Two-degree-of-freedom mechanical leg for legged robot based on self-locking worm and gear transmission pair

Abstract

The invention discloses a two-degree-of-freedom mechanical leg for a legged robot based on a self-locking worm and gear transmission pair, which comprises a thigh part and a shank part which are hinged through a knee pivot, and further comprises a transmission mechanism, and the transmission mechanism comprises a transmission rod and a connecting rod; the connecting rod is provided with a first end part hinged to the transmission rod through a connecting shaft I and a second end part hinged to the shank part through a connecting shaft II; the thigh part and the transmission rod are positioned on the same side of the shank part; the axis of the connecting shaft I, the axis of the connecting shaft II and the axis of the knee pivot shaft are parallel; the transmission rod is driven to be close to or far away from the knee pivot through the first transmission pair, so that the shank part is driven by the transmission rod to swing around the knee pivot through the connecting rod; the transmission mechanism further comprises a second transmission pair used for driving the thigh part to rotate in the set direction. Under the condition that the structure is simple, the large and accurate transmission ratio between the thighs and the shanks is met, the bearing capacity and the transmission efficiency are improved, and meanwhile, the bionic robot has the function of rotating in the set direction and better conforms to bionics.

Description

Technical Field

[0001] The present invention relates to the field of legged devices, and particularly to a two-degree-of-freedom mechanical leg for a legged robot based on a self-locking worm and worm gear transmission pair. Background Art

[0002] With the continuous advancement of industrial automation, the demand for robots to operate in complex environments is increasing day by day. This not only requires robots to adapt to complex terrains but also to have high-precision motion control capabilities. In this context, the ball screw drive mechanism plays an important role. In the leg structure design of legged robots, the ball screw drive mechanism is widely used. By converting rotary motion into linear motion or vice versa, it can achieve high-precision displacement control. For example, in the extension and contraction actions of the leg joints of a robot, the ball screw drive mechanism can precisely control the extension length and angle of the leg, ensuring the accuracy and stability of the leg movements when the robot walks, climbs, etc. Compared with traditional drive methods, the ball screw drive mechanism has higher transmission efficiency and positioning accuracy, reducing energy loss, which is crucial for legged robots that need to operate in complex environments for a long time.

[0003] Traditional wheeled and tracked robots are significantly restricted in movement when faced with rough and obstacle-filled terrains. For example, in disaster rescue scenarios such as the rubble after an earthquake and the chaotic environment at a fire scene, wheeled and tracked robots are difficult to penetrate deeply. However, due to the adoption of advanced technologies including the ball screw drive mechanism, legged robots can cross ditches and climb over rubble through flexible leg movements, achieving efficient search and rescue. In industrial production, in some narrow and terrain-variable working areas, legged robots can also complete tasks more conveniently, meeting the new requirements of industrial production for the ability of robots to adapt to complex environments.

[0004] There have also been many previous studies on the mechanical leg structures for legged robots. In Patent CN 219237214 U, a two-degree-of-freedom robot leg structure and robot were proposed. By moving the position of the actuator upward and using a rocker arm, a push rod, and a universal joint in cooperation with the actuator to achieve the rolling and pitching movements of the foot plate, the inertial force generated in the leg during movement was reduced, but the structure was too cumbersome and redundant; in Patent CN 118182677 B, a humanoid robot leg structure and robot were proposed. Hinge ends, extension segments, and lower connection ends were provided between the thigh and the calf, reducing the assembly cost and assembly error, but the transmission accuracy was insufficient, and it was impossible to ensure an accurate transmission ratio between the thigh and the calf.

[0005] Therefore, to solve the above problems, a two-degree-of-freedom mechanical leg for a legged robot based on a self-locking worm and worm gear transmission pair is required, which can meet the large and accurate transmission ratio between the thigh and the calf under the condition of a streamlined structure, improve the load-bearing capacity and transmission efficiency, and at the same time have the function of rotating in a predetermined direction, making it more in line with bionics. Summary of the Invention

[0006] In view of this, the object of the present invention is to overcome the defects in the prior art and provide a two-degree-of-freedom mechanical leg for a legged robot based on a self-locking worm and worm gear transmission pair, which can meet the large and accurate transmission ratio between the thigh and the calf under the condition of a streamlined structure, improve the load-bearing capacity and transmission efficiency, and at the same time have the function of rotating in a predetermined direction, making it more in line with bionics.

[0007] The two-degree-of-freedom mechanical leg for a legged robot based on a self-locking worm and worm gear transmission pair of the present invention includes a thigh part and a calf part hinged by a knee pivot, and further includes a transmission mechanism, and the transmission mechanism includes a transmission rod and a connecting rod;

[0008] The connecting rod has a first end hinged to the transmission rod through a connecting shaft I and a second end hinged to the calf part through a connecting shaft II;

[0009] The thigh part and the transmission rod are located on the same side of the calf part;

[0010] The axis of the connecting shaft I, the axis of the connecting shaft II and the axis of the knee pivot are parallel;

[0011] The transmission rod is driven by a first transmission pair to approach or move away from the knee pivot, so that the calf part is driven by the connecting rod to swing around the knee pivot;

[0012] The transmission mechanism further includes a second transmission pair for driving the thigh part to rotate in a predetermined direction.

[0013] Through the arrangement of the first transmission pair and the second transmission pair, the mechanical leg structure of this solution has the freedom of rotation around the knee pivot and the freedom of self-rotation around the axis of the thigh part itself. With the cooperation of the two degrees of freedom, the mechanical leg can not only complete the stepping action, but also complete the action of walking in a predetermined direction, getting closer to the process of human leg walking, completing the bionic walking function, making the action of the legged robot more intelligent and efficient, and can be independently applied to the corresponding mechanical equipment or devices, with a wider scope of application and application scenarios.

[0014] Furthermore, it further includes a power output component, and the power output component includes a power output end I for inputting power to the first transmission pair and the second transmission pair, and the power output component further includes a power output end II for inputting power to the first transmission pair.

[0015] Further, the first transmission pair includes an end face worm and worm gear assembly I and a reverse planetary roller screw assembly;

[0016] The end face worm and worm gear assembly I includes an end face worm gear I and a worm I which are drivingly connected;

[0017] The reverse planetary roller screw assembly includes a screw, a nut, a plurality of rollers and a cage. The plurality of rollers are limited on the screw by the cage. The screw is drivingly connected with the nut through the plurality of rollers. The screw is driven by the nut through the plurality of rollers to run in a predetermined direction;

[0018] One end face of the end face worm gear I is fixed to one end face of the nut axially. The nut is driven to rotate by the worm I through the end face worm gear I. The screw serves as a transmission rod of the transmission mechanism and is hinged to the connecting rod.

[0019] Further, the second transmission pair includes a sleeve serving as the thigh part. The screw of the reverse planetary roller screw assembly is coaxially arranged with the sleeve;

[0020] The sleeve is driven by the second transmission pair to rotate about its own axis.

[0021] Further, the second transmission pair further includes an end face worm and worm gear assembly II. The end face worm and worm gear assembly II includes an end face worm gear II and a worm II which are drivingly connected;

[0022] The end face worm gear II is fixed to the end face of the thigh part axially close to the end face worm gear I. The thigh part is driven to rotate by the worm II through the end face worm gear II.

[0023] Further, the reverse planetary roller screw assembly is arranged inside the sleeve. The tooth surfaces of the end face worm gear I and the end face worm gear II are close to each other at one end of the sleeve axially. There is a rotational clearance between the nut with the end face worm gear I and the sleeve with the end face worm gear II;

[0024] The power output assembly includes a driving gear I and a driving gear II driven by a power source. The power output assembly further includes a driven gear I arranged for driving connection between the worm I and the driving gear I or the driving gear II and a driven gear II arranged for driving connection between the worm II and the driving gear I;

[0025] When the driving gear I is driven as the first power output end, it engages the driven gear I and the driven gear II, so that while the thigh part drives the calf part to swing around the knee pivot, the thigh part also deflects in a predetermined direction;

[0026] When the driving gear II is driven as the second power output end, it engages the driven gear I, so that the thigh part drives the calf part to swing around the knee pivot.

[0027] Furthermore, a bearing I is arranged in the rotation gap. The outer ring of the bearing I is fixed to the sleeve, and the inner ring of the bearing I is fixed to the nut.

[0028] Furthermore, it further includes a housing which covers one end of the sleeve where the reverse planetary roller screw assembly is arranged. A bearing II is arranged between the sleeve and the housing. The outer ring of the bearing II is fixed to the housing, and the inner ring of the bearing II is fixed to the sleeve.

[0029] Furthermore, the sleeve serving as the thigh part has a protection section extending towards the calf part to block the knee pivot and the front end of the calf part.

[0030] Furthermore, the first driving gear and the second driving gear are coaxially arranged at the power output end of the power source. The power output end of the power source is controlled to shift so that the first driving gear engages the first driven gear and the second driven gear simultaneously or the second driving gear engages the first driven gear.

[0031] The beneficial effects of the present invention are as follows: A two-degree-of-freedom mechanical leg for a legged robot based on a self-locking worm and worm gear transmission pair disclosed by the present invention combines the advantages of high transmission efficiency and high reliability of the gear transmission mechanism, large transmission ratio of the end face worm and worm gear mechanism, and high efficiency and accuracy of the reverse planetary roller screw mechanism through the above structure, improves the comprehensive performance of the mechanical leg joint, realizes the functions of simultaneously driving the thigh and calf to stretch and rotate in a set direction by a single motor, ensures a large and accurate transmission ratio, high load-bearing capacity and transmission efficiency, makes the movement of the legged robot more intelligent and efficient, and has a wider application range. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The present invention will be further described below with reference to the drawings and embodiments:

[0033] Figure 1 is a schematic structural diagram of the present invention;

[0034] Figure 2 is a schematic structural diagram of the power output of the power output end I of the present invention;

[0035] Figure 3 is of the present invention Figure 2 is a schematic structural diagram of the transmission of the power output assembly;

[0036] Figure 4 is of the present invention Figure 3 is a schematic structural diagram of the power output assembly;

[0037] Figure 5 is a schematic structural diagram of the power output of the power output end II of the present invention;

[0038] Figure 6 is of the present invention Figure 5Schematic diagram of the transmission structure of the power output component;

[0039] Figure 7 This is the schematic diagram of the structure of the power output end II of the present invention.

[0040] Reference numerals: knee pivot 1, thigh part 2, calf part 3, protection section 4, connecting rod 5, connecting shaft I 6, connecting shaft II 7, end face worm gear I 8, worm I 9, lead screw 10, nut 11, roller 12, cage 13, guide member 14, bearing I 15, end face worm gear II 16, worm II 17, housing 18, bearing II 19, motor 20, driving gear I 21, driving gear II 22, driven gear I 23, driven gear II 24. Detailed implementation manners

[0041] Figures 1 to 7 This is the schematic diagram of the structure of the present invention. As Figure 1 、 Figure 2 and Figure 5 shown, the two-degree-of-freedom mechanical leg for a legged robot based on a self-locking worm and worm gear transmission pair in this embodiment includes a thigh part 2 and a calf part 3 hinged through a knee pivot 1. The thigh part 2 is cylindrical, and there is a protection section 4 near the hinged part with the calf part 3 that shields the knee pivot 1 and the front end of the calf part 3. The wall thickness of the protection section 4 is thicker than that of the cylindrical thigh part 2, and the structural stability is better. The calf part 3 is hinged to the protection section 4 of the thigh part 2 through the knee pivot 1 under the protection of the protection section 4, and there is a notch on the thigh part 2 to avoid the movement trajectory of the calf part 3. This notch is located at the bottom of the protection section 4 and also forms a clamping on the calf part 3 to facilitate the retracting and extending movement of the calf part 3 relative to the thigh part 2.

[0042] In this embodiment, it further includes a transmission mechanism. The transmission mechanism includes a transmission rod and a connecting rod 5; the connecting rod 5 has a first end hinged to the transmission rod through a connecting shaft I 6 and a second end hinged to the calf part 3 through a connecting shaft II 7; the thigh part 2 and the transmission rod are on the same side of the calf part 3. More specifically, the second end of the connecting rod 5 hinged to the calf part 3 is close to the knee pivot 1 to make the operation of the calf part 3 and the thigh part 2 more stable; the first end of the connecting rod 5 hinged to the transmission rod extends into the cylindrical structure of the thigh part 2 and is driven by the transmission rod under protection, and the structure is more compact. From the outside, it only includes the structures of the thigh part 2 and the calf part 3; the axes of the connecting shaft I 6, the connecting shaft II 7, and the knee pivot 1 are parallel; so that the calf part 3 is driven by the transmission rod to drive the connecting rod 5 to swing relative to the thigh part 2 around the knee pivot 1 to complete the bionic walking function.

[0043] In this embodiment, as Figure 2 、 Figure 3 and Figure 5As shown in the figure, the transmission rod is driven by the first transmission pair to approach or move away from the knee pivot 1, so that the lower leg 3 is driven by the connecting rod 5 to swing around the knee pivot 1;

[0044] The first transmission pair includes an end face worm and worm gear assembly Ⅰ and a reverse planetary roller screw assembly; the end face worm and worm gear assembly Ⅰ includes an end face worm gear Ⅰ 8 and a worm Ⅰ 9 that are drivingly connected, and the end face worm and worm gear assembly Ⅰ has a self-locking function.

[0045] The reverse planetary roller screw assembly includes a screw 10, a nut 11, a plurality of rollers 12 and a cage 13. The plurality of rollers 12 are limited to the screw 10 by the cage 13. The cage 13 includes two parts arranged up and down. The screw 10 is drivingly connected to the nut 11 through the plurality of rollers 12, and the screw 10 is driven by the nut 11 through the plurality of rollers 12 to run in a predetermined direction.

[0046] One end face of the end face worm gear Ⅰ 8 and the nut 11 in the axial direction is fixed. The nut 11 is driven to rotate by the worm Ⅰ 9 through the end face worm gear Ⅰ 8. The screw 10, as the transmission rod of the transmission mechanism, is hinged to the connecting rod 5.

[0047] Wherein the screw 10 is guided to extend or retract forward, so that the transmission rod drives the lower leg 3 to swing around the knee pivot 1 by the connecting rod 5; preferably, a guiding member 14 with a larger radial dimension is provided at one end of the screw 10 hinged to the connecting rod 5. The guiding member 14 fits with the inner wall of the sleeve, so that the screw 10 is further guided when driving the connecting rod 5, improving the running stability and ensuring the running accuracy of the mechanism.

[0048] The screw 10 of the reverse planetary roller screw assembly is coaxially arranged with the sleeve; the reverse planetary roller screw assembly is arranged in the sleeve, and the reverse planetary roller screw assembly is arranged at one end of the sleeve away from the knee pivot 1, wrapped by the sleeve and limited by the bearing platform in the sleeve, so that the overall structure is more compact; there is no external surface transmission mechanism during operation, the overall operation is more concise, and the structure is more beautiful.

[0049] Wherein the worm and worm gear mechanism and the reverse planetary roller screw mechanism are the same as the existing structures, and only need to be assembled after the corresponding parameters are determined, which will not be elaborated here; the advantages of the large transmission ratio of the end face worm and worm gear mechanism and the high efficiency and accuracy of the reverse planetary roller screw mechanism are combined together, having the advantages of high transmission efficiency and high reliability, and improving the comprehensive performance of the mechanical leg joint.

[0050] In this embodiment, there is a rotational clearance between the nut 11 with the end face worm gear I 8 and the sleeve used as the thigh part 2; a bearing I 15 is arranged in the rotational clearance. The outer ring of the bearing I 15 is fixed to the sleeve, and the inner ring of the bearing I 15 is fixed to the nut 11 in the reverse planetary roller screw assembly; two bearings I 15 are arranged along the axial direction of the nut 11, and the two bearings I 15 are correspondingly arranged at both ends of the nut 11 to ensure the running stability of the lead screw 10.

[0051] In this embodiment, as Figure 2 , Figure 5 and Figure 6 shown, the transmission mechanism further includes a second transmission pair for driving the thigh part 2 to rotate in a predetermined direction; the second transmission pair includes the sleeve serving as the thigh part 2, and the sleeve is driven by the second transmission pair to rotate around its own axis.

[0052] The second transmission pair further includes an end face worm gear assembly II, and the end face worm gear assembly II includes a transmission-connected end face worm gear II 16 and a worm II 17, and the end face worm gear assembly I has a self-locking function.

[0053] The end face worm gear II 16 is fixed to the end face of the thigh part 2 axially close to the end face worm gear I 8. The thigh part 2 is driven to rotate by the worm II 17 through the end face worm gear II 16; the tooth surfaces of the end face worm gear I 8 and the end face worm gear II 16 are close to each other at one axial end of the sleeve, and the rotational clearance is located between the nut 11 with the end face worm gear I 8 and the sleeve with the end face worm gear II 16.

[0054] The worm gear transmission mechanism can perform frequent forward and reverse operations, and runs safely and reliably. It can actively drive the thigh to run in a predetermined direction. It should be understood that this solution is adapted with an angle encoder electrically connected to the control system and the information processing system of the device, and thus can accurately control the rotation angle and direction of the thigh, and the anthropomorphic bionic structure is better.

[0055] In this embodiment, it further includes a housing 18. The housing 18 covers one end of the sleeve where the reverse planetary roller screw assembly is arranged. A bearing II 19 is arranged between the sleeve and the housing 18. The outer ring of the bearing II 19 is fixed to the housing 18, and the inner ring of the bearing II 19 is fixed to the sleeve; two bearings II 19 are arranged along the axial direction of the sleeve, and the two bearings II 19 are correspondingly arranged at both ends of the sleeve to ensure the running stability of the sleeve.

[0056] In this embodiment, a power output assembly is further included. The power output assembly is hidden inside the housing 18, making the structure of the two-degree-of-freedom mechanical leg for a legged robot based on a self-locking worm and worm gear transmission pair more concise. The power output assembly includes a motor 20 as a power source and a pushing mechanism (not shown in the figure) for driving the motor 20 to shift inside the housing 18. Since only the motor 20 needs to move in a two-dimensional plane in this solution, a displacement assembly such as a double-axis linear motion in the prior art can be correspondingly used; of course, if a three-degree-of-freedom or multi-degree-of-freedom displacement of the motor 20 is required, the displacement assembly is correspondingly selected, which will not be elaborated here.

[0057] The power output assembly includes a power output end Ⅰ for inputting power to the first transmission pair and the second transmission pair. The power output assembly further includes a power output end Ⅱ for inputting power to the first transmission pair; the power output assembly includes a driving gear Ⅰ21 and a driving gear Ⅱ22 driven by a power source. The power output assembly further includes a driven gear Ⅰ23 arranged in transmission connection with the worm Ⅰ9 and the driving gear Ⅰ21 or the driving gear Ⅱ22 and a driven gear Ⅱ24 arranged in transmission connection with the worm Ⅱ17 and the driving gear Ⅰ21; while the driving gear Ⅰ21 is driven as the power output end Ⅰ, it engages the driven gear Ⅰ23 and the driven gear Ⅱ24, so that while the thigh part 2 drives the calf part 3 to swing around the knee pivot 1, the thigh part 2 also deflects in a predetermined direction; the driving gear Ⅱ22 is driven as the power output end Ⅱ and engages the driven gear Ⅰ23, so that the thigh part 2 drives the calf part 3 to swing around the knee pivot 1.

[0058] The driving gear Ⅰ21 and the driving gear Ⅱ22 are coaxially arranged at the power output end of the power source, and the power output end of the power source is controlled to shift so that the driving gear Ⅰ21 simultaneously engages the driven gear Ⅰ23 and the driven gear Ⅱ24 or the driving gear Ⅱ22 engages the driven gear Ⅰ23.

[0059] Specifically, the driving gear Ⅰ21 and the driving gear Ⅱ22 are coaxially arranged on the power output shaft of the motor 20, and the driven gear Ⅰ23 and the driven gear Ⅱ24 are respectively coaxially sleeved and fixed on the worm Ⅰ9 and the worm Ⅱ17. The motor 20 is driven to shift, and according to the corresponding working conditions, the driving gear Ⅰ21 simultaneously engages the driven gear Ⅰ23 and the driven gear Ⅱ24 or the driving gear Ⅱ22 engages the driven gear Ⅰ23; realizing the independent walking of the two-degree-of-freedom mechanical leg for a legged robot based on a self-locking worm and worm gear transmission pair at any angle, being closer to the process of human leg walking, making the movement of the legged robot more intelligent and efficient, and being able to be independently applied to corresponding mechanical equipment or devices, with a wider scope of application.

[0060] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present invention, and they should all be covered within the scope of the claims of the present invention.

Claims

1. A two-degree-of-freedom mechanical leg for a legged robot based on a self-locking worm and worm gear transmission pair, characterized in that: It includes a thigh part and a calf part hinged by a knee pivot, and also includes a transmission mechanism, the transmission mechanism including a transmission rod and a connecting rod; The connecting rod has a first end hinged to the transmission rod through a connecting shaft I and a second end hinged to the calf part through a connecting shaft II; The thigh part and the transmission rod are located on the same side of the calf part; The axis of the connecting shaft I, the axis of the connecting shaft II and the axis of the knee pivot are parallel; The transmission rod is driven by a first transmission pair to approach or move away from the knee pivot, so that the calf part is driven by the connecting rod to swing around the knee pivot; The first transmission pair includes an end face worm and worm gear assembly I and a reverse planetary roller screw assembly; The end face worm and worm gear assembly I includes an end face worm I and a worm I which are in transmission connection; The reverse planetary roller screw assembly includes a screw rod, a nut, a plurality of rollers and a cage. The plurality of rollers are limited on the screw rod through the cage, the screw rod is in transmission connection with the nut through the plurality of rollers, and the screw rod is driven by the nut to run in a predetermined direction through the plurality of rollers; One end face of the end face worm I is fixed axially with the nut, the nut is driven to rotate by the worm I through the end face worm I, and the screw rod serves as the transmission rod of the transmission mechanism and is hinged to the connecting rod; The transmission mechanism further includes a second transmission pair for driving the thigh part to rotate in a predetermined direction The second transmission pair includes a sleeve serving as the thigh part, and the screw rod of the reverse planetary roller screw assembly is coaxially arranged with the sleeve; The second transmission pair further includes an end face worm and worm gear assembly II, and the end face worm and worm gear assembly II includes an end face worm II and a worm II which are in transmission connection; The end face worm II is fixed to the end face of the thigh part axially close to the end face worm I, and the thigh part is driven by the worm II to rotate around its own axis; 2. The double-degree-of-freedom mechanical leg for a legged robot based on a self-locking worm and worm gear transmission pair according to claim 1, characterized in that: It further includes a power output assembly, the power output assembly including a power output end I for inputting power to the worm I and the worm I, and the power output assembly further includes a power output end II for inputting power to the worm I; 3. The double-degree-of-freedom mechanical leg for a legged robot based on a self-locking worm and worm gear transmission pair according to claim 2, wherein: The power output assembly includes a driving gear I and a driving gear II driven by a power source, and the power output assembly further includes a driven gear I arranged for transmission connection between the worm I and the driving gear I or the driving gear II and a driven gear II arranged for transmission connection between the worm II and the driving gear I; When the driving gear I is driven as the power output end I and engages the driven gear I and the driven gear II, while the thigh part drives the calf part to swing around the knee pivot, the thigh part also deflects in a predetermined direction; When the driving gear II is driven as the power output end II and engages the driven gear I, the thigh part drives the calf part to swing around the knee pivot; 4. The double-degree-of-freedom mechanical leg for a legged robot based on a self-locking worm and worm gear transmission pair according to claim 1, characterized in that: The reverse planetary roller screw assembly is arranged in the sleeve, the tooth surfaces of the end face worm I and the end face worm II are close to each other at one end in the axial direction of the sleeve, and there is a rotational gap between the nut with the end face worm I and the sleeve with the end face worm II; 5. The double-degree-of-freedom mechanical leg for a legged robot based on a self-locking worm and worm gear transmission pair according to claim 4, characterized in that: A bearing I is arranged in the rotational gap, the outer ring of the bearing I is fixed to the sleeve, and the inner ring of the bearing I is fixed to the nut.

6. The double-degree-of-freedom mechanical leg for a legged robot based on a self-locking worm and worm gear transmission pair according to claim 4, characterized in that: It further includes a housing which covers one end of the reverse planetary roller screw assembly arranged on the sleeve. A bearing II is arranged between the sleeve and the housing. The outer ring of the bearing II is fixed to the housing, and the inner ring of the bearing II is fixed to the sleeve.

7. The double-degree-of-freedom mechanical leg for a legged robot based on a self-locking worm and worm gear transmission pair according to claim 1, wherein: The sleeve serving as the thigh part has a protective section extending towards the calf part to shield the knee pivot and the front end of the calf part.

8. The double-degree-of-freedom mechanical leg for a legged robot based on a self-locking worm and worm gear transmission pair according to claim 3, characterized in that: The driving gear I and the driving gear II are coaxially arranged at the power output end of the power source. The power output end of the power source is controlled to shift so that the driving gear I engages the driven gear I and the driven gear II simultaneously, or the driving gear II engages the driven gear I.

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