 and the foot support 103 are connected through the ankle joint assembly 4, so that the calf support 102 and the foot support 103 can move relative to each other, and the calf support 102 and the foot support 103 of this embodiment can realize relative movement with multiple degrees of freedom.

[0063] The ankle joint assembly 4 includes a swivel cross axis 401, which has a first ankle rotation axis 4011 and a second ankle rotation axis 4012, and the first ankle rotation axis 4011 and the second ankle rotation axis 4012 are fixedly connected. The swivel cross axis 401 is in a fixed state. By making the first ankle rotation axis 4011 and the second ankle rotation axis 4012 of the swivel cross axis 401 rotatably connected to the foot support 103 and the calf support 102 respectively, at least one of the foot support 103 and the calf support 102 can be rotated around the M axis, or around the N axis, or around the M axis and the N axis at the same time.

[0064] The first end of the ankle linear actuator 503 is rotatably connected to the calf support 102 , and the second end of the ankle linear actuator 503 is rotatably connected to the foot support 103 .

[0065] In this embodiment, the specific structural form of the ankle linear actuator 503 can be a cylinder or an electric push rod.

[0066] In some embodiments, the M axis is perpendicular to the N axis. As a variation, the M axis and the N axis may also be arranged at a certain angle.

[0067] In some embodiments, in combination Figure 2 , Figure 3As shown, the ankle linear actuator 503 includes an actuator body 5031, and an actuator push rod 5032 that is telescopic relative to the actuator body 5031; through the telescopic movement of the ankle linear actuator 503, at least one of the foot support 103 and the calf support 102 can be driven to move, so that at least one of the foot support 103 and the calf support 102 can rotate around the M axis and / or the N axis.

[0068] For example, when the M axis is parallel to the front-back direction of the human body, when the foot support 103 remains relatively fixed, the anisotropic expansion and contraction of the ankle linear actuator 503 can drive the calf support 102 to rotate around the M axis to achieve the side leg movement; and when the calf support 102 remains relatively fixed, the anisotropic expansion and contraction of the ankle linear actuator 503 can drive the foot support 103 to rotate around the M axis to achieve the left and right movement of the ankle, thereby causing the foot support 103 to swing left and right. It should be noted that the left and right here refers to the positional relationship when the left and right of the human body are used as a reference.

[0069] For example, when the N axis is parallel to the left-right direction of the human body, when the foot support 103 remains relatively fixed, the same-direction expansion and contraction of the ankle linear actuator 503 can drive the calf support 102 to rotate around the N axis, realizing the action of the calf squatting; and when the calf support 102 remains relatively fixed, the same-direction expansion and contraction of the ankle linear actuator 503 can drive the foot support 103 to rotate around the N axis, realizing the action of the ankle moving up and down, and then making the foot support 103 swing up and down. It should be noted that the above-mentioned action is in the form of action when the calf support 102 is in a vertical state. If the calf support 102 is in an inclined state, the foot support 103 rotates around the N axis, and the action of the toe position approaching or moving away from the calf support 102 is realized.

[0070] The mechanical leg structure provided by an embodiment of the present invention adopts the ankle linear actuator 503 to drive the ankle joint assembly 4 to move, so that at least one of the foot support 103 and the calf support 102 can rotate around the M axis and / or the N axis. There is no need to set an independent driving component for each degree of freedom of rotation, thereby realizing a combination of multi-degree-of-freedom rotation actions, reducing the number of driving components, and reducing the complexity of the structure.

[0071] In some embodiments, in combination Figure 3 As shown, there are two ankle linear actuators 503, and the two ankle linear actuators 503 are respectively arranged on both sides of the calf support 102 along the N-axis direction;

[0072] The two ankle linear actuators 503 have a first action state of asymmetric extension and a second action state of synchronous extension and extension;

[0073] In the first action state, the calf support 102 and / or the foot support 103 are adapted to rotate about the M axis;

[0074] In the second action state, the calf support 102 and / or the foot support 103 are suitable for rotating around the N axis.

[0075] The two ankle linear actuators 503 have a first action state of dysdirectional extension and contraction. By extending and contracting the ankle linear actuators 503 on both sides dysdirectionally, the two sides of the push rod mounting shaft 1032 can be driven to move in dysdirectionally respectively. Thus, in the first action state, the calf support 102 is rotated around the M axis, or the foot support 103 is rotated around the M axis, or the calf support 102 and the foot support 103 are rotated around the M axis at the same time.

[0076] The two ankle linear actuators 503 also have a second action state of synchronous extension and retraction. By synchronously extending and retracting the ankle linear actuators 503 on both sides, they can respectively drive the two sides of the push rod mounting shaft 1032 to move in the same direction. Therefore, in the second action state, the calf support 102 is rotated around the N axis, or the foot support 103 is rotated around the N axis, or the calf support 102 and the foot support 103 are rotated around the N axis at the same time.

[0077] In some embodiments, in combination Figure 3 As shown, the foot support 103 is provided with an ankle first rotation axis mounting seat 1031, and the ankle first rotation axis 4011 is rotatably connected to the ankle first rotation axis mounting seat 1031;

[0078] The axial direction of the first rotation axis mounting seat 1031 of the ankle coincides with the M axis;

[0079] The first end of the calf support 102 is provided with an ankle second rotation shaft mounting seat 1021, and the ankle second rotation shaft 4012 is rotatably connected to the ankle second rotation shaft mounting seat 1021;

[0080] The axial direction of the second ankle shaft mounting seat 1021 coincides with the N axis.

[0081] The first ankle rotating shaft mounting seat 1031 has two or more bracket parts spaced apart along the M-axis direction, each bracket part is provided with an assembly hole, and the first ankle rotating shaft 4011 is rotatably connected to the assembly hole of the first ankle rotating shaft mounting seat 1031.

[0082] The first end of the calf support 102 is provided with an ankle second rotation axis mounting seat 1021, and the ankle second rotation axis mounting seat 1021 has two or more support parts arranged at intervals along the N-axis direction, and each support part is provided with an assembly hole. The ankle second rotation axis 4012 is rotatably connected to the assembly hole of the ankle second rotation axis mounting seat 1021.

[0083] In addition, the second end of the calf support 102 is suitable for connection to other structures, which may be the thigh support 101.

[0084] In this embodiment, the first ankle rotation axis 4011 is located relatively below the second ankle rotation axis 4012 in the height direction, that is, the first ankle rotation axis 4011 is arranged away from the second ankle rotation axis mounting seat 1021 relative to the second ankle rotation axis 4012, so that the second ankle rotation axis mounting seat 1021 can be preferentially connected to the second ankle rotation axis 4012, avoiding interference of the first ankle rotation axis 4011 when rotating around the second ankle rotation axis 4012, thereby increasing the range of motion.

[0085] In some embodiments, in combination Figure 2 , Figure 3 As shown, the ankle linear actuator 503 includes an actuator body 5031, an actuator push rod 5032 that is telescopic relative to the actuator body 5031, and a push rod mounting shaft seat 5033 located at the end of the actuator push rod 5032;

[0086] The foot bracket 103 is also provided with a push rod installation shaft 1032, and the push rod installation shaft seat 5033 is rotatably connected to the push rod installation shaft 1032.

[0087] The push rod mounting shaft seat 5033 located at the end of the actuator push rod 5032 is suitable for being sleeved on the push rod mounting shaft 1032 to achieve a rotational connection between the push rod mounting shaft seat 5033 and the push rod mounting shaft 1032 .

[0088] In this embodiment, the axial direction of the push rod mounting shaft 1032 is parallel to the N axis, so that when the ankle linear actuator 503 pushes the push rod mounting shaft 1032 to move, the force on both sides can be balanced, which facilitates the foot support 103 to rotate around the M axis or around the N axis.

[0089] In some embodiments, in combination Figure 2 , Figure 3 As shown, the actuator body 5031 is rotatably connected to the actuator mounting shaft 1022 provided on the calf support 102;

[0090] The push rod mounting shaft seat 5033 is rotationally connected to the push rod mounting shaft 1032 via the push rod ball joint seat 402 .

[0091] When the ankle linear actuators 503 on both sides extend and retract in different directions, the ankle linear actuators 503 will tilt along the N axis toward or away from the calf support 102. By adopting a ball joint connection, the requirement for an angle tilt at the position where the ankle linear actuator 503 is connected to the push rod mounting shaft 1032 can be met, thereby avoiding interference and meeting the requirements for multi-degree-of-freedom activities.

[0092] Optionally, the axial direction of the actuator mounting shaft 1022 is parallel to the N axis, and the actuator body 5031 and the actuator mounting shaft 1022 are also connected by a ball joint, which can meet the requirement of angle inclination at the connection position between the ankle linear actuator 503 and the actuator mounting shaft 1022, avoid interference, and meet the requirements of multi-degree-of-freedom activities.

[0093] In some embodiments, in combination Figure 4 As shown, the push rod mounting shaft 1032 is arranged at the heel position of the foot support 103 , and the ankle first rotating shaft mounting seat 1031 is arranged at the mid-foot position of the foot support 103 .

[0094] In some embodiments, the foot support 103 is further provided with a support plate 1033 at the heel position, and the push rod mounting shaft 1032 is provided on a side of the support plate 1033 away from the sole of the foot;

[0095] The foot support 103 is located at the middle of the foot and is recessed to form a receiving space 1039, and the ankle first rotation axis mounting seat 1031 is disposed in the receiving space 1039;

[0096] The push rod mounting shaft 1032 is arranged higher than the ankle first rotating shaft mounting seat 1031 .

[0097] By setting the push rod mounting shaft 1032 higher than the ankle first rotating shaft mounting seat 1031, when the ankle linear actuator 503 acts on the push rod mounting shaft 1032, the foot support 103 can be rotated more widely, thereby increasing the range of free movement and avoiding interference.

[0098] At the same time, by forming a receiving space 1039 in the middle of the foot support 103, the first ankle pivot mounting seat 1031 is set in the receiving space 1039, which can improve the space utilization rate of the foot support 103, make the first ankle pivot mounting seat 1031 closer to the ground, and have higher stability.

[0099] In some embodiments, in combination Figure 3 , Figure 4 As shown, the ankle first rotation shaft 4011 is installed on the ankle first rotation shaft installation seat 1031 via the first rotation shaft installation pin 4013;

[0100] A clearance hole 10310 is formed through the support plate 1033 along the M-axis direction, and the first rotation shaft mounting pin 4013 is suitable for passing through the clearance hole 10310 and being fixed to the first rotation shaft mounting seat 1031 of the ankle.

[0101] Since the first ankle pivot mounting seat 1031 is arranged in the accommodating space 1039, in order to simplify the assembly of the first ankle pivot 4011 and the first ankle pivot mounting seat 1031, a first pivot mounting pin 4013 is adopted. The first pivot mounting pin 4013 is suitable for passing through the give way hole 10310 to be fixed to the first ankle pivot mounting seat 1031, thereby eliminating the need for bilateral fixation, improving assembly efficiency and reducing installation difficulty.

[0102] In some embodiments, in combination Figure 6 , Figure 7 As shown, the foot support 103 is provided with: a foot surface portion 1034, a foot bottom portion 1035, a buffer portion 1036 and a wear-resistant portion 1037 in sequence from top to bottom;

[0103] The foot support 103 further includes: a sensor 1038 , the sensor 1038 being disposed at one of the foot bottom 1035 , the buffer portion 1036 , or the wear-resistant portion 1037 ;

[0104] Sensor 1038 includes a pressure sensor.

[0105] The buffer portion 1036 may be made of rubber or foam material, etc., so as to play a buffering role and reduce the impact force from the sole of the foot.

[0106] In this embodiment, the sensor 1038 is arranged at the bottom of the buffer portion 1036. A sensor mounting groove 10361 is opened at the bottom of the buffer portion 1036. By installing the sensor 1038 in the sensor mounting groove 10361, the pressure value can be monitored when the sensor 1038 is subjected to pressure.

[0107] Additionally, the number of sensors 1038 may be plural.

[0108] In some other embodiments, the bottom of the foot support 103 is recessed to form an arch portion 10311, so that the foot support 103 can more realistically simulate the characteristics of the human foot, cushion shocks, and make the stress distribution on the sole of the foot more uniform.

[0109] According to an embodiment of the present invention, on the other hand, there is also provided a robot, comprising:

[0110] Robot body;

[0111] And a mechanical leg structure as described above installed on the robot body.

[0112] The mechanical leg structure includes: a thigh support 101, a calf support 102 arranged below the thigh support 101, and a foot support 103 arranged below the calf support 102.

[0113] Because the robot includes a mechanical leg structure, it has the same effect as the mechanical leg structure and will not be described in detail here.

[0114] Obviously, the above embodiments are only examples for clear explanation, and are not intended to limit the implementation methods. Although the embodiments of the present invention are described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations all fall within the scope defined by the present invention.

Claims

1. A mechanical leg structure, characterized in that: include: A calf support (102) and a foot support (103); An ankle joint assembly (4) is movably connected between the calf support (102) and the foot support (103); the ankle joint assembly (4) comprises: a swivel cross axis (401) having a first ankle rotation axis (4011) suitable for rotating around the M axis and a second ankle rotation axis (4012) suitable for rotating around the N axis; An ankle linear actuator (503), the first end of which is rotatably connected to the calf support (102), and the second end of which is rotatably connected to the foot support (103); the ankle linear actuator (503) is suitable for driving at least one of the foot support (103) and the calf support (102) to move, so that at least one of the foot support (103) and the calf support (102) rotates around the M axis and / or the N axis.

2. The mechanical leg structure according to claim 1, characterized in that: The number of the ankle linear actuators (503) is two, and the two ankle linear actuators (503) are respectively arranged on both sides of the calf support (102); The two ankle linear actuators (503) have a first action state of asymmetric extension and contraction, and a second action state of synchronous extension and contraction; In the first action state, the calf support (102) and / or the foot support (103) are suitable for rotating around the M axis; In the second action state, the calf support (102) and / or the foot support (103) are suitable for rotating around the N axis.

3. The mechanical leg structure according to claim 1, characterized in that: The foot support (103) is provided with an ankle first rotating shaft mounting seat (1031), and the ankle first rotating shaft (4011) is rotatably connected to the ankle first rotating shaft mounting seat (1031); The axis of the first rotation axis mounting seat (1031) of the ankle coincides with the M axis; The first end of the calf support (102) is provided with an ankle second rotation shaft mounting seat (1021), and the ankle second rotation shaft (4012) is rotationally connected to the ankle second rotation shaft mounting seat (1021); The axial direction of the second ankle shaft mounting seat (1021) coincides with the N axis.

4. The mechanical leg structure according to claim 3, characterized in that: The ankle linear actuator (503) comprises an actuator body (5031), an actuator push rod (5032) that is telescopic relative to the actuator body (5031), and a push rod mounting shaft seat (5033) located at the end of the actuator push rod (5032); The foot support (103) is also provided with a push rod installation shaft (1032), and the push rod installation shaft seat (5033) is rotatably connected to the push rod installation shaft (1032).

5. The mechanical leg structure according to claim 4, characterized in that: The actuator body (5031) is rotatably connected to an actuator mounting shaft (1022) provided on the calf support (102); The push rod mounting shaft seat (5033) and the push rod mounting shaft (1032) are rotationally connected via a push rod ball joint seat (402).

6. The mechanical leg structure according to claim 4, characterized in that: The push rod mounting shaft (1032) is arranged at the heel position of the foot support (103), and the ankle first rotating shaft mounting seat (1031) is arranged at the midfoot position of the foot support (103).

7. The mechanical leg structure according to claim 6, characterized in that: The foot support (103) is also provided with a support plate (1033) at the heel position, and the push rod mounting shaft (1032) is provided on a side of the support plate (1033) away from the sole of the foot; The foot support (103) is located in the middle of the foot and is recessed to form a receiving space (1039), and the ankle first rotating shaft mounting seat (1031) is arranged in the receiving space (1039); The push rod mounting shaft (1032) is arranged higher than the ankle first rotating shaft mounting seat (1031).

8. The mechanical leg structure according to claim 7, characterized in that: The first ankle shaft (4011) is mounted on the first ankle shaft mounting seat (1031) via a first shaft mounting pin (4013); The support plate (1033) is formed with a clearance hole (10310) along the M-axis direction, and the first rotating shaft mounting pin (4013) is suitable for passing through the clearance hole (10310) and being fixed to the first rotating shaft mounting seat (1031) of the ankle.

9. The mechanical leg structure according to any one of claims 1 to 8, characterized in that: The foot support (103) is provided with, from top to bottom, a foot surface portion (1034), a foot bottom portion (1035), a buffer portion (1036) and a wear-resistant portion (1037); The foot support (103) further comprises: a sensor (1038), wherein the sensor (1038) is arranged at one of the sole (1035), the buffer portion (1036) or the wear-resistant portion (1037); The sensor (1038) includes a pressure sensor.

10. A robot, characterized in that: include: Robot body; And a mechanical leg structure as described in any one of claims 1 to 9 installed on the robot body.

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