Mechanical leg assembly and robot

Abstract

The invention relates to the technical field of robots, and discloses a mechanical leg assembly and a robot, and the mechanical leg assembly comprises a basic structural part which comprises a cross shaft first hinge part; the hip C-axis motor comprises a cross shaft second hinge part, and the cross shaft second hinge part is arranged on one side of the hip C-axis motor along the axis of the hip C-axis motor; the hip universal joint pin is hinged to the universal joint pin first hinge part and the universal joint pin second hinge part, the hip universal joint pin is suitable for rotating around an A axis relative to the universal joint pin first hinge part and rotating around a B axis relative to the universal joint pin second hinge part, and the A axis is perpendicular to the B axis; the thigh structural part is connected with the hip C-axis motor, the hip C-axis motor is suitable for driving the thigh structural part to rotate around a C axis, the C axis is perpendicular to the A axis and the B axis, and the C axis and the A axis are concentric. According to the mechanical leg assembly, interference points are fewer in the rotating process, and a larger rotating angle is achieved.

Description

Technical Field

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

[0002] Humanoid robots, capable of mimicking the human body's appearance and movement, hold great promise for development. Similar to the human body, the robot's torso and lower limbs are connected via hip joints, which drive the lower limbs through multi-degree-of-freedom motion.

[0003] However, in the related art, the structural setting of the hip joint component is unreasonable, resulting in a small range of motion of the lower limb mechanism, which is not conducive to highly imitating the human body. Summary of the Invention

[0004] In view of this, the present invention provides a mechanical leg assembly and a robot to solve the problem of small movement range of the lower limb mechanism.

[0005] In a first aspect, the present invention provides a mechanical leg assembly, comprising:

[0006] The basic structural member includes a first hinge portion of the cross shaft;

[0007] The hip C-axis motor includes a cross-axis second hinge portion, which is arranged on one side of the hip C-axis motor along the axis of the hip C-axis motor;

[0008] The hip cross shaft is hingedly connected to the first hinge portion and the second hinge portion of the cross shaft, respectively. The hip cross shaft is adapted to rotate about axis A relative to the first hinge portion of the cross shaft, and the hip cross shaft is adapted to rotate about axis B relative to the second hinge portion of the cross shaft, and axis A is perpendicular to axis B.

[0009] The thigh structure is connected to the hip C-axis motor. The hip C-axis motor is suitable for driving the thigh structure to rotate around the C-axis. The center line of the hip C-axis motor coincides with the C-axis. The C-axis is perpendicular to the A-axis and the B-axis respectively, and the A-axis, the B-axis and the C-axis are concentric.

[0010] Beneficial Effects: The robotic leg assembly provided by the embodiments of the present invention has three concentric axes: A, B, and C. This allows the robotic leg assembly to rotate more freely in multiple directions, with fewer interference points during rotation, a larger rotation angle, and a larger reachable space. This avoids the problem of restricted movement caused by structural interference, creates a better anthropomorphic effect, and achieves a structural form equivalent to the rotation of the femoral head of a human thigh, thereby expanding the range of motion and workspace of the robotic leg assembly. This further enhances the motion coordination and control accuracy of the robotic leg assembly, enabling the robotic leg assembly to achieve more flexible movement.

[0011] In an optional embodiment, the basic structural member further includes a posterior thigh push rod hinge portion and a front thigh push rod hinge portion;

[0012] The robotic leg assembly also includes:

[0013] The rear thigh push rod comprises a rear thigh push rod body and a rear thigh push rod output shaft adapted to extend and retract relative to the rear thigh push rod body, wherein one end of the rear thigh push rod body away from the rear thigh push rod output shaft is hingedly connected to the rear thigh push rod hinge portion; and one end of the rear thigh push rod output shaft away from the rear thigh push rod body is hingedly connected to the thigh second side mounting shaft of the thigh structural member;

[0014] The front thigh push rod comprises a front thigh push rod body and a front thigh push rod output shaft adapted to extend and retract relative to the front thigh push rod body, wherein one end of the front thigh push rod body away from the front thigh push rod output shaft is hingedly connected to the front thigh push rod hinge portion; and one end of the front thigh push rod output shaft away from the front thigh push rod body is hingedly connected to the thigh first side mounting shaft of the thigh structural member;

[0015] The thigh rear push rod and the thigh front push rod extend and retract in the same direction, suitable for rotating the thigh structure around the B axis;

[0016] The thigh rear push rod and the thigh front push rod extend and retract in different directions, which is suitable for causing the thigh structure to rotate around the A axis.

[0017] Beneficial effect: In order to realize the rotation of the thigh structure relative to the basic structure around the A axis and the B axis, this embodiment further provides a thigh rear push rod and a thigh front push rod. By connecting both rods between the thigh structure and the basic structure, the movement of the thigh structure relative to the basic structure is realized through the coordinated action of the thigh rear push rod and the thigh front push rod.

[0018] In an optional embodiment, the thigh structure is further provided with an extension portion, which extends along the B-axis direction toward the rear side of the thigh structure, and the thigh first side mounting axis is provided at one end of the extension portion away from the thigh structure.

[0019] Beneficial effects: The setting of the extension part can avoid interference between the push rod on the back of the thigh and the push rod on the front of the thigh during exercise, ensure smooth movement, improve the overall movement stability, and ensure that all parts operate in coordination during exercise.

[0020] In an optional embodiment, in a direction parallel to the C-axis, the second thigh side mounting axis, the first thigh side mounting axis and the second hinge portion of the cross axis are all arranged on the same side of the thigh structure;

[0021] And in the direction parallel to the C-axis, the basic structural component is also arranged on the side of the thigh structural component extending from the second side thigh mounting axis; the thigh rear push rod hinge part and the thigh front push rod hinge part both extend toward one side of the thigh structural component.

[0022] Beneficial effects: The rear thigh push rod and the front thigh push rod can be connected to the inner side of the thigh structure, making the overall robot more bionic, reducing interference with the outer side of the thigh structure, improving movement flexibility and stability, and optimizing the structural layout.

[0023] In an optional embodiment, the method further includes:

[0024] The calf structure comprises a calf pivot portion adapted to be hingedly connected to the calf hinge portion of the thigh structure;

[0025] The knee push rod comprises a knee push rod body and a knee push rod output shaft adapted to extend and retract relative to the knee push rod body, wherein one end of the knee push rod body away from the knee push rod output shaft is hingedly connected to a knee push rod mounting portion on the thigh structural member;

[0026] The first knee link member and the second knee link member, the first end of the first knee link member and the first end of the second knee link member are both hingedly connected to the end of the knee push rod output shaft away from the knee push rod body;

[0027] The thigh structure is further provided with a knee first link hinge portion, and the second end of the knee first link is hingedly connected to the knee first link hinge portion;

[0028] The lower leg structure is further provided with a knee second link hinge portion, and the second end of the knee second link member is hingedly connected to the knee second link hinge portion;

[0029] The thigh structure, the calf structure, the first knee link and the second knee link together form a knee four-bar linkage. The knee push rod is suitable for driving the knee four-bar linkage to enable the calf structure to rotate relative to the thigh structure.

[0030] Beneficial Effects: By forming a four-bar linkage at the knee, driven by a knee push rod, the calf structure achieves flexible rotation, simulating the flexion and extension of the human knee joint and enhancing the bionic performance of the robotic leg. Furthermore, by rationally setting the hinge points and length ratios of each component, the linkages work together during the driving process, ensuring that the calf structure is suitable for rotating relative to the thigh structure, achieving a greater rotation angle.

[0031] In an optional embodiment, the method further includes:

[0032] A calf structure, wherein an ankle hinge portion is provided at one end of the calf structure away from the thigh structure;

[0033] The rear sole structure includes a rear sole pivot portion;

[0034] An ankle cross axis, the ankle cross axis includes a first ankle axis portion whose rotation axis is the D axis and a second ankle axis portion whose rotation axis is the E axis, wherein the D axis and the E axis are arranged non-parallel;

[0035] The first ankle axis portion is hingedly connected to the ankle hinge portion, and the second ankle axis portion is hingedly connected to the rear sole rotation axis portion.

[0036] Beneficial effects: By setting an ankle cross axis between the calf structure and the rear foot structure, multi-axis rotation is achieved, which enhances the flexibility and adaptability of the ankle and improves the stability and walking efficiency of the mechanical leg in complex terrain.

[0037] In an optional embodiment, the method further includes:

[0038] The inner calf push rod comprises an inner calf push rod body and an inner calf push rod output shaft adapted to be telescopic relative to the inner calf push rod body, wherein one end of the inner calf push rod body away from the inner calf push rod output shaft is hingedly connected to the calf structural member;

[0039] The calf outer push rod comprises a calf outer push rod body and a calf outer push rod output shaft adapted to extend and retract relative to the calf outer push rod body, wherein one end of the calf outer push rod body away from the calf outer push rod output shaft is hingedly connected to the calf structural member;

[0040] The calf outer push rod and the calf inner push rod are respectively arranged on both sides of the calf structure along a direction parallel to the D axis;

[0041] The rear sole structure also includes a sole swing hinge portion, and the calf inner side push rod output shaft and the calf outer side push rod output shaft are respectively hinged to the two ends of the sole swing hinge portion;

[0042] The calf outer push rod and the calf inner push rod extend and retract in the same direction, which is suitable for driving the rear sole structure to rotate relative to the calf structure around the D axis; the calf outer push rod and the calf inner push rod extend and retract in different directions, which is suitable for driving the rear sole structure to rotate relative to the calf structure around the E axis.

[0043] In an optional embodiment, the method further includes:

[0044] A forefoot structural member, the forefoot structural member being hingedly connected to a forefoot hinge portion provided on the rear foot structural member; the forefoot structural member further comprising a forefoot follower hinge portion;

[0045] The forefoot first link member includes a follower end hinge portion hingedly connected to the forefoot follower hinge portion, the forefoot first link member also includes a force-bearing end hinge portion remote from one end of the follower end hinge portion, and a corner hinge portion provided between the follower end hinge portion and the force-bearing end hinge portion;

[0046] The forefoot push rod comprises a forefoot push rod body and a forefoot push rod output shaft adapted to extend and retract relative to the forefoot push rod body, wherein one end of the forefoot push rod body away from the forefoot push rod output shaft is hingedly connected to the forefoot push rod hinge portion of the calf structure; and one end of the forefoot push rod output shaft away from the forefoot push rod body is hingedly connected to the force-bearing end hinge portion.

[0047] The bottom of the rear sole structure is further provided with a forefoot bottom hinge portion, which is suitable for being directly or indirectly connected to the corner hinge portion.

[0048] In an optional embodiment, the method further includes:

[0049] The second forefoot connecting rod has one end hinged to the forefoot bottom hinged portion, and the other end hinged to the corner hinged portion.

[0050] Beneficial effects: It can add active freedom to the forefoot structure, so that it can flexibly adjust the angle according to changes in terrain during walking, enhance adaptability, make the structure more bionic, and realize the freedom of the human forefoot during walking.

[0051] In a second aspect, the present invention further provides a robot comprising:

[0052] A robot body, and the mechanical leg assembly as described above connected to the robot body.

[0053] Because the robot includes a mechanical leg assembly, which has the same effect as the mechanical leg assembly, it will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0055] Figure 1 is an exploded schematic diagram of the mechanical leg assembly of the present invention;

[0056] Figure 2 is a three-dimensional schematic diagram of the mechanical leg assembly of the present invention;

[0057] Figure 3 is a rear view of the mechanical leg assembly of the present invention;

[0058] Figure 4 is a front view of the mechanical leg assembly of the present invention;

[0059] Figure 5 It is a right side view of the mechanical leg assembly of the present invention;

[0060] Figure 6 It is a left side view of the mechanical leg assembly of the present invention;

[0061] Figure 7 It is an exploded schematic diagram of the base structural member and the thigh structural member of the present invention;

[0062] Figure 8 is a side view of the thigh structure and its connected parts of the present invention;

[0063] Figure 9 Schematic diagram of the exploded view of the calf structure and the rear sole structure of the present invention;

[0064] Figure 10 is a schematic diagram of the bottom of the rear sole structure of the present invention;

[0065] Figure 11 Schematic diagram of the exploded forefoot structure, rear foot structure, first forefoot link, and second forefoot link of the present invention;

[0066] Figure 12 is a side view of the mechanical leg assembly of the present invention in a bent state;

[0067] Figure 13 It is a three-dimensional schematic diagram of the mechanical leg assembly of the present invention in a bent state.

[0068] Description of reference numerals:

[0069] 1. Hip C-axis motor; 101; Cross-axis second hinge part;

[0070] 2. Back thigh push rod; 201. Back thigh push rod body; 202. Back thigh push rod output shaft;

[0071] 3. Front thigh push rod; 301. Front thigh push rod body; 302. Front thigh push rod output shaft;

[0072] 4. Knee push rod; 401. Knee push rod body; 402. Knee push rod output shaft;

[0073] 5. Inner calf push rod; 501. Inner calf push rod body; 502. Inner calf push rod output shaft;

[0074] 6. Outer calf push rod; 601. Outer calf push rod body; 602. Outer calf push rod output shaft;

[0075] 7. Forefoot push rod; 701. Forefoot push rod body; 702. Forefoot push rod output shaft;

[0076] 8. Basic structural member; 801. First cross-axis hinge; 802. Hinge of the rear thigh push rod; 803. Hinge of the front thigh push rod;

[0077] 9. Hip cross axis;

[0078] 11. Thigh structure; 1101. Hip C-axis motor mounting portion; 1102. Thigh first side mounting shaft; 1103. Thigh second side mounting shaft; 1104. Extension portion; 1105. Knee push rod mounting portion; 1106. Knee first link hinge portion; 1107. Calf hinge portion;

[0079] 12. Knee first connecting rod; 13. Knee second connecting rod;

[0080] 14. Calf structure; 1401. Calf pivot; 1402. Knee second link hinge; 1403. Calf push rod hinge; 1404. Forefoot push rod hinge; 1405. Ankle hinge;

[0081] 15. First connecting rod of forefoot; 1501. Force-bearing end hinge; 1502. Corner hinge; 1503. Follower end hinge;

[0082] 16. Second connecting rod of forefoot;

[0083] 17. Rear sole structural member; 1701. Rear sole pivot portion; 1702. Foot swing hinge portion; 1703. Forefoot hinge portion; 1704. Forefoot bottom hinge portion; 1705. Foot accommodating cavity; 1706. Limit block;

[0084] 18. Forefoot structural member; 1801. Forefoot follower hinge;

[0085] 19. Ankle cross axis; 1901. First ankle axis; 1902. Second ankle axis. DETAILED DESCRIPTION

[0086] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative efforts shall fall within the scope of protection of the present invention.

[0087] In the description of the present invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0088] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0089] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0090] The following combination Figures 1 to 13 , describing embodiments of the present invention.

[0091] According to an embodiment of the present invention, in one aspect, a mechanical leg assembly is provided, comprising:

[0092] The basic structural member 8 includes a first hinge portion 801 of the cross shaft;

[0093] The hip C-axis motor 1 includes a cross-axis second hinge portion 101, which is arranged on one side of the hip C-axis motor 1 along the axis of the hip C-axis motor 1;

[0094] The hip cross shaft 9 is hingedly connected to the first cross shaft hinge portion 801 and the second cross shaft hinge portion 101, respectively. The hip cross shaft 9 is adapted to rotate about axis A relative to the first cross shaft hinge portion 801, and about axis B relative to the second cross shaft hinge portion 101. Axis A and axis B are perpendicular.

[0095] The thigh structure 11 is connected to the hip C-axis motor 1. The hip C-axis motor 1 is suitable for driving the thigh structure 11 to rotate around the C-axis. The center line of the hip C-axis motor 1 coincides with the C-axis. The C-axis is perpendicular to the A-axis and the B-axis respectively, and the A-axis, the B-axis and the C-axis are concentric.

[0096] It should be noted that, with the upright state of the robot as a reference, the extension direction of the A-axis is the up and down direction of the robot, the extension direction of the B-axis can be the front and back direction of the robot, and the C-axis is the left and right direction of the robot, ensuring that the mechanical legs can move flexibly in three-dimensional space. Among them, the A-axis corresponds to the degree of freedom Yaw, which realizes the rotational movement around the vertical axis of the robot. The B-axis corresponds to the degree of freedom Roll, which realizes the rotational movement around the front and back axis of the robot; the C-axis corresponds to the degree of freedom Pitch, which realizes the rotational movement around the left and right axis of the robot. Through three-axis coordination, the mechanical leg assembly can flexibly adjust its posture in complex terrain, thereby improving the stability and adaptability of the robot. Among them, the hip C-axis motor 1 is a motor whose motor rotation axis direction is the same as the C-axis axis direction.

[0097] The robotic leg assembly provided by the embodiments of the present invention has three concentric axes: A, B, and C. This allows the assembly to rotate more freely in multiple directions, with fewer interference points during rotation, a larger rotation angle, and a larger reach. This avoids motion restrictions caused by structural interference, creates a better anthropomorphic effect, and achieves a structural form equivalent to the rotation of the femoral head in the human thigh, expanding the range of motion and workspace of the robotic leg assembly. This further enhances the coordination and control accuracy of the robotic leg assembly, enabling more flexible movement.

[0098] In this embodiment, the basic structural component 8 is similar to the human hip bone, and the thigh structural component 11 is arranged on one side of the basic structural component 8. The thigh structural component 11 can move relative to the basic structural component 8, realizing a structural form equivalent to the rotation of the femoral head of the human thigh.

[0099] A cross-axis second hinge portion 101 is provided on the side of the hip C-axis motor 1 facing the basic structural component 8, and a cross-axis first hinge portion 801 is provided on the side of the basic structural component 8 facing the thigh structural component 11; by providing a hip cross-axis 9 that is respectively hingedly connected to the cross-axis first hinge portion 801 and the cross-axis second hinge portion 101, the thigh structural component 11 can rotate around the A axis relative to the basic structural component 8, and the thigh structural component 11 can rotate around the B axis relative to the basic structural component 8.

[0100] In addition, the hip C-axis motor 1 is suitable for driving the thigh structure 11 to rotate around the C-axis, so that the thigh structure 11 can rotate around the C-axis relative to the basic structure 8.

[0101] In some embodiments, the basic structural member 8 further includes a thigh rear push rod hinge portion 802 and a thigh front push rod hinge portion 803;

[0102] The robotic leg assembly also includes:

[0103] The posterior thigh push rod 2 includes a posterior thigh push rod body 201 and a posterior thigh push rod output shaft 202 adapted to extend and retract relative to the posterior thigh push rod body 201. One end of the posterior thigh push rod body 201 away from the posterior thigh push rod output shaft 202 is hingedly connected to the posterior thigh push rod hinge portion 802; and one end of the posterior thigh push rod output shaft 202 away from the posterior thigh push rod body 201 is hingedly connected to the second thigh side mounting shaft 1103 of the thigh structural member 11.

[0104] The front thigh push rod 3 includes a front thigh push rod body 301 and a front thigh push rod output shaft 302 adapted to extend and retract relative to the front thigh push rod body 301. One end of the front thigh push rod body 301 away from the front thigh push rod output shaft 302 is hingedly connected to the front thigh push rod hinge portion 803; and one end of the front thigh push rod output shaft 302 away from the front thigh push rod body 301 is hingedly connected to the first thigh side mounting shaft 1102 of the thigh structural member 11.

[0105] The thigh rear push rod 2 and the thigh front push rod 3 extend and retract in the same direction, suitable for rotating the thigh structure 11 around the B axis;

[0106] The thigh rear push rod 2 and the thigh front push rod 3 extend and retract in different directions, which is suitable for causing the thigh structure 11 to rotate around the A axis.

[0107] In order to realize the rotation of the thigh structure 11 around the A axis and the B axis relative to the basic structure 8, this embodiment further provides a thigh rear push rod 2 and a thigh front push rod 3. By connecting both rods between the thigh structure 11 and the basic structure 8, the movement of the thigh structure 11 relative to the basic structure 8 is realized through the coordinated action of the thigh rear push rod 2 and the thigh front push rod 3.

[0108] Specifically, the rear thigh push rod 2 and the front thigh push rod 3 extend and retract in the same direction, which is suitable for causing the thigh structural member 11 to rotate around the B axis relative to the basic structural member 8, thereby realizing the action of the thigh kicking outward; the rear thigh push rod 2 and the front thigh push rod 3 extend and retract in different directions, which is suitable for causing the thigh structural member 11 to rotate around the A axis relative to the basic structural member 8, thereby realizing the action of the thigh rotating in place.

[0109] Both ends of the thigh push rod 2 are connected to the corresponding connecting parts using ball joints. Similarly, both ends of the thigh push rod 3 are connected to the corresponding connecting parts using ball joints, thereby facilitating multi-angle rotation and meeting multi-degree-of-freedom movement requirements.

[0110] In some embodiments, combined Figure 7 As shown, the thigh structure 11 is further provided with an extension portion 1104 , which extends along the B-axis direction toward the rear side of the thigh structure 11 , and the thigh first side mounting shaft 1102 is provided at one end of the extension portion 1104 away from the thigh structure 11 .

[0111] It should be noted that the rear side of the thigh structure 11 can be specifically determined with reference to the front-back direction of the human body, that is, the rear side of the thigh structure 11 corresponds to the back direction of the human body.

[0112] The setting of the extension part 1104 can avoid interference between the thigh back push rod 2 and the thigh front push rod 3 during exercise, ensure smooth movement, improve the overall movement stability, and ensure that all components operate in coordination during exercise.

[0113] In some embodiments, in a direction parallel to the C-axis, the second thigh side mounting axis 1103, the first thigh side mounting axis 1102, and the cross-axis second hinge portion 101 are all disposed on the same side of the thigh structure 11;

[0114] In the direction parallel to the C-axis, the basic structural component 8 is also arranged on the side of the thigh structural component 11 extending from the second side thigh mounting axis 1103; the thigh rear push rod hinge part 802 and the thigh front push rod hinge part 803 both extend toward the side of the thigh structural component 11.

[0115] By adopting the above-mentioned arrangement, the rear thigh push rod 2 and the front thigh push rod 3 can both be connected to the inner side of the thigh structure 11, thereby making the overall robot more bionic, reducing interference with the outer side of the thigh structure 11, improving movement flexibility and stability, and optimizing the structural layout.

[0116] In some embodiments, combined Figure 8 As shown, it also includes:

[0117] The calf structure 14 includes a calf pivot portion 1401 adapted to be hingedly connected to the calf hinge portion 1107 of the thigh structure 11;

[0118] The knee push rod 4 includes a knee push rod body 401 and a knee push rod output shaft 402 adapted to extend and retract relative to the knee push rod body 401. An end of the knee push rod body 401 away from the knee push rod output shaft 402 is hingedly connected to a knee push rod mounting portion 1105 on the thigh structure 11.

[0119] The first knee link member 12 and the second knee link member 13, and the first end of the first knee link member 12 and the first end of the second knee link member 13 are both hingedly connected to the end of the knee push rod output shaft 402 away from the knee push rod body 401;

[0120] The thigh structure 11 is further provided with a knee first link hinge portion 1106, and the second end of the knee first link member 12 is hingedly connected to the knee first link hinge portion 1106;

[0121] The lower leg structure 14 is further provided with a knee second link hinge portion 1402, and the second end of the knee second link member 13 is hingedly connected to the knee second link hinge portion 1402;

[0122] The thigh structure 11 , the calf structure 14 , the first knee link 12 and the second knee link 13 together form a knee four-bar linkage. The knee push rod 4 is adapted to drive the knee four-bar linkage so that the calf structure 14 is adapted to rotate relative to the thigh structure 11 .

[0123] In some embodiments, the knee push rod 4 is adapted to drive the knee four-bar linkage so that the calf structure 14 is adapted to flex and extend relative to the thigh structure 11, achieving movement similar to that of a human knee, with a movement angle range of 0 degrees to 135 degrees.

[0124] The knee push rod 4 includes a knee push rod body 401 and a knee push rod output shaft 402 suitable for extending and retracting relative to the knee push rod body 401. The end of the knee push rod body 401 away from the knee push rod output shaft 402 is hinged to the knee push rod mounting portion 1105 on the thigh structure 11. In this embodiment, the knee push rod body 401 can be specifically hinged to the relatively upper part of the thigh structure 11, so as to rationally utilize the length of the thigh structure 11 and facilitate the arrangement of the knee push rod 4.

[0125] Combine Figure 8 As shown, a portion of the thigh structure 11, a portion of the calf structure 14, the first knee link 12 and the second knee link 13 together form a second four-bar linkage, wherein the portion of the thigh structure 11 includes the area between the first knee link hinge 1106 and the calf hinge 1107; the portion of the calf structure 14 includes the area between the second knee link hinge 1402 and the calf pivot 1401.

[0126] By forming a four-bar linkage at the knee, driven by the knee push rod 4, the calf structure 14 is able to rotate flexibly, simulating the flexion and extension of the human knee joint and enhancing the bionic performance of the robotic leg. Furthermore, by rationally setting the hinge points and length ratios of each component, the linkages work together during the driving process, ensuring that the calf structure 14 can rotate appropriately relative to the thigh structure 11, achieving a greater rotation angle.

[0127] In some embodiments, further comprising:

[0128] A calf structure 14, wherein an ankle hinge portion 1405 is provided at one end of the calf structure 14 away from the thigh structure 11;

[0129] The rear sole structure 17 includes a rear sole rotation axis portion 1701;

[0130] An ankle cross axis 19, the ankle cross axis 19 includes an ankle first axis portion 1901 with a rotation axis as the D axis and an ankle second axis portion 1902 with a rotation axis as the E axis, and the D axis and the E axis are arranged non-parallel;

[0131] The first ankle axis portion 1901 is hingedly connected to the ankle hinge portion 1405 , and the second ankle axis portion 1902 is hingedly connected to the rear sole rotation axis portion 1701 .

[0132] By setting the ankle cross axis 19 between the calf structure 14 and the rear sole structure 17, multi-axis rotation is achieved, the flexibility and adaptability of the ankle are enhanced, and the stability and walking efficiency of the mechanical leg in complex terrain are improved.

[0133] The ankle cross axis 19 includes a first ankle axis portion 1901 with a rotation axis as the D axis and a second ankle axis portion 1902 with a rotation axis as the E axis. The D axis and the E axis are arranged non-parallel. Through this design, the mechanical leg assembly can better simulate the movement trajectory of biological legs during walking. At the same time, the multi-axis rotation structure enables the mechanical leg assembly to flexibly adjust its posture when dealing with different slopes and obstacles, ensuring stability and adaptability.

[0134] In this embodiment, the D axis and the E axis are perpendicular to each other.

[0135] In some embodiments, further comprising:

[0136] The inner calf push rod 5 includes an inner calf push rod body 501 and an inner calf push rod output shaft 502 adapted to extend and retract relative to the inner calf push rod body 501. One end of the inner calf push rod body 501 away from the inner calf push rod output shaft 502 is hingedly connected to the calf structure 14.

[0137] The calf outer push rod 6 includes a calf outer push rod body 601 and a calf outer push rod output shaft 602 adapted to extend and retract relative to the calf outer push rod body 601. One end of the calf outer push rod body 601 away from the calf outer push rod output shaft 602 is hingedly connected to the calf structure 14.

[0138] The calf outer push rod 6 and the calf inner push rod 5 are respectively arranged on both sides of the calf structure 14 along the direction parallel to the D axis;

[0139] The rear sole structure 17 further includes a sole swing hinge portion 1702, and the inner calf push rod output shaft 502 and the outer calf push rod output shaft 602 are respectively hinged to the two ends of the sole swing hinge portion 1702;

[0140] The calf outer push rod 6 and the calf inner push rod 5 extend and retract in the same direction, which is suitable for driving the rear foot structure 17 to rotate relative to the calf structure 14 around the D axis; the calf outer push rod 6 and the calf inner push rod 5 extend and retract in different directions, which is suitable for driving the rear foot structure 17 to rotate relative to the calf structure 14 around the E axis.

[0141] The outer calf push rod 6 and the inner calf push rod 5 are respectively arranged on both sides of the calf structure 14 in a direction parallel to the D axis. Taking the biological leg as a reference, the outer calf push rod 6 can be set on the outer side of the calf structure 14, and the inner calf push rod 5 is located on the inner side of the calf structure 14. Through this symmetrical layout, the push rods can apply force evenly when extending and retracting, ensuring that the rear foot structure 20 is more stable when rotating around the D axis and the E axis.

[0142] Both ends of the outer calf push rod 6 are connected to the corresponding connecting parts using ball joints. Similarly, both ends of the inner calf push rod 5 are connected to the corresponding connecting parts using ball joints, thereby facilitating multi-angle rotation and meeting multi-degree-of-freedom movement requirements.

[0143] In some embodiments, further comprising:

[0144] The forefoot structure 18 is hinged to the forefoot hinge portion 1703 provided on the rear foot structure 17; the forefoot structure 18 also includes a forefoot follower hinge portion 1801;

[0145] The forefoot first link member 15 includes a follower-end hinge portion 1503 hingedly connected to the forefoot follower hinge portion 1801. The forefoot first link member 15 also includes a force-bearing end hinge portion 1501 at one end away from the follower-end hinge portion 1503, and a corner hinge portion 1502 disposed between the follower-end hinge portion 1503 and the force-bearing end hinge portion 1501.

[0146] The forefoot push rod 7 includes a forefoot push rod body 701 and a forefoot push rod output shaft 702 adapted to extend and retract relative to the forefoot push rod body 701. One end of the forefoot push rod body 701 away from the forefoot push rod output shaft 702 is hingedly connected to the forefoot push rod hinge portion 1404 of the calf structure 14; and one end of the forefoot push rod output shaft 702 away from the forefoot push rod body 701 is hingedly connected to the force-bearing end hinge portion 1501.

[0147] A forefoot bottom hinge portion 1704 is further provided at the bottom of the rear sole structure 17 , and the forefoot bottom hinge portion 1704 is suitable for being directly or indirectly connected to the corner hinge portion 1502 .

[0148] In some embodiments, further comprising:

[0149] One end of the second forefoot link 16 is hinged to the forefoot bottom hinge portion 1704 , and the other end is hinged to the corner hinge portion 1502 .

[0150] The mechanical leg assembly provided by an embodiment of the present invention can add active degrees of freedom to the forefoot structure 18, so that it can flexibly adjust its angle according to changes in terrain during walking, enhance adaptability, and make the structure more bionic, thereby realizing the freedom of the human forefoot during walking.

[0151] In this embodiment, the forefoot first connecting rod 15 can be specifically an L-shaped bent member, which facilitates the placement of the forefoot push rod 7 on the calf structure 14. By utilizing the force transmitted by the forefoot first connecting rod 15, the forefoot structure 18 can be adjusted at multiple angles. This avoids the placement of too many complex structures inside the rearfoot structure 17, thereby effectively utilizing space.

[0152] In this embodiment, a sole accommodating cavity 1705 is formed at the bottom of the rear sole structural component 17 , and the forefoot second connecting rod component 16 is movably disposed in the sole accommodating cavity 1705 .

[0153] According to an embodiment of the present invention, on the other hand, there is further provided a robot, comprising:

[0154] A robot body, and the mechanical leg assembly as described above connected to the robot body.

[0155] Obviously, the above embodiments are merely examples for clarity of explanation and are not intended to limit the implementation methods. Although the embodiments of the present invention have been described with reference to the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the present invention.

Claims

1. A mechanical leg assembly, characterized in that: include: A basic structural member (8) comprising a first hinge portion (801) of a cross shaft; A hip C-axis motor (1) comprises a cross-axis second hinge portion (101), wherein the cross-axis second hinge portion (101) is arranged on one side of the hip C-axis motor (1) along the axis of the hip C-axis motor (1); The hip cross shaft (9) is hingedly connected to the first hinge portion (801) of the cross shaft and the second hinge portion (101) of the cross shaft, respectively. The hip cross shaft (9) is adapted to rotate around the A axis relative to the first hinge portion (801) of the cross shaft, and the hip cross shaft (9) is adapted to rotate around the B axis relative to the second hinge portion (101) of the cross shaft, and the A axis is perpendicular to the B axis. The thigh structure (11) is connected to the hip C-axis motor (1), and the hip C-axis motor (1) is suitable for driving the thigh structure (11) to rotate around the C-axis. The axis of the hip C-axis motor (1) coincides with the C-axis. The C-axis is perpendicular to the A-axis and the B-axis respectively, and the A-axis, the B-axis and the C-axis are concentric.

2. The mechanical leg assembly according to claim 1, characterized in that: The basic structural member (8) further comprises a thigh rear push rod hinge portion (802) and a thigh front push rod hinge portion (803); The mechanical leg assembly further comprises: The rear thigh push rod (2) comprises a rear thigh push rod body (201) and a rear thigh push rod output shaft (202) adapted to be extended and retracted relative to the rear thigh push rod body (201); one end of the rear thigh push rod body (201) away from the rear thigh push rod output shaft (202) is hingedly connected to the rear thigh push rod hinge portion (802); and one end of the rear thigh push rod output shaft (202) away from the rear thigh push rod body (201) is hingedly connected to the second thigh side mounting shaft (1103) of the thigh structural member (11); The front thigh push rod (3) comprises a front thigh push rod body (301) and a front thigh push rod output shaft (302) adapted to be telescopic relative to the front thigh push rod body (301); one end of the front thigh push rod body (301) away from the front thigh push rod output shaft (302) is hingedly connected to the front thigh push rod hinge portion (803); one end of the front thigh push rod output shaft (302) away from the front thigh push rod body (301) is hingedly connected to the first thigh side mounting shaft (1102) of the thigh structural member (11); The thigh rear push rod (2) and the thigh front push rod (3) extend and retract in the same direction, and are suitable for causing the thigh structure (11) to rotate around the B axis; The thigh rear push rod (2) and the thigh front push rod (3) extend and retract in different directions, and are suitable for causing the thigh structure (11) to rotate around the A axis.

3. The mechanical leg assembly according to claim 2, characterized in that: The thigh structural member (11) is further provided with an extension portion (1104), which extends along the B-axis direction toward the rear side of the thigh structural member (11), and the thigh first side mounting shaft (1102) is provided at an end of the extension portion (1104) away from the thigh structural member (11).

4. The mechanical leg assembly according to claim 2, characterized in that: In a direction parallel to the C-axis, the second thigh side mounting shaft (1103), the first thigh side mounting shaft (1102) and the cross-shaft second hinge portion (101) are all arranged on the same side of the thigh structural member (11); Furthermore, in a direction parallel to the C-axis, the basic structural member (8) is also arranged on the side of the thigh structural member (11) extending from the second thigh side mounting axis (1103); the thigh rear push rod hinge portion (802) and the thigh front push rod hinge portion (803) both extend toward one side of the thigh structural member (11).

5. The mechanical leg assembly according to claim 1, wherein: Also includes: A calf structural member (14) comprising a calf pivot portion (1401), wherein the calf pivot portion (1401) is adapted to be hingedly connected to a calf hinge portion (1107) of the thigh structural member (11); A knee push rod (4) comprises a knee push rod body (401) and a knee push rod output shaft (402) adapted to be telescopic relative to the knee push rod body (401), wherein one end of the knee push rod body (401) away from the knee push rod output shaft (402) is hingedly connected to a knee push rod mounting portion (1105) on the thigh structural member (11); A first knee link member (12) and a second knee link member (13), wherein the first end of the first knee link member (12) and the first end of the second knee link member (13) are both hingedly connected to an end of the knee push rod output shaft (402) away from the knee push rod body (401); The thigh structure (11) is further provided with a knee first link hinge portion (1106), and the second end of the knee first link member (12) is hinge-connected to the knee first link hinge portion (1106); The calf structure (14) is further provided with a knee second link hinge portion (1402), and the second end of the knee second link member (13) is hinge-connected to the knee second link hinge portion (1402); The thigh structure (11), the calf structure (14), the first knee link (12) and the second knee link (13) together form a knee four-bar linkage, and the knee push rod (4) is suitable for driving the knee four-bar linkage so that the calf structure (14) is suitable for rotating relative to the thigh structure (11).

6. The mechanical leg assembly according to claim 1, characterized in that: Also includes: A calf structure (14), wherein an ankle hinge portion (1405) is provided at one end of the calf structure (14) away from the thigh structure (11); The rear sole structure (17) includes a rear sole rotation axis (1701); An ankle cross axis (19), the ankle cross axis (19) comprising an ankle first axis portion (1901) whose rotation axis is a D axis and an ankle second axis portion (1902) whose rotation axis is an E axis, wherein the D axis and the E axis are arranged non-parallel; The first ankle axis portion (1901) is hingedly connected to the ankle hinge portion (1405), and the second ankle axis portion (1902) is hingedly connected to the rear sole rotation axis portion (1701).

7. The mechanical leg assembly according to claim 6, characterized in that: Also includes: The inner leg push rod (5) comprises an inner leg push rod body (501) and an inner leg push rod output shaft (502) adapted to be telescopic relative to the inner leg push rod body (501), wherein one end of the inner leg push rod body (501) away from the inner leg push rod output shaft (502) is hingedly connected to the inner leg structure (14); A calf outer push rod (6) comprises a calf outer push rod body (601) and a calf outer push rod output shaft (602) adapted to be telescopic relative to the calf outer push rod body (601), wherein one end of the calf outer push rod body (601) away from the calf outer push rod output shaft (602) is hingedly connected to the calf structural member (14); The calf outer push rod (6) and the calf inner push rod (5) are respectively arranged on both sides of the calf structure (14) along a direction parallel to the D axis; The rear sole structure (17) further includes a sole swing hinge (1702), wherein the inner calf push rod output shaft (502) and the outer calf push rod output shaft (602) are respectively hinged to two ends of the sole swing hinge (1702); The calf outer side push rod (6) and the calf inner side push rod (5) are adapted to drive the rear sole structure (17) to rotate relative to the calf structure (14) around the D axis when they extend and retract in the same direction; the calf outer side push rod (6) and the calf inner side push rod (5) are adapted to drive the rear sole structure (17) to rotate relative to the calf structure (14) around the E axis when they extend and retract in different directions.

8. The mechanical leg assembly according to claim 7, characterized in that: Also includes: A forefoot structure (18), wherein the forefoot structure (18) is hinged to a forefoot hinge portion (1703) provided on the rear foot structure (17); the forefoot structure (18) further comprises a forefoot follower hinge portion (1801); The forefoot first connecting rod (15) comprises a follower end hinge portion (1503) hingedly connected to the forefoot follower hinge portion (1801), the forefoot first connecting rod (15) further comprising a force-bearing end hinge portion (1501) at one end away from the follower end hinge portion (1503), and a corner hinge portion (1502) arranged between the follower end hinge portion (1503) and the force-bearing end hinge portion (1501); The forefoot push rod (7) comprises a forefoot push rod body (701) and a forefoot push rod output shaft (702) adapted to be telescopic relative to the forefoot push rod body (701), wherein one end of the forefoot push rod body (701) away from the forefoot push rod output shaft (702) is hinged to a forefoot push rod hinge portion (1404) of the calf structure (14); and one end of the forefoot push rod output shaft (702) away from the forefoot push rod body (701) is hinged to the force-bearing end hinge portion (1501); The bottom of the rear sole structure (17) is also provided with a forefoot bottom hinge portion (1704), and the forefoot bottom hinge portion (1704) is suitable for being directly or indirectly connected to the corner hinge portion (1502).

9. The mechanical leg assembly according to claim 8, characterized in that: Also includes: The second forefoot connecting rod (16) has one end hinged to the forefoot bottom hinge portion (1704) and the other end hinged to the corner hinge portion (1502).

10. A robot, characterized in that: include: A robot body, and a robotic leg assembly as claimed in any one of claims 1 to 9 connected to the robot body.

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