Mechanical legs and their robots

Abstract

This application discloses a mechanical leg and a robot thereof. The mechanical leg includes a first leg mechanism, a second leg mechanism, and up to an nth leg mechanism. When the length of the mechanical leg is at its maximum, the first leg mechanism to the nth leg mechanism are arranged from top to bottom. The first leg mechanism is used to rotate and connect with the robot's body. The second leg mechanism is used to slide and connect with the first leg mechanism. And so on, the nth leg mechanism is slidably connected with the (n-1)th leg mechanism, where n>2. A foot assembly is connected to the lower end of the nth leg mechanism and rotates and connects with the nth leg mechanism. A first drive mechanism includes a first motor, a second motor, a transmission wheel assembly, and a flexible transmission member. The first motor and the second motor work together to drive the transmission wheel assembly to rotate the foot assembly relative to the nth leg mechanism and to drive the nth leg mechanism to move linearly in the vertical direction relative to the (n-1)th leg mechanism, where the vertical direction is the extension direction of the first leg mechanism.

Description

Technical Field

[0001] This application relates to the field of intelligent device technology, and in particular to a mechanical leg and a robot thereof. Background Technology

[0002] With the advancement of technology, the application of robots is becoming increasingly widespread. In order to adjust the height of the robot body, the robot's legs are usually retractable; however, the extension range of the legs of existing robots is relatively short. Summary of the Invention

[0003] In view of this, this application proposes a mechanical leg and a robot thereof.

[0004] In a first aspect, a mechanical leg includes a first leg mechanism, a second leg mechanism, and up to an nth leg mechanism.

[0005] In this configuration, when the mechanical leg is at its longest length, the first leg mechanism to the nth leg mechanism are arranged from top to bottom; the first leg mechanism is used for rotatable connection with the robot's body; the second leg mechanism is used for slidable connection with the first leg mechanism.

[0006] Similarly, the nth leg mechanism is slidably connected to the (n-1)th leg mechanism, where n>2; the foot assembly is connected to the lower end of the nth leg mechanism and rotatably connected to the nth leg mechanism; the first drive mechanism includes a first motor, a second motor, a transmission wheel assembly, and a flexible transmission member. The first motor and the second motor are connected to the first leg. The transmission wheel assembly is connected to the output shafts of the first motor and the second motor and to the foot assembly, the first leg mechanism, and the nth leg mechanism. The flexible transmission member is drively connected to the transmission wheel assembly. The first motor and the second motor work together to drive the transmission wheel assembly to rotate the foot assembly relative to the nth leg mechanism and to drive the second leg mechanism to move linearly in the up-down direction relative to the first leg mechanism. Similarly, the first drive mechanism is also used to drive the nth leg mechanism to move linearly in the up-down direction relative to the (n-1)th leg mechanism, where the up-down direction is the extension direction of the first leg mechanism.

[0007] Secondly, this application provides a robot, including a body and mechanical legs as provided in any embodiment of this application, the mechanical legs being rotatably connected to the body.

[0008] This application provides a mechanical leg and a robot. The provided mechanical leg, by having multiple segments, increases its elongation. Furthermore, by placing the power source of the first drive mechanism at the upper end of the leg, the center of gravity of the mechanical leg is raised, reducing the moment of inertia of the mechanical leg relative to the robot body during rotation. This, in turn, helps control the robot's energy consumption and improves the robot's response speed. Attached Figure Description

[0009] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0010] Figure 1 This is a schematic diagram of the robot structure proposed in an embodiment of this application.

[0011] Figure 2 This is a schematic diagram of another view of the robot proposed in an embodiment of this application.

[0012] Figure 3 This is a schematic diagram of the mechanical leg with only two segments proposed in the embodiments of this application.

[0013] Figure 4 This is an exploded view of the mechanical leg with only two segments as proposed in the embodiments of this application.

[0014] Figure 5 This is an exploded view of the mechanical leg with only two segments as proposed in the embodiments of this application.

[0015] Figure 6 This is a schematic diagram of some components of the mechanical leg when the multi-segment leg of the mechanical leg proposed in this application is shortened.

[0016] Figure 7 This is a schematic diagram of some components of the mechanical leg when the multi-segment leg of the mechanical leg proposed in this application extends.

[0017] Explanation of reference numerals in the attached figures:

[0018] 100. Mechanical leg; 10. nth leg mechanism; 20. (n-1)th leg mechanism; 30. (n-2)th leg mechanism; 40. Foot assembly; 50. First drive mechanism; 51. First motor; 52. Second motor; 53. Transmission wheel assembly; 533. First transmission wheel; 534. Second transmission wheel; 535. Third transmission wheel; 536. First driven wheel; 537. Fourth transmission wheel; 538. Fifth transmission wheel; 54. Flexible transmission component; 60. Body. Detailed Implementation

[0019] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0020] It should be understood that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of this application are only used to explain the relative positional relationship and movement of each component in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0021] It should also be understood that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or may be connected to an intermediary element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element through an intermediary element.

[0022] The terminology used in this application specification is for the purpose of describing particular embodiments only and is not intended to limit the application. Descriptions of "first," "second," etc., in this application are for descriptive purposes only and should not be construed as indicating or implying anything.

[0023] Its relative importance or implicitly indicates the number of technical features indicated. Thus, features defined as "first" or "second" may explicitly or implicitly include at least one of those features.

[0024] Figures 1 to 5 This is a schematic diagram of the two-section mechanical leg.

[0025] Figure 6 and Figure 7 This is a schematic diagram of a multi-segment mechanical leg.

[0026] like Figures 1 to 7As shown, this embodiment provides a mechanical leg 100, which includes a first leg mechanism, a second leg mechanism, and up to the nth leg mechanism 10. When the length of the mechanical leg 100 is at its maximum, the first leg mechanism to the nth leg mechanism 10 are arranged from top to bottom. The first leg mechanism is used to rotatably connect with the robot's body 60; the second leg mechanism is used to slidably connect with the first leg mechanism; and so on, the nth leg mechanism 10 is slidably connected with the (n-1)th leg mechanism, where n>2; a foot assembly 40 is connected to the lower end of the nth leg mechanism 10 and rotatably connected with the nth leg mechanism 10; a first drive mechanism 50 includes a first motor 51, a second motor 52, a transmission wheel assembly 53, and a flexible transmission member 54. Motor 51 and the second motor 52 are connected to the first leg. The transmission wheel assembly 53 is connected to the output shaft of the first motor 51 and the output shaft of the second motor 52, and is also connected to the foot assembly 40, the first leg mechanism to the nth leg mechanism 10. The flexible transmission member 54 is connected to the transmission wheel assembly 53. The first motor 51 and the second motor 52 work together to drive the transmission wheel assembly 53 to rotate the foot assembly 40 relative to the nth leg mechanism 10 and drive the second leg mechanism to move linearly in the up-down direction relative to the first leg mechanism, and so on. The first drive mechanism 50 is also used to drive the nth leg mechanism 10 to move linearly in the up-down direction relative to the (n-1)th leg mechanism 20, where the up-down direction is the extension direction of the first leg mechanism.

[0027] By setting up multiple legs, the extension range of the robotic leg 100 can be increased. At the same time, by placing the power source of the first drive mechanism 50 at the upper end of the leg, it is beneficial to raise the center of gravity of the robotic leg 100, reduce the moment of inertia of the robotic leg 100 when rotating relative to the body 60, and thus help control the robot's energy consumption and improve the robot's response speed.

[0028] In some embodiments, the foot assembly 40 is a wheel assembly, which includes a wheel and a wheel axle. The wheel axle is fixedly connected to the wheel and is rotatably connected to the leg mechanism via a bearing, thereby rotatably connecting the wheel and the leg mechanism.

[0029] This embodiment achieves the rotation of the foot component 40 and the extension and retraction of the leg by setting a flexible transmission component. The structure is simple and compact, and the control error is small.

[0030] Specifically, for example, when there are multiple flexible transmission components, each flexible transmission component has a different degree of aging. Since each flexible transmission component is connected to the motor, the rotation speed of each flexible transmission component will differ when the motor rotates at the same speed. These errors will make the robot control more complicated and affect the robot's response speed.

[0031] Furthermore, by having the first motor 51 and the second motor 52 work together to drive the rotation of the foot assembly 40 and / or the extension and retraction of the leg mechanism, the first motor 51 and the second motor 52 are connected in parallel, which can reduce the parameters required for motor drive, reduce errors, improve the robot's running speed, and reduce the cost of use.

[0032] In some embodiments, the first motor 51 and the second motor 52 are connected to the upper end of the first leg mechanism. By positioning the first motor 51 and the second motor 52 at the upper end of the leg, it is beneficial to raise the center of gravity of the mechanical leg 100, reduce the moment of inertia of the mechanical leg 100 when rotating relative to the body 60, and thus help control the robot's energy consumption and improve the robot's response speed.

[0033] In some embodiments, the mechanical leg 100 has a first motion state, a second motion state, and a third motion state, and the mechanical leg 100 can freely switch between the first motion state, the second motion state, and the third motion state; in the first motion state, the first drive mechanism 50 is used to drive the foot assembly 40 to rotate, the second leg assembly is stationary relative to the first leg assembly, and so on, the nth leg assembly 10 is stationary relative to the (n-1)th leg assembly 20; in the second motion state, the first drive mechanism 50 is used to drive the second leg assembly to move linearly in the up-down direction relative to the first leg assembly, and so on, the first drive mechanism 50 is also used to drive the nth leg assembly 10 to move linearly in the up-down direction relative to the (n-1)th leg assembly 20, the foot assembly 40 does not rotate; in the third motion state, the first drive mechanism 50 is used to drive the foot assembly 40 to rotate while driving the second leg assembly to move linearly in the up-down direction relative to the first leg assembly, and so on, the first drive mechanism 50 is also used to drive the nth leg assembly 10 to move linearly in the up-down direction relative to the (n-1)th leg assembly 20.

[0034] Robots possess multiple motion states, allowing for diverse gait patterns, making them more flexible and adaptable to different environments.

[0035] In some embodiments, when the first motor 51 and the second motor 52 rotate in the same direction and the output torque of the first motor 51 and the second motor 52 is the same, the foot assembly 40 rotates, the second leg mechanism remains stationary relative to the first leg mechanism, and so on, the nth leg mechanism 10 remains stationary relative to the (n-1)th leg mechanism; when the first motor 51 and the second motor 52 rotate in opposite directions and the output torque of the first motor 51 and the second motor 52 is the same, the foot assembly 40 does not rotate, the second leg mechanism moves linearly in the vertical direction relative to the first leg mechanism, and so on, the nth leg mechanism 10 moves linearly in the vertical direction relative to the (n-1)th leg mechanism 20; when the first motor 51 and the second motor 52 rotate in the same or opposite directions but the output torque of the first motor 51 and the second motor 52 is different, the foot assembly 40 rotates while the second leg mechanism moves linearly in the vertical direction relative to the first leg mechanism, and so on, the nth leg mechanism 10 moves linearly in the vertical direction relative to the (n-1)th leg mechanism 20.

[0036] In this embodiment, the first motor and the second motor are spaced apart in the front-to-back direction and the output shafts of the first motor and the second motor face the same direction.

[0037] like Figures 6 to 7As shown, in some embodiments, the transmission wheel assembly 53 includes a first driving wheel, a second driving wheel, at least one first transmission wheel 533, at least one second transmission wheel 534, at least one third transmission wheel 535, at least one fourth transmission wheel 537, at least one fifth transmission wheel 538, and a first driven wheel 536. The first driving wheel and the second driving wheel are respectively connected to the output shafts of the first motor 51 and the second motor 52. The first driven wheel 536 is rotatably connected to the nth leg mechanism 10 and connected to the foot assembly 40. When the first driven wheel 536 rotates, it can drive the foot assembly 40 to rotate. The first transmission wheel 533 and the third transmission wheel 535 are rotatably disposed on the first leg mechanism to the (n-1)th leg mechanism 20. The fourth transmission wheel 537 and the fifth transmission wheel 538 are rotatably disposed on the second leg mechanism to the (n-1)th leg mechanism 20. The first transmission wheel 533 of the mechanism is disposed between the first driving wheel and the first driven wheel 536; the first transmission wheel 533 of the second leg mechanism is disposed between the fourth transmission wheel 537 and the first driven wheel 536 of the second leg mechanism; and so on, the first transmission wheel 533 of the (n-1)th leg mechanism 20 is disposed between the fourth transmission wheel 537 and the first driven wheel 536 of the (n-1)th leg mechanism 20; the third transmission wheel 535 of the first leg mechanism is disposed between the second driving wheel and the first driven wheel 536; the third transmission wheel 535 of the second leg mechanism is disposed between the fourth transmission wheel 537 and the first driven wheel 536 of the second leg mechanism; and so on, the third transmission wheel 535 of the (n-1)th leg mechanism 20 is disposed between the fifth transmission wheel 538 and the first driven wheel 536 of the (n-1)th leg mechanism 20.

[0038] When the mechanical leg 100 extends to its maximum length, the highest point of the fourth transmission wheel 537 on the second leg mechanism is not lower than the lowest point of the first transmission wheel 533 on the first leg mechanism and / or the lowest point of the third transmission wheel 535 on the first leg mechanism; and so on, the highest point of the fourth transmission wheel 537 on the (n-1)th leg mechanism 20 is not lower than the lowest point of the first transmission wheel 533 on the (n-2)th leg mechanism 30 and / or the lowest point of the third transmission wheel 535 on the (n-2)th leg mechanism 30; the arrangement of the fifth transmission wheel 538 and the fourth transmission wheel 537 on the second leg mechanism to the (n-1)th leg mechanism 20. The height is consistent; the second transmission wheel 534 is rotatably mounted on the nth leg mechanism 10, and when the mechanical leg 100 is extended to its maximum length, the height of the highest point of the second transmission wheel 534 is not lower than the height of the lowest point of the first transmission wheel 533 on the (n-1)th leg mechanism 20 and / or the height of the lowest point of the third transmission wheel 535 on the (n-1)th leg mechanism 20; the flexible transmission member 54 between the first driving wheel and the first driven wheel 536 is at least partially configured to be parallel to the vertical direction; the flexible transmission member 54 between the second driving wheel and the first driven wheel 536 is at least partially configured to be parallel to the vertical direction; the fourth transmission wheel 537 on the second leg mechanism is consistent with the first The flexible transmission element 54 between the first transmission wheels 533 on the leg mechanism is at least partially configured to be parallel to the vertical direction; similarly, the flexible transmission element 54 between the fourth transmission wheel 537 on the (n-1)th leg mechanism 20 and the first transmission wheel 533 on the (n-2)th leg mechanism 30 is at least partially configured to be parallel to the vertical direction; the flexible transmission element 54 between the fifth transmission wheel 538 on the second leg mechanism and the third transmission wheel 535 on the first leg mechanism is at least partially configured to be parallel to the vertical direction; the flexible transmission element 54 between the second transmission wheel 534 on the nth leg mechanism 10 and the first transmission wheel 533 on the (n-1)th leg mechanism 20 is at least partially configured to be parallel to the vertical direction; The flexible transmission member 54 is at least partially configured to be parallel to the vertical direction; the flexible transmission member 54 between the second transmission wheel 534 on the nth leg mechanism 10 and the third transmission wheel 535 on the (n-1)th leg mechanism 20 is at least partially configured to be parallel to the vertical direction; the flexible transmission member 54 is connected to the first driving wheel, the second driving wheel, the first transmission wheel 533 and the third transmission wheel 535 on the first leg mechanism to the (n-1)th leg mechanism 20, the fourth transmission wheel 537 and the fifth transmission wheel 538 on the second leg mechanism to the (n-1)th leg mechanism 20, the second transmission wheel 534 on the nth leg mechanism 10, and the first driven wheel 536.

[0039] The mechanical leg 100 has a front-back direction and a left-right direction, and the front-back direction, left-right direction and up-down direction are perpendicular to each other.

[0040] The first motor 51 and the second motor 52 are spaced apart in the front-to-back direction and their rotation axes are parallel to the left-to-right direction; the first drive wheel and the second drive wheel are spaced apart in the front-to-back direction and are at the same height; the first transmission wheel 533 and the third transmission wheel 535 are spaced apart in the front-to-back direction and are at the same height.

[0041] Since the downward and upward movement distance of the nth leg mechanism 10 relative to the (n-1)th leg mechanism 20 is limited not only by the distance between the first transmission wheel 533 and the second transmission wheel 534, but also by the distance between the second transmission wheel 534 and the third transmission wheel 535, for example, when the extension of the nth leg mechanism 10 relative to the (n-1)th leg mechanism 20 is 0, the distance between the first transmission wheel 533 and the second transmission wheel 534 is E, and the distance between the second transmission wheel 534 and the third transmission wheel 535 is F. When E is less than F, the maximum travel distance of the nth leg mechanism 10 relative to the (n-1)th leg mechanism 20 is E, that is, the travel distance of the nth leg mechanism 10 is the smallest of E and F.

[0042] By arranging the first and second driving wheels at intervals in the front-to-back direction and at the same height, and by arranging the first transmission wheel 533 and the third transmission wheel 535 at intervals in the front-to-back direction and at the same height, the distances E and F are consistent, resulting in a compact structure and small robotic legs 100. Within a limited structural space, the travel distance of the nth leg mechanism 10 is maximized.

[0043] In some embodiments, the first driving wheel, the second driving wheel, the second transmission wheel 534, and the first driven wheel 536 are synchronous belt pulleys, and the flexible transmission member 54 is a synchronous belt. The flexible transmission member 54 meshes with the first driving wheel, the second driving wheel, the third transmission wheel 535, the first driven wheel 536, the fourth transmission wheel 537, and the fifth transmission wheel 538 for transmission. The first transmission wheel 533 and the third transmission wheel 535 are non-tooth surface type wheels, and the non-tooth surface of the flexible transmission member 54 is wound and connected with the first transmission wheel 533 and the third transmission wheel 535.

[0044] Optionally, the flexible transmission element 54 can be a rope or other flexible transmission element, which can play a buffering role, reduce the impact of the impact force acting directly on the motor, and increase the durability and operational stability of the drive mechanism.

[0045] In some embodiments, the radii of the first driving wheel and the second driving wheel are the same, and the radii of the first driving wheel and the second driving wheel are smaller than the radius of the first driven wheel 536. This is beneficial for increasing the transmission ratio between the driving wheel and the transmission wheel, increasing the torque of the first driven wheel 536, and enabling the mechanical leg 100 to adapt to harsh environments with rugged or muddy terrain, thereby improving the robot's obstacle-crossing ability. Secondly, this embodiment provides a robot, including a body 60 and the mechanical leg 100 described in the first aspect. The mechanical leg 100 in this embodiment may have the same structure as any of the mechanical legs 100 in the above embodiments and can bring the same or similar beneficial effects. Specific details can be found in the descriptions of the above embodiments, and will not be repeated in this embodiment.

[0046] In addition, the mechanical leg 100 set on the body 60 can be one or more, and those skilled in the art can set it accordingly according to actual needs.

[0047] It should also be further understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0048] Without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of the different embodiments or examples.

[0049] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A mechanical leg, characterized in that, The mechanical leg includes a first leg mechanism, a second leg mechanism, and up to the nth leg mechanism. When the length of the mechanical leg is at its maximum, the first leg mechanism to the nth leg mechanism are arranged from top to bottom. The first leg mechanism is used for rotating connection with the robot's body; The second leg mechanism is used for sliding connection with the first leg mechanism; Similarly, the nth leg mechanism is slidably connected to the (n-1)th leg mechanism, where n>2; The foot assembly is connected to the lower end of the nth leg mechanism and is rotatably connected to the nth leg mechanism; The first drive mechanism includes a first motor, a second motor, a transmission wheel assembly, and a flexible transmission member. The first motor and the second motor are connected to the first leg. The transmission wheel assembly is connected to the output shafts of the first motor and the second motor, and is also connected to the foot assembly, the first leg mechanism, and the nth leg mechanism. The flexible transmission member is connected to the transmission wheel assembly. The first motor and the second motor work together to drive the transmission wheel assembly to rotate the foot assembly relative to the nth leg mechanism and to drive the second leg mechanism to move linearly in the vertical direction relative to the first leg mechanism, and so on. The first drive mechanism is also used to drive the nth leg mechanism to move linearly in the vertical direction relative to the (n-1)th leg mechanism, where the vertical direction is the extension direction of the first leg mechanism.

2. The mechanical leg as described in claim 1, characterized in that, The first motor and the second motor are connected to the upper end of the first leg mechanism.

3. The mechanical leg as described in claim 1, characterized in that, The robotic leg has a first motion state, a second motion state, and a third motion state, and the robotic leg can freely switch between the first motion state, the second motion state, and the third motion state; In the first motion state, the first drive mechanism is used to drive the foot assembly to rotate, the second leg mechanism is stationary relative to the first leg mechanism, and so on, the nth leg mechanism is stationary relative to the (n-1)th leg mechanism; In the second motion state, the first drive mechanism is used to drive the second leg mechanism to move linearly in the up and down direction relative to the first leg mechanism, and so on. The first drive mechanism is also used to drive the nth leg mechanism to move linearly in the up and down direction relative to the (n-1)th leg mechanism, while the foot assembly does not rotate. In the third motion state, the first drive mechanism is used to drive the foot assembly to rotate while simultaneously driving the second leg mechanism to move linearly in the up-down direction relative to the first leg mechanism, and so on. The first drive mechanism is also used to drive the nth leg mechanism to move linearly in the up-down direction relative to the (n-1)th leg mechanism.

4. The mechanical leg as described in claim 1, characterized in that, When the first motor and the second motor rotate in the same direction and the output torque of the first motor and the second motor is the same, the foot assembly rotates, the second leg mechanism remains stationary relative to the first leg mechanism, and so on, the nth leg mechanism remains stationary relative to the (n-1)th leg mechanism; When the first motor and the second motor rotate in opposite directions and the output torque of the first motor and the second motor is the same, the foot assembly does not rotate, the second leg mechanism moves linearly in the vertical direction relative to the first leg mechanism, and so on, the nth leg mechanism moves linearly in the vertical direction relative to the (n-1)th leg mechanism; When the first motor and the second motor rotate in the same or opposite directions but the output torque of the first motor and the second motor is different, the second leg mechanism moves linearly in the up-down direction relative to the first leg mechanism while the foot assembly rotates, and so on, the nth leg mechanism moves linearly in the up-down direction relative to the (n-1)th leg mechanism.

5. The mechanical leg as described in claim 1, characterized in that, The transmission wheel assembly includes a first driving wheel, a second driving wheel, at least one first transmission wheel, at least one second transmission wheel, at least one third transmission wheel, at least one fourth transmission wheel, at least one fifth transmission wheel, and a first driven wheel; The first drive wheel and the second drive wheel are respectively connected to the output shafts of the first motor and the second motor; The first driven wheel is rotatably connected to the nth leg mechanism and connected to the foot assembly. When the first driven wheel rotates, it can drive the foot assembly to rotate. The first transmission wheel and the third transmission wheel are rotatably mounted on the first leg mechanism to the (n-1)th leg mechanism; The fourth and fifth transmission wheels are rotatably mounted on the second to the (n-1)th leg mechanisms; The first transmission wheel of the first leg mechanism is disposed between the first driving wheel and the first driven wheel; The first transmission wheel on the second leg mechanism is disposed between the fourth transmission wheel and the first driven wheel on the second leg mechanism; Similarly, the first transmission wheel on the (n-1)th leg mechanism is positioned between the fourth transmission wheel and the first driven wheel on the (n-1)th leg mechanism; The third transmission wheel of the first leg mechanism is located between the second driving wheel and the first driven wheel; The third transmission wheel on the second leg mechanism is disposed between the fourth transmission wheel and the first driven wheel on the second leg mechanism; Similarly, the third transmission wheel on the (n-1)th leg mechanism is positioned between the fifth transmission wheel and the first driven wheel on the (n-1)th leg mechanism; When the mechanical leg is extended to its maximum length, the highest point of the fourth transmission wheel on the second leg mechanism is not lower than the lowest point of the first transmission wheel on the first leg mechanism and / or the lowest point of the third transmission wheel on the first leg mechanism. Similarly, the highest point of the fourth transmission wheel on the (n-1)th leg mechanism is not lower than the lowest point of the first transmission wheel on the (n-2)th leg mechanism and / or the lowest point of the third transmission wheel on the (n-2)th leg mechanism; The fifth transmission wheel on the second leg mechanism to the (n-1)th leg mechanism and the fourth transmission wheel are set at the same height; The second transmission wheel is rotatably mounted on the nth leg mechanism. When the mechanical leg is extended to its maximum length, the height of the highest point of the second transmission wheel is not lower than the height of the lowest point of the first transmission wheel of the (n-1)th leg mechanism and / or the height of the lowest point of the third transmission wheel on the (n-1)th leg mechanism. The flexible transmission element between the first driving wheel and the first driven wheel is at least partially configured to be parallel to the vertical direction; The flexible transmission element between the second driving wheel and the first driven wheel is at least partially configured to be parallel to the vertical direction; The flexible transmission element between the fourth transmission wheel on the second leg mechanism and the first transmission wheel on the first leg mechanism is at least partially configured to be parallel to the vertical direction; Similarly, at least part of the flexible transmission element between the fourth transmission wheel on the (n-1)th leg mechanism and the first transmission wheel on the (n-2)th leg mechanism is configured to be parallel to the vertical direction; The flexible transmission element between the fifth transmission wheel on the second leg mechanism and the third transmission wheel on the first leg mechanism is at least partially configured to be parallel to the vertical direction; The flexible transmission element between the second transmission wheel on the nth leg mechanism and the first transmission wheel on the (n-1)th leg mechanism is at least partially configured to be parallel to the vertical direction; The flexible transmission element between the second transmission wheel on the nth leg mechanism and the third transmission wheel on the (n-1)th leg mechanism is at least partially configured to be parallel to the vertical direction; The flexible transmission component is connected to the first driving wheel, the second driving wheel, the first and third transmission wheels on the first leg mechanism to the (n-1)th leg mechanism, the fourth and fifth transmission wheels on the second leg mechanism to the (n-1)th leg mechanism, the second transmission wheel on the nth leg mechanism, and the first driven wheel.

6. The mechanical leg as described in claim 5, characterized in that, The mechanical leg has a front-back direction and a left-right direction, and the front-back direction and the left-right direction are perpendicular to each other with the up-down direction; The first motor and the second motor are spaced apart in the front-to-back direction, and the rotation axes of the first motor and the second motor are parallel to the left-to-right direction; The first drive wheel and the second drive wheel are spaced apart in the front-to-back direction and are set at the same height. The first transmission wheel and the third transmission wheel are spaced apart in the front-to-back direction and are set at the same height. The fourth and fifth transmission wheels are spaced apart in the front-to-back direction and are set at the same height.

7. The mechanical leg as described in claim 6, characterized in that, The first driving pulley, the second driving pulley, the second transmission pulley, and the first driven pulley are synchronous belt pulleys, and the flexible transmission component is a synchronous belt. The flexible transmission component meshes with the first driving pulley, the second driving pulley, the third transmission pulley, the first driven pulley, the fourth transmission pulley, and the fifth transmission pulley for transmission. The first and third transmission wheels are non-toothed rotating wheels, and the non-toothed surface of the flexible transmission component is wound and connected to the first and third transmission wheels.

8. The mechanical leg as described in claim 7, characterized in that, The first driving wheel and the second driving wheel have the same radius, and the radius of the first driving wheel and the second driving wheel is smaller than the radius of the first driven wheel.

9. A robot, characterized in that, It includes a fuselage and a mechanical leg according to any one of claims 1-8, the mechanical leg being rotatably connected to the fuselage.

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