Leg assembly and foot type robot

Abstract

The invention discloses a leg assembly and a foot robot, the leg assembly comprises a first joint, a second joint, a third joint, a first member, a second member and a third member, and the first joint, the second joint and the third joint each comprise a fixed part and a rotating part rotating relative to the fixed part; the first component is bent, the rotating part of the first joint is connected with the first end of the first component, one of the rotating part and the fixed part of the second joint is connected with the second end of the first component, and the other is connected with the first end of the second component; one of the rotating part and the fixed part of the third joint is connected with the second end of the second component, and the other is connected with the first end of the third component; one of the second component and the third component comprises a first cantilever and a second cantilever which are arranged at an interval, the other one is arranged between the first cantilever and the second cantilever, and the third joint is arranged on one of the first cantilever and the second cantilever. The modular structure is formed, the structure is compact, layout is optimized, and maintenance is convenient.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of robots, and particularly relates to a leg assembly and a foot-type robot. BACKGROUND

[0002] Multi-joint serial robots, such as foot-type robots and wheel-foot-type robots, are usually connected in series by a plurality of joints through different first members. In the prior art, the joint layout of such robots is often fixed, and this layout has obvious defects. The joints and their driving units are closely arranged in space, resulting in a very small and irregular internal space in the joint connection area, which not only easily causes motion interference, but also makes the entire driving system an integrated structure. When any unit fails, a large number of associated components often need to be disassembled, resulting in high maintenance cost and low efficiency.

[0003] Therefore, in view of the above technical problems, it is necessary to provide a leg assembly and a foot-type robot. SUMMARY

[0004] The purpose of the present application is to provide a leg assembly and a foot-type robot that is compact in structure, optimized in layout, and modularized for easy maintenance.

[0005] To achieve the above purpose, the technical solution provided by an embodiment of the present application is as follows:

[0006] A leg assembly, comprising a first joint, a second joint, a third joint, a first member, a second member and a third member, the first joint, the second joint and the third joint each comprising a fixed part and a rotating part rotating relative to the fixed part;

[0007] The first member is curvedly arranged, the rotating part of the first joint is connected with a first end of the first member,

[0008] one of the fixed part and the rotating part of the second joint is connected with a second end of the first member, and the other is connected with a first end of the second member, so that the first member and the second member can rotate relative to each other;

[0009] one of the fixed part and the rotating part of the third joint is connected with a second end of the second member, and the other is connected with a first end of the third member, so that the second member and the third member can rotate relative to each other;

[0010] one of the second member and the third member comprises first and second cantilever arms arranged at intervals, the other of the second member and the third member is arranged in a gap between the first and second cantilever arms, and the third joint is arranged on one of the first and second cantilever arms.

[0011] The design is integrated, facilitating overall disassembly and maintenance, optimizing the spatial layout between joints, and avoiding motion interference.

[0012] In one or more embodiments of the present application, the rotating part of the second joint is connected to the second end of the first member, the first end of the second member is connected to the fixed part of the second joint, the second end of the second member is connected to the fixed part of the third joint, and the rotating part of the third joint is connected to the first end of the third member; or,

[0013] The fixed part of the second joint is connected to the second end of the first member, and the rotating part of the second joint is connected to the first end of the second member; the fixed part of the third joint is connected to the first end of the third member, and the rotating part of the third joint is connected to the second end of the second member; or,

[0014] The fixed part of the second joint is connected to the first end of the second member, and the rotating part of the second joint is connected to the second end of the first member; the fixed part of the third joint is connected to the first end of the third member, and the rotating part of the third joint is connected to the second end of the second member; or,

[0015] The fixed part of the second joint is connected to the second end of the first member, and the rotating part of the second joint is connected to the first end of the second member; the fixed part of the third joint is connected to the second end of the second member, and the rotating part of the third joint is connected to the first end of the third member.

[0016] The design clearly defines the specific power transmission path between joints, making the structure more stable, the transmission more direct and efficient, and reducing energy loss and shaking during motion.

[0017] In one or more embodiments of the present application, the rotation axis of the first joint and the rotation axis of the second joint are spatially staggered. This design can achieve complex spatial compound motion, expand the working space and flexibility, and effectively avoid the risk of collision between components.

[0018] In one or more embodiments of the present application, the first joint and the second joint are both fixedly installed on the convex side of the first member. This design can utilize the space on the convex side of the first member, facilitate the increase of the motion range of the actuator, and provide a protection space for internal wiring.

[0019] In one or more embodiments of the present application, the leg assembly further comprises a fastener, the first member is provided with a mounting hole, the first joint and the second joint are each provided with an assembly hole matched with the mounting hole, and the fastener passes through the mounting hole from the concave side of the first member and is locked in the corresponding assembly hole. This design facilitates the close and stable installation of the first joint and the second joint on the first member.

[0020] In one or more embodiments of the present application, the first member is L-shaped, V-shaped, U-shaped or T-shaped. The axis misalignment is naturally achieved through the specific bending shape, the structure is simple and reliable, and the compact layout is facilitated.

[0021] In one or more embodiments of the present application, the rotation axis of the first joint is perpendicular to the rotation axis of the second joint. This design simplifies the kinematics calculation, reduces the control complexity, makes the trajectory planning more intuitive and accurate, and improves the motion control efficiency.

[0022] In one or more embodiments of the present application, the leg assembly further comprises a limiting part and a blocked part matched with each other;

[0023] The limiting part and the blocked part are respectively arranged on the first member and the first joint and / or the second joint, and the rotation range of the first joint and / or the second joint is limited through the contact of the limiting part and the blocked part. This design can prevent the joint from excessive rotation and improve the system reliability.

[0024] In one or more embodiments of the present application, the limiting part is a column structure integrally formed or fixedly installed on the part where it is arranged, and the blocked part rotates with the rotating part of the corresponding joint within the movement range delimited by the limiting part. This design can accurately limit the rotation range of the first joint and / or the second joint.

[0025] In one or more embodiments of the present application, in order to transmit energy and signals, the leg assembly further comprises a first wire harness electrically connecting the first joint and the second joint.

[0026] In one or more embodiments of the present application, the first wire harness is partially arranged on the concave side of the first member. This design can use the protected space on the concave side for wiring, avoid the entanglement and pulling of the first wire harness with the moving parts, and improve the service life and reliability of the wire.

[0027] In one or more embodiments of the present application, the first member is provided with a first wire fixing part for fixing the first wire harness. The first wire fixing part makes the first wire harness layout neat and orderly, and prevents loosening and interference.

[0028] In one or more embodiments of the present application, the leg assembly further comprises a mounting body connected to the fixed part of the first joint, and the mounting body is provided with a wire slot, and a first wire harness part is arranged between the first joint and the mounting body and accommodated in the wire slot. This design facilitates the organization and protection of the first wire harness, and avoids interference with the joint movement,

[0029] In one or more embodiments of the present application, the leg assembly further comprises a mounting body connected to the fixed part of the first joint, and the mounting body is a robot body or a base. This design facilitates the integration of the leg assembly into a robot system.

[0030] In one or more embodiments of the present application, the fixed part of the first joint is detachably connected to the mounting body. The detachable mounting mode facilitates quick replacement and maintenance of the joint module.

[0031] The mounting body is provided with at least one of a power supply device, a control device, and a sensing device. By optimizing the space to arrange functional modules on the mounting body, the system integration is improved.

[0032] In one or more embodiments of the present application, the first joint, the second joint, and the third joint each comprise a driving member, a reducer connected to an output end of the driving member, and a driving board for controlling the driving member. This design facilitates the modular integration of power, transmission, and control in the joint, facilitating assembly and maintenance.

[0033] In one or more embodiments of the present application, at least one of the second member and the third member has a double cantilever structure at the end; and / or,

[0034] At least one of the second member and the third member is Y-shaped. These shapes provide ample and protected bending space for the bending deformation of the wire harness when the joint rotates, effectively preventing the wire harness from being squeezed or excessively bent.

[0035] In one or more embodiments of the present application, the first cantilever is used to connect with the third joint, and the second member and / or the third member is internally formed with a wire harness chamber for accommodating the wire harness;

[0036] The leg assembly further comprises a first receiving part arranged at the end of the second cantilever, and the first receiving part is formed with a first receiving cavity, and the first receiving cavity is in communication with the wire harness chamber. This design places the wire harness in a continuous receiving channel, effectively avoiding interference and damage of the wire harness with the outside during joint movement, protecting the wire harness and making the leg assembly appearance neat and reliable.

[0037] In one or more embodiments of the present application, the leg assembly further comprises a second receiving portion arranged on an end of the second member distal to the third member, a first wire harness cavity is formed in the second member, a second receiving cavity is formed in the second receiving portion and communicates with an opening of the first wire harness cavity, the second receiving cavity, the first wire harness cavity and the first receiving cavity jointly form a first receiving channel for receiving a second wire harness, the second wire harness is arranged in the first receiving channel and electrically connected to the second joint and the third joint. This design realizes wire harness built-in from the inside of the second joint and the third joint, ensuring the reliability and neat appearance of wire harness management.

[0038] In one or more embodiments of the present application, the leg assembly further comprises a third receiving portion arranged on an end of the third member distal to the third joint and a fourth joint, a second wire harness cavity is formed in the third member, a third receiving cavity is formed in the third receiving portion and communicates with an opening of the second wire harness cavity, the first receiving cavity, the second wire harness cavity and the third receiving cavity jointly form a second receiving channel for receiving a third wire harness, the third wire harness is arranged in the second receiving channel and electrically connected to the third joint and the fourth joint. This design realizes wire harness built-in protection from the third joint to the terminal fourth joint, ensuring the reliability and neat appearance of wire harness management.

[0039] In one or more embodiments of the present application, the fourth joint is a wheel hub joint; and / or,

[0040] The fourth joint is connected with a foot pad. This design enables the leg assembly to flexibly adapt to different application scenarios such as wheeled movement or foot walking while maintaining wire harness built-in.

[0041] In one or more embodiments of the present application, the third member is directly connected with the third joint and the fourth joint respectively. This design ensures effective linkage between the third joint and the fourth joint, stable structure and efficient transmission.

[0042] In one or more embodiments of the present application, a second wire fixing portion is arranged inside the wire harness cavity for fixing the wire harness; and / or, the wire harness comprises a fixed segment and a movable segment, the fixed segment is arranged in the wire harness cavity, and the movable segment is arranged in the first receiving cavity. By fixing the wire harness, the bending fatigue stress can be guided to the first receiving cavity with sufficient space, avoiding stress concentration at the opening, thereby significantly prolonging the service life of the wire harness.

[0043] In one or more embodiments of the present application, the first and second cantilevers are formed on the third member, an end of the second member is disposed in a gap between the first and second cantilevers, and the third joint is at least partially disposed in the gap between the first and second cantilevers. This layout makes the overall structure more compact and stable.

[0044] Another embodiment of the present application provides the technical solution as follows:

[0045] A leg assembly as described above is applied to a leg assembly of a legged robot, and the legged robot is a biped robot, a quadruped robot or a wheel-legged robot. The application of the leg assembly can significantly improve the overall modularity level of the legged robot.

[0046] Compared with the prior art, the leg assembly and the legged robot of the present application effectively utilize the internal space of the leg assembly through the design of the curved first member and the cantilever structure, avoid interference during movement, improve flexibility and movement range, simplify the connection mode, and improve overall reliability. The modular joint and member design also allow for quick assembly and replacement. BRIEF DESCRIPTION OF DRAWINGS

[0047] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0048] Figure 1 It is a perspective structural schematic diagram of the leg assembly in the first embodiment of the present application.

[0049] Figure 2 It is an exploded structural schematic diagram of the leg assembly in the first embodiment of the present application.

[0050] Figure 3 It is an exploded partial structural schematic diagram of the third member in the first embodiment of the present application.

[0051] Figures 4-6 It is a structural schematic diagram of part of the member of the leg assembly in the first embodiment of the present application.

[0052] Figure 7 It is an exploded structural schematic diagram of the first joint, the second joint or the third joint in the first embodiment of the present application.

[0053] Figure 8 It is an exploded partial structural schematic diagram of the leg assembly in the first embodiment of the present application.

[0054] Figure 9Fig. 2 is a perspective view of a leg assembly according to an embodiment of the present application;

[0055] Figure 10 Fig. 3 is an exploded view of the leg assembly according to the embodiment of the present application;

[0056] Figure 11 、 Figure 12 Fig. 4 is a perspective view of a leg assembly according to another embodiment of the present application;

[0057] Figure 13 Fig. 5 is a perspective view of a leg assembly according to another embodiment of the present application.

[0058] Explanation of Reference Numerals:

[0059] 11 first joint

[0060] 111 fixed portion of the first joint

[0061] 112 rotating portion of the first joint

[0062] 113 first fitting hole

[0063] 114 first blocking portion

[0064] 12 second joint

[0065] 121 fixed portion of the second joint

[0066] 122 rotating portion of the second joint

[0067] 123 second fitting hole

[0068] 13 third joint

[0069] 14 fourth joint

[0070] 21 first member

[0071] 211 first connecting arm

[0072] 2111 first mounting hole

[0073] 2112 first stopper column

[0074] 212 second connecting arm

[0075] 2121 second mounting hole

[0076] 213 first wire fixing portion

[0077] 22 second member

[0078] 221 first wire bundle chamber

[0079] 23 third member

[0080] 231 first cantilever

[0081] 232 second cantilever

[0082] 233 second wire harness chamber

[0083] 24 mounting body

[0084] 241 locking structure

[0085] 242 wire routing channel

[0086] 31 drive member

[0087] 32 speed reducer

[0088] 33 drive plate

[0089] 41 first receiving portion

[0090] 411 first receiving cavity

[0091] 412 first enclosing wall

[0092] 413 first cover

[0093] 42 second receiving portion

[0094] 421 second receiving cavity

[0095] 422 second cover

[0096] 43 third receiving portion

[0097] 431 third receiving cavity

[0098] 51 first wire harness

[0099] 52 second wire harness

[0100] 53 third wire harness

[0101] 6 second wire securing portion

[0102] 71 robot body

[0103] 72 leg assembly DETAILED DESCRIPTION

[0104] In order to make the technical solution in the disclosure better understood by the person skilled in the art, the technical solution in the embodiments of the disclosure will be clearly and completely described below in combination with the drawings in the embodiments of the disclosure. Obviously, the described embodiments are only a part of the embodiments of the disclosure, rather than all the embodiments. Based on the embodiments in the disclosure, all other embodiments obtained by the person skilled in the art without creative labor should belong to the protection scope of the disclosure.

[0105] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0106] It should be noted that the embodiments in the disclosure and the features in the embodiments can be combined with each other without conflict.

[0107] It should be noted that the embodiments in the disclosure and the features in the embodiments can be combined with each other without conflict.

[0107] Taking the foot robot of Yushu Technology or Benmo Technology commonly seen in the market as an example, the cable at the knee joint or ankle joint is mostly designed as exposed or semi-exposed type, and is only fixed and roughly protected by a tie, a wire slot or a simple cover plate. The cable is inevitably exposed to risk in the movement process, and there is a sense of disorder in appearance. In order to solve the above problems, the present application provides a leg assembly and a foot robot.

[0108] The technical solutions in the disclosure will be described below in combination with the drawings.

[0109] Embodiment one:

[0110] Reference Figures 1-4As shown, one embodiment of the present application provides a leg assembly, which comprises a first joint 11, a second joint 12 and a third joint 13, each of which comprises a fixed part and a rotating part, wherein the first member 21 is a curved rod structure, the first end of which is connected to the rotating part 112 of the first joint 11, so that the first member 21 can rotate relative to the fixed part 111 of the first joint 11. One of the fixed part 121 and the rotating part 122 of the second joint 12 is connected to the second end of the first member 21, and the other is connected to the first end of the second member 22, so that the first member 21 and the second member 22 can rotate relative to each other; one of the fixed part and the rotating part of the third joint 13 is connected to the second end of the second member 22, and the other is connected to the first end of the third member 23, so that the second member 22 and the third member 23 can rotate relative to each other. In this embodiment, the third member 23 comprises a first cantilever 231 and a second cantilever 232 arranged in a spaced manner, the second member 22 is arranged in the gap between the first cantilever 231 and the second cantilever 232, and the third joint 13 is arranged on the first cantilever 231, specifically, the fixed part of the third joint 13 is fixed to the first cantilever 231, and the rotating part is connected to the third member 23. This arrangement optimizes the use of space through the curved first member 21 and the second member 22, makes the leg assembly compact in structure, reduces the overall size, and at the same time, the modular joint design facilitates disassembly and maintenance, for example, each joint can be replaced independently without affecting other components.

[0111] Through the design of the curved first member 21 and the cantilever structure, the internal space of the leg assembly is effectively utilized, interference during movement is avoided, flexibility and movement range are improved, connection mode is simplified, and overall reliability is improved; the modular joint and member design also allows quick assembly and replacement.

[0112] Of course, the present application is not limited thereto, in other embodiments, the third joint 13 can be arranged on the second cantilever 232 instead of the first cantilever 231, to adjust the torque distribution or adapt to different installation requirements; or, the third member 23 has the first cantilever 231 and the second cantilever 232, and the second member 22 is arranged in the gap; in addition, additional joints or members can be added, but the core design of the gap between the first cantilever 231 and the second cantilever 232 is maintained, to realize more complex movement modes. These variants are based on similar space optimization and modularization principles, and fall within the protection scope of the present application.

[0113] Specifically, in order to facilitate the transmission of force, the fixed part 121 of the second joint 12 is connected to the first end of the second member 22, and the rotating part 122 of the second joint 12 is connected to the second end of the first member 21; the fixed part of the third joint 13 is connected to the second end of the second member 22, and the rotating part of the third joint 13 is connected to the first end of the third member 23. This design clearly defines the specific power transmission path between the joints, making the structure more stable, the transmission more direct and efficient, and reducing energy loss and shaking during movement.

[0114] Of course, in other embodiments, the fixed part 121 of the second joint 12 is connected to the second end of the first member 21, and the rotating part 122 of the second joint 12 is connected to the first end of the second member 22; the fixed part of the third joint 13 is connected to the first end of the third member 23, and the rotating part of the third joint 13 is connected to the second end of the second member 22; or, the fixed part 121 of the second joint 12 is connected to the first end of the second member 22, and the rotating part 122 of the second joint 12 is connected to the second end of the first member 21; the fixed part of the third joint 13 is connected to the first end of the third member 23, and the rotating part of the third joint 13 is connected to the second end of the second member 22; or, the fixed part 121 of the second joint 12 is connected to the second end of the first member 21, and the rotating part 122 of the second joint 12 is connected to the first end of the second member 22; the fixed part of the third joint 13 is connected to the second end of the second member 22, and the rotating part of the third joint 13 is connected to the first end of the third member 23, all of which fall within the scope of the present application.

[0115] The first member 21 in the embodiment is curved, the first connecting arm 211 and the second connecting arm 212 are not collinear and the included angle between them is substantially 90°, and the rotation axes of the first joint 11 and the second joint 12 arranged above the first connecting arm 211 and the second connecting arm 212 are also staggered, i.e. substantially 90°. This staggered configuration can realize complex spatial compound motion, expand the working space and motion flexibility of the actuator (such as the wheel hub in Embodiment Two or the foot pad in Embodiment Three), optimize the overall structural layout, and effectively avoid spatial interference between components during movement.

[0116] Of course, the present application is not limited to this, in another embodiment, the angle between the first connecting arm 211 and the second connecting arm 212 is a specific angle, which can be 30°, or 60°, or 75°, or 120°, or 150°, etc., so that the first member 21 is V-shaped, and the rotation axes L1 and L2 of the two joints form a non-parallel relationship. Alternatively, the first member 21 in other embodiments is a T-shaped first member 21; or the first member 21 in other embodiments is an integrally formed U-shaped bending section without a clear dividing connecting arm. At this time, the first joint 11 and the second joint 12 are respectively installed at the two ends of the U-shaped structure, and the rotation axes L1 and L2 of the two joints form a relationship neither intersecting nor parallel, also achieving spatial staggered arrangement.

[0117] Preferably, referring to Figures 4-6 When the first member 21 is L-shaped, its first connecting arm 211 and second connecting arm 212 are perpendicular to each other, so that the rotation axis A1 of the first joint 11 and the rotation axis A2 of the second joint 12 are naturally perpendicular to each other. The rotation of the first joint 11 (around the A1 axis) can drive the end effector to swing in the horizontal plane, while the rotation of the second joint 12 (around the A2 axis) mainly drives the end effector to pitch in the vertical plane. By setting the first joint 11 and the second joint 12 with perpendicular rotation axes, the kinematics forward solution and inverse solution calculation of the legged robot can be simplified, the complexity and computational burden of the control system can be reduced, and the motion trajectory planning of the legged robot can be more intuitive and accurate. Of course, when the angle between the first connecting arm 21 and the second connecting arm is a specific angle, the angle between the rotation axis A1 of the first joint 3 and the rotation axis A2 of the second joint is also the specific angle, which is understood and accepted by those skilled in the art.

[0118] In the present application, in order to clearly describe the positional relationship between the components, the "convex side" and "concave side" of the first member 21 are defined as follows: the bending structure of the first member 21 naturally forms an L-shaped region with an angle of about 90°, and the internal space surrounded by this region is on one side, which is the "concave side", and the outer side of the back bulge is the "convex side". In the preferred embodiment, the first joint 11 and the second joint 12 are both fixedly installed on the convex side of the first member 21.

[0119] The convex side installation is equivalent to arranging two joints on the outer side of the first member 21. This arrangement maximizes the use of the space on the outer side of the first member 21, so that the second joint 12 moves away from the robot body as the first joint 11 rotates, so that the actuator connected to the second joint 12 has a larger movement space, and at the same time, the second joint 12 avoids collision with the robot body as much as possible. At the same time, the convex side installation makes the concave side of the first member 21 naturally form a protected space, and the first wire harness 51 can be routed from the robot body, close to the inner wall of the concave side of the first member 21 and fixed to the first member 21. According to the design, when the first joint 11 and the second joint 12 swing, the first wire harness 51 is always partially constrained on the first member 21, avoiding the first joint 11 and the second joint 12, effectively preventing the first wire harness 51 from being entangled or pulled with the first joint 11 or the second joint 12, and improving the reliability and life of the leg assembly.

[0120] To realize a compact and stable connection, as shown in Figure 5 one or more first mounting holes 2111 are formed on the first connecting arm 211, and one or more second mounting holes 2121 are formed on the second connecting arm 212. Corresponding to the first mounting hole 2111, a first assembly hole 113 is provided on the rotating part 112 of the first joint 11; corresponding to the second mounting hole 2121, a second assembly hole 123 is provided on the rotating part 122 of the second joint 12. The assembly hole is preferably a threaded hole. The installation direction of the fastener (such as a hexagonal socket head screw) is from the concave side of the first member 21. It successively passes through the first mounting hole 2111 and the first assembly hole 113, and after being tightened, it can make the rotating part 112 and the first connecting arm 211 tightly compressed. In the same way, another group of fasteners passes through the second mounting hole 2121 from the concave side and is locked in the second assembly hole 123, so as to fixedly connect the rotating part 122 of the second joint 12 and the second connecting arm 212.

[0121] Preferably, as shown in Figure 5 the leg assembly in this embodiment also includes a limiting part and a blocked part that cooperate to limit the rotation range of the first joint 11 and the second joint 12. The limiting part is a stop block or a column structure integrally formed or fixedly installed on the first member 21. The blocked part is a stop block or a column structure integrally formed or fixedly installed on the first joint 11 and / or the second joint 12. However, it should be understood that the setting position of the limiting part is not limited to the first member 21, and the limiting part can also be provided on the first joint 11 and / or the second joint 12, and the blocked part is provided on the first member 21 and corresponds to the limiting part, as long as the two can form contact interference through relative movement.

[0122] Specifically, the limiting part is provided on the first member 21. Referring to Figure 5As shown, a first limiting post 2112 is arranged on the first connecting arm 211. The first limiting post 2112 is located on the movement path of the first joint 11. When the rotating part 112 of the first joint 11 rotates to the limit position in a direction, the first blocked part 114 (for example, a boss arranged on the fixed part 111 or the rotating part 112) on the first joint 11 will collide with the first limiting post 2112, thereby preventing it from continuing to rotate, achieving one-way or two-way rotation angle limitation.

[0123] It should be explained that the number of the first limiting post 2112 can be one or more. When one first limiting post 2112 is arranged, the range of the first connecting arm 211 covered by the first limiting post 2112 can be set, so as to limit the rotation range of the first joint 11 by the collision of the first blocked part 114 with the two sides of the first limiting post 2112. When two or more first limiting posts 2112 are arranged, a limiting interval is formed between a pair of first limiting posts 2112. When the first blocked part 114 is arranged between the two first limiting posts 2112, the maximum allowable rotation angle of the first joint 11 can be accurately set by adjusting the included angle between the two first limiting posts 2112. Of course, the present application is not limited thereto. In other embodiments, the second connecting arm 212 can also be provided with a second limiting post. Similarly, the number of the second limiting post can also be one or more, which will not be described here. The modular limiting design provides great convenience for angle customization in different application scenarios.

[0124] In order to install the fixed part 111 of the first joint 11 on the robot, refer to Figures 4-6 As shown, the leg assembly in the embodiment further includes a mounting body 24 connected with the fixed part 111 of the first joint 11. The mounting body 24 can be a base or a robot body. The fixed part 111 of the first joint 11 is mounted on the mounting body 24 in a detachable manner. Specifically, the mounting body 24 includes a main body part and a detachable matching part. After the main body part and the matching part are matched, they jointly form an installation cavity embracing the outer wall of the fixed part 111 of the first joint 11. By fastening the locking structure 241 such as screw or bolt passing through the main body part and the matching part, the clamping force of the mounting body 24 can be used to fix and install the fixed part 111 of the first joint 11 in the installation cavity of the mounting body 24, which is reliable and convenient to disassemble. Of course, the present application is not limited thereto. In other embodiments, the mounting body 24 can also adopt a similar hoop structure; or the fixed part 111 of the first joint 11 can be directly provided with a locking hole, which can be directly fastened by screw or bolt; or the fixed part 111 of the first joint 11 can be fixed and installed on the mounting body 24 by welding.

[0125] Refer to Figures 4-6As shown, the leg assembly further comprises a first wire harness 51 for realizing power transmission and signal communication between the first joint 11 and the second joint 12. Specifically, one end of the first wire harness 51 is connected to the drive plate 33 of the first joint 11, then partially arranged on the concave side of the first member 21, and extends to the second joint 12 and is connected to the drive plate 33 of the second joint 12.

[0126] Preferably, referring to Figure 6 As shown, the concave side of the first member 21 is provided with a first wire fixing portion 213 for fixing the first wire harness 51, such as a buckle or the like structure, so as to neatly constrain the first wire harness 51 in the concave side space, avoiding its loosening or interference with the actuator.

[0127] Preferably, referring to Figure 6 As shown, the mounting body 24 is provided with a wire routing groove 242 for constraining the first wire harness 51 connected to the first joint 11. Specifically, the wire routing groove 242 can be a U-shaped groove formed on the surface of the mounting body 24, and after the first wire harness 51 is connected to the drive plate 33 of the first joint 11, a portion of the first wire harness 51 close to the mounting body 24 is received in the wire routing groove 242.

[0128] Since the space between the first joint 11 and the second joint 12 is optimized, the mounting body 24 and the area around it are no longer occupied by the actuator and the first wire harness 51, thereby releasing sufficient physical space for at least one of the power supply device, the control device and the sensing device to be provided on the mounting body 24. The power supply device, the control device and the sensing device are no longer involved in the position outside or on the top of the robot body, but can be considered for optimizing the layout.

[0129] Preferably, referring to Figure 7 As shown, the first joint 11, the second joint 12 and the third joint 13 in the embodiment all adopt an integrated modular design, and the inside of the first joint 11 and the second joint 12 are integrated with the drive member 31 as a power source, the speed reducer 32 connected to the output end of the drive member 31, and the drive plate 33 for controlling the drive member 31. Among them, the drive member 31 can adopt a brushless DC motor or the like structure, the output shaft of the drive member 31 transmits power to the input end of the speed reducer 32 through a shaft coupling or direct driving, and the output flange of the speed reducer 32 constitutes a joint rotating part for external output. The drive plate 33 is usually fixedly installed in the non-rotating area inside the joint shell. Thus, the drive member 31, the speed reducer 32 and the drive plate 33 together constitute a compact and complete modular actuator. By integrating power, transmission and control functions in one joint, each joint becomes an independent functional module, thereby simplifying the overall design and assembly process of the leg assembly.

[0130] Preferably, referring toFigures 1-3 In combination with Figure 8 As shown in FIG. 6, the end of the third member 23 in the embodiment is configured as a double cantilever structure. The third member 23 is Y-shaped, i.e. the end thereof is generally V-shaped. This design facilitates compact structure and effective use of the mounting space at the end of the third member 23. Of course, in other embodiments, the end structure of the third member 23 is not limited to V-shaped, but can also be U-shaped, fork-shaped or other forms capable of achieving functional separation of the end. In other embodiments, the end of the third member 23 is a multi-cantilever structure, such as a three-cantilever structure, or a four-cantilever structure, etc. The shape includes reasonable structural deformation thereof, and is not limited to strict geometric definition.

[0131] Referring to Figure 8 As shown in FIG. 6, in order to facilitate protection of the wire harness, the first cantilever 231 in the embodiment is used to be connected with the third joint 13, and a wire harness chamber for accommodating the wire harness is formed inside the second member 22 and / or the third member 23; the leg assembly further includes a first accommodating portion 41 provided at the end of the second cantilever 232, and a first accommodating cavity 411 is formed in the first accommodating portion 41, and the first accommodating cavity 411 is in communication with the wire harness chamber. This design ensures that the wire harness is always limited inside the first accommodating cavity 411 and the wire harness chamber during the joint movement, which not only protects the wire harness from external damage, but also maintains the neat appearance of the leg assembly. At the same time, the volume of the first accommodating cavity 411 is reasonably designed, so that it can accommodate the bending and folding parts of the wire harness during the relative rotation between the second member 22 and the third member 23, effectively preventing the wire harness from being abraded or stuck due to insufficient space.

[0132] To realize the full-length protection of the wire harness (defined as "second wire harness 52") connecting the second joint 12 and the third joint 13, the leg assembly in the embodiment adds a second receiving portion 42 at the end of the second member 22 away from the third member 23. A second receiving cavity 421 is formed in the second receiving portion 42. The inside of the second member 22 is formed with a first wire harness chamber 221, and one end of the second receiving cavity 421 directly communicates with the opening of the first wire harness chamber 221. At this time, the second receiving cavity 421, the first wire harness chamber 221 and the first receiving cavity 411 are sequentially communicated to form a continuous first receiving channel. The second wire harness 52 is arranged in the first receiving channel. One end of the second wire harness 52 is electrically connected with the second joint 12 (such as the driving plate 33 thereof), and the other end is electrically connected with the third joint 13, so as to realize reliable transmission of energy and signals between the second joint 12 and the third joint 13. Similarly, the second receiving cavity 421 can also have a structure similar to that of the first receiving cavity 411 (a second receiving cavity 421 is formed by a surrounding wall structure on the end of the second member 22 and a second cover 422 mounted thereon), or an arc-shaped elbow pipe, or a U-shaped guide groove, or an internal passage formed in the housing of the second joint 12. As long as the structure provides a protected space for receiving the second wire harness 52 between the inlet of the first wire harness chamber 221 and the second joint 12, it falls within the scope of the second receiving cavity 421. The second receiving cavity 421 can be integrally formed with the end of the second member 22, or it can be a separate part fixed to the second member 22.

[0133] Preferably, a second wire fixing portion 6 (see Figure 8 ) is arranged on the inner wall of the wire harness chamber or at a specific position in the embodiment. The main function of the second wire fixing portion 6 is to limit the unintended movement of the wire harness (second wire harness 52) in the channel, prevent it from sliding in the receiving channel or excessively rubbing against the inner wall of the receiving channel due to gravity or motion inertia, thereby effectively reducing wear and suppressing motion noise. Specifically, the second wire fixing portion 6 can be a wire clamp, a clamping groove or a cable tie fixing seat directly formed on the inner wall of the wire harness chamber, or a buckle installed later by adhesion or screws. As long as it is a functional structure arranged inside the wire harness chamber for restraining, positioning or fixing the wire harness, it falls within the protection scope of the "second wire fixing portion 6".

[0134] Specifically, refer to Figure 8As shown, the wire harness (second wire harness 52) in the embodiment includes a fixed end and a movable section. The fixed end is constrained inside the wire harness chamber by the second wire fixing part 6, so that it remains substantially without relative motion with the second member 22. The movable section is arranged in the first accommodating cavity 411 and is designed to have a certain redundant length arranged in the first accommodating cavity 411, so that it can freely and smoothly complete bending deformation when the members rotate relative to each other. According to the design, bending fatigue stress can be concentrated in the first accommodating cavity 411 with sufficient space, so as to effectively avoid stress concentration at positions such as the opening of the wire harness chamber, so as to effectively improve the fatigue life of the wire harness.

[0135] With reference to Figures 1-3 and in combination with Figure 8 As shown, in order to connect the second member 22, the third member 23 and the third joint 13, the first cantilever 231 and the second cantilever 232 of the embodiment are formed on the third member 23. The end of the second member 22 extends into and is accommodated in the gap between the first cantilever 231 and the second cantilever 232. The third joint 13 is at least partially arranged in the gap between the first cantilever 231 and the second cantilever 232. This design optimizes the use of space and facilitates compact and stable structure. Of course, the third joint 13 in other embodiments can also be installed on the side of the first cantilever 231 away from the second cantilever 232, which is understood and accepted by those skilled in the art.

[0136] Embodiment two:

[0137] The difference from embodiment one is that, with reference to Figure 9 , 10 and in combination with Figure 3 As shown, in order to facilitate the movement of the leg assembly, the leg assembly in the embodiment is additionally provided with a fourth joint 14 at the end of the third member 23 away from the third joint 13. The fourth joint 14 can be a rotary joint, a swing joint or any other form of driving unit. Specifically, the fourth joint 14 in the embodiment is a hub joint. The hub joint integrates a hub motor, a speed reduction structure and a driver into one body. The stator part of the hub joint is connected with the end of the third member 23 away from the second member 22, and the rotor output part directly drives a hub or a tire to rotate.

[0138] In order to facilitate the protection of the wire harness (the third wire harness 53) connecting the third joint 13 and the fourth joint 14, a third receiving cavity 431 is formed in the third receiving part 43. One end of the third receiving cavity 431 is directly communicated with the opening of the second wire harness chamber 233. At this point, the first receiving cavity 411, the second wire harness chamber 233 and the third receiving cavity 431 are sequentially communicated, and together constitute a continuous second receiving channel. The third wire harness 53 is arranged in the second receiving channel. One end of the third wire harness 53 is electrically connected with the third joint 13 (such as the driving plate 33 thereof), and the other end of the third wire harness 53 extends into the third receiving cavity 431 to be electrically connected with the fourth joint 14, thereby realizing reliable transmission of energy and signals between the third joint 13 and the fourth joint 14. It should be noted that the third receiving cavity 431 can have a structure similar to that of the first receiving cavity 411, or can be an arc-shaped elbow, or a guide groove, or an internal passage arranged in the shell of the fourth joint 14. As long as the structure provides a protected space for receiving the third wire harness 53 between the outlet of the second wire harness chamber 233 and the fourth joint 14, it falls within the scope of the third receiving cavity 431. In addition, the third receiving cavity 431 can be integrally formed with the end of the third member 23, or can be a separate part fixed to the third member 23.

[0139] In order to ensure effective linkage between the third joint 13 and the fourth joint 14, stable structure and efficient transmission, the third member 23 in the embodiment is directly connected with the third joint 13 and the fourth joint 14 respectively.

[0140] Embodiment three:

[0141] The difference between the embodiment two and the embodiment three is that, as shown in Figure 11 , 12 , the end of the third member 23 in the embodiment is connected with the fourth joint 14, which is a foot pad. The leg assembly can be used as a lower limb of a foot-type robot to realize walking function. The internal passage also effectively protects the wire harness leading to the foot pad.

[0142] Embodiment four:

[0143] As shown in Figure 13 , the embodiment provides a foot-type robot, the robot body 71 of which is integrated with any of the aforementioned leg assemblies 72, realizing compact structure, optimized layout, modularization and easy maintenance, and having high motion flexibility and structural reliability. It should be noted that as long as the foot-type robot is integrated with at least one leg assembly 72 having a wire harness management feature, whether it is a biped, quadruped, hexapod, wheel-foot type or other multi-legged configuration, it falls within the protection scope of the present claim.

[0144] It should be noted that the brushless DC motor and other structures in the present application which are not described in detail and their working principles can adopt the existing solutions in the prior art, which can be understood and accepted by those skilled in the art, and thus will not be described again.

[0145] In the description of the embodiments of the present application, it should be understood that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship commonly understood by those skilled in the art, and are only for the purpose of facilitating the description of the present application and simplifying the description, and therefore cannot be construed as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be construed as limiting the present application.

[0146] In the description of the embodiments of the present application, it should also be noted that unless otherwise explicitly specified and limited, the terms "set", "mount", "connected", "connected" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be directly connected, or indirectly connected through an intermediate medium, or it can be connected inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0147] In the description of the embodiments of the present application, it should also be noted that the "first", "second" and the like used herein do not particularly refer to the order or sequence, nor do they limit the present application, but only distinguish the components or operations described by the same technical terms.

[0148] It is obvious to those skilled in the art that the present disclosure is not limited to the details of the above exemplary embodiments, and the present disclosure can be implemented in other specific forms without departing from the spirit or essential characteristics of the present disclosure. Therefore, the embodiments should be considered as exemplary and non-limiting, and the scope of the present disclosure is defined by the appended claims, not the above description, and therefore all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present disclosure. Any reference signs in the claims should not be considered as limiting the claims involved.

[0149] In addition, it should be understood that although the present specification is described in terms of embodiments, not every embodiment contains only one independent technical solution, and the description of the specification is only for the sake of clarity, those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can be appropriately combined to form other embodiments that those skilled in the art can understand.

Claims

1. A leg assembly characterized by, The leg assembly (72) includes a first joint (11), a second joint (12), a third joint (13), a first component (21), a second component (22), and a third component (23). The first joint (11), the second joint (12), and the third joint (13) each include a fixing part and a rotating part that rotates relative to the fixing part. The first component (21) is bent. The rotating part (112) of the first joint (11) is connected to the first end of the first component (21); One of the fixing part (121) and the rotating part (122) of the second joint (12) is connected to the second end of the first member (21), and the other is connected to the first end of the second member (22), so that the first member (21) and the second member (22) can rotate relative to each other; One of the fixed part and the rotating part of the third joint (13) is connected to the second end of the second member (22), and the other is connected to the first end of the third member (23), so that relative rotation can occur between the second member (22) and the third member (23); One of the second component (22) and the third component (23) includes a first cantilever (231) and a second cantilever (232) spaced apart, the other of the second component (22) and the third component (23) is disposed in the gap between the first cantilever (231) and the second cantilever (232), and the third joint (13) is disposed on one of the first cantilever (231) and the second cantilever (232).

2. The leg assembly of claim 1, wherein, The fixing part (121) of the second joint (12) is connected to the first end of the second component (22), and the rotating part (122) of the second joint (12) is connected to the second end of the first component (21); the fixing part of the third joint (13) is connected to the second end of the second component (22), and the rotating part of the third joint (13) is connected to the first end of the third component (23); or, The fixing part (121) of the second joint (12) is connected to the second end of the first component (21), and the rotating part (122) of the second joint (12) is connected to the first end of the second component (22); the fixing part of the third joint (13) is connected to the first end of the third component (23), and the rotating part of the third joint (13) is connected to the second end of the second component (22); or, The fixing part (121) of the second joint (12) is connected to the first end of the second component (22), and the rotating part (122) of the second joint (12) is connected to the second end of the first component (21); the fixing part of the third joint (13) is connected to the first end of the third component (23), and the rotating part of the third joint (13) is connected to the second end of the second component (22); or, The fixing part (121) of the second joint (12) is connected to the second end of the first component (21), and the rotating part (122) of the second joint (12) is connected to the first end of the second component (22); the fixing part of the third joint (13) is connected to the second end of the second component (22), and the rotating part of the third joint (13) is connected to the first end of the third component (23).

3. The leg assembly according to claim 1, characterized in that, The rotation axis of the first joint (11) and the rotation axis of the second joint (12) are spatially misaligned.

4. The leg assembly according to claim 3, characterized in that, The first joint (11) and the second joint (12) are both fixedly installed on the convex side of the first component (21).

5. The leg assembly according to claim 4, characterized in that, The leg assembly (72) further includes fasteners. The first component (21) is provided with mounting holes (2111, 2121). The first joint (11) and the second joint (12) are each provided with assembly holes (113, 123) that mate with the mounting holes (2111, 2121). The fasteners pass through the mounting holes (2111, 2121) from the concave side of the first component (21) and are locked in the corresponding assembly holes (113, 123).

6. The leg assembly according to claim 3, characterized in that, The first component (21) is L-shaped, V-shaped, U-shaped, or T-shaped; and / or, The rotation axis of the first joint (11) is perpendicular to the rotation axis of the second joint (12).

7. The leg assembly according to claim 1, characterized in that, The leg assembly (72) also includes a matching limiting part and a blocking part; The limiting part and the blocked part are respectively disposed on the first component (21) and the first joint (11) and / or the second joint (12). The rotation range of the first joint (11) and / or the second joint (12) is limited by the contact between the limiting part and the blocked part.

8. The leg assembly according to claim 7, characterized in that, The limiting part is a column structure (2112) integrally formed or fixedly installed from the component on which it is provided, and the blocked part (114) rotates with the rotating part of the corresponding joint within the range of motion defined by the limiting part.

9. The leg assembly according to claim 1, characterized in that, The leg assembly (72) also includes a first wire harness (51) electrically connecting the first joint (11) and the second joint (12).

10. The leg assembly according to claim 9, characterized in that, The first wire harness (51) is partially disposed on the concave side of the first member (21); and / or, The first component (21) is provided with a first wire-fixing part (213) for fixing the first wire harness (51); and / or, The leg assembly (72) further includes a mounting body (24) connected to the fixing part (111) of the first joint (11). The mounting body (24) is provided with a wiring groove (242), and a first wire harness (51) is partially disposed between the first joint (11) and the mounting body (24) and housed in the wiring groove (242).

11. The leg assembly according to claim 1, characterized in that, The leg assembly (72) further includes a mounting body (24) connected to a fixing portion (111) of the first joint (11), the mounting body (24) being a robot body (71) or a base; and / or, The fixing part (111) of the first joint (11) is detachably connected to the mounting body (24); and / or, The mounting body (24) is provided with at least one of a power supply device, a control device, and a sensing device.

12. The leg assembly according to claim 1, characterized in that, The first joint (11), the second joint (12) and the third joint (13) each include a drive member (31), a reducer (32) connected to the output end of the drive member (31), and a drive plate (33) for controlling the drive member (31).

13. The leg assembly according to claim 1, characterized in that, At least one of the second component (22) and the third component (23) has a double cantilever structure at its end; and / or, At least one of the second component (22) and the third component (23) is Y-shaped.

14. The leg assembly according to claim 1, characterized in that, The first cantilever (231) is used to connect with the third joint (13), and the second member (22) and / or the third member (23) have wire harness chambers (221, 233) formed inside for accommodating the wire harness; The leg assembly (72) further includes a first receiving portion (41) disposed at the end of the second cantilever (232), wherein a first receiving cavity (411) is formed in the first receiving portion (41), and the first receiving cavity (411) is connected to the wire harness chamber (221, 233).

15. The leg assembly according to claim 14, characterized in that, The leg assembly (72) further includes a second receiving portion (42) disposed on the end of the second member (22) away from the third member (23). A first wire harness chamber (221) is formed in the second member (22). A second receiving cavity (421) communicating with the opening of the first wire harness chamber (221) is formed in the second receiving portion (42). The second receiving cavity (421), the first wire harness chamber (221) and the first receiving cavity (411) together form a first receiving channel for receiving the second wire harness (52). The second wire harness (52) passes through the first receiving channel and is electrically connected to the second joint (12) and the third joint (13).

16. The leg assembly according to claim 14, characterized in that, The leg assembly (72) further includes a third receiving portion (43) and a fourth joint (14) disposed on the end of the third member (23) away from the third joint (13). A second wire harness chamber (233) is formed in the third member (23). A third receiving cavity (431) communicating with the opening of the second wire harness chamber (233) is formed in the third receiving portion (43). The first receiving cavity (411), the second wire harness chamber (233) and the third receiving cavity (431) together form a second receiving channel for receiving the third wire harness (53). The third wire harness (53) passes through the second receiving channel and is electrically connected to the third joint (13) and the fourth joint (14).

17. The leg assembly according to claim 16, characterized in that, The fourth joint (14) is a hub joint; and / or, The fourth joint (14) is connected to a foot pad.

18. The leg assembly according to claim 16, characterized in that, The third component (23) is directly connected to the third joint (13) and the fourth joint (14), respectively.

19. The leg assembly according to claim 14, characterized in that, The wire harness chambers (221, 233) are provided with a second wire-fixing part (6) for fixing the wire harness; and / or, The wire harness includes a fixed section and a movable section. The fixed section is disposed in the wire harness chamber (221, 233), and the movable section is disposed in the first receiving cavity (411).

20. The leg assembly according to claim 1, characterized in that, The first cantilever (231) and the second cantilever (232) are formed on the third member (23), the end of the second member (22) is disposed in the gap between the first cantilever (231) and the second cantilever (232), and the third joint (13) is at least partially disposed in the gap between the first cantilever (231) and the second cantilever (232).

21. A legged robot, characterized in that, Includes at least one leg assembly (72) as claimed in any one of claims 1 to 20, wherein the legged robot is a bipedal robot, a quadrupedal robot, or a wheel-legged robot.

Images