Leg mechanism and walking robot

Abstract

According to the leg mechanism and the walking robot, the inertia of the tail end of the leg is reduced by arranging the wheel driving assembly at the hip joint body, and the control difficulty of the structure and the energy consumption of the system are reduced. According to the main technical scheme, the leg mechanism comprises a hip joint body, thighs, shanks, wheels, thigh driving assemblies, shank driving assemblies, wheel driving assemblies, shank transmission assemblies and wheel transmission assemblies; the thigh driving assembly, the shank driving assembly and the wheel driving assembly are connected with the hip joint body, the thigh driving assembly is used for driving the thigh to move relative to the hip joint body, and the shank driving assembly is used for driving the shank to move relative to the thigh through the shank transmission assembly. The wheel transmission assemblies are used for driving the wheels to move relative to the shanks through the wheel transmission assemblies. The robot is mainly used for driving the robot to walk.

Description

Technical Field

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

[0002] As a new type of unmanned equipment on land, bionic legged robots can walk on the ground through the support and swing of multi-joint legs, compared with conventional wheeled robots and tracked robots. This means that its travel mechanism is the same as that of biological organisms in nature, with a larger workspace, more flexible movement methods, and more powerful maneuvering obstacle crossing capabilities. Although pure legged robots have good terrain passability, they cannot be widely used in fast-moving mission scenarios due to their slow movement speed. Wheeled robots have the ability to move quickly, but their terrain passability is poor. Although tracked robots have good terrain passability, their relatively complex structure, low movement speed, and track wear also limit their application in quadrupedal robots.

[0003] By setting the moving wheels at the end of the legs and driving the moving wheels to rotate, the moving speed of the bionic foot robot can be improved, and the robot can take into account both terrain passability and rapid movement. The motors used by the robot to drive the moving wheels are basically arranged at the end of the legs, close to the moving wheels, which will result in a large inertia at the end of the legs, increase the control difficulty of the structure and increase the energy consumption of the system. Summary of the invention

[0004] In view of this, an embodiment of the present invention provides a leg mechanism and a walking robot, in which a wheel drive assembly is arranged at the hip joint body to reduce the inertia of the leg end, reduce the control difficulty of the structure and the energy consumption of the system.

[0005] Under dynamic loading conditions, the deformation detection parts and image monitoring system jointly monitor to achieve accurate monitoring of rock mechanical properties related to dynamic damage of rocks and rock-like materials, providing a theoretical basis for the study of dynamic mechanical properties of rocks and their engineering applications.

[0006] In order to achieve the above object, the present invention mainly provides the following technical solutions:

[0007] On the one hand, an embodiment of the present invention provides a leg mechanism, comprising:

[0008] A hip joint body (100), a thigh (200), a shank (300), a wheel (400), a thigh drive assembly (500), a shank drive assembly (600), a wheel drive assembly (700), a shank transmission assembly (800) and a wheel transmission assembly (900);

[0009] The thigh drive assembly (500), the shank drive assembly (600) and the wheel drive assembly (700) are all connected to the hip joint body (100); the thigh drive assembly (500) is connected to the thigh (200); the shank transmission assembly (800) is respectively connected to the shank drive assembly (600) and the shank (300); the wheel transmission assembly (900) is at least connected to the wheel drive assembly (700) and the wheel (400); the thigh (200) and the wheel (400) are connected to the shank (300) at intervals;

[0010] The thigh drive assembly (500) is used to drive the thigh (200) to move relative to the hip joint body (100), the calf drive assembly (600) is used to drive the calf (300) to move relative to the thigh (200) via the calf transmission assembly (800), and the wheel drive assembly (700) is used to drive the wheel (400) to move relative to the calf (300) via the wheel transmission assembly (900).

[0011] Wherein, the thigh driving assembly (500) comprises a thigh swinging motor (510), a first thigh gear (520), a second thigh gear (530), a thigh rotating rod (540) and a connecting plate (550);

[0012] The output end of the thigh swing motor (510) is connected to the first thigh gear (520), the second thigh gear (530) is connected to the thigh rotation rod (540), and the first thigh gear (520) and the second thigh gear (530) are meshed, the thigh rotation rod (540) is connected to an end of the thigh (200) away from the calf (300), and the connecting plate (550) is connected to at least one of the second thigh gear (530) and the thigh rotation rod (540);

[0013] The calf drive assembly (600) comprises a calf swing motor (610) and a calf swing rod (620), wherein a first end of the calf swing rod (620) is connected to the calf swing motor (610), a second end of the calf swing rod (620) is connected to the calf transmission assembly (800), and the calf swing motor (610) is connected to the connecting plate (550);

[0014] The thigh rotating rod (540) is cylindrical, and the calf swing rod (620) is movably connected to the thigh rotating rod (540).

[0015] The calf driving assembly (600) further comprises a calf bearing (630), and the calf bearing (630) is arranged between the calf swing rod (620) and the thigh rotation rod (540).

[0016] Wherein, the wheel driving assembly (700) comprises a wheel rotating motor (710), a first wheel gear (720), a second wheel gear (730) and a transmission sleeve (740);

[0017] The output end of the wheel rotating motor (710) is connected to the first wheel gear (720), the transmission sleeve (740) is movably sleeved on the thigh rotating rod (540), the second wheel gear (730) is connected to the transmission sleeve (740), the first wheel gear (720) is meshed with the second wheel gear (730), and the transmission sleeve (740) is connected to the wheel transmission assembly (900).

[0018] The wheel drive assembly (700) further comprises a third wheel gear (750), a fourth wheel gear (760) and a transmission rod (770); the third wheel gear (750) and the fourth wheel gear (760) are both connected to the transmission rod (770); the first wheel gear (720) is meshed with the third wheel gear (750); and the fourth wheel gear (760) is meshed with the second wheel gear (730).

[0019] The output axis of the thigh swing motor (510) and the output axis of the wheel rotation motor (710) are both arranged along the first direction, the output axis of the calf swing motor (610) is arranged along the second direction, the axes of the thigh rotation rod (540), the calf swing rod (620), the transmission sleeve (740) and the transmission rod (770) are all arranged along the second direction, the second direction is perpendicular to the first direction, and the first thigh gear (520), the second thigh gear (530), the first wheel gear (720) and the third wheel gear (750) are all bevel gears.

[0020] The output end of the thigh swing motor (510) is coaxial with the output shaft of the wheel rotation motor (710), and is arranged on opposite sides of the hip joint body (100) in the first direction;

[0021] The calf swing motor (610) and the thigh (200) are arranged on opposite sides of the hip joint body (100) in the second direction.

[0022] The calf transmission assembly (800) includes a first connector (810), a second connector (820) and a linkage rod (830), wherein the first connector (810) is connected to the calf drive assembly (600), the second connector (820) is connected to the calf (300), and the linkage rod (830) is respectively connected to the first connector (810) and the second connector (820).

[0023] The wheel transmission assembly (900) includes a first pulley (910), a second pulley (920), a third pulley (930), a fourth pulley (940), a first belt and a second belt. The first pulley (910) is connected to the wheel drive assembly (700), the second pulley (920) is coaxially connected to the third pulley (930), and is coaxially rotatably connected to the rotating shaft between the calf (300) and the thigh (200), the fourth pulley (940) is connected to the wheel (400), the first belt is wound around the first pulley (910) and the second pulley (920), and the second belt is wound around the third pulley (930) and the fourth pulley (940).

[0024] On the other hand, an embodiment of the present invention further provides a walking robot, comprising a leg mechanism (10) as described above, the number of the leg mechanisms being at least two, and a robot body (20), the leg mechanism (10) being drivingly connected to the robot body (20).

[0025] A leg mechanism and a walking robot proposed in an embodiment of the present invention can reduce the inertia of the leg end, reduce the control difficulty of the structure and the energy consumption of the system by setting a wheel drive assembly at the hip joint body. In the prior art, in order to make the robot take into account both terrain passability and rapid movement capability, a solution is provided for setting a moving wheel at the leg end, so as to increase the moving speed by driving the moving wheel to rotate. The motor used by the robot to drive the moving wheel is basically arranged at the end of the leg, which will lead to a large inertia of the leg end, increase the control difficulty of the structure and the energy consumption of the system. In the present application, the leg is provided to include a relatively movable thigh and calf, and the flexible movement of the leg is achieved by the thigh drive assembly and the calf drive assembly. By setting a wheel on the calf and driving the rotation of the wheel, the rapid movement of the robot can be achieved. At the same time, the thigh drive assembly, the calf drive assembly and the wheel drive assembly are all arranged on the hip joint body, and power is transmitted through the transmission mechanism, thereby taking into account both terrain passability and rapid movement capability, while reducing the weight of the leg end, making the burden of the leg drive small, ensuring the flexible drive of the leg, making the leg respond quickly, and reducing wear. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 A schematic diagram of the structure of a leg mechanism provided by an embodiment of the present invention;

[0027] Figure 2 A schematic structural diagram of a first partial structure of a leg mechanism provided by an embodiment of the present invention;

[0028] Figure 3 A schematic structural diagram of a second partial structure of a leg mechanism provided by an embodiment of the present invention;

[0029] Figure 4 A schematic structural diagram of a third partial structure of a leg mechanism provided by an embodiment of the present invention;

[0030] Figure 5 A schematic structural diagram of a fourth partial structure of a leg mechanism provided by an embodiment of the present invention;

[0031] Figure 6 A schematic structural diagram of a walking robot provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0032] In order to further illustrate the technical means and effects adopted by the present invention to achieve the predetermined purpose of the invention, the specific implementation method, structure, characteristics and effects of a leg mechanism proposed according to the present invention are described in detail below in combination with the accompanying drawings and preferred embodiments.

[0033] On the one hand, if Figure 1-4 As shown, an embodiment of the present invention provides a leg mechanism, comprising:

[0034] A hip joint body (100), a thigh (200), a shank (300), a wheel (400), a thigh drive assembly (500), a shank drive assembly (600), a wheel drive assembly (700), a shank transmission assembly (800) and a wheel transmission assembly (900);

[0035] The thigh drive assembly (500), the shank drive assembly (600) and the wheel drive assembly (700) are all connected to the hip joint body (100); the thigh drive assembly (500) is connected to the thigh (200); the shank transmission assembly (800) is respectively connected to the shank drive assembly (600) and the shank (300); the wheel transmission assembly (900) is at least connected to the wheel drive assembly (700) and the wheel (400); the thigh (200) and the wheel (400) are connected to the shank (300) at intervals;

[0036] The thigh drive assembly (500) is used to drive the thigh (200) to move relative to the hip joint body (100), the calf drive assembly (600) is used to drive the calf (300) to move relative to the thigh (200) via the calf transmission assembly (800), and the wheel drive assembly (700) is used to drive the wheel (400) to move relative to the calf (300) via the wheel transmission assembly (900).

[0037] The leg mechanism (10) is used in a walking robot to provide power for the movement of the walking robot. The robot body (20) of the walking robot can be equipped with three leg mechanisms (10) as required, or as follows: Figure 6As shown, four leg mechanisms (10) are provided, or more can be provided as required. The hip joint body (100) is a structure for connecting the entire leg mechanism (10) to the robot body (20), and is used to provide a connection and support structure for the thigh drive assembly (500), the shank drive assembly (600) and the wheel drive assembly (700). The hip joint body (100) includes at least a hip joint shell, and the outer contour of the hip joint shell can be as follows: Figure 1 The approximately rectangular parallelepiped structure shown has a hollow structure inside, which is used to accommodate at least part of the thigh drive assembly (500), the calf drive assembly (600) and the wheel drive assembly (700). A connecting plate or the like can be provided inside the hip joint housing as needed to connect and fix part of the structure of the thigh drive assembly (500), the calf drive assembly (600) and the wheel drive assembly (700). The hip joint body (100) also includes a support shaft (110) for rotationally connecting to the robot body (20). A driving mechanism can also be provided inside the robot body (20). The driving mechanism acts on the support shaft (110) to drive the hip joint body (100) to flip, so that the entire leg mechanism (10) can be opened or retracted to the outside of the robot body (20). The hip joint body (100) may also have other possible structures, which are not limited by the present application. For the convenience of explanation below, the length direction of the hip joint body (100), i.e. Figure 1 The X-axis direction is called the first direction, which is the width direction of the hip joint body (100), that is, Figure 1 The Y-axis direction is called the second direction. The second direction is perpendicular to the first direction, and when the robot does not cross an obstacle and the leg mechanism (10) has a consistent posture, the second direction and the first direction are both horizontal directions.

[0038] The thigh drive assembly (500), the shank drive assembly (600) and the wheel drive assembly (700) are all integrated on the hip joint body (100), and the shank transmission assembly (800) and the wheel transmission assembly (900) are only used for power transmission. Compared with setting the motor on the leg, the movement burden of the leg can be greatly reduced. The leg structure includes a thigh (200), a shank (300) and a wheel (400). The thigh (200) is used to swing relative to the hip joint body (100) under the direct drive of the thigh drive assembly (500), and the shank (300) is used to swing relative to the thigh (200) through the power transmission of the shank transmission assembly (800), and then the thigh (200) and the shank (300) can be folded, the height of the robot body (20) can be changed, and the leg can be lifted to overcome obstacles. The wheel (400) is arranged at the end of the shank (300) for contacting the ground or other supporting surfaces in the scene. The wheel (400) rotates relative to the shank (300) through the power transmission of the wheel transmission assembly (900), thereby realizing the rapid movement of the robot body (20) or the low position movement of the robot body (20).

[0039] A leg mechanism and a walking robot proposed in an embodiment of the present invention can reduce the inertia of the leg end, reduce the control difficulty of the structure and the energy consumption of the system by setting a wheel drive assembly at the hip joint body. In the prior art, in order to make the robot take into account both terrain passability and rapid movement capability, a solution is provided for setting a moving wheel at the leg end, so as to increase the moving speed by driving the moving wheel to rotate. The motor used by the robot to drive the moving wheel is basically arranged at the end of the leg, which will lead to a large inertia of the leg end, increase the control difficulty of the structure and the energy consumption of the system. In the present application, the leg is provided to include a relatively movable thigh and calf, and the flexible movement of the leg is achieved by the thigh drive assembly and the calf drive assembly. By setting a wheel on the calf and driving the rotation of the wheel, the rapid movement of the robot can be achieved. At the same time, the thigh drive assembly, the calf drive assembly and the wheel drive assembly are all arranged on the hip joint body, and power is transmitted through the transmission mechanism, thereby taking into account both terrain passability and rapid movement capability, while reducing the weight of the leg end, so that the burden of the leg drive is small, the leg drive is flexible, the leg response is fast, and wear can be reduced.

[0040] The thigh drive assembly (500), the shank drive assembly (600) and the wheel drive assembly (700) can be implemented in a variety of ways, and the purpose is to set the heavier drive assembly on the hip joint body (100) through the setting of the transmission assembly. Specific implementation methods will be given as examples below, and it can be understood that the implementation methods of the present application are not limited to the following examples.

[0041] In one embodiment, the thigh drive assembly (500) includes a thigh swing motor (510), a first thigh gear (520), a second thigh gear (530), a thigh rotation rod (540) and a connecting plate (550). The output end of the thigh swing motor (510) is connected to the first thigh gear (520), the second thigh gear (530) is connected to the thigh rotation rod (540), and the first thigh gear (520) and the second thigh gear (530) are meshed, and the thigh rotation rod (540) is connected to an end of the thigh (200) away from the calf (300).

[0042] The thigh swing motor (510) is fixedly connected to the hip joint body (100), for example, it can be fixedly connected to one side of the hip joint housing of the hip joint body (100) in the first direction. The output end of the thigh swing motor (510) extends in the first direction. The first thigh gear (520) and the second thigh gear (530) can both be bevel gears, so that the thigh rotation rod (540) can extend in the second direction and connect to the thigh (200) arranged in the second direction of the hip joint body (100). The connection between the thigh rotation rod (540) and the thigh (200) can be a bolt connection, an interference fit, etc.

[0043] Further, the connecting plate (550) is connected to at least one of the second thigh gear (530) and the thigh rotating rod (540). The calf driving assembly (600) includes a calf swing motor (610) and a calf swing rod (620), the first end of the calf swing rod (620) is connected to the calf swing motor (610), the second end of the calf swing rod (620) is connected to the calf transmission assembly (800), and the calf swing motor (610) is connected to the connecting plate (550). The thigh rotating rod (540) is cylindrical, and the calf swing rod (620) is movably connected to the thigh rotating rod (540).

[0044] The calf swing motor (610) is fixedly connected to the hip joint body (100), for example, the calf swing motor (610) can be fixedly connected to the outside of the hip joint housing of the hip joint body (100) on one side in the second direction. The axis of the output end of the calf swing motor (610) is arranged along the second direction, and the axes of the thigh rotation rod (540), the calf swing rod (620) and the transmission sleeve (740) are all arranged along the second direction, and then connected to the leg structure on the other side of the hip joint body (100) in the second direction. In some embodiments, Figure 4 As described above, the calf drive assembly (600) further includes an adapter plate (640), and the calf swing rod (620) can be connected to the calf swing motor (610) through the adapter plate (640), thereby ensuring the stability of the connection. Figure 4As shown in , it is sleeved on the outer periphery of the second thigh gear (530) and fixed by a top screw. The connecting plate (550) is fixed to the calf swing motor (610), and then when the thigh (200) swings, the entire calf drive assembly (600) drives the calf (300) and the thigh (200) to move in conjunction through the connecting plate (550), that is, the relative angle between the calf (300) and the thigh (200) remains unchanged, while the entire calf moves. When the calf (300) needs to swing relative to the thigh (200), the calf swing motor (610) drives the calf swing rod (620) to rotate, and then drives the calf (300) to move, thereby changing the relative angle between the calf (300) and the thigh (200).

[0045] The calf swing rod (620) and the thigh rotation rod (540) may be in sliding contact, or may be in a sliding contact. Figure 4 The partial areas shown are in sliding contact, while the other partial areas are arranged at intervals, which can reduce sliding friction. In some embodiments, the calf drive assembly (600) further includes a calf bearing (630), and the number of the calf bearings (630) can be two. The two calf bearings (630) are arranged at intervals between the calf swing rod (620) and the thigh rotation rod (540) in the second direction, thereby improving the smoothness of the relative movement between the calf swing rod (620) and the thigh rotation rod (540).

[0046] In one embodiment, the wheel drive assembly (700) includes a wheel rotation motor (710), a first wheel gear (720), a second wheel gear (730) and a transmission sleeve (740). The output end of the wheel rotation motor (710) is connected to the first wheel gear (720), the transmission sleeve (740) is movably sleeved on the thigh rotation rod (540), the second wheel gear (730) is connected to the transmission sleeve (740), the first wheel gear (720) is meshed with the second wheel gear (730), and the transmission sleeve (740) is connected to the wheel transmission assembly (900).

[0047] The wheel rotating motor (710) is fixedly connected to the hip joint body (100), for example, the wheel rotating motor (710) can be fixed inside the hip joint housing of the hip joint body (100) on a side opposite to the thigh swing motor (510) in the first direction, but the two are staggered in the first direction. The output shaft of the wheel rotating motor (710) extends in the first direction, the first wheel gear (720) and the second wheel gear (730) can be conical gears, and the second wheel gear (730) and the second thigh gear (530) are arranged at intervals in the second direction.

[0048] Or, in another embodiment, based on the previous embodiment, as Figure 2-4As shown, the wheel drive assembly (700) further includes a third wheel gear (750), a fourth wheel gear (760) and a transmission rod (770), the third wheel gear (750) and the fourth wheel gear (760) are both connected to the transmission rod (770), the first wheel gear (720) is meshed with the third wheel gear (750), and the fourth wheel gear (760) is meshed with the second wheel gear (730). That is, the first wheel gear (720) and the second wheel gear (730) are not directly meshed, but are indirectly meshed through the third wheel gear (750) and the fourth wheel gear (760).

[0049] The axis of the transmission rod (770) is arranged along the second direction. The first wheel gear (720) and the second wheel gear (730) are not arranged as conical wheels, but the first wheel gear (720) and the third wheel gear (750) are both bevel gears, and the fourth wheel gear (760) and the second wheel gear (730) are cylindrical gears. This arrangement enables the output end of the thigh swing motor (510) and the output shaft of the wheel rotation motor (710) to be coaxial, and to be arranged on opposite sides of the hip joint body (100) in the first direction, thereby making the weight force of the hip joint body (100) located on the rotation axis, greatly reducing the torque. In addition, the calf swing motor (610) and the thigh (200) are arranged on opposite sides of the hip joint body (100) in the second direction, further balancing the force of the hip joint body (100) when it swings sideways, reducing the driving burden and wear.

[0050] In the above two embodiments, the transmission sleeve (740) and the thigh rotating rod (540) can be slidably sleeved. In some embodiments, the wheel driving assembly (700) can also include two limiting rings (790), the transmission sleeve (740) is provided with bosses on the inner wall at both ends of the axial direction, the limiting ring (790) is sleeved on the thigh rotating rod (540), the transmission sleeve (740) is sleeved on the thigh rotating rod (540) and the limiting ring (790), and the axial or second direction limitation is achieved through the action of the boss and the limiting ring (790). Furthermore, the hip joint body (100) also includes a limiting cylinder (120), the transmission sleeve (740) is inserted into the limiting cylinder (120), and the wheel drive assembly (700) can also include two wheel bearings (780), and the two wheel bearings (780) are arranged between the transmission sleeve (740) and the limiting cylinder (120) at intervals in the second direction, thereby achieving support for the transmission sleeve (740) and the entire calf drive assembly (600), and ensuring the smoothness of the rotation of the transmission sleeve (740). It can be understood that in some other embodiments, the transmission sleeve (740) and the limiting cylinder (120) can be slidably connected, or the transmission sleeve (740) and the thigh rotation rod (540) can be connected through a bearing.

[0051] The calf transmission assembly (800) and the wheel transmission assembly (900) can be of various types, as long as they can transmit power. Figure 2 As shown, the calf transmission assembly (800) includes a first connector (810), a second connector (820) and a linkage rod (830), the calf swing rod (620) of the calf drive assembly (600) passes through the thigh (200), the first connector (810) is connected to the calf swing rod (620), the second connector (820) is connected to the calf (300), and extends to a side away from the wheel (400). In some embodiments, the second connector (820) and the calf (300) can also be integrally formed. The linkage rod (830) is respectively connected to the first connector (810) and the second connector (820), and can rotate with each other.

[0052] When the calf swing rod (620) of the calf driving assembly (600) rotates, the first connecting head (810) is driven to rotate, and the second connecting head (820) is driven through the linkage rod (830), thereby driving the calf (300) to swing relative to the thigh (200).

[0053] In one embodiment, if Figure 5 As shown, the wheel transmission assembly (900) includes a first pulley (910), a second pulley (920), a third pulley (930), a fourth pulley (940), a first belt and a second belt, the first pulley (910) is connected to the transmission sleeve (740) of the wheel drive assembly (700), the second pulley (920) is coaxially connected to the third pulley (930), and is coaxially rotatably connected to the rotating shaft between the calf (300) and the thigh (200), such as being rotatably connected through a bearing, such as the inner connecting shaft between the second pulley (920) and the third pulley (930) is connected to the outer connecting shaft connecting the calf (300) and the thigh (200), and the inner connecting shaft and the outer connecting shaft are slidably connected or connected through a bearing. The fourth pulley (940) is connected to the wheel (400), the first belt is wound around the first pulley (910) and the second pulley (920), and the second belt is wound around the third pulley (930) and the fourth pulley (940).

[0054] When the transmission sleeve (740) of the wheel driving assembly (700) rotates, it drives the first pulley (910) to rotate, and then drives the second pulley (920) and the third pulley (930) to rotate synchronously through the first belt, and drives the fourth pulley (940) through the second belt to drive the wheel (400) to rotate, thereby realizing the horizontal movement of the robot body (20).

[0055] On the other hand, Figure 6As shown, an embodiment of the present invention also provides a walking robot, comprising a leg mechanism (10) as described above, the number of the leg mechanisms is at least two, and a robot body (20), the leg mechanism (10) being drivingly connected to the robot body (20).

[0056] The walking robot includes any of the aforementioned leg mechanisms (10) and the advantages of any of the aforementioned leg mechanisms (10), which will not be repeated here. In the embodiment where there are four leg mechanisms (10), the robot body (20) may be as follows: Figure 6 The robot has a nearly flat cubic structure, and the leg mechanisms (10) are arranged at the four corners of the robot body (20). Alternatively, in some embodiments, there may be three leg mechanisms (10) arranged in a triangle on the robot body (20).

[0057] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A leg mechanism, characterized in that: include: A hip joint body (100), a thigh (200), a shank (300), a wheel (400), a thigh drive assembly (500), a shank drive assembly (600), a wheel drive assembly (700), a shank transmission assembly (800) and a wheel transmission assembly (900); The thigh drive assembly (500), the shank drive assembly (600) and the wheel drive assembly (700) are all connected to the hip joint body (100); the thigh drive assembly (500) is connected to the thigh (200); the shank transmission assembly (800) is respectively connected to the shank drive assembly (600) and the shank (300); the wheel transmission assembly (900) is at least connected to the wheel drive assembly (700) and the wheel (400); the thigh (200) and the wheel (400) are connected to the shank (300) at intervals; The thigh drive assembly (500) is used to drive the thigh (200) to move relative to the hip joint body (100), the calf drive assembly (600) is used to drive the calf (300) to move relative to the thigh (200) via the calf transmission assembly (800), and the wheel drive assembly (700) is used to drive the wheel (400) to move relative to the calf (300) via the wheel transmission assembly (900).

2. The leg mechanism according to claim 1, characterized in that: The thigh driving assembly (500) comprises a thigh swinging motor (510), a first thigh gear (520), a second thigh gear (530), a thigh rotating rod (540) and a connecting plate (550); The output end of the thigh swing motor (510) is connected to the first thigh gear (520), the second thigh gear (530) is connected to the thigh rotation rod (540), and the first thigh gear (520) and the second thigh gear (530) are meshed, the thigh rotation rod (540) is connected to an end of the thigh (200) away from the calf (300), and the connecting plate (550) is connected to at least one of the second thigh gear (530) and the thigh rotation rod (540); The calf drive assembly (600) comprises a calf swing motor (610) and a calf swing rod (620), the first end of the calf swing rod (620) is connected to the calf swing motor (610), the second end of the calf swing rod (620) is connected to the calf transmission assembly (800), and the calf swing motor (610) is connected to the connecting plate (550); The thigh rotating rod (540) is cylindrical, and the calf swing rod (620) is movably connected to the thigh rotating rod (540).

3. The leg mechanism according to claim 2, characterized in that: The calf driving assembly (600) further comprises a calf bearing (630), and the calf bearing (630) is arranged between the calf swing rod (620) and the thigh rotation rod (540).

4. The leg mechanism according to claim 2, characterized in that: The wheel driving assembly (700) comprises a wheel rotating motor (710), a first wheel gear (720), a second wheel gear (730) and a transmission sleeve (740); The output end of the wheel rotating motor (710) is connected to the first wheel gear (720), the transmission sleeve (740) is movably sleeved on the thigh rotating rod (540), the second wheel gear (730) is connected to the transmission sleeve (740), the first wheel gear (720) is meshed with the second wheel gear (730), and the transmission sleeve (740) is connected to the wheel transmission assembly (900).

5. The leg mechanism according to claim 4, characterized in that: The wheel drive assembly (700) further comprises a third wheel gear (750), a fourth wheel gear (760) and a transmission rod (770); the third wheel gear (750) and the fourth wheel gear (760) are both connected to the transmission rod (770); the first wheel gear (720) is meshed with the third wheel gear (750); and the fourth wheel gear (760) is meshed with the second wheel gear (730).

6. The leg mechanism according to claim 5, characterized in that: The output axis of the thigh swing motor (510) and the output axis of the wheel rotation motor (710) are both arranged along a first direction, the output axis of the calf swing motor (610) is arranged along a second direction, the axes of the thigh rotation rod (540), the calf swing rod (620), the transmission sleeve (740) and the transmission rod (770) are all arranged along the second direction, the second direction is perpendicular to the first direction, the first thigh gear (520), the second thigh gear (530), the first wheel gear (720) and the third wheel gear (750) are all bevel gears.

7. The leg mechanism according to claim 6, characterized in that: The output end of the thigh swing motor (510) is coaxial with the output shaft of the wheel rotation motor (710), and is arranged on opposite sides of the hip joint body (100) in the first direction; The calf swing motor (610) and the thigh (200) are arranged on opposite sides of the hip joint body (100) in the second direction.

8. The leg mechanism according to claim 1, characterized in that: The calf transmission assembly (800) includes a first connecting head (810), a second connecting head (820) and a linkage rod (830), wherein the first connecting head (810) is connected to the calf drive assembly (600), the second connecting head (820) is connected to the calf (300), and the linkage rod (830) is respectively connected to the first connecting head (810) and the second connecting head (820).

9. The leg mechanism according to claim 1, characterized in that: The wheel transmission assembly (900) includes a first pulley (910), a second pulley (920), a third pulley (930), a fourth pulley (940), a first belt and a second belt, wherein the first pulley (910) is connected to the wheel drive assembly (700), the second pulley (920) is coaxially connected to the third pulley (930), and is coaxially rotatably connected to the rotating shaft between the calf (300) and the thigh (200), the fourth pulley (940) is connected to the wheel (400), the first belt is wound around the first pulley (910) and the second pulley (920), and the second belt is wound around the third pulley (930) and the fourth pulley (940).

10. A walking robot, characterized in that: comprising a leg mechanism (10) as claimed in any one of claims 1 to 9, wherein the number of the leg mechanisms is at least two, And, a robot body (20), the leg mechanism (10) is drivingly connected to the robot body (20).

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