Mechanical leg assembly and robot

Abstract

The application relates to the technical field of robots, and discloses a mechanical leg assembly and a robot. The mechanical leg assembly comprises a basic structural member, a hip C-shaft motor, and a hip cross shaft. The basic structural member comprises a cross shaft first hinged part. The hip C-shaft motor comprises a cross shaft second hinged part, and the cross shaft second hinged part is arranged on one side of the hip C-shaft motor along an axial line of the hip C-shaft motor. The hip cross shaft is hingedly connected with the cross shaft first hinged part and the cross shaft second hinged part respectively. The hip cross shaft is adapted to rotate around an A-shaft relative to the cross shaft first hinged part, and the hip cross shaft is adapted to rotate around a B-shaft relative to the cross shaft second hinged part. The A-shaft and the B-shaft are perpendicular to each other. The thigh structural member is connected with the hip C-shaft motor, and the hip C-shaft motor is adapted to drive the thigh structural member to rotate around a C-shaft. The C-shaft is perpendicular to the A-shaft and the B-shaft, and the three shafts are concentric. The mechanical leg assembly provided by the application has fewer interference points in the rotating process and has a larger rotating angle.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a mechanical leg assembly and a robot. Background Technology

[0002] Humanoid robots can mimic the shape and movement of the human body and have broad development prospects. Similar to the human body, the robot's torso and lower limbs are connected by hip joint components, which drive the lower limbs to perform multi-degree-of-freedom movements.

[0003] However, in related technologies, the structural design of the hip joint component is unreasonable, resulting in a small range of motion in the lower limb mechanism, which is not conducive to highly mimicking 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 limited range of motion of the lower limb mechanism.

[0005] In a first aspect, the present invention provides a mechanical leg assembly, comprising: Basic structural components, including the first hinge of the cross shaft; A hip C-axis motor includes a cross-shaft second hinge portion, which is disposed on one side of the hip C-axis motor along the axis of the hip C-axis motor. The hip cross shaft is hinged 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. Axis A and axis B are perpendicular to each other. 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 axis of the hip C-axis motor coincides with the C-axis. The C-axis is perpendicular to the A-axis and B-axis respectively, and the A-axis, B-axis and C-axis are concentric.

[0006] Beneficial effects: The mechanical leg assembly provided in the embodiments of the present invention features concentric A-axis, B-axis, and C-axis, allowing for freer rotation in multiple directions. This results in fewer interference points during rotation, a larger rotation angle, and thus access to a wider space. It avoids motion limitations caused by structural interference, improves the anthropomorphic effect, and achieves a structural form equivalent to the rotation of the human femoral head, expanding the range of motion and workspace of the mechanical leg assembly. Furthermore, it enhances the motion coordination and control precision of the mechanical leg assembly, enabling more flexible movement.

[0007] In one alternative embodiment, the basic structural component further includes a posterior thigh push rod hinge and a front thigh push rod hinge. The mechanical leg assembly also includes: The posterior thigh push rod includes a posterior thigh push rod body and a posterior thigh push rod output shaft adapted to extend and retract relative to the posterior thigh push rod body. One end of the posterior thigh push rod body away from the posterior thigh push rod output shaft is hinged to a posterior thigh push rod hinge portion. One end of the posterior thigh push rod output shaft away from the posterior thigh push rod body is hinged to a first thigh side mounting shaft of a thigh structural member. The front thigh push rod includes 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. One end of the front thigh push rod body away from the front thigh push rod output shaft is hinged to the front thigh push rod hinge portion. One end of the front thigh push rod output shaft away from the front thigh push rod body is hinged to the second thigh side mounting shaft of the thigh structure. The push rod on the back of the thigh extends and retracts in the same direction as the push rod on the front of the thigh, which is suitable for making the thigh structural component rotate around the B-axis; The push rods on the back of the thigh and the push rods on the front of the thigh extend and retract in opposite directions, which is suitable for making the thigh structure rotate around the A-axis.

[0008] Beneficial effects: In order to realize the rotation of the thigh structure relative to the base structure around axis A and axis B, this embodiment further provides a posterior thigh push rod and a posterior thigh push rod. By connecting the two rods between the thigh structure and the base structure, the movement of the thigh structure relative to the base structure can be realized through the coordinated action of the posterior thigh push rod and the posterior thigh push rod.

[0009] In one alternative embodiment, the thigh structure is further provided with an extension that extends toward the rear side of the thigh structure along the B-axis direction, and a first side mounting shaft of the thigh is provided at the end of the extension away from the thigh structure.

[0010] Beneficial effects: The extension section can prevent interference between the posterior thigh push bar and the anterior thigh push bar during exercise, ensuring smooth movement, improving overall movement stability, and ensuring coordinated operation of all components during exercise.

[0011] In one alternative embodiment, the second side mounting shaft of the thigh, the first side mounting shaft of the thigh, and the second hinge of the cross shaft are all located on the same side of the thigh structure in a direction parallel to the C-axis. Furthermore, in a direction parallel to the C-axis, the basic structural component is also located on the side of the thigh structural component extending from the second side of the thigh mounting shaft; both the rear thigh push rod hinge and the front thigh push rod hinge extend toward one side of the thigh structural component.

[0012] Beneficial effects: It enables both the posterior thigh push rod and the anterior thigh push rod to be connected to the inner side of the thigh structure, making the overall robot more biomimetic, reducing interference with the outer side of the thigh structure, improving motion flexibility and stability, and optimizing the structural layout.

[0013] In one alternative implementation, it further includes: The lower leg structure includes a lower leg pivot portion, which is adapted to be hinged to the lower leg hinge portion of the thigh structure. A knee push rod includes 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 hinged to a knee push rod mounting portion on a thigh structure. The first knee linkage and the second knee linkage are hinged to the end of the knee push rod output shaft away from the knee push rod body. The thigh structure is also provided with a first knee link hinge, and the second end of the first knee link is hinged to the first knee link hinge. The lower leg structure is also provided with a second knee link hinge, and the second end of the second knee link is hinged to the second knee link hinge. The thigh structure, lower leg structure, first knee link, and second knee link together form a four-bar linkage at the knee. The knee push rod is adapted to drive the four-bar linkage at the knee so that the lower leg structure is adapted to rotate relative to the thigh structure.

[0014] Beneficial effects: By forming a four-bar linkage at the knee and driving it with a knee push rod, the lower leg structure can rotate flexibly, simulating the flexion and extension movements of the human knee joint and improving the biomimetic performance of the mechanical leg. Furthermore, by rationally setting the hinge points and length ratios of each component, the linkages are ensured to work collaboratively during operation, thereby guaranteeing that the lower leg structure can rotate at an angle relative to the thigh structure, achieving a larger rotation angle.

[0015] In one alternative implementation, it further includes: The lower leg structural component has an ankle hinge at the end away from the thigh structural component. Rearfoot structural components, including the rearfoot pivot; Ankle cross axis, the ankle cross axis includes a first ankle axis with the rotation axis of D axis and a second ankle axis with the rotation axis of E axis, the D axis and the E axis are not parallel; The first axis of the ankle is hinged to the ankle hinge, and the second axis of the ankle is hinged to the heel pivot.

[0016] Beneficial effects: By setting an ankle cross axis between the lower leg 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.

[0017] In one alternative implementation, it further includes: The inner lower leg push rod includes an inner lower leg push rod body and an inner lower leg push rod output shaft adapted to extend and retract relative to the inner lower leg push rod body. The end of the inner lower leg push rod body away from the inner lower leg push rod output shaft is hinged to the lower leg structural member. The lower leg outer push rod includes a lower leg outer push rod body and a lower leg outer push rod output shaft adapted to extend and retract relative to the lower leg outer push rod body. The end of the lower leg outer push rod body away from the lower leg outer push rod output shaft is hinged to the lower leg structural member. The outer and inner push rods of the lower leg are respectively installed on both sides of the lower leg structure along a direction parallel to the D-axis; The rear foot structure also includes a foot swing hinge, and the inner lower leg push rod output shaft and the outer lower leg push rod output shaft are respectively hinged to the two ends of the foot swing hinge. The lateral lower leg push rod and the medial lower leg push rod extend and retract in the same direction to drive the rear foot structure to rotate around the D-axis relative to the lower leg structure; the lateral lower leg push rod and the medial lower leg push rod extend and retract in opposite directions to drive the rear foot structure to rotate around the E-axis relative to the lower leg structure.

[0018] In one alternative implementation, it further includes: The forefoot structure is hinged to the forefoot hinge portion provided on the rearfoot structure; the forefoot structure also includes a forefoot follow-up hinge portion. The forefoot first link includes a follower end hinge that is hinged to the forefoot follower hinge. The forefoot first link also includes a force-bearing end hinge that is away from the follower end hinge, and an angle hinge that is disposed between the follower end hinge and the force-bearing end hinge. The forefoot push rod includes a forefoot push rod body and a forefoot push rod output shaft adapted to extend and retract relative to the forefoot push rod body. The end of the forefoot push rod body away from the forefoot push rod output shaft is hinged to the forefoot push rod hinge part of the lower leg structure. The end of the forefoot push rod output shaft away from the forefoot push rod body is hinged to the force-bearing end hinge part. The bottom of the rearfoot structure is also provided with a forefoot bottom hinge, which is suitable for direct or indirect connection with the corner hinge.

[0019] In one alternative implementation, it further includes: The second link in the forefoot is hinged at one end to the hinge at the bottom of the forefoot and at the other end to the corner hinge.

[0020] Beneficial effects: It can add active degrees of freedom to the forefoot structure, allowing it to flexibly adjust its angle according to changes in terrain during walking, enhancing adaptability, making the structure more biomimetic, and realizing the degree of freedom of the human forefoot during walking.

[0021] Secondly, the present invention also provides a robot, comprising: The robot body, and the mechanical leg assembly connected to the robot body as described above.

[0022] Since the robot includes a mechanical leg assembly, which has the same effect as the mechanical leg assembly, it will not be described in detail here. Attached Figure Description

[0023] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0024] Figure 1 This is an exploded view of the mechanical leg assembly of the present invention; Figure 2 This is a three-dimensional schematic diagram of the mechanical leg assembly of the present invention; Figure 3 This is a rear view of the mechanical leg assembly of the present invention; Figure 4 This is a front view of the mechanical leg assembly of the present invention; Figure 5 This is a right view of the mechanical leg assembly of the present invention; Figure 6 This is a left view of the mechanical leg assembly of the present invention; Figure 7 This is an exploded view of the basic structural component and the thigh structural component of the present invention; Figure 8 This is a side view of the thigh structure and its connected components of the present invention; Figure 9 This is an exploded view of the lower leg structure and the rear foot structure of the present invention; Figure 10 This is a schematic diagram of the bottom of the heel structure component of the present invention; Figure 11 This is an exploded view of the forefoot structure, the rearfoot structure, the first forefoot link, and the second forefoot link of the present invention. Figure 12 This is a side view of the mechanical leg assembly of the present invention in a bent state; Figure 13 This is a three-dimensional schematic diagram of the mechanical leg assembly of the present invention in a bent state.

[0025] Explanation of reference numerals in the attached figures: 1. Hip C-axis motor; 101; Second hinge of cross shaft; 2. Back thigh push rod; 201. Back thigh push rod body; 202. Back thigh push rod output shaft; 3. Front thigh push rod; 301. Front thigh push rod body; 302. Front thigh push rod output shaft; 4. Knee push rod; 401. Knee push rod body; 402. Knee push rod output shaft; 5. Lower leg inner side push rod; 501. Lower leg inner side push rod body; 502. Lower leg inner side push rod output shaft; 6. Lower leg outer side push rod; 601. Lower leg outer side push rod body; 602. Lower leg outer side push rod output shaft; 7. Forefoot push rod; 701. Forefoot push rod body; 702. Forefoot push rod output shaft; 8. Basic structural components; 801. First hinge of the cross shaft; 802. Hind thigh push rod hinge; 803. Anterior thigh push rod hinge; 9. Hip cross-axis; 11. Thigh structural component; 1101. Hip C-axis motor mounting part; 1102. Thigh first side mounting shaft; 1103. Thigh second side mounting shaft; 1104. Extension part; 1105. Knee push rod mounting part; 1106. Knee first link hinge part; 1107. Lower leg hinge part; 12. First knee linkage; 13. Second knee linkage; 14. Lower leg structural components; 1401. Lower leg pivot; 1402. Knee second link hinge; 1403. Lower leg push rod hinge; 1404. Forefoot push rod hinge; 1405. Ankle hinge; 15. First link of the forefoot; 1501. Force-bearing end hinge; 1502. Corner hinge; 1503. Follower end hinge; 16. Second linkage on the forefoot; 17. Rearfoot structural component; 1701. Rearfoot pivot; 1702. Foot swing hinge; 1703. Forefoot hinge; 1704. Forefoot bottom hinge; 1705. Foot cavity; 1706. Limiting block; 18. Forefoot structural components; 1801. Forefoot follow-up hinge; 19. Ankle cross axis; 1901. First ankle axis; 1902. Second ankle axis. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0027] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this 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.

[0028] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0029] Furthermore, 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.

[0030] The following is combined Figures 1 to 13 The following describes embodiments of the present invention.

[0031] According to an embodiment of the present invention, in one aspect, a mechanical leg assembly is provided, comprising: The basic structural component 8 includes a first hinge part 801 of the cross shaft; The hip C-axis motor 1 includes a cross-shaft second hinge 101, which is disposed 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 hinged to the first hinge portion 801 and the second hinge portion 101 of the cross shaft respectively. The hip cross shaft 9 is adapted to rotate about axis A relative to the first hinge portion 801 of the cross shaft, and the hip cross shaft 9 is adapted to rotate about axis B relative to the second hinge portion 101 of the cross shaft. The A axis and the B axis are perpendicular. The thigh structure 11 is connected to the hip C-axis motor 1. The hip C-axis motor 1 is adapted to drive 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 B-axis respectively, and the A-axis, B-axis and C-axis are concentric.

[0032] It should be noted that, taking the robot's upright position as a reference, the extension direction of the A-axis is the robot's vertical direction, the extension direction of the B-axis is the robot's forward and backward direction, and the C-axis is the robot's left and right direction, ensuring the flexible movement of the robotic leg in three-dimensional space. Specifically, the A-axis corresponds to the degree of freedom Yaw, enabling rotational movement about the robot's vertical axis; the B-axis corresponds to the degree of freedom Roll, enabling rotational movement about the robot's forward and backward axis; and the C-axis corresponds to the degree of freedom Pitch, enabling rotational movement about the robot's left and right axis. Through three-axis coordination, the robotic leg assembly can flexibly adjust its posture in complex terrain, improving the robot's stability and adaptability. The hip C-axis motor 1 is a motor whose rotation axis direction is the same as the C-axis axis direction.

[0033] The robotic leg assembly provided in the embodiments of the present invention features concentric A-axis, B-axis, and C-axis, allowing for freer rotation in multiple directions. This reduces interference points during rotation, provides a larger rotation angle, and thus allows for greater reach, avoiding motion limitations caused by structural interference. It also enhances the anthropomorphic effect, achieving a structural form equivalent to the rotation of the human femoral head, thereby expanding the range of motion and workspace of the robotic leg assembly. Furthermore, it improves the motion coordination and control precision of the robotic leg assembly, enabling more flexible movement.

[0034] In this embodiment, the basic structural member 8 is similar to the human hip bone, and the thigh structural member 11 is disposed on one side of the basic structural member 8. The thigh structural member 11 can move relative to the basic structural member 8, realizing a structural form equivalent to the rotation of the human femoral head.

[0035] The hip C-axis motor 1 has a cross-axis second hinge part 101 on the side facing the base structure 8, and the base structure 8 has a cross-axis first hinge part 801 on the side facing the thigh structure 11. By setting the hip cross-axis 9 to be hinged to the cross-axis first hinge part 801 and the cross-axis second hinge part 101 respectively, the thigh structure 11 can rotate about the A-axis relative to the base structure 8, and the thigh structure 11 can rotate about the B-axis relative to the base structure 8.

[0036] Furthermore, the hip C-axis motor 1 is adapted to drive the thigh structure 11 to rotate about the C-axis, thereby enabling the thigh structure 11 to rotate about the C-axis relative to the base structure 8.

[0037] In some embodiments, the basic structural member 8 further includes a posterior thigh push rod hinge portion 802 and a front thigh push rod hinge portion 803; The mechanical leg assembly also includes: 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 hinged to the posterior thigh push rod hinge portion 802. One end of the posterior thigh push rod output shaft 202 away from the posterior thigh push rod body 201 is hinged to the thigh first side mounting shaft 1102 of the thigh structure member 11. 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. The end of the front thigh push rod body 301 away from the front thigh push rod output shaft 302 is hinged to the front thigh push rod hinge portion 803; the end of the front thigh push rod output shaft 302 away from the front thigh push rod body 301 is hinged to the second thigh side mounting shaft 1103 of the thigh structure member 11. The posterior thigh push rod 2 and the anterior thigh push rod 3 extend and retract in the same direction, which is suitable for making the thigh structural component 11 rotate around axis B. The push rod 2 on the back of the thigh and the push rod 3 on the front of the thigh extend and retract in opposite directions, which is suitable for making the thigh structural component 11 rotate around axis A.

[0038] In order to enable the thigh structure 11 to rotate relative to the base structure 8 around axis A and axis B, this embodiment further provides a posterior thigh push rod 2 and a front thigh push rod 3. By connecting the two rods between the thigh structure 11 and the base structure 8, the movement of the thigh structure 11 relative to the base structure 8 can be achieved through the coordinated action of the posterior thigh push rod 2 and the front thigh push rod 3.

[0039] Specifically, the posterior thigh push rod 2 and the anterior thigh push rod 3 extend and retract in the same direction, which is suitable for making the thigh structure 11 rotate around the B axis relative to the base structure 8, so as to realize the action of the thigh kicking outward; the posterior thigh push rod 2 and the anterior thigh push rod 3 extend and retract in opposite directions, which is suitable for making the thigh structure 11 rotate around the A axis relative to the base structure 8, so as to realize the action of the thigh rotating in place.

[0040] Both ends of the posterior thigh push rod 2 are connected to the corresponding connecting parts using ball joints. Similarly, both ends of the anterior thigh push rod 3 are connected to the corresponding connecting parts using ball joints, which facilitates multi-angle rotation and meets the needs of multi-degree-of-freedom motion.

[0041] In some embodiments, combined with Figure 7As shown, the thigh structure 11 is also provided with an extension 1104, which extends toward the rear side of the thigh structure 11 along the B-axis direction, and the first side mounting shaft 1102 of the thigh is provided at the end of the extension 1104 away from the thigh structure 11.

[0042] It should be noted that the rear side of the thigh structure 11 can be 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.

[0043] The extension 1104 prevents interference between the posterior thigh push bar 2 and the anterior thigh push bar 3 during movement, ensuring smooth movement, improving overall movement stability, and ensuring coordinated operation of all components during movement.

[0044] In some embodiments, in a direction parallel to the C-axis, the second side mounting shaft 1103 of the thigh, the first side mounting shaft 1102 of the thigh, and the second hinge portion 101 of the cross shaft are all disposed on the same side of the thigh structure 11. Furthermore, in a direction parallel to the C-axis, the basic structural component 8 is also located on one side of the thigh structural component 11 extending from the second side of the thigh mounting shaft 1103; the rear thigh push rod hinge 802 and the front thigh push rod hinge 803 both extend toward the thigh structural component 11.

[0045] By adopting the above arrangement, both the posterior thigh push rod 2 and the anterior thigh push rod 3 can be connected to the inner side of the thigh structure 11, making the overall robot more biomimetic, reducing interference with the outer side of the thigh structure 11, improving motion flexibility and stability, and optimizing the structural layout.

[0046] In some embodiments, combined with Figure 8 As shown, it also includes: The lower leg structure 14 includes a lower leg pivot portion 1401, which is adapted to be hingedly connected to the lower leg hinge portion 1107 of the thigh structure 11. Knee push rod 4 includes knee push rod body 401 and knee push rod output shaft 402 adapted to extend and retract relative to knee push rod body 401. One end of knee push rod body 401 away from knee push rod output shaft 402 is hinged to knee push rod mounting portion 1105 on thigh structure 11. The first knee link 12 and the second knee link 13 are hinged to the end of the knee push rod output shaft 402 away from the knee push rod body 401. The thigh structure 11 is also provided with a knee first link hinge part 1106, and the second end of the knee first link 12 is hinged to the knee first link hinge part 1106. The lower leg structure 14 is also provided with a second knee link hinge 1402, and the second end of the second knee link 13 is hinged to the second knee link hinge 1402. The thigh structure 11, the lower leg structure 14, the first knee link 12, and the second knee link 13 together form a four-bar linkage for the knee. The knee push rod 4 is adapted to drive the four-bar linkage for the knee so that the lower leg structure 14 is adapted to rotate relative to the thigh structure 11.

[0047] In some embodiments, the knee push rod 4 is adapted to drive the knee four-bar linkage so that the lower leg structure 14 is adapted to perform flexion and extension movements relative to the thigh structure 11, achieving a movement similar to that of a human knee, with the range of movement angles between 0 and 135 degrees.

[0048] 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. One 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 part 1105 on the thigh structure 11. In this embodiment, the knee push rod body 401 can be hinged to the upper part of the thigh structure 11, thereby making reasonable use of the length of the thigh structure 11 and facilitating the arrangement of the knee push rod 4.

[0049] Combination Figure 8 As shown, a portion of the thigh structure 11, a portion of the lower leg structure 14, the first knee link 12, and the second knee link 13 together form a second four-bar linkage. The portion of the thigh structure 11 includes the area between the first knee link hinge 1106 and the lower leg hinge 1107; the portion of the lower leg structure 14 includes the area between the second knee link hinge 1402 and the lower leg pivot 1401.

[0050] By forming a four-bar linkage at the knee and driving it with the knee push rod 4, the lower leg structure 14 can rotate flexibly, simulating the flexion and extension movements of the human knee joint and improving the biomimetic performance of the mechanical leg. Furthermore, by rationally setting the hinge points and length ratios of each component, the linkages are ensured to work collaboratively during the driving process, thereby guaranteeing that the lower leg structure 14 is suitable for rotating relative to the thigh structure 11 at a suitable angle, achieving a larger rotation angle.

[0051] In some embodiments, it also includes: Lower leg structural member 14, with an ankle hinge portion 1405 provided at the end of the lower leg structural member 14 away from the thigh structural member 11. The rearfoot structural component 17 includes a rearfoot pivot portion 1701; Ankle cross axis 19, the ankle cross axis 19 includes a first ankle axis 1901 with the rotation axis of D axis and a second ankle axis 1902 with the rotation axis of E axis, the D axis and the E axis are not parallel; The first ankle axis 1901 is hinged to the ankle hinge 1405, and the second ankle axis 1902 is hinged to the heel pivot 1701.

[0052] By setting an ankle cross axis 19 between the lower leg structure 14 and the rear foot structure 17, 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.

[0053] The ankle cross axis 19 includes a first ankle axis 1901 with a rotation axis of D and a second ankle axis 1902 with a rotation axis of E. The D and E axes are not parallel. With this design, the mechanical leg assembly can better simulate the movement trajectory of a biological leg during walking. At the same time, the multi-axis rotation structure allows the mechanical leg assembly to flexibly adjust its posture when dealing with different slopes and obstacles, ensuring stability and adaptability.

[0054] In this embodiment, the D-axis and the E-axis are perpendicular.

[0055] In some embodiments, it also includes: 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. The end of the inner calf push rod body 501 away from the inner calf push rod output shaft 502 is hinged to the calf structure 14. The lateral lower leg push rod 6 includes a lateral lower leg push rod body 601 and a lateral lower leg push rod output shaft 602 adapted to extend and retract relative to the lateral lower leg push rod body 601. The end of the lateral lower leg push rod body 601 away from the lateral lower leg push rod output shaft 602 is hinged to the lower leg structure 14. The outer calf push rod 6 and the inner calf push rod 5 are respectively installed on both sides of the calf structure 14 in a direction parallel to the D axis; The rear foot structure 17 also includes a foot swing hinge 1702, and the inner lower leg push rod output shaft 502 and the outer lower leg push rod output shaft 602 are respectively hinged to the two ends of the foot swing hinge 1702. The lateral lower leg push rod 6 and the medial lower leg push rod 5 extend and retract in the same direction to drive the rear foot structure 17 to rotate relative to the lower leg structure 14 around the D axis; the lateral lower leg push rod 6 and the medial lower leg push rod 5 extend and retract in opposite directions to drive the rear foot structure 17 to rotate relative to the lower leg structure 14 around the E axis.

[0056] The lateral lower leg push rod 6 and the medial lower leg push rod 5 are respectively arranged on both sides of the lower leg structure 14 in a direction parallel to the D-axis. Taking the biological leg as a reference, the lateral lower leg push rod 6 can be located on the outside of the lower leg structure 14, while the medial lower leg push rod 5 is located on the inside of the lower leg structure 14. Through this symmetrical layout, the push rods can apply force evenly when they extend and retract, ensuring that the heel structure 20 is more stable when rotating around the D-axis and E-axis.

[0057] Both ends of the lateral lower leg push rod 6 are connected to the corresponding connecting parts by ball joints. Similarly, both ends of the lateral lower leg push rod 5 are connected to the corresponding connecting parts by ball joints, which facilitates multi-angle rotation and meets the needs of multi-degree-of-freedom movement.

[0058] In some embodiments, it also includes: The forefoot structure 18 is hinged to the forefoot hinge 1703 provided on the rearfoot structure 17; the forefoot structure 18 also includes a forefoot follow-up hinge 1801. The forefoot first link 15 includes a follower end hinge 1503 hinged to the forefoot follower hinge 1801. The forefoot first link 15 also includes a force-bearing end hinge 1501 at the end away from the follower end hinge 1503, and an angle hinge 1502 disposed between the follower end hinge 1503 and the force-bearing end hinge 1501. 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. The end of the forefoot push rod body 701 away from the forefoot push rod output shaft 702 is hinged to the forefoot push rod hinge portion 1404 of the lower leg structure member 14; the 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 foot structure 17 is also provided with a forefoot bottom hinge 1704, which is adapted to be directly or indirectly connected to the corner hinge 1502.

[0059] In some embodiments, it also includes: The second link 16 of the forefoot is hinged at one end to the hinge part 1704 at the bottom of the forefoot and at the other end to the corner hinge part 1502.

[0060] The mechanical leg assembly provided in the embodiments of the present invention can add active degrees of freedom to the forefoot structure 18, enabling it to flexibly adjust its angle according to changes in terrain during walking, thereby enhancing adaptability and making the structure more biomimetic, thus realizing the degrees of freedom of the human forefoot during walking.

[0061] In this embodiment, the forefoot first link 15 can specifically be an L-shaped bent part, which facilitates the arrangement of the forefoot push rod 7 on the lower leg structure 14. By utilizing the force transmission of the forefoot first link 15, multi-angle adjustment of the forefoot structure 18 can be achieved. This avoids arranging too many complex structures inside the rearfoot structure 17, thus making reasonable use of space.

[0062] In this embodiment, a foot-receiving cavity 1705 is formed at the bottom of the rear foot structure 17, and the forefoot second connecting rod 16 is movably disposed within the foot-receiving cavity 1705.

[0063] According to an embodiment of the present invention, in another aspect, a robot is also provided, comprising: The robot body, and the mechanical leg assembly connected to the robot body as described above.

[0064] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Although embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention, and all such modifications and variations fall within the scope defined by the present invention.

Claims

1. A mechanical leg assembly, characterized in that, include: The basic structural component (8) includes the first hinge part (801) of the cross shaft. The hip C-axis motor (1) includes a cross-shaft second hinge (101), which is disposed 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 hinged to the first hinge portion (801) and the second hinge portion (101) of the cross shaft respectively. The hip cross shaft (9) is adapted to rotate about axis A relative to the first hinge portion (801) of the cross shaft, and the hip cross shaft (9) is adapted to rotate about axis B relative to the second hinge portion (101) of the cross shaft. The axis A and the axis B are perpendicular to each other. The thigh structure (11) is connected to the hip C-axis motor (1). The hip C-axis motor (1) is adapted to drive 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. The A-axis, the B-axis and the C-axis are concentric. The basic structural component (8) also includes a posterior thigh push rod hinge (802) and a front thigh push rod hinge (803). The mechanical leg assembly also includes: 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 hinged to the posterior thigh push rod hinge portion (802). One end of the posterior thigh push rod output shaft (202) away from the posterior thigh push rod body (201) is hinged to the thigh first side mounting shaft (1102) of the thigh structure (11). 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 hinged 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 hinged to the second thigh side mounting shaft (1103) of the thigh structure (11). The posterior thigh push rod (2) extends and retracts in the same direction as the anterior thigh push rod (3), which is suitable for causing the thigh structure (11) to rotate around the B axis; The posterior thigh push rod (2) and the anterior thigh push rod (3) extend and retract in opposite directions, which is suitable for causing the thigh structure (11) to rotate around the A-axis; The thigh structure (11) is further provided with an extension (1104) which extends toward the rear side of the thigh structure (11) along the B-axis direction. The first side mounting shaft (1102) of the thigh is located at one end of the extension (1104) away from the thigh structure (11).

2. The mechanical leg assembly according to claim 1, characterized in that, In a direction parallel to the C-axis, the second side mounting shaft (1103) of the thigh, the first side mounting shaft (1102) of the thigh, and the second hinge part (101) of the cross shaft are all located on the same side of the thigh structure (11); Furthermore, in a direction parallel to the C-axis, the basic structural member (8) is also located on the side of the thigh structural member (11) extending out of the second side mounting shaft (1103) of the thigh; the rear thigh push rod hinge (802) and the front thigh push rod hinge (803) both extend toward the thigh structural member (11).

3. The mechanical leg assembly according to claim 1, characterized in that, Also includes: The lower leg structure (14) includes a lower leg pivot (1401) which is adapted to be hinged to the lower leg hinge (1107) of the thigh structure (11). 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), wherein one end of the knee push rod body (401) away from the knee push rod output shaft (402) is hinged to a knee push rod mounting portion (1105) on the thigh structure (11); The first knee link (12) and the second knee link (13) are hinged to the end of the knee push rod output shaft (402) away from the knee push rod body (401). The thigh structure (11) is also provided with a knee first link hinge (1106), and the second end of the knee first link (12) is hinged to the knee first link hinge (1106). The lower leg structure (14) is also provided with a second knee link hinge (1402), and the second end of the second knee link (13) is hinged to the second knee link hinge (1402). The thigh structure (11), the lower leg structure (14), the first knee link (12), and the second knee link (13) together form a four-bar linkage for the knee. The knee push rod (4) is adapted to drive the four-bar linkage for the knee so that the lower leg structure (14) is adapted to rotate relative to the thigh structure (11).

4. The mechanical leg assembly according to claim 1, characterized in that, Also includes: The lower leg structure (14) has an ankle hinge (1405) at one end away from the thigh structure (11). The rearfoot structural component (17) includes a rearfoot pivot (1701). Ankle cross axis (19), the ankle cross axis (19) includes a first ankle axis (1901) with the rotation axis of D axis and a second ankle axis (1902) with the rotation axis of E axis, the D axis and the E axis are not parallel; The first ankle axis (1901) is hinged to the ankle hinge (1405), and the second ankle axis (1902) is hinged to the heel pivot (1701).

5. The mechanical leg assembly according to claim 4, characterized in that, Also includes: 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). The end of the inner calf push rod body (501) away from the inner calf push rod output shaft (502) is hinged to the calf structure (14). The lateral lower leg push rod (6) includes a lateral lower leg push rod body (601) and a lateral lower leg push rod output shaft (602) adapted to extend and retract relative to the lateral lower leg push rod body (601). The end of the lateral lower leg push rod body (601) away from the lateral lower leg push rod output shaft (602) is hinged to the lower leg structure (14). The outer calf push rod (6) and the inner calf push rod (5) are respectively disposed on both sides of the calf structure (14) in a direction parallel to the D axis; The rear foot structure (17) also includes a foot swing hinge (1702), wherein the inner lower leg push rod output shaft (502) and the outer lower leg push rod output shaft (602) are respectively hinged to the two ends of the foot swing hinge (1702); The lateral lower leg push rod (6) and the medial lower leg push rod (5) extend and retract in the same direction to drive the heel structure (17) to rotate relative to the lower leg structure (14) around the D axis; the lateral lower leg push rod (6) and the medial lower leg push rod (5) extend and retract in opposite directions to drive the heel structure (17) to rotate relative to the lower leg structure (14) around the E axis.

6. The mechanical leg assembly according to claim 5, characterized in that, Also includes: The forefoot structure (18) is hinged to the forefoot hinge (1703) provided on the rearfoot structure (17); the forefoot structure (18) also includes a forefoot follow-up hinge (1801). The forefoot first link (15) includes a follower end hinge (1503) hinged to the forefoot follower hinge (1801), the forefoot first link (15) also includes a force-bearing end hinge (1501) at the end away from the follower end hinge (1503), and an angle hinge (1502) disposed between the follower end hinge (1503) and the force-bearing end hinge (1501). 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). The end of the forefoot push rod body (701) away from the forefoot push rod output shaft (702) is hinged to the forefoot push rod hinge portion (1404) of the lower leg structure (14); the 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 foot structure (17) is also provided with a forefoot bottom hinge (1704), which is adapted to be directly or indirectly connected to the corner hinge (1502).

7. The mechanical leg assembly according to claim 6, characterized in that, Also includes: The second link (16) of the forefoot is hinged at one end to the hinge part (1704) at the bottom of the forefoot and at the other end to the corner hinge part (1502).

8. A robot, characterized in that, include: The robot body, and the mechanical leg assembly as described in any one of claims 1 to 7 connected to the robot body.

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