Robot leg mechanism and robot

Abstract

The invention relates to a robot leg mechanism and a robot, the robot leg mechanism comprises a leg assembly and a light-emitting assembly, the leg assembly comprises a shell, the shell is provided with a mounting cavity, a notch communicated with the mounting cavity is formed in the shell, the light-emitting assembly is arranged in the mounting cavity, and at least part of the light-emitting assembly is exposed out of the notch; therefore, light emitted by the light-emitting assembly can be transmitted to the outside of the shell. According to the robot leg mechanism, the light emitting effect is achieved, meanwhile, light emitted by the light emitting assembly can achieve the illumination effect, and the functions of the robot leg mechanism are enriched.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a robot leg mechanism and a robot. BACKGROUND

[0002] Quadruped robots, hexapod robots and the like have excellent terrain adaptability and thus have great application potential in complex environment exploration, rescue, logistics transportation and the like.

[0003] In the related art, the function of the robot leg mechanism is relatively single and needs to be improved. SUMMARY

[0004] Embodiments of the present application provide a robot leg mechanism and a robot, aiming at improving the problem that the function of the robot leg mechanism is relatively single.

[0005] In order to achieve the above-mentioned purpose, according to a first aspect of the present application, a robot leg mechanism is provided, comprising: A leg assembly comprising a shell, the shell having a mounting cavity, the shell being formed with a notch in communication with the mounting cavity; A light-emitting assembly arranged in the mounting cavity, the light-emitting assembly being at least partially exposed to the notch so that light emitted by the light-emitting assembly can be transmitted to the outside of the shell.

[0006] Optionally, the light-emitting assembly comprises a light-emitting element and a light guide element, the light-emitting element being arranged in the mounting cavity, the light guide element being arranged opposite to the light-emitting element, the light guide element being at least partially exposed to the notch, the light guide element being used to guide the light generated by the light-emitting element out of the shell.

[0007] Optionally, the shell has a first outer wall surface and a second outer wall surface arranged adjacent to each other, the first outer wall surface and the second outer wall surface each being formed with the notch; An end of the light guide element away from the light-emitting element has a light exit surface, the light exit surface comprising a first light exit surface and a second light exit surface, the first light exit surface being exposed to the notch at the first outer wall surface, the second light exit surface being exposed to the notch at the second outer wall surface.

[0008] Optionally, the first light exit surface is flush with the first outer wall surface; and / or, the second light exit surface is flush with the second outer wall surface.

[0009] Optionally, the shell comprises a first inner wall surface and a second inner wall surface arranged opposite to each other, the light-emitting assembly further comprising a circuit board, the light-emitting element being connected to the circuit board; The circuit board is connected to the first inner wall surface, and the light guide element is connected to the second inner wall surface.

[0010] Optionally, an inner wall surface of the shell is formed with a connecting seat, the connecting seat is formed with a connecting cavity, and at least part of the light-emitting assembly is inserted into the connecting cavity.

[0011] Optionally, one of the connecting seat and the light-emitting assembly is formed with a clamping groove, and the other of the connecting seat and the light-emitting assembly is formed with a clamping portion, the clamping portion being clamped in the clamping groove.

[0012] Optionally, the connecting seat comprises a body and a connecting block, a first end of the connecting block being connected to the body, a second end of the connecting block being formed with the clamping portion, and gaps being formed between two sides of the connecting block and the body to allow the connecting block to deform relative to the connecting cavity.

[0013] Optionally, an inner wall surface of the shell is formed with a plurality of reinforcing ribs, and the connecting seat is connected to at least one of the reinforcing ribs.

[0014] Optionally, the leg assembly comprises a thigh, a calf, a transmission assembly, and a calf motor, the calf motor being mounted on an upper portion or a lower portion of the thigh, the transmission assembly being arranged in the mounting cavity, and the light-emitting assembly being arranged in a spaced manner relative to the transmission assembly, the calf motor being connected to the calf through the transmission assembly to drive the calf to rotate relative to the thigh.

[0015] Optionally, the transmission assembly comprises a rotating member and a connecting rod, the rotating member being connected to the calf motor, and the connecting rod connecting the rotating member and the calf, the calf motor being configured to drive the rotating member to rotate to drive the connecting rod to rotate, wherein, the light-emitting assembly is arranged in a spaced manner relative to the rotating member along a radial direction of the rotating member; and / or, the light-emitting assembly is arranged in a spaced manner relative to the connecting rod along the radial direction of the rotating member; and / or, the light-emitting assembly is arranged in a spaced manner relative to the rotating member along an axial direction of the rotating member; and / or, the light-emitting assembly is arranged in a spaced manner relative to the connecting rod along the axial direction of the rotating member.

[0016] Optionally, the light-emitting assembly is sealingly connected to a wall surface of the notch; and / or, the leg assembly comprises a thigh and a calf, and at least one of the thigh and the calf is formed with the notch.

[0017] According to a second aspect of the present application, a robot is provided, comprising the robot leg mechanism as described above.

[0018] In the robot leg mechanism of the embodiment of the present application, the light emitting assembly is arranged in the mounting cavity of the shell, and is at least partially exposed at the gap of the shell, so that the light emitted by the light emitting assembly can be transmitted to the outside of the shell through the gap, so that the robot leg mechanism has a light emitting effect, and the light emitted by the light emitting assembly can also play a role of illumination, thereby enriching the functions of the robot leg mechanism.

[0019] Other features and advantages of the present application will be described in detail in the following specific embodiments. BRIEF DESCRIPTION OF DRAWINGS In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0020] In order to more completely understand the present application and its beneficial effects, the following will be described in conjunction with the drawings, wherein the same reference numerals in the following description represent the same parts.

[0021] Figure 1 is a structural schematic diagram of a robot leg mechanism provided in an exemplary embodiment of the present disclosure; Figure 2 is a structural schematic diagram of a robot leg mechanism provided in an exemplary embodiment of the present disclosure Figure 1 is an enlarged structural schematic diagram of the structure at A in FIG. 1; Figure 3 is a partial structural schematic diagram of a robot leg mechanism provided in an exemplary embodiment of the present disclosure; Figure 4 is a structural schematic diagram of a robot leg mechanism provided in an exemplary embodiment of the present disclosure Figure 3 is an enlarged structural schematic diagram of the structure at B in FIG. 1; Figure 5 is a structural schematic diagram of a light emitting assembly provided in an exemplary embodiment of the present disclosure; Figure 6 is an exploded view of a partial structure of a robot leg mechanism provided in an exemplary embodiment of the present disclosure; Figure 7 is a structural schematic diagram of a robot leg mechanism provided in an exemplary embodiment of the present disclosure Figure 6 is an enlarged structural schematic diagram of the structure at C in FIG. 1.

[0022] Explanation of reference numerals: 1, leg assembly; 2, light emitting assembly; 3, clamping groove; 4, clamping part; 5, thigh; 6, calf; 7, transmission assembly; 8, calf motor; 11, shell; 12, mounting cavity; 13, notch; 14, connecting seat; 15, reinforcing rib; 21, light emitting piece; 22, light guide piece; 23, circuit board; 71, rotating piece; 72, connecting rod; 111, first outer wall surface; 112, second outer wall surface; 113, second inner wall surface; 141, connecting cavity; 142, body; 143, connecting block; 144, gap; 221, first light emitting surface; 222, second light emitting surface. DETAILED DESCRIPTION

[0023] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by a person skilled in the art without creative labor fall within the protection scope of the present application.

[0024] According to the embodiments of the first aspect of the present application, referring to Figure 1 and Figure 2 , the robot leg mechanism comprises: a leg assembly 1 comprising a shell 11, the shell 11 having a mounting cavity 12, the shell 11 being formed with a notch 13 communicating with the mounting cavity 12; a light emitting assembly 2 arranged in the mounting cavity 12, the light emitting assembly 2 being at least partially exposed to the notch 13 so that the light emitted by the light emitting assembly 2 can be transmitted to the outside of the shell 11.

[0025] According to the robot leg mechanism of the present application, the light emitting assembly 2 is arranged in the mounting cavity 12 of the shell 11, and the light emitting assembly 2 is at least partially exposed to the notch 13 of the shell 11, so that the light emitted by the light emitting assembly 2 can be transmitted to the outside of the shell 11 through the notch 13, so that the robot leg mechanism has a light emitting effect, and the light emitted by the light emitting assembly 2 can also play a role of illumination, enriching the functions of the robot leg mechanism.

[0026] In some examples, the notch 13 can be formed on the outer side or the inner side of the shell 11.

[0027] In some examples, the notch 13 can be formed on the upper part or the lower part of the shell 11.

[0028] In some examples, the light emitting assembly 2 can extend to the notch 13 to be exposed to the notch 13.

[0029] In some examples, the light emitting assembly 2 can be completely arranged in the mounting cavity 12, and at least part of the light emitting assembly 2 is arranged opposite to the notch 13, so that the light emitting assembly 2 is at least partially exposed to the notch 13.

[0030] In some embodiments, referring to Figure 3 , Figure 4 and Figure 5 , the light emitting assembly 2 comprises a light emitting piece 21 and a light guiding piece 22, the light emitting piece 21 is arranged in the mounting cavity 12, the light guiding piece 22 is arranged opposite to the light emitting piece 21, the light guiding piece 22 is at least partially exposed from the notch 13, and the light guiding piece 22 is used for guiding the light generated by the light emitting piece 21 out of the shell 11.

[0031] It can be understood that the light emitting piece 21 is arranged opposite to the light guiding piece 22, so that the light emitted by the light emitting piece 21 can be transmitted to the light guiding piece 22. Since the light guiding piece 22 is at least partially exposed from the notch 13, the light guiding piece 22 can guide the light emitted by the light emitting piece 21 out of the shell 11 through the notch 13, so that the robot leg mechanism has a light emitting effect.

[0032] It can be understood that arranging the light emitting piece 21 in the mounting cavity 12 can reduce the influence of the external environment on the light emitting piece 21, and ensure that the light emitting piece 21 can work stably.

[0033] In some examples, the light guiding piece 22 is, for example, a light guiding sheet or a light guiding plate or any other suitable structural member having a light guiding function.

[0034] In some examples, the light emitting piece 21 is, for example, a lamp bead or a lamp strip or any other suitable component having a light emitting function.

[0035] In some examples, the light emitting piece 21 and the light guiding piece 22 can be arranged spaced apart.

[0036] In some examples, the light guiding piece 22 can abut against the light emitting piece 21.

[0037] In some embodiments, referring to Figure 1 and Figure 2 , the shell 11 has a first outer wall surface 111 and a second outer wall surface 112 arranged adjacent to each other, and the notch 13 is formed at each of the first outer wall surface 111 and the second outer wall surface 112; An end of the light guiding piece 22, which is away from the light emitting piece 21, has a light emitting surface, and the light emitting surface comprises a first light emitting surface 221 and a second light emitting surface 222, the first light emitting surface 221 is exposed from the notch 13 at the first outer wall surface 111, and the second light emitting surface 222 is exposed from the notch 13 at the second outer wall surface 112.

[0038] It can be understood that after the light emitted by the light emitting piece 21 is transmitted to the light guiding piece 22, the light will pass out from the first light emitting surface 221 and the second light emitting surface 222 of the light guiding piece 22 at the same time, so that the first outer wall surface 111 and the second outer wall surface 112 of the shell 11 will both emit light, and the light emitting effect of the robot leg mechanism is improved.

[0039] It can be understood that the light guide 22 is exposed to the first outer wall surface 111 and the second outer wall surface 112 arranged adjacently, which is beneficial to reducing the size of the light guide 22 and facilitating the installation of the light guide 22 compared with being exposed to two outer wall surfaces arranged oppositely.

[0040] Specifically, the first light exit surface 221 is flush with the first outer wall surface 111.

[0041] In this way, the first light exit surface 221 can better guide light out of the shell 11, and meanwhile, the first light exit surface 221 will not protrude from the first outer wall surface 111, avoiding affecting the appearance and use of the robot leg mechanism.

[0042] Specifically, the second light exit surface 222 is flush with the second outer wall surface 112.

[0043] In this way, the second light exit surface 222 can better guide light out of the shell 11, and meanwhile, the second light exit surface 222 will not protrude from the second outer wall surface 112, avoiding affecting the appearance and use of the robot leg mechanism.

[0044] In some embodiments, referring to Figure 4 , Figure 6 and Figure 7 , the shell 11 comprises first and second inner wall surfaces 113 arranged oppositely, and the light emitting assembly 2 further comprises a circuit board 23, and the light emitting element 21 is connected to the circuit board 23. The circuit board 23 is connected to the first inner wall surface, and the light guide 22 is connected to the second inner wall surface 113.

[0045] In this way, the circuit board 23 and the light guide 22 are respectively connected to different inner wall surfaces, avoiding problems such as insufficient installation space and great installation difficulty caused by the circuit board 23 and the light guide 22 being connected to the same inner wall surface.

[0046] It can be understood that the circuit board 23 is used to drive the light emitting element 21 to work, so that the light emitting element 21 can be switched between the light emitting state and the non-light emitting state.

[0047] In some embodiments, referring to Figure 6 and Figure 7 , the inner wall surface of the shell 11 is formed with a connecting seat 14, the connecting seat 14 is formed with a connecting cavity 141, and at least part of the light emitting assembly 2 is inserted into the connecting cavity 141.

[0048] In this way, the light emitting assembly 2 can be connected to the inner wall surface of the shell 11 in a plug-in manner, realizing the installation of the light emitting assembly 2, which is simple and convenient.

[0049] In some examples, the connecting cavity 141 is in communication with the gap 13, so that the light emitting component 2 inserted into the connecting cavity 141 can transmit light to outside of the shell 11 through the gap 13.

[0050] Specifically, referring to Figure 5 , Figure 6 and Figure 7 , one of the connecting seat 14 and the light emitting component 2 is formed with the clamping groove 3, and the other of the connecting seat 14 and the light emitting component 2 is formed with the clamping portion 4, which is clamped in the clamping groove 3.

[0051] It can be understood that when the light emitting component 2 is inserted into the connecting cavity 141, the clamping portion 4 is clamped in the clamping groove 3, thereby achieving the clamping connection of the light emitting component 2 and the connecting seat 14, which is conducive to improving the connection stability of the light emitting component 2 and the connecting seat 14.

[0052] Specifically, referring to Figure 5 , Figure 6 and Figure 7 , the connecting seat 14 comprises a body 142 and a connecting block 143, the first end of the connecting block 143 is connected to the body 142, the second end of the connecting block 143 is formed with the clamping portion 4, and the connecting block 143 has a gap 144 between the two sides and the body 142, so that the connecting block 143 can deform relative to the connecting cavity 141.

[0053] In this way, when the light emitting component 2 is inserted into the connecting cavity 141, the light emitting component 2 can extrude the clamping portion 4 away from the connecting cavity 141, or deform the connecting block 143 by external force, so that the clamping portion 4 moves away from the connecting cavity 141, thereby enabling the light emitting component 2 to be smoothly inserted into the connecting cavity 141. When the light emitting component 2 is inserted into the connecting cavity 141, the connecting block 143 restores the deformation, the clamping portion 4 returns to the original position and is clamped in the clamping groove 3 on the light emitting component 2, thereby achieving the clamping cooperation of the light emitting component 2 and the connecting seat 14. When it is necessary to disassemble the light emitting component 2, the connecting block 143 deforms relative to the connecting cavity 141, the clamping portion 4 is separated from the clamping groove 3, thereby enabling the light emitting component 2 to be taken out from the connecting cavity 141, and achieving the disassembly of the light emitting component 2. That is, by setting the connecting block 143 to be deformable, the disassembly of the light emitting component 2 is facilitated.

[0054] In some embodiments, referring to Figure 5 , Figure 6 and Figure 7 , the inner wall surface of the shell 11 is formed with a plurality of reinforcing ribs 15, and the connecting seat 14 is connected with at least one of the reinforcing ribs 15.

[0055] In this way, the reinforcing ribs 15 can improve the structural strength of the shell 11. Meanwhile, by connecting the connecting seat 14 with the reinforcing ribs 15, the structural stability of the connecting seat 14 is improved.

[0056] In some embodiments, referring to Figure 1 , Figure 3 and Figure 4 , the leg assembly 1 comprises a thigh 5, a calf 6, a transmission assembly 7 and a calf motor 8, the calf motor 8 is installed on the upper part or the lower part of the thigh 5, the transmission assembly 7 is arranged in the mounting cavity 12, the light-emitting assembly 2 is arranged in the transmission assembly 7, and the calf motor 8 is in transmission connection with the calf 6 through the transmission assembly 7 to drive the calf 6 to rotate relative to the thigh 5.

[0057] In this way, the transmission assembly 7 is arranged in the mounting cavity 12, which can reduce the influence of the outside on the transmission assembly 7, so that the transmission assembly 7 can stably drive the calf 6 to rotate.

[0058] At the same time, the light-emitting assembly 2 and the transmission assembly 7 are arranged in a spaced manner, which can prevent the light-emitting assembly 2 from interfering with the transmission assembly 7, and also can prevent the transmission assembly 7 from impacting the light-emitting assembly 2 to cause the light-emitting assembly 2 to fall off.

[0059] In some embodiments, referring to Figure 1 , Figure 3 and Figure 4 , the transmission assembly 7 comprises a rotating part 71 and a connecting rod 72, the rotating part 71 is connected with the calf motor 8, the connecting rod 72 connects the rotating part 71 and the calf 6, and the calf motor 8 is used to drive the rotating part 71 to rotate to make the connecting rod 72 rotate.

[0060] Specifically, along the radial direction of the rotating part 71, the light-emitting assembly 2 is arranged in a spaced manner with the rotating part 71.

[0061] In this way, the light-emitting assembly 2 can avoid interfering with the rotating part 71, and the rotating part 71 will not contact the light-emitting assembly 2 during rotation, so that the light-emitting assembly 2 and the rotating part 71 can work normally.

[0062] It should be noted that the light-emitting assembly 2 is arranged in a spaced manner with the rotating part 71, which means that the light-emitting assembly 2 and the rotating part 71 always maintain a spaced arrangement during the rotation of the rotating part 71.

[0063] Specifically, along the radial direction of the rotating part 71, the light-emitting assembly 2 is arranged in a spaced manner with the connecting rod 72.

[0064] In this way, the light-emitting assembly 2 can avoid interfering with the connecting rod 72, and the connecting rod 72 will not contact the light-emitting assembly 2 during rotation, so that the light-emitting assembly 2 and the connecting rod 72 can work normally.

[0065] It should be noted that the light-emitting assembly 2 is arranged in a spaced manner with the connecting rod 72, which means that the light-emitting assembly 2 and the connecting rod 72 always maintain a spaced arrangement during the rotation of the connecting rod 72.

[0066] Specifically, along the axial direction of the rotating member 71, the light-emitting assembly 2 is arranged spaced apart from the rotating member 71.

[0067] In this way, it is ensured that the rotating member 71 does not come into contact with the light-emitting assembly 2 during rotation, and the light-emitting assembly 2 and the rotating member 71 do not interfere with each other, ensuring that the light-emitting assembly 2 and the rotating member 71 can work stably.

[0068] Specifically, along the axial direction of the rotating member 71, the light-emitting assembly 2 is arranged spaced apart from the rotating member 71.

[0069] In this way, it is ensured that the rotating member 71 does not come into contact with the light-emitting assembly 2 during rotation, and the light-emitting assembly 2 and the rotating member 71 do not interfere with each other, ensuring that the light-emitting assembly 2 and the rotating member 71 can work stably.

[0070] In some embodiments, the light-emitting assembly 2 is sealingly connected to the wall surface of the notch 13.

[0071] In this way, the sealing performance of the light-emitting assembly 2 and the wall surface of the notch 13 is ensured, which can prevent water or dust from the outside from entering the installation cavity 12 through the connection between the light-emitting assembly 2 and the wall surface of the notch 13.

[0072] In some embodiments, the leg assembly 1 includes a thigh 5 and a calf 6, and at least one of the thigh 5 and the calf 6 is formed with a notch 13.

[0073] It can be understood that the notch 13 can be formed at the thigh 5, so that the thigh 5 has a light-emitting effect. The notch 13 can be formed at the calf 6, so that the calf 6 has a light-emitting effect. The notch 13 can also be formed at the thigh 5 and the calf 6 at the same time, so that the thigh 5 and the calf 6 both have a light-emitting effect.

[0074] According to the embodiment of the second aspect of the application, the robot includes the robot leg mechanism described above.

[0075] According to the robot of the embodiment of the application, the light-emitting assembly 2 is arranged in the installation cavity 12 of the shell 11, and at least partially exposed to the notch 13 at the shell 11, so that the light emitted by the light-emitting assembly 2 can be transmitted to the outside of the shell 11 through the notch 13, so that the robot leg mechanism has a light-emitting effect. At the same time, the light emitted by the light-emitting assembly 2 can also play a role in illumination, enriching the function of the robot leg mechanism and increasing the function of the robot.

[0076] In the description of the application, the terms "first", "second", "third" and the like are used only for the purpose of description, and cannot be understood as indicating or implying relative importance or implying the number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more features. In the description of the application, the meaning of "multiple" is two or more, unless otherwise specifically limited.

[0077] In the above embodiments, the description of each embodiment has its own emphasis, and the parts not described in detail in a certain embodiment can be referred to the related description of other embodiments.

[0078] The embodiments, implementation manners and related technical features of the present application can be combined or replaced with each other without conflict.

[0079] The above is only the preferred embodiment of the present application, and does not limit the present application in any form. Any simple modification, equivalent change and modification made to the above embodiment in accordance with the technical essence of the present application without departing from the technical solution content of the present application still falls within the scope of the technical solution of the present application.

Claims

1. A robot leg mechanism, characterized in that, include: A leg assembly includes a housing having a mounting cavity and a notch communicating with the mounting cavity; A light-emitting component is disposed in the mounting cavity, and the light-emitting component is at least partially exposed in the notch so that the light emitted by the light-emitting component can be transmitted to the outside of the housing.

2. The robot leg mechanism according to claim 1, characterized in that, The light-emitting component includes a light-emitting element and a light-guiding element. The light-emitting element is disposed in the mounting cavity, and the light-guiding element is disposed opposite to the light-emitting element. The light-guiding element is at least partially exposed in the notch, and the light-guiding element is used to guide the light generated by the light-emitting element to the outside of the housing.

3. The robot leg mechanism according to claim 2, characterized in that, The housing has a first outer wall surface and a second outer wall surface arranged adjacent to each other, and the notch is formed at both the first outer wall surface and the second outer wall surface. The light guide has a light-emitting surface at one end away from the light-emitting element. The light-emitting surface includes a first light-emitting surface and a second light-emitting surface. The first light-emitting surface is exposed at the notch on the first outer wall surface, and the second light-emitting surface is exposed at the notch on the second outer wall surface.

4. The robot leg mechanism according to claim 3, characterized in that, The first light-emitting surface is flush with the first outer wall surface; and / or, the second light-emitting surface is flush with the second outer wall surface.

5. The robot leg mechanism according to claim 2, characterized in that, The housing includes a first inner wall surface and a second inner wall surface disposed opposite to each other, and the light-emitting component further includes a circuit board, with the light-emitting element connected to the circuit board; The circuit board is connected to the first inner wall surface, and the light guide is connected to the second inner wall surface.

6. The robot leg mechanism according to any one of claims 1 to 5, characterized in that, A connecting seat is formed on the inner wall surface of the housing, and the connecting seat forms a connecting cavity, in which at least a portion of the light-emitting components are inserted.

7. The robot leg mechanism according to claim 6, characterized in that, One of the connector and the light-emitting component has a snap-fit ​​groove, and the other of the connector and the light-emitting component has a snap-fit ​​part, which snaps into the snap-fit ​​groove.

8. The robot leg mechanism according to claim 7, characterized in that, The connector includes a body and a connecting block. The first end of the connecting block is connected to the body, and the second end of the connecting block forms the snap-fit ​​portion. There are gaps between the two sides of the connecting block and the body, so that the connecting block can deform relative to the connecting cavity.

9. The robot leg mechanism according to claim 6, characterized in that, The inner wall surface of the housing is formed with a plurality of reinforcing ribs, and the connecting seat is connected to at least one of the reinforcing ribs.

10. The robot leg mechanism according to any one of claims 1 to 5, characterized in that, The leg assembly includes a thigh, a calf, a transmission assembly, and a calf motor. The calf motor is installed on the upper or lower part of the thigh. The transmission assembly is located in the mounting cavity. The light-emitting assembly is spaced apart from the transmission assembly. The calf motor is connected to the calf through the transmission assembly to drive the calf to rotate relative to the thigh.

11. The robot leg mechanism according to claim 10, characterized in that, The transmission assembly includes a rotating component and a connecting rod. The rotating component is connected to the calf motor, and the connecting rod connects the rotating component and the calf. The calf motor drives the rotating component to rotate, thereby causing the connecting rod to rotate. Along the radial direction of the rotating member, the light-emitting component is spaced apart from the rotating member; and / or, Along the radial direction of the rotating member, the light-emitting component is spaced apart from the connecting rod; and / or, Along the axial direction of the rotating member, the light-emitting component is spaced apart from the rotating member; and / or, Along the axial direction of the rotating component, the light-emitting component is spaced apart from the connecting rod.

12. The robot leg mechanism according to any one of claims 1 to 5, characterized in that, The light-emitting component is sealed to the wall of the notch; and / or, The leg assembly includes a thigh and a calf, at least one of the thigh and the calf having the notch formed therein.

13. A robot, characterized in that, Including the robot leg mechanism as described in any one of claims 1 to 12.

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