Mechanical leg and robot

Abstract

The application provides a mechanical leg and a robot, and the mechanical leg comprises a frame, a foot assembly, a leg mechanism, a driving mechanism, a body for being mounted to the robot, the leg mechanism is rotationally connected with the frame, the leg mechanism further comprises a first leg mechanism, a second leg mechanism and an nth leg mechanism, the foot assembly is connected to a lower end of the nth leg mechanism and rotationally connected with the nth leg mechanism, the driving mechanism is connected with an upper end of the first leg mechanism, the driving mechanism is connected with the foot assembly to drive the foot assembly to rotate relative to the nth leg mechanism, the driving mechanism is connected with the first leg mechanism to the nth leg mechanism and used for driving the second leg mechanism to move linearly along an up-down direction relative to the first leg mechanism, and the driving mechanism is further used for driving the nth leg mechanism to move linearly along the up-down direction relative to the (n-1)th leg mechanism, and the up-down direction is an extension direction of the first leg mechanism.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent devices, in particular to a mechanical leg and a robot. BACKGROUND

[0002] With the progress of science and technology, robots are increasingly popular.

[0003] In order to adjust the height of the robot body, the robot leg is usually telescopic, but the telescopic stroke of the existing robot leg is short. SUMMARY

[0004] Therefore, the present application provides a mechanical leg and a robot.

[0005] In a first aspect, a mechanical leg comprises:

[0006] a frame for mounting to a robot body;

[0007] a leg mechanism rotatably connected to the frame; the leg mechanism further comprises a first leg mechanism, a second leg mechanism, and an n-th leg mechanism, when the leg length of the leg mechanism is the longest, the first leg mechanism to the n-th leg mechanism are arranged from top to bottom, the first leg mechanism comprises a seat frame rotatably connected to the frame, the second leg mechanism is slidably connected to the first leg mechanism, and so on, the n-th leg mechanism is slidably connected to the n-1-th leg mechanism, wherein n>2;

[0008] a foot assembly connected to the lower end of the n-th leg mechanism and rotatably connected to the n-th leg mechanism;

[0009] a drive mechanism, a power source of the drive mechanism is connected to the upper end of the first leg mechanism, the drive mechanism is connected to the foot assembly to drive the foot assembly to rotate relative to the n-th leg mechanism;

[0010] the drive mechanism is connected to the first leg mechanism to the n-th leg mechanism and is used to drive the second leg mechanism to move linearly in the up-down direction relative to the first leg mechanism, and so on, the drive mechanism is also used to drive the n-th leg mechanism to move linearly in the up-down direction relative to the n-1-th leg mechanism, the up-down direction is the extension direction of the first leg mechanism.

[0011] In a second aspect, the present application provides a robot comprising a frame, a body, and a mechanical leg as provided in any embodiment of the present application, the frame is used to mount to the body, and the mechanical leg is rotatably connected to the frame.

[0012] 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 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

[0013] 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.

[0014] Figure 1 This is a schematic diagram of the robot structure proposed in an embodiment of this application.

[0015] Figure 2 This is a schematic diagram of the mechanical leg with only two segments proposed in the embodiments of this application.

[0016] Figure 3 This is a schematic diagram of the structure of a mechanical leg with only two segments, as proposed in an embodiment of this application, from another perspective.

[0017] Figure 4 This is a schematic diagram of the structure of some components of the two-section mechanical leg proposed in the embodiments of this application.

[0018] Figure 5 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.

[0019] 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.

[0020] Explanation of reference numerals in the attached figures:

[0021] 100. Mechanical leg; 10. Leg mechanism; 10a. (n-1)th leg mechanism; 10b. nth leg mechanism; 20. Foot assembly; 30. Drive mechanism; 31. First motor; 32. First transmission assembly; 321. First drive wheel; 322. First transmission wheel; 323. Second transmission wheel; 324. First driven wheel; 325. First flexible transmission element; 33. Second motor; 34. Second transmission assembly; 341. Second drive wheel; 342. Third transmission wheel; 343. Fourth transmission wheel; 344. Second flexible transmission element; 40. Frame; 1000. Robot. Detailed Implementation

[0022] 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.

[0023] 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.

[0024] 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.

[0025] 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 using terms such as "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature.

[0026] Figures 1 to 4 This is a schematic diagram of a mechanical leg consisting of two segments.

[0027] Figure 5 and Figure 6 This is a schematic diagram of the structure of a mechanical leg 100, which consists of multiple segments.

[0028] like Figures 1 to 6As shown, this embodiment provides a mechanical leg 100, including a frame 40, a leg mechanism 10, a foot assembly 20, and a drive mechanism 30. The frame 40 is used to mount to the body of a robot 1000. The leg mechanism 10 is rotatably connected to the frame 40. The leg mechanism 10 further includes a first leg mechanism, a second leg mechanism, and up to an nth leg mechanism 10b. When the leg length of the leg mechanism 10 is at its longest, the first leg mechanism to the nth leg mechanism 10b are arranged from top to bottom. The first leg mechanism includes a base frame, which is rotatably connected to the frame 40. The second leg mechanism is slidably connected to the first leg mechanism, and so on. The nth leg mechanism 10b is slidably connected to the (n-1)th leg mechanism 10a. n>2; the foot assembly 20 is connected to the lower end of the nth leg mechanism 10b and is rotatably connected to the nth leg mechanism 10b; the power source of the drive mechanism 30 is connected to the upper end of the first leg mechanism; the drive mechanism 30 is connected to the foot assembly 20 to drive the foot assembly 20 to rotate relative to the nth leg mechanism 10b; the drive mechanism 30 is connected to the first leg mechanism to the nth leg mechanism 10b and is used to drive the second leg mechanism to move linearly relative to the first leg mechanism in the vertical direction, and so on; the drive mechanism 30 is also used to drive the nth leg mechanism 10b to move linearly relative to the (n-1)th leg mechanism 10a in the vertical direction, where the vertical direction is the extension direction of the first leg mechanism.

[0029] By setting up multiple legs, the extension of the robotic leg 100 can be increased. At the same time, by placing the power source of the drive mechanism 30 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, and thus help control the energy consumption of the robot 1000 and improve the response speed of the robot 1000.

[0030] In some embodiments, the foot assembly 20 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 10 via a bearing, thereby rotatably connecting the wheel and the leg mechanism 10.

[0031] It should be noted that the vertical direction in this application is the extension direction of the first leg mechanism. When the mechanical leg 100 is standing, the vertical direction is vertical. When the mechanical leg 100 is placed horizontally in the opposite direction, the vertical direction is horizontal.

[0032] In other words, the drive mechanism 30 is used not only to drive the foot component 20 to rotate relative to the leg mechanism 10, but also to drive the leg mechanism 10 to perform telescopic movements.

[0033] The drive mechanism 30 includes a first drive component and a second drive component. The power source of the first drive component and the second drive component is connected to the upper end of the first leg mechanism. The first drive component is connected to the foot assembly 20 and the first leg mechanism to the nth leg mechanism 10b. The second drive component is connected to the first leg mechanism to the nth leg mechanism 10b.

[0034] The first and second driving components work together to drive the foot assembly 20 to rotate relative to the nth leg mechanism 10b; the first and second driving components also work together to drive the second leg mechanism to move linearly in the vertical direction relative to the first leg mechanism; and so on, the first and second driving components also work together to drive the nth leg mechanism 10b to move linearly in the vertical direction relative to the (n-1)th leg mechanism 10a, where the vertical direction is the extension direction of the first leg mechanism. By having the first and second driving components work together to drive the rotation of the foot assembly 20 and / or the extension and retraction of the leg mechanism 10, the power sources of the first and second driving components are connected in parallel, which reduces the parameters required for power source drive, reduces errors, increases the operating speed of the robot 1000, and reduces the cost of use.

[0035] Meanwhile, the power sources of the first and second driving components are connected to the upper end of the first leg mechanism, which helps 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, and thus help to control the energy consumption of the robot 1000 and improve the response speed of the robot 1000.

[0036] By having the first and second drive components work together to drive the rotation of the foot assembly 20 and / or the extension and retraction of the leg mechanism 10, the power sources of the first and second drive components are connected in parallel. This reduces the parameters required for the power source to drive, reduces errors, increases the operating speed of the robot 1000, and lowers the cost of use. In this embodiment, 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 drive mechanism 30 is used to drive the foot assembly 20 to rotate, the second leg assembly remains stationary relative to the first leg assembly, and so on, the nth leg assembly 10b remains stationary relative to the (n-1)th leg assembly 10a. In the second motion state, the drive mechanism 30 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 drive mechanism 30 is also used to drive the nth leg assembly 10b to move linearly in the up-down direction relative to the (n-1)th leg assembly 10a, the foot assembly 20 does not rotate. In the third motion state, the drive mechanism 30 is used to drive the foot assembly 20 to rotate while simultaneously driving the second leg assembly to move linearly in the up-down direction relative to the first leg assembly, and so on, the drive mechanism 30 is also used to drive the nth leg assembly 10b to move linearly in the up-down direction relative to the (n-1)th leg assembly 10a.

[0037] Robot 1000 has multiple motion states, which allows for diverse gait patterns, making it more flexible and adaptable to different environments.

[0038] It should be noted that when the leg mechanism 10 of robot 1000 is extending and retracting, since the mechanical leg 100 is in contact with the ground, when all the leg mechanisms 10 of robot 1000 are extended, the nth leg mechanism 10b remains stationary relative to the ground, and the (n-1)th leg mechanism 10a moves up and down relative to the nth leg mechanism 10b to realize the extension and retraction of the mechanical leg 100.

[0039] In some embodiments, the first driving component includes a first motor 31 and a first transmission assembly 32. The first motor 31 is connected to the upper end of the first leg mechanism. The first transmission assembly 32 is connected to the output shaft of the first motor 31 and is connected to the foot assembly 20, the first leg mechanism, the second leg mechanism to the nth leg mechanism 10b. The second driving component includes a second motor 33 and a second transmission assembly 34. The second motor 33 is connected to the upper end of the first leg mechanism. The second transmission assembly 34 is connected to the output shaft of the second motor 33 and is connected to the first leg mechanism, the second leg mechanism to the nth leg mechanism 10b.

[0040] The first motor 31 and the second motor 33 are used to drive the first transmission component 32 and the second transmission component 34 respectively to work together to drive the foot component 20 to rotate relative to the nth leg mechanism 10b and to drive the nth leg mechanism 10b to move linearly in the up and down direction relative to the (n-1)th leg mechanism 10a.

[0041] The first motor 31 and the second motor 33 are connected in parallel, thereby driving the first transmission component 32 and the second transmission component 34 to work together to drive the foot component 20 to rotate and / or the leg mechanism 10 to extend and retract. This can reduce the parameters required for motor drive, reduce errors, increase the running speed of the robot 1000, and reduce the cost of use.

[0042] like Figure 5 and Figure 6 As shown, in this embodiment, the first transmission assembly 32 includes a first driving wheel 321, at least one first transmission wheel 322, at least one second transmission wheel 323, a first flexible transmission member 325, and at least one first driven wheel 324; the second transmission assembly 34 includes a second driving wheel 341, at least one third transmission wheel 342, at least one fourth transmission wheel 343, and a second flexible transmission member 344; the first driving wheel 321 is connected to the output shaft of the first motor 31, the first driven wheel 324 is rotatably connected to the nth leg mechanism 10b and connected to the foot assembly 20, and the first driven wheel 324 can drive the foot assembly 20 to rotate when it rotates; the second driving wheel 341 is connected to the output shaft of the second motor 33.

[0043] The first transmission wheel 322 is rotatably mounted on the first leg mechanism to the (n-1)th leg mechanism 10a; the second transmission wheel 323 is rotatably mounted on the second leg mechanism to the nth leg mechanism 10b; the third transmission wheel 342 is rotatably mounted on the first leg mechanism to the (n-1)th leg mechanism 10a; and the fourth transmission wheel 343 is rotatably mounted on the second leg mechanism to the nth leg mechanism 10b.

[0044] The first transmission wheel 322 on the first leg mechanism is disposed between the first driving wheel 321 and the first driven wheel 324; the first transmission wheel 322 of the second leg mechanism is disposed between the second transmission wheel 323 and the first driven wheel 324 rotatably disposed on the second leg mechanism; and so on, the first transmission wheel 322 on the (n-1)th leg mechanism 10a is disposed between the second transmission wheel 323 and the first driven wheel 324 rotatably disposed on the (n-1)th leg mechanism 10a.

[0045] The third transmission wheel 342 on the first leg mechanism is disposed between the second driving wheel 341 and the first driven wheel 324; the third transmission wheel 342 of the second leg mechanism is disposed between the fourth transmission wheel 343 and the first driven wheel 324 rotatably disposed on the second leg mechanism; and so on, the third transmission wheel 342 on the (n-1)th leg mechanism 10a is disposed between the fourth transmission wheel 343 and the first driven wheel 324 rotatably disposed on the (n-1)th leg mechanism 10a.

[0046] When the leg mechanism 10 is at its longest extension, the highest point of the second transmission wheel 323 on the second leg mechanism is not lower than the lowest point of the first transmission wheel 322 on the first leg mechanism, and so on. The highest point of the second transmission wheel 323 on the nth leg mechanism 10b is not lower than the lowest point of the first transmission wheel 322 on the (n-1)th leg mechanism 10a; and the highest point of the fourth transmission wheel 343 on the second leg mechanism is not lower than the lowest point of the third transmission wheel 342 on the first leg mechanism, and so on. The fourth transmission wheel 343 of the nth leg mechanism 10b is positioned above the third transmission wheel 342 on the (n-1)th leg mechanism 10a.

[0047] The first flexible transmission member 325 is driven by the first driving wheel 321, the first transmission wheel 322 on the first leg mechanism to the (n-1)th leg mechanism 10a, the second transmission wheel 323 on the second leg mechanism to the nth leg mechanism 10b, and the first driven wheel 324 to form a closed transmission loop; the second flexible transmission member 344 is driven by the second driving wheel 341, the third transmission wheel 342 on the first leg mechanism to the (n-1)th leg mechanism 10a, the fourth transmission wheel 343 on the second leg mechanism to the nth leg mechanism 10b, and the first driven wheel 324 to form a closed transmission loop; the flexible transmission member between the first driving wheel 321 and the first driven wheel 324 is at least partially configured to be parallel to the vertical direction; the flexible transmission member between the second driving wheel 341 and the first driven wheel 324 is at least partially configured to be parallel to the vertical direction. The flexible transmission element between the first drive wheel 322 on the first leg mechanism and the second drive wheel 323 on the second leg mechanism is at least partially configured to be parallel to the vertical direction; and so on; the flexible transmission element between the drive wheel 322 on the (n-1)th leg mechanism 10a and the second drive wheel 323 on the nth leg mechanism 10b is at least partially configured to be parallel to the vertical direction; the flexible transmission element between the third drive wheel 342 on the first leg mechanism and the fourth drive wheel 343 on the second leg mechanism is at least partially configured to be parallel to the vertical direction; and so on; the flexible transmission element between the third drive wheel 342 on the (n-1)th leg mechanism 10a and the fourth drive wheel 343 on the nth leg mechanism 10b is at least partially configured to be parallel to the vertical direction.

[0048] It should be noted that the first transmission wheel 322 is rotatably mounted on the first leg mechanism to the (n-1)th leg mechanism 10a; the second transmission wheel 323 is rotatably mounted on the second leg mechanism to the nth leg mechanism 10b; the third transmission wheel 342 is rotatably mounted on the first leg mechanism to the nth leg mechanism 10b; and the fourth transmission wheel 343 is rotatably mounted on the second leg mechanism to the (n-1)th leg mechanism 10a. The number of the first transmission wheel 322, second transmission wheel 323, third transmission wheel 342, and fourth transmission wheel 343 is not limited. Due to interference issues between structures, the number of transmission wheels between different legs may vary, and the number of transmission wheels should be set according to the actual situation. For example, the second leg mechanism may have three second transmission wheels 323, and the third leg mechanism 10 may have four second transmission wheels 323.

[0049] Due to structural interference, the flexible transmission components connecting different transmission wheels may not necessarily remain parallel to the vertical direction throughout. However, it is sufficient to ensure that the flexible transmission components between the transmission wheels directly connected to the first leg mechanism and the transmission wheels connected to the second leg mechanism remain parallel to the vertical direction. For example, a rotating wheel that is rotatably connected to the flexible transmission component can be provided between the first driving wheel 321 and the first driven wheel 324. When this rotating wheel is rotatably mounted on the first leg mechanism, it is sufficient to ensure that the flexible transmission component between the rotating wheel and the first driven wheel 324 remains parallel to the vertical direction. When this rotating wheel is rotatably mounted on the second leg mechanism, it is sufficient to ensure that the flexible transmission component between the rotating wheel and the first driving wheel 321 is parallel to the vertical direction. At least part of the flexible transmission component between the second driving wheel 341 and the first driven wheel 324 is configured to be parallel to the vertical direction, and so on as described above.

[0050] Similarly, due to the spatial arrangement, the flexible transmission component between the first transmission wheel 322 on the (n-1)th leg mechanism 10a and the second transmission wheel 323 on the nth leg mechanism 10b may not be able to ensure that the entire segment is parallel to the vertical direction. However, it is sufficient to ensure that the flexible transmission component connecting the (n-1)th leg mechanism 10a and the nth leg mechanism 10b remains parallel to the vertical direction. In some embodiments, there may be multiple first transmission wheels 322 and second transmission wheels 323. After the first flexible transmission member 325 is connected to the first drive wheel 321, it may be connected to several first transmission wheels 322 before being connected to the second transmission wheel 323. In this case, it is only necessary to ensure that the flexible transmission member connected between the transmission wheel of the (n-1)th leg mechanism 10a and the transmission wheel of the nth leg mechanism 10b remains parallel to the vertical direction. That is, the first flexible transmission member 325 remains parallel to the vertical direction through the flexible transmission member connecting the last first transmission wheel 322 on the (n-1)th leg mechanism 10a and the first second transmission wheel 323 on the nth leg mechanism 10b.

[0051] Alternatively, to ensure that the flexible transmission member between the first transmission wheel 322 and the second transmission wheel 323 on the nth leg mechanism 10b of the (n-1)th leg mechanism 10a remains at least partially parallel to the vertical direction, a rotating wheel is rotatably connected to the flexible transmission member between the first transmission wheel 322 and the second transmission wheel 323. When the rotating wheel is rotatably mounted on the (n-1)th leg mechanism 10a, it is necessary to ensure that the flexible transmission member between the rotating wheel and the second transmission wheel 323 on the nth leg mechanism 10b remains parallel to the vertical direction; when the rotating wheel is rotatably mounted on the nth leg mechanism 10b, it is necessary to ensure that the flexible transmission member between the rotating wheel and the first transmission wheel 322 on the (n-1)th leg mechanism 10a remains parallel to the vertical direction.

[0052] The flexible transmission element between the third transmission wheel 342 on the (n-1)th leg mechanism 10a and the fourth transmission wheel 343 on the nth leg mechanism 10b is configured at least partially parallel to the vertical direction for the same reasons as described above.

[0053] It should be noted that when the nth leg mechanism 10b moves in a straight line relative to the (n-1)th leg mechanism 10a, the second transmission wheel 323 and the fourth transmission wheel 343 cannot continue to move downwards after reaching a certain position. Otherwise, the first flexible transmission member 325 cannot drive the nth leg mechanism 10b to move downwards relative to the (n-1)th leg mechanism 10a by applying a downward force to the second transmission wheel 323, and the second flexible transmission member 344 cannot drive the nth leg mechanism 10b to move downwards relative to the (n-1)th leg mechanism 10a by applying a downward force to the fourth transmission wheel 343. For example, when the nth leg mechanism 10b extends to its maximum length relative to the (n-1)th leg mechanism 10a, the lowest point height of the first transmission wheel 322 on the (n-1)th leg mechanism 10a is A, and the highest point height of the second transmission wheel 323 on the nth leg mechanism 10b is B. B cannot be lower than A. In this way, the first flexible transmission member 325 can drive the nth leg mechanism 10b to move downward relative to the (n-1)th leg mechanism 10a by applying a downward force to the second transmission wheel 323. When the nth leg mechanism 10b extends to its maximum length relative to the (n-1)th leg mechanism 10a, the lowest point height of the third transmission wheel 342 on the (n-1)th leg mechanism 10a is C, and the highest point height of the fourth transmission wheel 343 on the nth leg mechanism 10b is D. D cannot be lower than C. The second flexible transmission member 344 can then drive the nth leg mechanism 10b to move downward relative to the (n-1)th leg mechanism 10a by applying a downward force to the fourth transmission wheel 343. That is, when the second transmission wheel 323 moves downward and becomes tangent to the first transmission wheel 322, the second transmission wheel 323 can no longer move; when the fourth transmission wheel 343 moves downward and becomes tangent to the third transmission wheel 342, the fourth transmission wheel 343 can no longer move. Each leg mechanism 10 of this application is provided with a limit structure, so that when the nth leg mechanism 10b moves downward relative to the (n-1)th leg mechanism 10a to a certain position, it can no longer move downward, so as to ensure that it cannot be lower than or less than the specified position.

[0054] In some embodiments, when the first motor 31 and the second motor 33 rotate in the same direction and the output torque of the first motor 31 and the second motor 33 is the same, the foot assembly 20 rotates, the second leg mechanism remains stationary relative to the first leg mechanism, and so on, the nth leg mechanism 10b remains stationary relative to the (n-1)th leg mechanism 10a; when the first motor 31 and the second motor 33 rotate in opposite directions and the output torque of the first motor 31 and the second motor 33 is the same, the foot assembly 20 does not rotate, the second leg mechanism moves linearly in the up-down direction relative to the first leg mechanism, and so on, the nth leg mechanism 10b moves linearly in the up-down direction relative to the (n-1)th leg mechanism 10a.

[0055] When the first motor 31 and the second motor 33 rotate in the same or opposite directions but the output torque of the first motor 31 and the second motor 33 is different, the second leg mechanism moves linearly in the up-down direction relative to the first leg mechanism while the foot assembly 20 rotates, and so on, the nth leg mechanism 10b moves linearly in the up-down direction relative to the (n-1)th leg mechanism 10a.

[0056] It should be noted that the reference point for the rotation direction of the two motors here is the ground. Below are several scenarios for setting up the two motors: When the two motors are positioned opposite each other (mirror image setup), with the ground as the reference point, if one motor rotates counter-clockwise, the other will also rotate counter-clockwise; however, if the reference point is the motor itself, if one motor rotates counter-clockwise, the other will rotate clockwise. When the two motors are spaced apart but not mirror image, with the ground as the reference point, if one motor rotates counter-clockwise, the other will also rotate counter-clockwise; if the reference point is the motor itself, if one motor rotates counter-clockwise, the other will also rotate counter-clockwise.

[0057] In some embodiments, the mechanical leg 100 has a left-right direction, which is perpendicular to the up-down direction; the first motor 31 and the second motor 33 are symmetrically arranged in the left-right direction and rotate on the same axis; the first flexible transmission member 325 and the second flexible transmission member 344 are mirror images of each other; the first transmission wheel 322 and the third transmission wheel 342 are symmetrically arranged; the second transmission wheel 323 and the fourth transmission wheel 343 are symmetrically arranged; the rotation axis direction of the first motor 31 and the second motor 33 is parallel to the rotation axis direction of the foot assembly 20.

[0058] In this embodiment, the rotation axes of the first motor 31, the second motor 33, and the foot assembly 20 are parallel to the left-right direction.

[0059] In some embodiments, the first motor 31 and the second motor 33 can rotate on different axes, with the axes of the first motor 31 and the second motor 33 being parallel and offset.

[0060] In this embodiment, the shafts of the first motor 31 and the second motor 33 are arranged opposite to each other. In some other embodiments, the shafts of the first motor 31 and the second motor 33 may be nested together.

[0061] Since the downward and upward movement distance of the second leg mechanism is limited not only by the distance between the first transmission wheel 322 and the second transmission wheel 323, but also by the distance between the third transmission wheel 342 and the fourth transmission wheel 343, for example, when the extension of the second leg mechanism relative to the first leg mechanism is E, the distance between the first transmission wheel 322 and the second transmission wheel 323 is E, and the distance between the third transmission wheel 342 and the fourth transmission wheel 343 is F. When E is less than F, the maximum stroke of the second leg mechanism relative to the first leg mechanism is E, that is, the stroke of the second leg mechanism is the smallest of E and F.

[0062] In this embodiment, the first flexible transmission member 325 and the second flexible transmission member 344 are mirror images of each other; the first transmission wheel 322 and the third transmission wheel 342 are symmetrically arranged; the second transmission wheel 323 and the fourth transmission wheel 343 are symmetrically arranged. In this way, the distances E and F are consistent, making the structure compact and the mechanical leg 100 of the robot 1000 small. Within the limited structural space, the movement stroke of the second leg mechanism is maximized as much as possible.

[0063] In this embodiment, the first driving pulley 321, the second transmission pulley 323, the fourth transmission pulley 343, the second driving pulley 341, and the first driven pulley 324 are synchronous belt pulleys, and the first flexible transmission member 325 and the second flexible transmission member 344 are synchronous belts. The first flexible transmission member 325 meshes with the first driving pulley 321, the first driven pulley 324, and the second transmission pulley 323, and the second flexible transmission member 344 meshes with the first driven pulley 324, the second driving pulley 341, and the fourth transmission pulley 343. The first transmission pulley 322 and the third transmission pulley 342 are non-toothed rotating wheels. The non-toothed surface of the first flexible transmission member 325 is wound and connected to the first transmission pulley 322, and the non-toothed surface of the second flexible transmission member 344 is wound and connected to the third transmission pulley 342.

[0064] Optionally, the first flexible transmission member 325 and the second flexible transmission member 344 can also be ropes or other flexible transmission members, 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 30.

[0065] In this embodiment, the first driving wheel 321 and the second driving wheel 341 have the same radius, while the radius of the first driven wheel 324 is larger than that of both the first driving wheel 321 and the second driving wheel 341. This is beneficial for increasing the transmission ratio between the driving wheel and the transmission wheel, increasing the torque of the first driven wheel 324, and enabling the mechanical leg 100 to adapt to harsh environments with rugged or muddy terrain, thereby improving the obstacle-crossing ability of the robot 1000.

[0066] Secondly, this embodiment provides a robot 1000, including a frame, a body, and the mechanical legs 100 described in the first aspect. The frame is mounted to the body, and the leg mechanism 10 is rotatably connected to the frame. The mechanical legs 100 in this embodiment may have the same structure as any of the mechanical legs 100 in the above embodiments and may 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. Furthermore, the mechanical legs 100 mounted on the body may be one or multiple, and those skilled in the art can configure them according to actual needs.

[0067] 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.

[0068] 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.

[0069] 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 by, The mechanical leg comprises: a frame for mounting to a body of the robot; a leg mechanism rotatably connected to the frame, the leg mechanism further comprising a first leg mechanism, a second leg mechanism, and an nth leg mechanism, the first leg mechanism to the nth leg mechanism are arranged from top to bottom when a leg length of the leg mechanism is at a maximum, the first leg mechanism comprises a seat frame for rotatable connection with the frame, the second leg mechanism is for sliding connection with the first leg mechanism, and so on, the nth leg mechanism is slidingly connected with the n-1th leg mechanism, wherein n>2; a foot assembly connected to a lower end of the nth leg mechanism and rotatably connected with the nth leg mechanism; a driving mechanism, a power source of the driving mechanism is connected to an upper end of the first leg mechanism, the driving mechanism is connected with the foot assembly to drive the foot assembly to rotate relative to the nth leg mechanism; the driving mechanism is connected with the first leg mechanism to the nth leg mechanism and is used to drive the second leg mechanism to move linearly in an up-down direction relative to the first leg mechanism, and so on, the driving mechanism is also used to drive the nth leg mechanism to move linearly in the up-down direction relative to the n-1th leg mechanism, the up-down direction being an extension direction of the first leg mechanism; the driving mechanism comprises a first driving member and a second driving member, a power source of the first driving member and the second driving member is connected to the upper end of the first leg mechanism, the first driving member is connected with the foot assembly, the first leg mechanism to the nth leg mechanism; the second driving member is connected with the first leg mechanism to the nth leg mechanism; the first driving member and the second driving member are used to work together to drive the foot assembly to rotate relative to the nth leg mechanism; the first driving member and the second driving member are also used to work together to drive the second leg mechanism to move linearly in the up-down direction relative to the first leg mechanism; and so on, the first driving member and the second driving member are also used to work together to drive the nth leg mechanism to move linearly in the up-down direction relative to the n-1th leg mechanism, the up-down direction being the extension direction of the first leg mechanism; the first driving member comprises a first motor and a first transmission assembly, the first motor is connected to the upper end of the first leg mechanism; the first transmission assembly is connected to an output shaft of the first motor and is connected with the foot assembly, the first leg mechanism, the second leg mechanism to the nth leg mechanism; the second driving member comprises a second motor and a second transmission assembly, the second motor is connected to the upper end of the first leg mechanism; the second transmission assembly is connected to an output shaft of the second motor and is connected with the first leg mechanism, the second leg mechanism to the nth leg mechanism; the first motor and the second motor are used to respectively drive the first transmission assembly and the second transmission assembly to work together to drive the foot assembly to rotate relative to the nth leg mechanism and to drive the nth leg mechanism to move linearly in the up-down direction relative to the n-1th leg mechanism; the first transmission assembly comprises a first driving wheel, at least one first transmission wheel, at least one second transmission wheel, a first flexible transmission member, and at least one first driven wheel; The second transmission assembly comprises a second driving wheel, at least one third transmission wheel, at least one fourth transmission wheel and a second flexible transmission member; The first driving wheel is connected to the output shaft of the first motor, the first driven wheel is rotationally connected with the n th leg mechanism and connected with the foot assembly, and the first driven wheel can drive the foot assembly to rotate when rotating; The second driving wheel is connected to the output shaft of the second motor; The first transmission wheel is rotationally arranged on the first leg mechanism to the n-1 th leg mechanism; The second transmission wheel is rotationally arranged on the second leg mechanism to the n th leg mechanism; The third transmission wheel is rotationally arranged on the first leg mechanism to the n-1 th leg mechanism; The fourth transmission wheel is rotationally arranged on the second leg mechanism to the n th leg mechanism; The first transmission wheel on the first leg mechanism is arranged between the first driving wheel and the first driven wheel; The first transmission wheel of the second leg mechanism is arranged between the second transmission wheel rotationally arranged on the second leg mechanism and the first driving wheel; By analogy, the first transmission wheel on the n-1 th leg mechanism is arranged between the second transmission wheel rotationally arranged on the n-1 th leg mechanism and the first driven wheel; The third transmission wheel on the first leg mechanism is arranged between the second driving wheel and the first driven wheel; The third transmission wheel of the second leg mechanism is arranged between the fourth transmission wheel rotationally arranged on the second leg mechanism and the first driven wheel; By analogy, the third transmission wheel on the n-1 th leg mechanism is arranged between the fourth transmission wheel rotationally arranged on the n-1 th leg mechanism and the first driven wheel; When the lengthening amount of the leg mechanism is long, the highest point height of the second transmission wheel on the second leg mechanism is not lower than the lowest point height of the first transmission wheel on the first leg mechanism; By analogy, the highest point height of the second transmission wheel on the n th leg mechanism is not lower than the lowest point height of the first transmission wheel on the n-1 th leg mechanism; And the highest point height of the fourth transmission wheel of the second leg mechanism is not lower than the lowest point height of the third transmission wheel on the first leg mechanism, by analogy, the highest point height of the fourth transmission wheel of the n th leg mechanism is not lower than the lowest point height of the third transmission wheel on the n-1 th leg mechanism; The first flexible transmission member is in transmission connection with the first driving wheel, the first transmission wheel on the first leg mechanism to the n-1 th leg mechanism, the second transmission wheel on the second leg mechanism to the n th leg mechanism and the first driven wheel to form a closed transmission loop; The second flexible transmission member is in transmission connection with the second driving wheel, the third transmission wheel on the first leg mechanism to the n-1 th leg mechanism, the fourth transmission wheel on the second leg mechanism to the n th leg mechanism and the first driven wheel to form a closed transmission loop; The flexible transmission member between the first driving wheel and the first driven wheel is at least partially configured to be parallel to the up-down direction; The flexible transmission member between the second driving wheel and the first driven wheel is at least partially configured to be parallel to the up-down direction; The flexible transmission member between the first transmission wheel on the first leg mechanism and the second transmission wheel on the second leg mechanism is at least partially configured to be parallel to the up-down direction; By analogy, the flexible transmission member between the first transmission wheel on the n-1 th leg mechanism and the second transmission wheel on the n th leg mechanism is at least partially configured to be parallel to the up-down direction; The flexible transmission between the third transmission wheel on the first leg mechanism and the fourth transmission wheel on the second leg mechanism is at least partially configured to be parallel to the up-down direction; Similarly, the flexible transmission between the third transmission wheel on the (n-1)th leg mechanism and the fourth transmission wheel on the nth leg mechanism is at least partially configured to be parallel to the up-down direction.

2. The mechanical leg of claim 1, wherein, The mechanical leg has a first motion state, a second motion state and a third motion state, and the mechanical leg can freely switch between the first motion state, the second motion state and the third motion state; In the first motion state, the driving mechanism is used to drive the foot assembly to rotate, the second leg mechanism is stationary relative to the first leg mechanism, and similarly, the nth leg mechanism is stationary relative to the (n-1)th leg mechanism; In the second motion state, the driving mechanism is used to drive the second leg mechanism to move linearly relative to the first leg mechanism along the up-down direction, and similarly, the driving mechanism is also used to drive the nth leg mechanism to move linearly relative to the (n-1)th leg mechanism along the up-down direction, and the foot assembly does not rotate; In the third motion state, the driving mechanism is used to drive the foot assembly to rotate while driving the second leg mechanism to move linearly relative to the first leg mechanism along the up-down direction, and similarly, the driving mechanism is also used to drive the nth leg mechanism to move linearly relative to the (n-1)th leg mechanism along the up-down direction.

3. The mechanical leg of claim 1, wherein, When the first motor and the second motor rotate in the same direction and the output torques of the first motor and the second motor are of the same size, the foot assembly rotates, the second leg mechanism is stationary relative to the first leg mechanism, and similarly, the nth leg mechanism is stationary relative to the (n-1)th leg mechanism; When the first motor and the second motor rotate in opposite directions and the output torques of the first motor and the second motor are of the same size, the foot assembly does not rotate, the second leg mechanism moves linearly relative to the first leg mechanism along the up-down direction, and similarly, the nth leg mechanism moves linearly relative to the (n-1)th leg mechanism along the up-down direction; When the first motor and the second motor rotate in the same or opposite directions but the output torques of the first motor and the second motor are of different sizes, the foot assembly rotates while the second leg mechanism moves linearly relative to the first leg mechanism along the up-down direction, and similarly, the nth leg mechanism moves linearly relative to the (n-1)th leg mechanism along the up-down direction.

4. The mechanical leg of claim 3, wherein, The mechanical leg has a left-right direction, which is perpendicular to the up-down direction; The first motor and the second motor are symmetrically arranged in the left-right direction and coaxially rotate; The first flexible transmission and the second flexible transmission are mirror-symmetrically arranged; The first transmission wheel and the third transmission wheel are symmetrically arranged; The second transmission wheel and the fourth transmission wheel are symmetrically arranged.

5. The mechanical leg of claim 4, wherein, The first driving wheel, the second driving wheel, the fourth driving wheel, the second driving wheel and the first driven wheel are synchronous pulleys, and the first flexible transmission member and the second flexible transmission member are synchronous belts. The first driving wheel and the third driving wheel are non-toothed pulleys, the non-toothed surface of the first flexible transmission member is connected with the first driving wheel, and the non-toothed surface of the second flexible transmission member is connected with the third driving wheel.

6. The mechanical leg of claim 5, wherein, The radius of the first driving wheel and the second driving wheel is consistent, and the radius of the first driven wheel is larger than the radius of the first driving wheel and the second driving wheel.

7. A robot, characterized in that The mechanical leg of any one of claims 1-6 is rotatably connected to the frame.

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