Robot leg mechanism

Abstract

The invention relates to the technical field of humanoid robots, and particularly discloses a robot leg mechanism which comprises thighs, shanks, feet, adjusting driving parts and transmission parts. Wherein the shank is rotationally connected with the thigh, and a transmission channel is formed in the shank; the feet are rotationally connected to one ends of the shanks away from the thighs; the adjusting driving piece is arranged in the transmission channel; the transmission part penetrates through the transmission channel and extends in the same direction as the shank, one end of the transmission part is in transmission connection with the output end of the adjusting driving part, the other end of the transmission part is rotationally connected with the foot, and the adjusting driving part drives the transmission part to move so as to drive the foot and the shank to rotate relatively. According to the arrangement, the number of parts is greatly reduced, the assembling procedure is saved, and the assembling efficiency is improved; meanwhile, as the robot needs to serve as a supporting structure, the structural strength is large, the transmission part is arranged in the transmission channel, even if the robot falls down, the shanks cannot deform, and the possibility that the transmission part in the robot is bent is effectively reduced.

Description

Technical Field

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

[0002] A humanoid robot has two legs, each consisting of a thigh, calf, and foot. To achieve the movement function of the legs, they are connected to each other through several structural parts. Considering the convenience of processing, the structural parts are generally directly processed from profiles, resulting in poor ornamentation. To improve the appearance, appearance parts are generally installed on the outside of the structural parts; thereby increasing the number of parts and reducing assembly efficiency.

[0003] In addition, force is transmitted between the foot and the calf through a transmission rod, and the transmission rod and the structural parts are arranged side by side. On the one hand, the aesthetics are poor; on the other hand, debris can easily enter the gap between the transmission rod and the structural parts. Some products cover the transmission parts with exterior parts, but the exterior parts are generally made of plastic and have low strength. Once a collision occurs or the robot falls, the exterior parts are easily damaged, causing the transmission rod to bend and deform easily.

[0004] Therefore, it is urgent to study a robot leg structure to solve the above problems. Summary of the Invention

[0005] The object of the present invention is to provide a robot leg mechanism to solve the problems in the prior art of low assembly efficiency and easy deformation of the transmission rod.

[0006] To achieve the above object, the present invention adopts the following technical solutions:

[0007] Robot leg mechanism, including:

[0008] thigh;

[0009] a calf, the calf being rotatably connected to the thigh, and a transmission channel being provided inside the calf;

[0010] A foot, rotatably connected to an end of the calf away from the thigh;

[0011] An adjusting driving member is provided in the transmission channel;

[0012] A transmission member is provided in the transmission channel and has the same extension direction as the calf. One end of the transmission member is transmission-connected to the output end of the adjustment drive member, and the other end is rotationally connected to the foot. The adjustment drive member drives the transmission member to move to drive the foot and the calf to rotate relative to each other.

[0013] As an optional technical solution for a robot leg mechanism, there are two transmission members, and there are two adjusting drive members, which correspond one to one with the two transmission members. Both transmission members are located in the transmission channel. One of the adjusting drive members cooperates with one of the transmission members to adjust the foot and the calf to rotate around the first axis, and the other adjusting drive member cooperates with the other transmission member to adjust the foot and the calf to rotate around the second axis, and the second axis is perpendicular to the first axis.

[0014] As an optional technical solution for a robot leg mechanism, the robot leg mechanism further includes an adjustment seat, which is detachably mounted in the transmission channel, and the adjustment drive member is mounted on the adjustment seat.

[0015] As an optional technical solution for a robot leg mechanism, the adjustment seat is provided with a mounting channel, the output end of the adjustment drive member passes through the mounting channel, and the transmission member and the adjustment drive member are respectively provided on the front and rear sides of the adjustment seat; and / or,

[0016] The adjusting seat and the adjusting driving member are screwed together.

[0017] As an optional technical solution for a robot leg mechanism, the calf includes a first partial shell and a second partial shell, the first partial shell has a first groove, the second partial shell has a second groove, the first partial shell is connected to the second partial shell, and the first groove and the second groove form the transmission channel.

[0018] As an optional technical solution for a robot leg mechanism, the robot leg mechanism also includes a knee motor, which is fixed to the first partial shell and the second partial shell. The end of the thigh facing the calf has a first fixed part and a second fixed part arranged at intervals along the axial direction of the knee motor. The output end of the knee motor is fixedly connected to the first fixed part, and the knee motor is rotatably connected to the second fixed part.

[0019] As an optional technical solution for a robot leg mechanism, the knee motor includes a stator and a rotor, a first bearing is provided between the stator and the rotor, the rotor forms the output end, and the stator and the second fixed portion are rotatably connected via a second bearing, with the first bearing and the second bearing being located at both ends of the stator, respectively.

[0020] and / or,

[0021] The first sub-shell has a first sub-channel, the second sub-shell has a second sub-channel, the knee motor includes a stator and a rotor that are rotatably matched, an annular boss is provided on the outer periphery of the stator, the diameter of the annular boss is larger than the diameter of the first sub-channel and the diameter of the second sub-channel, the stator is passed through the first sub-channel and the second sub-channel, and the annular boss is clamped between the first sub-shell and the second sub-shell.

[0022] As an optional technical solution for a robot leg mechanism, the thigh includes an upper leg portion and a lower leg portion, the lower leg portion is rotatably mounted on the upper leg portion, and the first fixing portion and the second fixing portion are mounted on the lower leg portion;

[0023] and / or,

[0024] The first partial shell and the second partial shell are both screwed to the annular boss.

[0025] As an optional technical solution for a robot leg mechanism, the upper leg has a mounting tube, and the thigh further includes an inversion drive member, the inversion drive member is disposed in the mounting tube, and an output end is connected to the lower leg; and / or,

[0026] The lower leg portion includes a third partial shell and a fourth partial shell, the third partial shell and the fourth partial shell are connected, the first fixing portion is provided on the third partial shell, and the second fixing portion is provided on the fourth partial shell.

[0027] As an optional technical solution for a robot leg mechanism, the robot leg mechanism also includes a waist support and a hip support, the hip support is rotatably arranged on the waist support, the thigh is rotatably arranged on the hip support, and the rotation axis of the hip support is perpendicular to the rotation axis of the thigh.

[0028] The present invention has at least the following beneficial effects:

[0029] The present invention provides a robot leg mechanism, comprising a thigh, a shank, a foot, an adjustable drive member, and a transmission member. The shank is rotatably connected to the thigh, and a transmission channel is provided within the shank. The foot is rotatably connected to the end of the shank away from the thigh. The adjustable drive member is provided within the transmission channel. The transmission member extends through the transmission channel and extends in the same direction as the shank. One end of the transmission member is rotatably connected to the output end of the adjustable drive member, and the other end is rotatably connected to the foot. The adjustable drive member drives the transmission member to move, thereby driving the foot and shank to rotate relative to each other. The provision of the transmission channel within the shank forms a cylindrical structure with high bending resistance. The structure serves as both a support structure and an exterior structure, and also as a protective structure for the transmission member. This arrangement greatly simplifies the number of components, reduces assembly steps, and improves assembly efficiency. Furthermore, since the structure serves as a support structure, it has greater structural strength. Placing the transmission member within the transmission channel effectively protects the transmission member from external collisions. Even if the robot falls, the shank will not deform, effectively reducing the possibility of bending of the internal transmission member. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in describing the embodiments of the present invention. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the contents of the embodiments of the present invention and these drawings without any creative work.

[0031] Figure 1 Schematic diagram of the structure of the robot leg mechanism in an embodiment of the present invention;

[0032] Figure 2 A partial exploded view of the robot leg mechanism in an embodiment of the present invention;

[0033] Figure 3 An exploded view of the thigh, calf, and foot in an embodiment of the present invention;

[0034] Figure 4 Exploded view of a portion of the thigh, calf, and foot in an embodiment of the present invention.

[0035] In the picture:

[0036] 100, thigh; 110, upper leg; 120, lower leg; 121, third subshell; 1211, first fixing portion; 122, fourth subshell; 1221, second fixing portion; 130, inversion drive member; 140, transfer member; 150, half ring;

[0037] 200, calf; 210, first sub-shell; 211, first transverse turning hole; 212, first protrusion; 213, first sub-channel; 214, first hole; 220, second sub-shell; 221, second transverse turning hole; 222, second protrusion; 223, second sub-channel;

[0038] 300, foot; 310, foot body; 320, connecting seat; 321, first connecting arm; 3211, toggle channel; 322, second connecting arm; 330, toggle shaft;

[0039] 400, adjustment drive member; 410, adjustment seat; 411, installation channel; 412, adjustment hole;

[0040] 500, transmission parts; 510, cross shaft;

[0041] 600, knee motor; 610, stator; 611, annular boss; 620, split housing screw; 630, positioning pin; 640, second bearing;

[0042] 710, waist support; 711, waist motor; 720, hip support; 721, hip motor; 730, leg motor. DETAILED DESCRIPTION

[0043] Before any embodiments of the present application are explained in detail, it is to be understood that the application is not limited in its application to the details of construction and the arrangement of components set forth in the following description or illustrated in the foregoing drawings.

[0044] In this application, the terms "comprises," "includes," "has," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not preclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0045] In this application, the term "and / or" describes a relationship between related objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A exists alone, A and B exist simultaneously, or B exists alone. Additionally, the character " / " in this application generally indicates that the related objects are in an "and / or" relationship.

[0046] In this application, the terms "connect," "combine," "couple," and "install" may refer to direct connection, combination, coupling, or installation, or indirect connection, combination, coupling, or installation. For example, a direct connection refers to two parts or components being connected together without an intermediary, and an indirect connection refers to two parts or components being connected to at least one intermediary, with the two parts or components being connected via the intermediary. Furthermore, "connect" and "couple" are not limited to physical or mechanical connections or couplings and may include electrical connections or couplings.

[0047] In this application, it will be understood by those skilled in the art that relative terms (e.g., "about," "approximately," "substantially," etc.) used in conjunction with quantities or conditions include the values and have the meaning indicated by the context. For example, the relative terms include at least the degree of error associated with the measurement of a specific value, the tolerance caused by manufacturing, assembly, use, etc. associated with a specific value. Such terms should also be considered to disclose a range defined by the absolute values of the two endpoints. Relative terms may refer to plus or minus a certain percentage (e.g., 1%, 5%, 10% or more) of the indicated value. Numerical values that do not use relative terms should also be disclosed as specific values with tolerances. In addition, "substantially" may refer to plus or minus a certain degree (e.g., 1 degree, 5 degrees, 10 degrees or more) on the basis of the indicated angle when expressing a relative angular position relationship (e.g., substantially parallel, substantially perpendicular).

[0048] In this application, it will be understood by those skilled in the art that the function performed by an assembly can be performed by one assembly, multiple assemblies, one part, or multiple parts. Similarly, the function performed by a part can also be performed by one part, one assembly, or a combination of multiple parts.

[0049] In the present application, the terms "upper", "lower", "left", "right", "front", "back" and other directional words are described based on the orientation and positional relationship shown in the accompanying drawings, and should not be understood as limiting the embodiments of the present application. In addition, in the context, it is also necessary to understand that when it is mentioned that an element is connected to another element "upper" or "lower", it can not only be directly connected to the other element "upper" or "lower", but also be indirectly connected to the other element "upper" or "lower" through an intermediate element. It should also be understood that directional words such as upper side, lower side, left side, right side, front side, back side, etc. not only represent the positive orientation, but can also be understood as the lateral orientation. For example, below can include directly below, lower left, lower right, lower front and lower back, etc.

[0050] like Figures 1 to 4As shown, this embodiment provides a robot leg mechanism, which includes a thigh 100, a shank 200, a foot 300, an adjustment drive member 400, and a transmission member 500. The shank 200 is rotatably connected to the thigh 100, and a transmission channel is provided inside the shank 200; the foot 300 is rotatably connected to the end of the shank 200 away from the thigh 100; the adjustment drive member 400 is provided in the transmission channel; and the transmission member 500 is provided in the transmission channel and extends in the same direction as the shank 200. One end of the transmission member 500 is in transmission connection with the output end of the adjustment drive member 400, and the other end is rotatably connected to the foot 300. The adjustment drive member 400 drives the transmission member 500 to move, thereby driving the foot 300 and the shank 200 to rotate relative to each other.

[0051] By setting a transmission channel inside the calf 200, the calf 200 forms a tubular structure with high bending resistance. It can serve as a supporting structure, an appearance structure, and a protective structure for the transmission member 500. The above setting greatly simplifies the number of parts, saves assembly steps, and improves assembly efficiency. At the same time, since it needs to serve as a supporting structure, the structural strength is relatively large. Setting the transmission member 500 in the transmission channel can effectively prevent the transmission member 500 from being hit by the outside world. Even if the robot falls, the calf 200 will not be deformed, effectively reducing the possibility of bending of the internal transmission member 500.

[0052] There are two transmission members 500 and two adjusting drive members 400, which correspond one to one with the two transmission members 500. The two transmission members 500 are both located in the transmission channel. One adjusting drive member 400 cooperates with one of the transmission members 500 to adjust the foot 300 and the calf 200 to rotate around the first axis, and the other adjusting drive member 400 cooperates with the other transmission member 500 to adjust the foot 300 and the calf 200 to rotate around the second axis, and the second axis is perpendicular to the first axis.

[0053] In this embodiment, the robot leg mechanism also includes a cross shaft 510, the foot 300 includes a script body 310 and a connecting seat 320 connected to the script body 310, the connecting seat 320 includes a first connecting arm 321 and a second connecting arm 322, the cross shaft 510 is rotatably arranged between the first connecting arm 321 and the second connecting arm 322 around the first axis, the calf 200 is hinged to the cross shaft 510, and the hinge axis is the second axis.

[0054] The first connecting arm 321 is provided with a toggle channel 3211. The toggle shaft 330 is disposed within the toggle channel 3211, with both ends located outside the toggle channel 3211. One of the two transmission members 500 is hinged to one end of the toggle shaft 330, and the other transmission member 500 is hinged to the other end of the toggle shaft 330. The axis of the toggle shaft 330 is parallel to the second axis and is located in front of the second axis. When the two transmission members 500 move downward simultaneously, they can drive the foot 300 and the calf 200 to rotate relative to the second axis, thereby lifting or pressing the toe of the foot 300. When one transmission member 500 moves upward and the other transmission member 500 moves downward, the foot 300 and the calf 200 rotate relative to the first axis, thereby causing the foot 300 to turn outward or inward.

[0055] The first connecting arm 321 is provided with a first longitudinal turning hole, and the second connecting arm 322 is provided with a second longitudinal turning hole. A first longitudinal screw is inserted through the first longitudinal turning hole and is screwed to the cross shaft 510, and rotates relative to the first connecting arm 321. A second longitudinal screw is inserted through the second longitudinal turning hole and is screwed to the cross shaft 510, and rotates relative to the second connecting arm 322. The first and second longitudinal screws are coaxially arranged. The cross shaft 510 is located within the transmission channel.

[0056] The lower end of the calf 200 is provided with a first transverse turning hole 211 and a second transverse turning hole 221, which are coaxially arranged and communicate with the transmission channel. A first transverse screw is inserted through the first transverse turning hole 211 and is screwed to the cross shaft 510, and rotates with the calf 200; a second transverse screw is inserted through the second transverse turning hole 221 and is screwed to the cross shaft 510, and rotates with the calf 200. The first transverse screw and the second transverse screw are coaxial, and the first transverse screw is located above the first longitudinal screw. The connection between the calf 200 and the cross shaft 510 can also be achieved through other means. The transverse shaft is inserted through the first transverse turning hole 211 and the second transverse turning hole 221, and is inserted through the transverse hole of the cross shaft 510, and can rotate relative to the cross shaft 510.

[0057] Two transmission members 500 are arranged vertically within the transmission channel, spaced apart from each other, to help reduce the diameter of the calf 200. Both transmission members 500 are connected to the toggle shaft 330, with one longer and the other shorter. The vertical direction represents the alignment of the calf 200 and thigh 100.

[0058] The adjustment drive member 400 is disposed at one end of the calf 200 close to the thigh 100. Since the adjustment drive member 400 is positioned higher, it helps to improve the center of gravity, reduce the power required when the calf 200 swings, and reduce energy consumption.

[0059] Regarding the installation of the adjustable driver 400, in some embodiments, the robot leg mechanism further includes an adjustable seat 410, which is detachably mounted within the transmission channel, and the adjustable driver 400 is mounted on the adjustable seat 410. This arrangement simplifies the structure of the lower leg 200, allows the structure of the adjustable seat 410 to accommodate different adjustable drivers 400, and facilitates assembly, disassembly, and maintenance of the adjustable driver 400.

[0060] Specifically, the adjustment seat 410 is provided with a mounting channel 411, the output end of the adjustment drive member 400 passes through the mounting channel 411, and the transmission member 500 and the adjustment drive member 400 are respectively arranged on the front and rear sides of the adjustment seat 410, thereby improving the structural stability between the adjustment seat 410 and the adjustment drive member 400. Figure 1 , the toes of the foot 300 face forward, the heels face backward, and the calf 200 and thigh 100 are slightly bent forward. The adjustment seat 410 is provided with two mounting channels 411, and the two mounting channels 411 are arranged at intervals in the vertical direction. Among them, the adjustment seat 410 and the adjustment drive member 400 are screwed together. The adjustment seat 410 is provided with an adjustment hole 412 on the periphery of the adjustment channel, and a screw is passed through the adjustment hole 412 and screwed to the end of the adjustment drive member 400. The adjustment drive member 400 is a servo motor. The output end of the adjustment drive member 400 is fixedly connected to the central axis of the eccentric wheel, and one end of the transmission member 500 is hinged to the eccentric shaft of the eccentric wheel. When the adjustment drive member 400 drives the eccentric wheel to rotate, it drives the transmission member 500 to rise and fall.

[0061] To facilitate mold creation, shank 200 comprises a first shell 210 and a second shell 220. The first shell 210 has a first groove, while the second shell 220 has a second groove. The first and second shells 210 and 220 are connected, forming a transmission channel. The first and second grooves of the first and second shells 210 and 220 are uniformly thick throughout, facilitating mass production and improving quality.

[0062] The lower end of the first sub-shell 210 is provided with a first protrusion 212, and the lower end of the second sub-shell 220 is provided with a second protrusion 222. The first transverse flip hole 211 is provided in the first protrusion 212, and the second transverse flip hole 221 is provided in the second protrusion 222. The arrangement of the first protrusion 212 and the second protrusion 222 creates a gap between the calf 200 and the foot 300, thereby preventing interference between the foot 300 and the calf 200 when rotating relative to the first transverse screw. This also ensures that the cross shaft 510 is shielded, improving both aesthetics and protective performance.

[0063] The robot leg mechanism also includes a knee motor 600, which is fixed to the first and second sub-shells 210, 220. The end of the thigh 100 facing the calf 200 has a first fixing portion 1211 and a second fixing portion 1221 spaced apart along the axis of the knee motor 600. The output end of the knee motor 600 is fixedly connected to the first fixing portion 1211, and the knee motor 600 is rotationally connected to the second fixing portion 1221. The connection between the knee motor 600 and the first and second sub-shells 210, 220 improves connection stability and force balance, enhancing impact resistance. Furthermore, the connection between the knee motor 600 and the first and second fixing portions 1211, 1221 results in two connection points between the knee motor 600 and the thigh 100, avoiding a cantilever structure and reducing the strength requirements of the output end of the knee motor 600, thereby lowering costs.

[0064] Specifically, the knee motor 600 includes a stator 610 and a rotor. A first bearing is provided between the stator 610 and the rotor. The rotor forms the output end of the knee motor 600. The stator 610 and the second fixing portion 1221 are rotatably connected via a second bearing 640. The first bearing and the second bearing 640 are located at opposite ends of the stator 610. The provision of the two bearings allows for smoother rotation between the thigh 100 and the calf 200 and minimizes wear. The diameter of the stator 610 is larger than that of the rotor. The first bearing and the second bearing 640 are both deep groove ball bearings or tapered roller bearings. The diameter of the second bearing 640 is larger than that of the first bearing. The second bearing 640 is sleeved around the outer circumference of the stator 610. When the first bearing and the second bearing 640 are both tapered ball bearings, the tapered rollers in the two bearings are tilted in opposite directions.

[0065] The first sub-shell 210 has a first sub-channel 213, and the second sub-shell 220 has a second sub-channel 223. The knee motor 600 includes a stator 610 and a rotor that are rotatably matched. An annular boss 611 is provided on the outer periphery of the stator 610. The diameter of the annular boss 611 is larger than the diameter of the first sub-channel 213 and the diameter of the second sub-channel 223. The stator 610 is passed through the first sub-channel 213 and the second sub-channel 223, and the annular boss 611 is clamped between the first sub-shell 210 and the second sub-shell 220. The annular boss 611 can effectively constrain the displacement of the knee motor 600 relative to the calf 200 along its own axis, thereby ensuring the stability of the connection.

[0066] The first and second sub-shells 210, 220 are both screwed onto the annular boss 611. The annular boss 611 is provided with a number of connection holes at intervals. The first sub-shell 210 has a number of first holes 214, while the second sub-shell 220 has a number of second holes. The sub-shell screws 620 pass through the first holes 214 and the connection holes and are screwed into the second holes. The annular boss 611 has a boss positioning hole. The first sub-shell 210 has a first positioning hole, while the second sub-shell 220 has a second positioning hole. A positioning pin 630 passes through the boss positioning hole, with both ends located outside the boss positioning hole. One end of the positioning pin 630 is inserted into the first positioning hole, and the other end is inserted into the second positioning hole.

[0067] In other embodiments, the knee motor 600 is fixed to the thigh 100 , and the output end of the knee motor 600 is rotationally connected to the calf 200 .

[0068] To achieve greater freedom of movement, the thigh 100 includes an upper leg portion 110 and a lower leg portion 120. The lower leg portion 120 is pivotally attached to the upper leg portion 110, allowing the two feet 300 to rotate inwards (toe-in) or outwards (toe-out), adapting to a wider range of road conditions. A first fixing portion 1211 and a second fixing portion 1221 are provided on the lower leg portion 120.

[0069] The upper leg portion 110 has a mounting tube. The thigh portion 100 also includes an inversion driver 130, which is housed within the mounting tube and connected to the lower leg portion 120 at its output. The inversion driver 130 is a servo motor. Mounting the inversion driver 130 within the mounting tube not only improves protection against scratches and enhances operational reliability, but also strengthens the connection between the inversion driver 130 and the upper leg portion 110. The upper leg portion 110 has several mounting holes connected to the mounting tube. Several mounting screws are spaced about the axis of the mounting tube and pass through the holes and thread onto the inversion driver 130. Because the inversion driver 130 is housed within the mounting tube within the upper leg portion 110, there is no need for exterior trim on the outside of the upper leg portion 110. This allows the upper leg portion 110 to function as both a supporting structure and an exterior trim, while maintaining sufficient strength to effectively protect the inversion driver 130 and improve assembly efficiency.

[0070] Lower leg 120 comprises a third housing 121 and a fourth housing 122, which are connected to each other. A first fixing portion 1211 is provided on third housing 121, and a second fixing portion 1221 is provided on fourth housing 122. The split design of lower leg 120 facilitates mold creation and mass production, as well as assembly with knee motor 600.

[0071] The first fixing portion 1211 comprises a first fixing channel provided in the third housing 121, and the second fixing portion 1221 comprises a second fixing channel provided in the fourth housing 122. The rotor of the knee motor 600 is disposed within the first fixing channel and is fixedly connected to the third housing 121, while the stator 610 is disposed within the second fixing channel and is fixedly connected to the third housing 121.

[0072] To facilitate the connection between the lower leg 120 and the inward-turning driver 130, in some embodiments, a transfer member 140 is connected to the output end of the inward-turning driver 130. A holding ring is disposed around the periphery of the transfer member 140 and connected to the third and fourth sub-shells 121 and 122. The holding ring comprises two half-rings 150, which are connected relative to each other to form a holding ring, enhancing the connection convenience. The transfer member 140 has a positioning groove at its end, and a positioning block is provided at the output end of the inward-turning driver 130, which engages the positioning groove. An annular protrusion is provided on the inner side of the holding ring, and an annular groove is provided on the outer periphery of the transfer member 140, into which the protrusion is inserted. The thickness of the annular protrusion gradually decreases along the axis of the holding ring, and the maximum thickness of the annular protrusion is greater than the width of the annular groove, thereby enhancing the connection strength between the transfer member 140 and the holding ring. The thickness of the annular protrusion is the dimension of the annular protrusion along the axis of the holding ring.

[0073] In some embodiments, the first partial shell 210 and the second partial shell 220 are both located between the third partial shell 121 and the fourth partial shell 122 to improve installation convenience and improve the balance of force on the knee motor 600 .

[0074] The robot leg mechanism also includes a waist support 710 and a hip support 720. The hip support 720 is rotatably mounted on the waist support 710, and the thigh 100 is rotatably mounted on the hip support 720. The rotation axis of the hip support 720 is perpendicular to the rotation axis of the thigh 100. The output end of the waist motor 711 is connected to the waist support 710. The waist motor 711 is connected to the torso (not shown in the figure), the leg motor 730 is mounted on the waist support 710, and the output end of the leg motor 730 is connected to the hip support 720. The hip motor 721 is mounted on the hip support 720, and the output end of the hip motor 721 is connected to the thigh 100. The axis of the waist motor 711 extends in the up-down direction, the axis of the leg motor 730 extends in the left-right direction, and the axis of the hip motor 721 extends in the front-back direction.

[0075] In the robot's leg structure, a waist support 710 corresponds to two hip supports 720, two thighs 100, two calves 200, and two feet 300, thereby mimicking a human's walking posture. The waist support 710 is equipped with two leg-movement motors 730, which are connected to the two hip supports 720 respectively. Each hip support 720 is equipped with a hip motor 721, which is connected to the corresponding thigh 100.

[0076] The waist support 710 is provided with heat dissipation ribs. A fan is installed on the waist support 710 and blows air toward the heat dissipation ribs to transfer the heat of the two leg motors 730 and the waist motor 711.

[0077] The waist motor 711 is screwed to the waist support 710. In other embodiments, the waist motor 711 is secured to the waist support 710 via a motor ring. The motor ring features a stopper and a V-shaped boss that mate with the grooves on the waist motor 711, allowing for quick and easy installation of the waist motor 711. The end face of the leg motor 730 features a groove that plugs into the protrusions on the hip support 720.

[0078] Obviously, the above embodiments of the present invention are merely examples for the purpose of clearly illustrating the present invention and are not intended to limit the embodiments of the present invention. A person skilled in the art would be able to make various obvious changes, readjustments, and substitutions without departing from the scope of protection of the present invention. It is not necessary and impossible to enumerate all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the claims of the present invention.

Claims

1. A robot leg mechanism, characterized in that: include: thigh (100); A calf (200), the calf (200) being rotatably connected to the thigh (100), and a transmission channel being provided inside the calf (200); A foot (300) is rotatably connected to an end of the calf (200) away from the thigh (100); An adjusting driving member (400) is provided in the transmission channel; A transmission member (500) is provided in the transmission channel and has the same extension direction as the calf (200). One end of the transmission member (500) is transmission-connected to the output end of the adjustment drive member (400), and the other end is rotationally connected to the foot (300). The adjustment drive member (400) drives the transmission member (500) to move, thereby driving the foot (300) and the calf (200) to rotate relative to each other.

2. The robot leg mechanism according to claim 1, characterized in that: There are two transmission members (500), there are two adjusting drive members (400), and they correspond one to one with the two transmission members (500). The two transmission members (500) are both located in the transmission channel. One of the adjusting drive members (400) cooperates with one of the transmission members (500) to adjust the foot (300) and the calf (200) to rotate around a first axis, and the other adjusting drive member (400) cooperates with the other transmission member (500) to adjust the foot (300) and the calf (200) to rotate around a second axis, and the second axis is perpendicular to the first axis.

3. The robot leg mechanism according to claim 2, characterized in that: The robot leg mechanism further comprises an adjustment seat (410), the adjustment seat (410) being detachably mounted in the transmission channel, and the adjustment drive member (400) being mounted on the adjustment seat (410).

4. The robot leg mechanism according to claim 3, characterized in that: The adjustment seat (410) is provided with a mounting channel (411), the output end of the adjustment drive member (400) passes through the mounting channel (411), and the transmission member (500) and the adjustment drive member (400) are respectively arranged on the front and rear sides of the adjustment seat (410); and / or, The adjustment seat (410) and the adjustment drive member (400) are screwed together.

5. The robot leg mechanism according to claim 1, characterized in that: The calf (200) comprises a first sub-shell (210) and a second sub-shell (220), wherein the first sub-shell (210) has a first groove, and the second sub-shell (220) has a second groove, the first sub-shell (210) is connected to the second sub-shell (220), and the first groove and the second groove enclose the transmission channel.

6. The robot leg mechanism according to claim 5, characterized in that: The robot leg mechanism further comprises a knee motor (600), wherein the knee motor (600) is fixed to the first subshell (210) and the second subshell (220); one end of the thigh (100) facing the calf (200) comprises a first fixing portion (1211) and a second fixing portion (1221) arranged at intervals along the axial direction of the knee motor (600); an output end of the knee motor (600) is fixedly connected to the first fixing portion (1211), and the knee motor (600) is rotationally connected to the second fixing portion (1221).

7. The robot leg mechanism according to claim 6, characterized in that: The knee motor (600) includes a stator (610) and a rotor, a first bearing is provided between the stator (610) and the rotor, the rotor forms the output end, the stator (610) and the second fixing portion (1221) are rotatably connected via a second bearing (640), and the first bearing and the second bearing (640) are respectively located at two ends of the stator (610); and / or, The first sub-shell (210) has a first sub-channel (213), the second sub-shell (220) has a second sub-channel (223), the knee motor (600) includes a stator (610) and a rotor that are rotatably matched, an annular boss (611) is provided on the outer periphery of the stator (610), the diameter of the annular boss (611) is larger than the diameter of the first sub-channel (213) and the diameter of the second sub-channel (223), the stator (610) is inserted into the first sub-channel (213) and the second sub-channel (223), and the annular boss (611) is sandwiched between the first sub-shell (210) and the second sub-shell (220).

8. The robot leg mechanism according to claim 7, characterized in that: The thigh (100) includes an upper leg portion (110) and a lower leg portion (120), wherein the lower leg portion (120) is rotatably disposed on the upper leg portion (110), and the first fixing portion (1211) and the second fixing portion (1221) are disposed on the lower leg portion (120); and / or, The first partial shell (210) and the second partial shell (220) are both screwed to the annular boss (611).

9. The robot leg mechanism according to claim 8, characterized in that: The upper leg portion (110) has a mounting tube, and the thigh (100) further includes an inversion drive member (130), the inversion drive member (130) is arranged in the mounting tube, and the output end is connected to the lower leg portion (120); and / or, The lower leg portion (120) comprises a third partial shell (121) and a fourth partial shell (122), wherein the third partial shell (121) and the fourth partial shell (122) are connected, the first fixing portion (1211) is provided on the third partial shell (121), and the second fixing portion (1221) is provided on the fourth partial shell (122).

10. The robot leg mechanism according to any one of claims 1 to 9, characterized in that: The robot leg mechanism further includes a waist support (710) and a hip support (720), wherein the hip support (720) is rotatably mounted on the waist support (710), and the thigh (100) is rotatably mounted on the hip support (720), wherein the rotation axis of the hip support (720) is perpendicular to the rotation axis of the thigh (100).

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