A leg structure for a multi-legged platform

Abstract

The present invention relates to a leg structure for a multi-legged platform, belonging to the technical field of mobile vehicles, and solves the problem in the prior art that each joint of the multi-legged platform needs to be driven by a motor, which is complex in structure and wastes energy. The present invention includes a thigh unit, a calf unit, a foot unit, a motor and a transmission unit, one end of the thigh unit is connected to the multi-legged platform, the calf unit is respectively connected to the other end of the thigh unit and the foot unit, and the motor is arranged on the thigh unit. Compared with the prior art that requires a motor to be arranged at each joint to drive the machine leg, the leg structure of this embodiment only needs a motor, a first drive rope, a second drive rope, a third drive rope and a fourth drive rope to drive the calf unit and the foot unit to swing simultaneously, forming a flexion and extension movement of the leg structure, with a simple structure and energy saving.

Description

Technical Field

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

[0002] The multi-legged stable platform is a bionic robot whose design is inspired by the walking style and leg structure of insects and other multi-legged animals. The multi-legged stable platform usually supports and moves its body through multiple legs, can adapt to complex terrain environments, and has good stability, flexibility and movement ability. The design of the multi-legged stable platform is inspired by insects, spiders and other multi-legged animals, and draws on their movement style and leg structure, such as six-legged, eight-legged, or even more-legged forms, to achieve stable movement and complex movements of the robot.

[0003] Currently, the leg structure of multi-legged platforms adopts a design that combines thighs, calves and feet. By changing the angles between the thighs, calves and feet, the distance between the torso of the multi-legged robot and the ground can be adjusted. However, each joint between the thighs, calves and feet needs to be driven by a motor, which makes the structure complex and wastes energy.

[0004] Therefore, there is an urgent need for a leg structure for a multi-legged platform to solve the problem that each joint between the thigh, calf and foot of the multi-legged platform in the prior art needs to be driven by a motor, which is complex in structure and wastes energy. Summary of the invention

[0005] In view of the above analysis, the present invention aims to provide a leg structure for a multi-legged platform to solve the problem in the prior art that each joint between the thigh, calf and foot of the multi-legged platform needs to be driven by a motor, which results in a complex structure and wastes energy.

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

[0007] A leg structure for a multi-legged platform, comprising a thigh unit, a calf unit, a foot unit, a motor and a transmission unit, wherein one end of the thigh unit is connected to the multi-legged platform, the calf unit is respectively connected to the other end of the thigh unit and the foot unit, and the motor is arranged on the thigh unit;

[0008] The thigh unit includes a thigh support frame and a first rotating shaft, wherein the first rotating shaft is rotatably connected to the thigh support frame; the calf unit includes a calf support frame and a second rotating shaft, wherein the second rotating shaft is rotatably connected to one end of the calf support frame, and the other end of the calf support frame is connected to the first rotating shaft;

[0009] The transmission unit comprises a first driving rope, a second driving rope, a third driving rope and a fourth driving rope, one end of the first driving rope, the second driving rope, the third driving rope and the fourth driving rope are connected to the motor output shaft of the motor and are wound around the outer wall of the motor output shaft, the winding direction of the second driving rope is opposite to the winding direction of the first driving rope, and the winding direction of the fourth driving rope is opposite to the winding direction of the third driving rope; the other ends of the first driving rope and the second driving rope are connected to the inner wall of the calf support frame; one ends of the third driving rope and the fourth driving rope are connected to the foot unit;

[0010] The motor output shaft rotates to cause the calf unit to flex and extend through the first drive rope and the second drive rope; and to cause the foot unit to flex and extend through the third drive rope and the fourth drive rope.

[0011] Furthermore, the transmission unit also includes a relay component, and the third drive rope and the fourth drive rope are connected to the foot unit through the relay component; the foot unit includes a foot support frame, one end of the foot support frame is connected to the second rotating shaft, the foot support frame can rotate around the second rotating shaft, and the other end of the foot support frame is a grounding end.

[0012] Further, the relay assembly includes a steering shaft, which is rotatably connected to the calf support frame, one end of the third drive rope is connected to the steering shaft and wound around the outer wall of the steering shaft, and the other end of the third drive rope is connected to the motor output shaft and wound around the outer wall of the motor output shaft; one end of the fourth drive rope is connected to the steering shaft and wound around the outer wall of the steering shaft, and the other end of the fourth drive rope is connected to the motor output shaft and wound around the outer wall of the motor output shaft, and the winding directions on the steering shaft and the motor output shaft are opposite to the winding direction of the third drive rope.

[0013] Furthermore, the transmission unit also includes a first transmission rope and a second transmission rope, one end of the first transmission rope is connected to the steering shaft and wound around the outer wall of the steering shaft, and the other end of the first transmission rope is connected to the inner wall of the foot support frame; one end of the second transmission rope is connected to the steering shaft and wound around the outer wall of the steering shaft, the other end of the second transmission rope is connected to the inner wall of the foot support frame, and the winding direction on the steering shaft is opposite to the winding direction of the first transmission rope.

[0014] Furthermore, it also includes a toe unit, which includes a support rod, a fixed support seat, a movable support seat, a shock-absorbing spring and a grounding component, one end of the support rod is connected to the foot unit, and the other end of the support rod is connected to the fixed support seat, the movable support seat and the shock-absorbing spring are both mounted on the support rod, one end of the shock-absorbing spring is connected to the fixed support seat, and the other end of the shock-absorbing spring is connected to the movable support seat, and the grounding component is respectively connected to the fixed support seat and the movable support seat; the shock-absorbing spring is used to pull the movable support seat toward the fixed support seat, and the grounding component is used to contact the ground.

[0015] Further, the grounding assembly includes a first grounding rod, a second grounding rod, an oblique support rod and a support spring, one end of the first grounding rod is rotatably connected to the movable support seat, the other end of the first grounding rod is rotatably connected to one end of the second grounding rod and one end of the oblique support rod respectively, the other end of the second grounding rod is a grounding end, the other end of the oblique support rod is rotatably connected to the fixed support seat, one end of the support spring is connected to the side wall of the second grounding rod, the other end of the support spring is connected to the side wall of the fixed support seat, and the support spring is used to pull the second grounding rod toward the fixed support seat.

[0016] Furthermore, there are multiple grounding components, which are evenly distributed around the support rod.

[0017] Furthermore, the second grounding rod includes a first branch rod and a second branch rod, the first branch rod and the second branch rod are connected in a "human" structure, the vertex of the "human" structure is rotatably connected to the end of the oblique support rod, and the side wall of the second branch rod is connected to the shock-absorbing spring.

[0018] Furthermore, the grounding assembly further comprises a roller, which is disposed at the grounding end of the first branch rod and can rotate around the grounding end of the first branch rod.

[0019] Furthermore, the toe unit also includes a ball head, which is arranged on the support rod; the foot unit also includes a ball socket, which is arranged on the foot support frame; the ball head can be connected to the ball socket, and the ball head can rotate in the ball socket.

[0020] Compared with the prior art, the present invention can achieve at least one of the following beneficial effects:

[0021] (1) Compared with the prior art which requires a motor to be set at each joint to drive the machine leg, the leg structure of the present invention only requires a motor, a first drive rope, a second drive rope, a third drive rope and a fourth drive rope to drive the calf unit and the foot unit to swing simultaneously, thereby forming a flexion and extension movement of the leg structure, which has a simple structure and saves energy;

[0022] (2) The relay assembly of the present invention holds all the transmission units inside the calf support frame and the foot support frame through the steering shaft, ensuring that the transmission units will not get caught on ground objects such as weeds and branches, thereby preventing the movement of the leg structure from being hindered and ensuring the smooth operation of the multi-legged platform;

[0023] (3) When the leg structure of the present invention touches the ground, the foot unit presses down the support rod, the grounding assembly pushes up the movable support seat, and the shock-absorbing spring can buffer the impact of the grounding assembly touching the ground, making the movement of the multi-legged platform more stable;

[0024] (4) Due to the pressure of the multi-legged platform, the multiple second grounding rods of the present invention rotate radially, increasing the grounding area of ​​the toe unit, thereby increasing the grounding area of ​​the leg structure of the present invention; on uneven ground, the second grounding rods can be fully grounded, ensuring that all grounding components of the leg structure of the present invention are grounded, and providing more stable support for the multi-legged platform;

[0025] (5) The two bottom ends of the "human" structure of the present invention are grounding ends, which further increases the grounding area of ​​the toe unit and further increases the stability of the multi-legged platform support;

[0026] (6) The ball head of the present invention can be connected to the ball socket to prevent the toe unit from being separated from the foot unit; and the ball head can rotate in the ball socket. When the leg structure performs a leg extension movement, the toe unit can always remain perpendicular to the ground. When the leg structure performs a leg flexion movement, all ground-connecting components of the toe unit can be connected to the ground, thereby ensuring the stability of the leg structure support of the present invention.

[0027] 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

[0028] 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;

[0029] Figure 1 It is a schematic diagram of the overall structure of the leg structure of the present invention;

[0030] Figure 2 It is a schematic diagram of the decomposed structure of the thigh unit, the calf unit and the foot unit;

[0031] Figure 3 is a schematic diagram of the overall structure of the toe unit;

[0032] Figure 4 Schematic diagram of the decomposition structure of the toe unit.

[0033] Reference numerals:

[0034] 1-thigh unit; 2-calf unit; 3-foot unit; 4-motor; 5-transmission unit; 6-toe unit; 11-thigh support frame; 12-first rotating shaft; 21-calf support frame; 22-second rotating shaft; 23-first pulling rod; 24-second pulling rod; 25-steering shaft; 31-foot support frame; 32-third pulling rod; 33-fourth pulling rod; 41-motor body; 42-motor output shaft; 51-first drive rope; 52-second drive rope; 53-third drive rope; 54-fourth drive rope; 55-first transmission rope; 56-second transmission rope; 61-support rod; 62-fixed support seat; 63-movable support seat; 64-shock-absorbing spring; 65-first grounding rod; 66-second grounding rod; 67-inclined support rod; 68-support spring; 69-roller; 70-ball head; 661-first sub-rod; 662-second sub-rod. DETAILED DESCRIPTION

[0035] 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.

[0036] Example 1

[0037] A specific embodiment of the present invention, as Figure 1 As shown, a leg structure for a multi-legged platform (hereinafter referred to as the leg structure) is disclosed, including a thigh unit 1, a calf unit 2, a foot unit 3, a motor 4 and a transmission unit 5. One end of the thigh unit 1 is connected to the multi-legged platform, and both ends of the calf unit 2 are respectively connected to the other end of the thigh unit 1 and the foot unit 3. The motor 4 is arranged on the thigh unit 1, and the motor 4 is used to drive the thigh unit 1, the calf unit 2 and the foot unit 3 to perform flexion and extension movements through the transmission unit 5, so that the multi-legged platform crawls.

[0038] Preferably, if Figure 2 As shown, the thigh unit 1 includes a thigh support frame 11 and a first rotating shaft 12, the end of the first rotating shaft 12 is rotatably connected to the thigh support frame 11, the outer wall of the first rotating shaft 12 is fixedly connected to the calf unit 2, and the calf unit 2 can rotate around the first rotating shaft 12. The motor 4 includes a motor body 41 and a motor output shaft 42, and the motor body 41 is fixedly connected to the thigh support frame 11. The motor output shaft 42 is parallel to the first rotating shaft 12.

[0039] Preferably, the calf unit 2 includes a calf support frame 21, a second rotating shaft 22, a first pulling rod 23 and a second pulling rod 24, the end of the second rotating shaft 22 is rotatably connected to one end of the calf support frame 21, the other end of the calf support frame 21 is connected to the outer wall of the first rotating shaft 12, and the first pulling rod 23 and the second pulling rod 24 are respectively connected to the calf support frame 21.

[0040] The transmission unit 5 includes a first driving rope 51 and a second driving rope 52. One end of the first driving rope 51 is connected to the motor output shaft 42 and is wound around the outer wall of the motor output shaft 42. The other end of the first driving rope 51 passes around the first pulling rod 23 and is connected to the inner wall of the calf support frame 21. One end of the second driving rope 52 is connected to the motor output shaft 42 and is wound around the outer wall of the motor output shaft 42, and the winding direction is opposite to that of the first driving rope 51. The other end of the second driving rope 52 passes around the second pulling rod 24 and is connected to the inner wall of the calf support frame 21. The motor output shaft 42 rotates in one direction, the first drive rope 51 is wound around the motor output shaft 42, and the second drive rope 52 is unwound from the motor output shaft 42. The first drive rope 51 can pull the first traction rod 23 in the direction of the motor 4, so that the calf unit 2 rotates toward the motor 4 in the direction opposite to the rotation direction of the motor output shaft 42, and performs the leg flexion movement; the motor output shaft 42 rotates in the other direction, the second drive rope 52 is wound around the motor output shaft 42, the first drive rope 51 is unwound from the motor output shaft 42, and the second drive rope 52 can pull the second traction rod 24 in the direction away from the motor 4, so that the calf unit 2 rotates away from the motor 4 in the direction opposite to the rotation direction of the motor output shaft 42, and performs the leg extension movement.

[0041] Preferably, the transmission unit 5 further includes a third driving rope 53 and a fourth driving rope 54, one end of the third driving rope 53 is connected to the foot unit 3, the other end of the third driving rope 53 is connected to the motor output shaft 42, and is wound around the outer wall of the motor output shaft 42; one end of the fourth driving rope 54 is connected to the foot unit 3, the other end of the fourth driving rope 54 is connected to the motor output shaft 42, and is wound around the outer wall of the motor output shaft 42, and the winding direction on the motor output shaft 42 is opposite to the winding direction of the third driving rope 53. When the motor output shaft 42 rotates in one direction, the third driving rope 53 is wound around the motor output shaft 42, and the fourth driving rope 54 is unwound from the motor output shaft 42, and the third driving rope 53 can flex and extend the foot unit 3. The leg structure of this embodiment only needs one motor 4 to simultaneously drive the calf unit 2 and the foot unit 3 to swing simultaneously, forming the flexion and extension movement of the leg structure, which is simple in structure and energy-saving.

[0042] From the motor output shaft 42 to the foot unit 3, the length of the third drive rope 53 and the fourth drive rope 54 will be very long. When the leg structure is bent, the fourth drive rope 54 will be away from the calf unit 2, and it is very easy to hook weeds, branches and other ground objects, which will hinder the movement of the leg structure. In some optional embodiments, the transmission unit 5 also includes a relay assembly, which includes a steering shaft 25, and the steering shaft 25 is rotatably connected to the calf support frame 21. One end of the third drive rope 53 is connected to the steering shaft 25 and wound around the outer wall of the steering shaft 25, and the other end of the third drive rope 53 is connected to the motor output shaft 42 and wound around the outer wall of the motor output shaft 42; one end of the fourth drive rope 54 is connected to the steering shaft 25 and wound around the outer wall of the steering shaft 25, and the other end of the fourth drive rope 54 is connected to the motor output shaft 42 and wound around the outer wall of the motor output shaft 42, and the winding direction on the steering shaft 25 and the motor output shaft 42 is opposite to the winding direction of the third drive rope 53. The motor output shaft 42 rotates in one direction, the third drive rope 53 is wound around the motor output shaft 42, and the fourth drive rope 54 is unwound from the motor output shaft 42. The third drive rope 53 can transmit the rotation of the motor output shaft 42 to the steering shaft 25, so that the steering shaft 25 and the motor output shaft 42 keep rotating in the same direction.

[0043] Preferably, the foot unit 3 includes a foot support frame 31, a third pulling rod 32 and a fourth pulling rod 33. One end of the foot support frame 31 is connected to the second rotating shaft 22, and the foot support frame 31 can rotate around the second rotating shaft 22. The other end of the foot support frame 31 is a grounding end. The third pulling rod 32 and the fourth pulling rod 33 are respectively connected to the foot support frame 31. The relay assembly also includes a first transmission rope 55 and a second transmission rope 56. One end of the first transmission rope 55 is connected to the steering shaft 25 and is wound around the outer wall of the steering shaft 25. The other end of the first transmission rope 55 bypasses the third pulling rod 32 and is connected to the inner wall of the foot support frame 31. One end of the second transmission rope 56 is connected to the steering shaft 25 and is wound around the outer wall of the steering shaft 25. The other end of the second transmission rope 56 bypasses the fourth pulling rod 33 and is connected to the inner wall of the foot support frame 31, and the winding direction on the steering shaft 25 is opposite to the winding direction of the first transmission rope 55. The motor output shaft 42 rotates in one direction, the steering shaft 25 rotates in the same direction as the motor output shaft 42, the first transmission rope 55 is wound around the steering shaft 25, and the second transmission rope 56 is unwound from the steering shaft 25, and the first transmission rope 55 can pull the foot support frame 31 in the direction of the motor 4, so that the foot unit 3 rotates toward the motor 4 in the direction opposite to the rotation direction of the motor output shaft 42, and performs a foot flexion action; the motor output shaft 42 rotates in the other direction, the steering shaft 25 rotates in the same direction as the motor output shaft 42, the second transmission rope 56 is wound around the steering shaft 25, and the first transmission rope 55 is unwound from the steering shaft 25, and the second transmission rope 56 can pull the foot support frame 31 in the direction away from the motor 4, so that the foot unit 3 rotates away from the motor 4 in the direction opposite to the rotation direction of the motor output shaft 42, and performs a foot extension action. The relay assembly holds the entire transmission unit 5 inside the calf support frame 21 and the foot support frame 31 via the steering shaft 25, ensuring that the transmission unit 5 will not get caught on ground objects such as weeds and branches, thereby preventing the movement of the leg structure from being hindered.

[0044] Compared with the prior art which requires a motor to be set at each joint to drive the machine leg, the leg structure of this embodiment only needs a motor 4, a first drive rope 51, a second drive rope 52, a third drive rope 53 and a fourth drive rope 54 to drive the calf unit 2 and the foot unit 3 to swing simultaneously, thereby forming a flexion and extension movement of the leg structure. The structure is simple and energy-saving. The relay assembly keeps all the transmission units 5 inside the calf support frame 21 and the foot support frame 31 through the steering shaft 25, ensuring that the transmission unit 5 will not hook on weeds, branches and other ground objects, thereby preventing the movement of the leg structure from being hindered and ensuring the smooth operation of the multi-legged platform.

[0045] Example 2

[0046] Another specific embodiment of the present invention, as Figure 1As shown, a toe unit 6 is added on the basis of Embodiment 1, and the toe unit 6 is used for grounding. The leg structure of this embodiment can adapt to the uneven ground, so that the multi-legged robot can run more smoothly.

[0047] Preferably, if Figure 3 As shown, the toe unit 6 includes a support rod 61, a fixed support seat 62, a movable support seat 63, a shock-absorbing spring 64 and a grounding component. One end of the support rod 61 is connected to the foot unit 3, and the other end of the support rod 61 is connected to the fixed support seat 62. The movable support seat 63 and the shock-absorbing spring 64 are both sleeved on the support rod 61. One end of the shock-absorbing spring 64 is connected to the fixed support seat 62, and the other end of the shock-absorbing spring 64 is connected to the movable support seat 63. The grounding component is connected to the fixed support seat 62 and the movable support seat 63 respectively. The shock-absorbing spring 64 is used to pull the movable support seat 63 toward the fixed support seat 62, and the grounding component is used to contact the ground. When the leg structure of this embodiment is grounded, the foot unit 3 presses down the support rod 61, and the grounding component pushes up the movable support seat 63. The shock-absorbing spring 64 can buffer the impact of the grounding of the grounding component, so that the movement of the multi-legged platform is more stable.

[0048] Preferably, Figure 3 and Figure 4 As shown, the grounding assembly includes a first grounding rod 65, a second grounding rod 66, an oblique support rod 67 and a support spring 68, one end of the first grounding rod 65 is rotatably connected to the side wall of the movable support seat 63, the other end of the first grounding rod 65 is rotatably connected to one end of the second grounding rod 66 and one end of the oblique support rod 67 respectively, the other end of the second grounding rod 66 is a grounding end, the other end of the oblique support rod 67 is rotatably connected to the side wall of the fixed support seat 62, one end of the support spring 68 is connected to the side wall of the second grounding rod 66, the other end of the support spring 68 is connected to the side wall of the fixed support seat 62, and the support spring 68 is used to pull the second grounding rod 66 toward the fixed support seat 62. There are multiple grounding assemblies, and they are evenly distributed around the support rod 61. When the leg structure of the present embodiment is grounded, the grounding end of the second grounding rod 66 is grounded, the second grounding rod 66 pushes the first grounding rod 65, the first grounding rod 65 pushes the movable support seat 63 upward, and the shock-absorbing spring 64 can buffer the impact of the connection between the grounding component and the ground. Due to the pressure of the multi-legged platform, the multiple second grounding rods 66 rotate radially to increase the grounding area of ​​the toe unit 6, thereby increasing the grounding area of ​​the leg structure of the present embodiment; on uneven ground, the second grounding rod 66 can be fully grounded to ensure that all the grounding components of the leg structure of the present embodiment are grounded, and the support of the multi-legged platform is more stable.

[0049] Preferably, the second grounding rod 66 includes a first branch rod 661 and a second branch rod 662, which are connected in a "human" structure, the apex of the "human" structure is rotatably connected to the end of the oblique support rod 67, and the side wall of the second branch rod 662 is connected to the shock-absorbing spring 64. The two bottom ends of the "human" structure are grounding ends, which further increases the grounding area of ​​the toe unit 6 and further increases the stability of the multi-legged platform support.

[0050] Preferably, the grounding assembly also includes a roller 69, which is rotatably arranged at the grounding end of the first branch rod 661. The plurality of second grounding rods 66 rotate radially when grounded. The roller 69 can convert the sliding friction of the grounding end into the rolling friction of the roller 69, thereby reducing the friction when the grounding end is grounded, reducing the resistance of the grounding assembly, and protecting the grounding end of the first branch rod 661.

[0051] Preferably, the toe unit 6 further includes a ball head 70, which is disposed on the support rod 61. The foot unit 3 further includes a ball socket (not shown in the figure), which is disposed on the foot support frame 31. The ball head 70 can be connected to the ball socket to prevent the toe unit 6 from being separated from the foot unit 3; and the ball head 70 can rotate in the ball socket. When the leg structure of this embodiment performs a leg extension action, the toe unit 6 can always remain perpendicular to the ground. When the leg structure performs a leg flexion action, all grounding components of the toe unit 6 can be connected to the ground, ensuring the stability of the leg structure support of this embodiment.

[0052] Compared with Example 1, when the leg structure of this embodiment is grounded, the foot unit 3 presses down the support rod 61, and the grounding component pushes up the movable support seat 63, and the shock-absorbing spring 64 can buffer the impact of the grounding component being grounded, so that the movement of the multi-legged platform is more stable; the shock-absorbing spring 64 can buffer the impact of the grounding component being connected to the ground, and due to the pressure of the multi-legged platform, the multiple second grounding rods 66 rotate radially, increasing the grounding area of ​​the toe unit 6, so that the grounding area of ​​the leg structure of this embodiment is increased; on uneven ground, the second grounding rod 66 can be fully grounded to ensure the grounding of the leg structure of this embodiment All components are grounded, and the support for the multi-legged platform is more stable; the two bottom ends of the "human" structure are grounding ends, which further increase the ground contact area of ​​the toe unit 6 and further increase the stability of the support for the multi-legged platform; the ball head 70 can be connected to the ball socket to prevent the toe unit 6 from separating from the foot unit 3; and the ball head 70 can rotate in the ball socket. When the leg structure of this embodiment performs the leg extension action, the toe unit 6 can always remain perpendicular to the ground. When the leg structure performs the leg flexion action, all grounding components of the toe unit 6 can be connected to the ground, ensuring the stability of the support of the leg structure of this embodiment.

[0053] 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 leg structure for a multi-legged platform, characterized in that: The invention comprises a thigh unit (1), a calf unit (2), a foot unit (3), a motor (4) and a transmission unit (5), wherein one end of the thigh unit (1) is connected to the multi-legged platform, the calf unit (2) is respectively connected to the other end of the thigh unit (1) and the foot unit (3), and the motor (4) is arranged on the thigh unit (1); The thigh unit (1) comprises a thigh support frame (11) and a first rotating shaft (12), wherein the first rotating shaft (12) is rotatably connected to the thigh support frame (11); the calf unit (2) comprises a calf support frame (21) and a second rotating shaft (22), wherein the second rotating shaft (22) is rotatably connected to one end of the calf support frame (21), and the other end of the calf support frame (21) is connected to the first rotating shaft (12); The transmission unit (5) comprises a first driving rope (51), a second driving rope (52), a third driving rope (53) and a fourth driving rope (54); one end of each of the first driving rope (51), the second driving rope (52), the third driving rope (53) and the fourth driving rope (54) is connected to the motor output shaft (42) of the motor (4) and is wound around the outer wall of the motor output shaft (42); the winding direction of the second driving rope (52) is opposite to the winding direction of the first driving rope (51); the winding direction of the fourth driving rope (54) is opposite to the winding direction of the third driving rope (53); the other ends of the first driving rope (51) and the second driving rope (52) are connected to the inner wall of the calf support frame (21); one end of each of the third driving rope (53) and the fourth driving rope (54) is connected to the foot unit (3); The motor output shaft (42) rotates, and can cause the calf unit (2) to flex and extend through the first drive rope (51) and the second drive rope (52); and can cause the foot unit (3) to flex and extend through the third drive rope (53) and the fourth drive rope (54).

2. A leg structure for a multi-legged platform according to claim 1, characterized in that: The transmission unit (5) further comprises a relay assembly, wherein the third drive rope (53) and the fourth drive rope (54) are connected to the foot unit (3) via the relay assembly; the foot unit (3) comprises a foot support frame (31), wherein one end of the foot support frame (31) is connected to the second rotating shaft (22), the foot support frame (31) is capable of rotating around the second rotating shaft (22), and the other end of the foot support frame (31) is a grounding end.

3. A leg structure for a multi-legged platform according to claim 2, characterized in that: The relay assembly comprises a steering shaft (25), wherein the steering shaft (25) is rotatably connected to the calf support frame (21); one end of the third driving rope (53) is connected to the steering shaft (25) and is wound around the outer wall of the steering shaft (25); the other end of the third driving rope (53) is connected to the motor output shaft (42) and is wound around the outer wall of the motor output shaft (42); one end of the fourth driving rope (54) is connected to the steering shaft (25) and is wound around the outer wall of the steering shaft (25); the other end of the fourth driving rope (54) is connected to the motor output shaft (42) and is wound around the outer wall of the motor output shaft (42); and the winding directions on the steering shaft (25) and the motor output shaft (42) are opposite to the winding direction of the third driving rope (53).

4. A leg structure for a multi-legged platform according to claim 3, characterized in that: The transmission unit (5) further comprises a first transmission rope (55) and a second transmission rope (56); one end of the first transmission rope (55) is connected to the steering shaft (25) and is wound around the outer wall of the steering shaft (25); the other end of the first transmission rope (55) is connected to the inner wall of the foot support frame (31); one end of the second transmission rope (56) is connected to the steering shaft (25) and is wound around the outer wall of the steering shaft (25); the other end of the second transmission rope (56) is connected to the inner wall of the foot support frame (31), and the winding direction of the second transmission rope (56) around the steering shaft (25) is opposite to the winding direction of the first transmission rope (55).

5. A leg structure for a multi-legged platform according to claim 2, characterized in that: The toe unit (6) further comprises a toe unit (6), wherein the toe unit (6) comprises a support rod (61), a fixed support seat (62), a movable support seat (63), a shock-absorbing spring (64) and a grounding component, wherein one end of the support rod (61) is connected to the foot unit (3), and the other end of the support rod (61) is connected to the fixed support seat (62); the movable support seat (63) and the shock-absorbing spring (64) are both sleeved on the support rod (61); one end of the shock-absorbing spring (64) is connected to the fixed support seat (62), and the other end of the shock-absorbing spring (64) is connected to the movable support seat (63); and the grounding component is respectively connected to the fixed support seat (62) and the movable support seat (63); the shock-absorbing spring (64) is used to pull the movable support seat (63) toward the fixed support seat (62); and the grounding component is used to contact the ground.

6. A leg structure for a multi-legged platform according to claim 5, characterized in that: The grounding assembly comprises a first grounding rod (65), a second grounding rod (66), an oblique support rod (67) and a support spring (68); one end of the first grounding rod (65) is rotatably connected to the movable support seat (63); the other end of the first grounding rod (65) is rotatably connected to one end of the second grounding rod (66) and one end of the oblique support rod (67), respectively; the other end of the second grounding rod (66) is a grounding end; the other end of the oblique support rod (67) is rotatably connected to the fixed support seat (62); one end of the support spring (68) is connected to a side wall of the second grounding rod (66); the other end of the support spring (68) is connected to a side wall of the fixed support seat (62); the support spring (68) is used to pull the second grounding rod (66) toward the fixed support seat (62).

7. A leg structure for a multi-legged platform according to claim 6, characterized in that: The second grounding rod (66) comprises a first branch rod (661) and a second branch rod (662); the first branch rod (661) and the second branch rod (662) are connected in a herringbone structure; the apex of the herringbone structure is rotatably connected to the end of the oblique support rod (67); and the side wall of the second branch rod (662) is connected to the shock absorbing spring (64).

8. A leg structure for a multi-legged platform according to claim 7, characterized in that: The grounding component further comprises a roller (69), wherein the roller (69) is arranged at the grounding end of the first sub-rod (661), and the roller (69) is capable of rotating around the grounding end of the first sub-rod (661).

9. A leg structure for a multi-legged platform according to claim 8, characterized in that: The toe unit (6) further comprises a ball head (70), wherein the ball head (70) is arranged on the support rod (61).

10. A leg structure for a multi-legged platform according to claim 9, characterized in that: The foot unit (3) further comprises a ball socket, which is arranged on the foot support frame (31); the ball head (70) can be connected to the ball socket, and the ball head (70) can rotate in the ball socket.

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