Leg mechanism and walking robot

Abstract

The application discloses a kind of leg mechanism and walking robot, by wheel drive assembly is arranged at hip joint main body, realize the reduction of leg end inertia, reduce the control difficulty of structure and the energy consumption of system.The main technical scheme of the present application is: a kind of leg mechanism, comprising: hip joint main body, thigh, shank, wheel, thigh drive assembly, shank drive assembly, wheel drive assembly, shank transmission component and wheel transmission component;Thigh drive assembly, shank drive assembly and wheel drive assembly are connected with hip joint main body, thigh drive assembly is used to drive thigh to move relative to hip joint main body, shank drive assembly is used to drive shank to move relative to thigh by shank transmission component, wheel transmission component is used to drive wheel to move relative to shank by wheel transmission component.The present application is mainly used to drive robot to walk.

Description

TECHNICAL FIELD

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

[0002] As a new type of unmanned equipment in land, the bionic foot robot, compared with the conventional wheeled robot and tracked robot, realizes walking on the ground through the support and swing of the multi-joint leg, which means that its traveling mechanism is the same as that of the creatures in nature, has a larger working space, a more flexible movement mode, and a stronger mobile obstacle-crossing ability. Although the pure foot robot has good terrain passability, it cannot be widely applied to fast-moving task scenarios due to its slow movement speed. The wheeled robot has fast moving ability, but its terrain passability is poor. The tracked robot has good terrain passability, but its structure is relatively complex, the movement speed is not high, and the problems such as wear of the track also limit its application in the quadruped robot.

[0003] By arranging the moving wheel at the end of the leg and driving the moving wheel to rotate, the moving speed of the bionic foot robot is improved, and the robot has both terrain passability and fast moving ability. The motor used to drive the moving wheel of the robot is basically arranged at the end of the leg and close to the moving wheel, which will cause the large inertia of the end of the leg, increase the control difficulty of the structure and the energy consumption of the system. SUMMARY

[0004] Therefore, the embodiments of the present application provide a leg mechanism and a walking robot, which arrange the wheel driving assembly at the hip joint body to reduce the inertia of the end of the leg, reduce the control difficulty of the structure and the energy consumption of the system.

[0005] Under the dynamic loading condition, the deformation detection member and the image monitoring system are used for monitoring together to realize accurate monitoring of the dynamic damage and other related rock mechanics properties of the rock and rock-like materials, and provide a theoretical basis for the research on the dynamic mechanical properties of the rock and its engineering application.

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

[0007] In one aspect, the embodiments of the present application provide a leg mechanism, which comprises:

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

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

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

[0011] The thigh driving assembly (500) comprises a thigh swing motor (510), a first thigh gear (520), a second thigh gear (530), a thigh rotating rod (540) and a connecting disc (550).

[0012] The output end of the thigh swing motor (510) is connected with the first thigh gear (520), the second thigh gear (530) is connected with the thigh rotating rod (540), the first thigh gear (520) and the second thigh gear (530) are engaged, the thigh rotating rod (540) is connected with the end of the thigh (200) away from the calf (300), and the connecting disc (550) is connected with at least one of the second thigh gear (530) and the thigh rotating rod (540).

[0013] The calf driving 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 with the calf swing motor (610), the second end of the calf swing rod (620) is connected with the calf transmission assembly (800), and the calf swing motor (610) is connected with the connecting disc (550).

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

[0015] The calf driving assembly (600) further comprises a calf bearing (630), and the calf swing rod (620) and the thigh rotating rod (540) are provided with the calf bearing (630) therebetween.

[0016] 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 with 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 with the transmission sleeve (740), the first wheel gear (720) is engaged with the second wheel gear (730), and the transmission sleeve (740) is connected with the wheel transmission assembly (900).

[0018] The wheel driving 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 with the transmission rod (770), the first wheel gear (720) is engaged with the third wheel gear (750), and the fourth wheel gear (760) is engaged with the second wheel gear (730).

[0019] The output end axis of the thigh swinging motor (510) and the output end axis of the wheel rotating motor (710) are both arranged along a first direction, the output end axis of the small leg swinging motor (610) is arranged along a second direction, the axes of the thigh rotating rod (540), the small leg swinging 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 swinging motor (510) and the output shaft of the wheel rotating motor (710) are coaxial and arranged on opposite sides of the hip joint body (100) in the first direction.

[0021] The small leg swinging motor (610) is arranged on the opposite side of the thigh (200) from the thigh swinging motor (510) in the second direction.

[0022] The small leg transmission assembly (800) comprises a first connecting head (810), a second connecting head (820) and a linkage rod (830), the first connecting head (810) is connected with the small leg driving assembly (600), the second connecting head (820) is connected with the small leg (300), and the linkage rod (830) is connected with the first connecting head (810) and the second connecting head (820) respectively.

[0023] The wheel transmission assembly (900) comprises 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 with the wheel driving assembly (700), the second pulley (920) is coaxially connected with the third pulley (930), and is coaxially rotatably connected with the rotating shaft between the lower leg (300) and the upper leg (200), the fourth pulley (940) is connected with the wheel (400), the first belt is wound on the first pulley (910) and the second pulley (920), and the second belt is wound on the third pulley (930) and the fourth pulley (940).

[0024] In another aspect, the embodiment of the present application also provides a walking robot, comprising the leg mechanism (10) according to any one of the above, the number of the leg mechanisms (10) is at least two, and the robot body (20), the leg mechanism (10) is drivingly connected with the robot body (20).

[0025] The leg mechanism and the walking robot provided by the embodiment of the present application realize the reduction of the inertia of the leg end, the reduction of the control difficulty of the structure and the energy consumption of the system by arranging the wheel driving assembly at the hip joint body. In the prior art, in order to make the robot have the terrain passing ability and the rapid moving ability, the moving wheel is arranged at the end of the leg, so that the moving speed is improved by driving the moving wheel to rotate. The motor for driving the moving wheel is basically arranged at the end of the leg, which results in the large inertia of the end of the leg, the increase of the control difficulty of the structure and the energy consumption of the system. In the present application, the leg is arranged to include the relatively movable upper leg and lower leg, the flexible movement of the leg is realized by the upper leg driving assembly and the lower leg driving assembly, the rotation of the wheel is driven by arranging the wheel on the lower leg, and the rapid movement of the robot can be realized. Meanwhile, the upper leg driving assembly, the lower leg driving assembly and the wheel driving assembly are arranged on the hip joint body, the power transmission is realized by the transmission mechanism, and then the terrain passing ability and the rapid moving ability are realized at the same time, the weight of the end of the leg is reduced, the burden of the leg driving is small, the flexible driving of the leg is ensured, the leg responds fast, and the abrasion is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 The structure diagram of the leg mechanism provided by the embodiment of the present application is shown;

[0027] Figure 2 The structure diagram of the first partial structure of the leg mechanism provided by the embodiment of the present application is shown;

[0028] Figure 3 The structure diagram of the second partial structure of the leg mechanism provided by the embodiment of the present application is shown;

[0029] Figure 4 A schematic diagram of a third part of a leg mechanism provided in an embodiment of the present invention;

[0030] Figure 5 This is a schematic diagram of the fourth part of a leg mechanism provided in an embodiment of the present invention;

[0031] Figure 6 This is a structural schematic diagram of a walking robot provided in an embodiment of the present invention. Detailed Implementation

[0032] To further illustrate the technical means and effects adopted by the present invention to achieve the intended purpose, the following detailed description, in conjunction with the accompanying drawings and preferred embodiments, describes the specific implementation, structure, features, and effects of a leg mechanism proposed according to the present invention.

[0033] On the one hand, such as Figures 1-4 As shown, an embodiment of the present invention provides a leg mechanism, including:

[0034] Hip joint body (100), thigh (200), lower leg (300), wheel (400), thigh drive assembly (500), lower leg drive assembly (600), wheel drive assembly (700), lower leg transmission assembly (800) and wheel transmission assembly (900);

[0035] The thigh drive assembly (500), the calf 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 calf drive assembly (800) is connected to the calf drive assembly (600) and the calf (300) respectively. The wheel drive assembly (900) is connected to at least the wheel drive assembly (700) and the wheel (400). The thigh (200) and the wheel (400) are connected to the calf (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 the walking robot to provide power for the robot's movement. The robot body (20) of the walking robot can be equipped with three leg mechanisms (10) as needed, or as follows: Figure 6As shown, it is equipped with four leg mechanisms (10), or more, as needed. The hip joint body (100) is the structure for connecting the entire leg mechanism (10) to the robot body (20), and provides connection and support for the thigh drive assembly (500), lower leg drive assembly (600), and wheel drive assembly (700). The hip joint body (100) includes at least a hip joint housing, the outer contour of which can be as shown... Figure 1 The approximate cuboid structure shown has an internal cavity to accommodate at least a portion of the thigh drive assembly (500), lower leg drive assembly (600), and wheel drive assembly (700). Connecting plates or similar components can be provided inside the hip joint housing as needed for connecting and fixing the thigh drive assembly (500), lower leg drive assembly (600), and wheel drive assembly (700). The hip joint body (100) also includes a support shaft (110) for rotatably connecting with the robot body (20). A drive mechanism can also be provided inside the robot body (20), which interacts with the support shaft (110) to drive the hip joint body (100) to rotate, allowing the entire leg mechanism (10) to open or retract to the outside of the robot body (20). The hip joint body (100) can also have other possible structures, which are not limited in this application. For ease of explanation, the length direction of the hip joint body (100) will be referred to as... Figure 1 The X-axis direction is called the first direction, which is the width direction of the hip joint body (100), i.e. 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 obstacles and the leg mechanism (10) is in the same posture, both the second direction and the first direction are horizontal.

[0038] The thigh driving assembly (500), the calf driving assembly (600) and the wheel driving assembly (700) are integrated on the hip joint body (100), and the calf transmission assembly (800) and the wheel transmission assembly (900) are only used for power transmission, compared with arranging the motor on the leg, the moving burden of the leg can be greatly reduced. The leg structure includes a thigh (200), a calf (300) and a wheel (400), the thigh (200) is used for swinging relative to the hip joint body (100) under the direct driving of the thigh driving assembly (500), the calf (300) is used for swinging relative to the thigh (200) through the power transmission of the calf transmission assembly (800), and then the folding of the thigh (200) and the calf (300) can be realized, the height of the robot body (20) can be changed, and the leg lifting obstacle crossing can be realized. The wheel (400) is arranged at the end of the calf (300) and used for contacting the ground or other supporting surface in the scene, the wheel (400) rotates relative to the calf (300) through the power transmission of the wheel transmission assembly (900), and then the rapid movement of the robot body (20) can be realized, or the low-position movement of the robot body (20) can be realized.

[0039] The leg mechanism and the walking robot provided by the embodiment of the application realize the reduction of the inertia of the leg end, the reduction of the control difficulty of the structure and the reduction of the energy consumption of the system by arranging the wheel driving assembly at the hip joint body. In the prior art, in order to make the robot have the terrain passing performance and the rapid movement ability, the moving wheel is arranged at the end of the leg, and the rotation of the moving wheel is driven to improve the movement speed. The motor used for driving the moving wheel is basically arranged at the end of the leg, which causes the large inertia of the end of the leg, increases the control difficulty of the structure and the energy consumption of the system. In the application, the leg includes a thigh and a calf which can move relative to each other, the flexible movement of the leg is realized through the thigh driving assembly and the calf driving assembly, the rotation of the wheel is driven by arranging the wheel on the calf, and the rapid movement of the robot can be realized. Meanwhile, the thigh driving assembly, the calf driving assembly and the wheel driving assembly are arranged on the hip joint body, the power transmission is realized through the transmission mechanism, and then the terrain passing performance and the rapid movement ability are realized at the same time, the weight of the end of the leg is reduced, the driving burden of the leg is small, the flexible driving of the leg is ensured, the fast response of the leg is ensured, and the abrasion can be reduced.

[0040] The specific implementation mode of the thigh driving assembly (500), the calf driving assembly (600) and the wheel driving assembly (700) can be various, and the heavy driving assembly is arranged on the hip joint body (100) through the arrangement of the transmission assembly. In the following, specific implementation modes will be exemplified, and it can be understood that the embodiment of the application is not limited to the following examples.

[0041] In one embodiment, the thigh driving assembly (500) comprises a thigh swing motor (510), a first thigh gear (520), a second thigh gear (530), a thigh rotating rod (540) and a connecting disc (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 rotating rod (540), and the first thigh gear (520) and the second thigh gear (530) are engaged, and the thigh rotating rod (540) is connected to the 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, fixedly connected to one side of the hip joint body (100) in the first direction inside the hip joint shell. 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 rotating rod (540) can extend in the second direction and be connected to the thigh (200) arranged in the second direction of the hip joint body (100). The connection between the thigh rotating rod (540) and the thigh (200) can be a bolt connection, an interference fit, etc.

[0043] Further, the connecting disc (550) is connected to at least one of the second thigh gear (530) and the thigh rotating rod (540). The calf driving 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 disc (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, fixedly connected to one side of the hip joint body (100) in the second direction outside the hip joint shell. The output end axis of the calf swing motor (610) is arranged in the second direction, and the axes of the thigh rotating rod (540), the calf swing rod (620) and the transmission sleeve (740) are all arranged in the second direction, so as to be connected to the leg structure on the other side of the hip joint body (100) in the second direction. In some embodiments, for example, Figure 4 The calf driving assembly (600) further comprises an adapter disc (640), the calf swing rod (620) can be connected to the calf swing motor (610) through the adapter disc (640), so as to ensure the stability of the connection. The connecting disc (550) can be, for example, Figure 4As shown, it is sleeved on the outer circumference of the second thigh gear (530) and fixed by a set screw. The connecting plate (550) is fixed to the calf swing motor (610), so that when the thigh (200) swings, the entire calf drive assembly (600) drives the calf (300) and thigh (200) to move together through the connecting plate (550), that is, the relative angle between the calf (300) and thigh (200) remains unchanged, while the whole body moves. When it is necessary for the calf (300) to swing relative to the thigh (200), the calf swing motor (610) drives the calf swing rod (620) to rotate, which in turn drives the calf (300) to move, thereby changing the relative angle between the calf (300) and thigh (200).

[0045] The lower leg swing arm (620) and the thigh rotation arm (540) can be in sliding contact, or they can be in a non-sliding contact. Figure 4 The partial sliding contact shown, while the other partial areas are spaced apart, can reduce sliding friction. In some embodiments, the calf drive assembly (600) also includes calf bearings (630), and there may be two calf bearings (630). The two calf bearings (630) are spaced apart in the second direction between the calf swing rod (620) and the thigh rotation rod (540), thereby improving the smoothness of 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) and the second wheel gear (730) mesh, 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 the 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 bevel gears. The second wheel gear (730) and the second thigh gear (530) are spaced apart in the second direction.

[0048] Alternatively, in another implementation, based on the previous implementation, such as Figures 2-4As shown, the wheel driving 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 connected with the transmission rod (770), the first wheel gear (720) is engaged with the third wheel gear (750), and the fourth wheel gear (760) is engaged with the second wheel gear (730). That is, the first wheel gear (720) and the second wheel gear (730) are not directly engaged, but are indirectly engaged through the third wheel gear (750) and the fourth wheel gear (760).

[0049] The axis of the transmission rod (770) is arranged in 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 bevel gears, and the fourth wheel gear (760) and the second wheel gear (730) are cylindrical gears. This arrangement allows the output end of the thigh swing motor (510) and the output shaft of the wheel rotation motor (710) to be coaxial and arranged on opposite sides of the hip joint main body (100) in the first direction, thereby allowing the weight of the hip joint main body (100) to be applied to 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 main body (100) in the second direction, further balancing the lateral swing of the hip joint main body (100) and reducing the driving burden and wear.

[0050] In the two aforementioned embodiments, the transmission sleeve (740) and the thigh rotation rod (540) can be slidingly connected. In some embodiments, the wheel driving assembly (700) can further comprise two limiting rings (790), the transmission sleeve (740) has a boss on the inner wall at both axial ends, the limiting ring (790) is sleeved on the thigh rotation rod (540), and the transmission sleeve (740) is sleeved on the thigh rotation rod (540) and the limiting ring (790), and the limiting is achieved in the axial direction or the second direction by the action of the boss and the limiting ring (790). Further, the hip joint main body (100) further comprises a limiting cylinder (120), the transmission sleeve (740) is inserted into the limiting cylinder (120), and the wheel driving assembly (700) further comprises two wheel bearings (780), which are arranged in the second direction between the transmission sleeve (740) and the limiting cylinder (120), thereby supporting the transmission sleeve (740) and the entire calf driving 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 also be slidingly connected, and the transmission sleeve (740) and the thigh rotation rod (540) can also be connected through a bearing.

[0051] The shank transmission assembly (800) and the wheel transmission assembly (900) can be various, and are intended to be able to transmit power. As shown in an embodiment, the shank transmission assembly (800) comprises a first connecting head (810), a second connecting head (820) and a linkage rod (830), the shank swing rod (620) of the shank driving assembly (600) passes through the thigh (200), the first connecting head (810) is connected with the shank swing rod (620), the second connecting head (820) is connected with the shank (300) and extends to the side away from the wheel (400). In some embodiments, the second connecting head (820) can also be integrally formed with the shank (300). The linkage rod (830) is connected with the first connecting head (810) and the second connecting head (820) respectively and can rotate relative to each other. Figure 2

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

[0053] In an embodiment, as shown in Figure 5 The wheel transmission assembly (900) comprises 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 with the transmission sleeve (740) of the wheel driving assembly (700), the second pulley (920) is coaxially connected with the third pulley (930), and is coaxially rotatably connected with the rotation shaft between the shank (300) and the thigh (200), which can be rotatably connected through a bearing, and the inner connecting shaft between the second pulley (920) and the third pulley (930) can be inserted into the outer connecting shaft between the shank (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 with 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, the first pulley (910) is driven to rotate, then the second pulley (920) and the third pulley (930) are driven to rotate synchronously through the first belt, the fourth pulley (940) is driven to rotate through the second belt, and then the wheel (400) is driven to rotate, thereby realizing the horizontal movement of the robot body (20).

[0055] On the other hand, as shown in Figure 6 ​As shown, the embodiment of the present application also provides a walking robot, comprising at least two leg mechanisms (10) as any one of the above, and a robot body (20), the leg mechanisms (10) are drivingly connected with the robot body (20).

[0056] The walking robot comprises any one of the above leg mechanisms (10), which has the advantages of any one of the above leg mechanisms (10) and will not be repeated here. In the embodiment where the leg mechanisms (10) are four, the robot body (20) can be a nearly flat cuboid structure as shown in Figure 6 , and the leg mechanisms (10) are arranged at the four corners of the robot body (20). Alternatively, in some embodiments, the leg mechanisms (10) can also be three, arranged in a triangle on the robot body (20).

[0057] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited to this. Any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A leg mechanism characterized by, The hip joint body (100), the thigh (200), the shank (300), the wheel (400), the thigh driving assembly (500), the shank driving assembly (600), the wheel driving assembly (700), the shank transmission assembly (800) and the wheel transmission assembly (900) are connected with the hip joint body (100), the thigh driving assembly (500) is connected with the thigh (200), the shank transmission assembly (800) is respectively connected with the shank driving assembly (600) and the shank (300), the wheel transmission assembly (900) is at least connected with the wheel driving assembly (700) and the wheel (400), and the thigh (200) and the wheel (400) are connected to the shank (300) at intervals. The thigh driving assembly (500) is used for driving the thigh (200) to move relative to the hip joint body (100), the shank driving assembly (600) is used for driving the shank (300) to move relative to the thigh (200) through the shank transmission assembly (800), and the wheel driving assembly (700) is used for driving the wheel (400) to move relative to the shank (300) through the wheel transmission assembly (900). The thigh driving assembly (500) comprises a thigh swing motor (510), a first thigh gear (520), a second thigh gear (530), a thigh rotating rod (540) and a connecting disc (550). The output end of the thigh swing motor (510) is connected with the first thigh gear (520), the second thigh gear (530) is connected with the thigh rotating rod (540), the first thigh gear (520) and the second thigh gear (530) are engaged, the thigh rotating rod (540) is connected with the end of the thigh (200) away from the shank (300), and the connecting disc (550) is connected with at least one of the second thigh gear (530) and the thigh rotating rod (540). The shank driving assembly (600) comprises a shank swing motor (610) and a shank swing rod (620), the first end of the shank swing rod (620) is connected with the shank swing motor (610), the second end of the shank swing rod (620) is connected with the shank transmission assembly (800), and the shank swing motor (610) is connected with the connecting disc (550). The thigh rotating rod (540) is in a cylindrical shape, and the shank swing rod (620) is movably inserted into the thigh rotating rod (540). 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 with 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 with the transmission sleeve (740), and the transmission sleeve (740) is connected with the wheel transmission assembly (900); The wheel driving 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 with the transmission rod (770), the first wheel gear (720) is engaged with the third wheel gear (750), and the fourth wheel gear (760) is engaged with the second wheel gear (730); The output end axis of the thigh swinging motor (510) and the output end axis of the wheel rotating motor (710) are both arranged along a first direction, the output end axis of the calf swinging motor (610) is arranged along a second direction, the axes of the thigh rotating rod (540), the calf swinging 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; The output end of the thigh swinging motor (510) and the output shaft of the wheel rotating motor (710) are coaxial and arranged on opposite sides of the hip joint body (100) in the first direction; The calf swinging motor (610) is arranged on opposite sides of the hip joint body (100) in the second direction with the thigh (200).

2. The leg mechanism according to claim 1, wherein The calf driving assembly (600) further comprises a calf bearing (630), and the calf swinging rod (620) and the thigh rotating rod (540) are provided with the calf bearing (630) therebetween.

3. The leg mechanism according to claim 1, wherein The calf transmission assembly (800) comprises a first connecting head (810), a second connecting head (820) and a linkage rod (830), the first connecting head (810) is connected with the calf driving assembly (600), the second connecting head (820) is connected with the calf (300), and the linkage rod (830) is connected with the first connecting head (810) and the second connecting head (820) respectively.

4. The leg mechanism according to claim 1, wherein The wheel transmission assembly (900) comprises 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 with the wheel driving assembly (700), the second pulley (920) is coaxially connected with the third pulley (930), and is coaxially and rotatably connected with the rotating shaft between the lower leg (300) and the upper leg (200), the fourth pulley (940) is connected with 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).

5. A walking robot characterized by comprising: The leg mechanism (10) according to any one of claims 1 to 4, and a robot body (20), the leg mechanism (10) is drivingly connected with the robot body (20).

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