Leg assembly and robot

Abstract

The invention provides a leg assembly and a robot. The leg assembly comprises a first movement assembly and a second movement assembly, the second movement assembly comprises a first shell, and a containing cavity is formed in the first shell; at least part of the first joint mechanism is arranged in the containing cavity, and the first joint mechanism is connected with the first movement assembly and used for driving the first movement assembly to move relative to the second movement assembly; at least part of the damping mechanism is arranged in the containing cavity, the damping mechanism comprises a first transmission assembly and a first damping assembly connected with the first transmission assembly, and the first transmission assembly is connected with the first joint mechanism and the first movement assembly and is configured to drive the first damping assembly to rotate when the first movement assembly moves relative to the second movement assembly; therefore, the first damping assembly stores or releases energy, and the energy is transmitted to the first joint mechanism when the first damping assembly releases the energy. The vibration energy of the first joint mechanism and the first movement assembly is absorbed when the first damping assembly stores the energy, and the running stability of the robot is improved.

Description

Technical Field

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

[0002] In related technologies, during the movement of the first motion component relative to the second motion component, impact energy is generated due to the momentum change between the first joint mechanism and the first motion component, which in turn causes the first joint mechanism and the first motion component to vibrate, affecting the overall stability of the robot's operation. Therefore, how to improve the stability of robot operation is a technical problem that urgently needs to be solved in this field. Summary of the Invention

[0003] In view of the above problems, this application provides a leg assembly and a robot that can improve the stability of robot operation.

[0004] To solve the above-mentioned technical problems, the technical solution adopted in this application is conceived as follows: In a first aspect, this application provides a leg assembly for a robot, the leg assembly comprising: a first motion component; a second motion component including a first housing having a receiving cavity formed therein; a first joint mechanism, at least partially disposed within the receiving cavity and connected to the first motion component, for driving the first motion component to move relative to the second motion component; and a shock-absorbing mechanism, at least partially disposed within the receiving cavity, the shock-absorbing mechanism including a first transmission component and a first shock-absorbing component connected to the first transmission component, the first transmission component connecting the first joint mechanism and the first motion component, and configured to drive the first shock-absorbing component to rotate when the first motion component moves relative to the second motion component, so that the first shock-absorbing component stores or releases energy, and transfers the energy to the first joint mechanism when the first shock-absorbing component releases energy.

[0005] The movement of the first motion component includes flexion and extension movements. The first damping component includes: a second housing disposed within the accommodating cavity and rotatably connected to the first housing; a damping body disposed within the second housing and connected to or abutting against the inner wall of the second housing; a first transmission component is used to drive the second housing to rotate in a preset direction when the first motion component performs flexion movements, so as to store energy in the damping body; the first transmission component is also used to drive the second housing to rotate in the opposite direction of the preset direction when the first motion component performs extension movements, so as to release energy in the damping body.

[0006] The inner wall of the second housing is provided with a plurality of first slots spaced apart along its circumference, and the plurality of first slots extend along the axial direction of the second housing. The outer surface of the shock-absorbing body is provided with a plurality of second slots spaced apart along its circumference, and the plurality of second slots at least partially correspond to the plurality of first slots. The first shock-absorbing assembly also includes a positioning pin that extends along the axial direction of the second housing. The positioning pin is engaged in the first slot and the second slot, or engaged in the second slot.

[0007] The first shock absorber also includes an end cap. The second housing has an end cap at at least one end along its axial direction, and the end cap is located inside the second housing. The outer surface of the end cap is provided with a plurality of third slots, which at least partially correspond to a plurality of first slots. The third slots are used to accommodate positioning pins.

[0008] The first damping component includes multiple damping bodies, which are arranged axially along the second housing.

[0009] The damping body includes leaf springs, coil springs, or disc springs.

[0010] The shock absorption mechanism also includes a first sensing component, which is connected to or opposite to the end of the second housing, and is used to sense the rotation angle of the second housing in order to calculate the energy stored and released by the shock absorption body based on the rotation angle.

[0011] The first transmission component includes: a first connector connecting the first joint mechanism and the first motion component; a rotating shaft connecting the first connector; and a transmission belt sleeved on the second housing and the rotating shaft. The first connector is used to rotate when the first joint mechanism drives the first motion component to move relative to the second motion component, and to drive the rotating shaft to rotate, so that the rotating shaft drives the second housing to rotate via the transmission belt.

[0012] The accommodating cavity includes two opposing side walls; the damping mechanism also includes a fixing assembly, which includes two fixing bearings. One of the two fixing bearings is used to rotatably mount one end of the second housing onto one of the side walls of the accommodating cavity, and the other of the two fixing bearings is used to rotatably mount the other end of the second housing onto the other side wall; wherein the fixing bearing includes a first fixing part and a first rotating part rotatably sleeved outside the first fixing part, the first rotating part is connected to the second housing, and the first fixing part is fixed to the side wall.

[0013] The shock-absorbing body and the first fixing part are provided with a first through hole arranged coaxially; the fixing assembly also includes a support shaft, which passes through the first through hole and is connected between the two side walls.

[0014] The first joint mechanism includes: a first drive assembly, at least partially disposed within the accommodating cavity and located on the side of the second housing away from the first motion assembly; and a second transmission assembly, connected to the first drive assembly, extending toward and connected to the first motion assembly; wherein the second transmission assembly is used to drive the first motion assembly to perform flexion or extension relative to the second motion assembly under the drive of the first drive assembly.

[0015] The first joint mechanism further includes a joint assembly, which is located at one end of the first housing near the first motion assembly. The joint assembly includes: a second fixed part, which is located in the first housing; and a second rotating part, which is rotatably located in the second fixed part and connected to the second transmission assembly or the first transmission assembly, for rotating relative to the second fixed part under the drive of the second transmission assembly, so as to drive the first motion assembly and the first transmission assembly to move.

[0016] The first housing includes: a housing body, including a first side and a second side disposed opposite to each other, and forming a receiving cavity, the receiving cavity including a first sub-cavity and a second sub-cavity arranged in a vertical direction, the first sub-cavity being disposed close to the first moving component relative to the second sub-cavity, and the first side having a second through hole communicating with the first sub-cavity; a cover plate, at least covering the second through hole, and the second housing being disposed in the first sub-cavity and rotatably connected between the housing body and the cover plate.

[0017] The first drive assembly is at least partially disposed in the second sub-cavity, and a third through hole communicating with the second sub-cavity is provided on the second side; the first drive assembly includes a first drive motor and a first drive shaft connected to the first drive motor, the first drive shaft is disposed at the end of the first drive motor near the third through hole, and is connected to the second transmission assembly.

[0018] The second transmission assembly includes a first mounting part, a second mounting part, and at least one first connecting rod connected between the first mounting part and the second mounting part. The first mounting part is connected to the first drive assembly, and the second mounting part is connected to the second rotating part and the first motion assembly.

[0019] The first joint mechanism includes two joint components, which are spaced apart along the arrangement direction of the first side and the second side; wherein the second rotating part of the joint component closer to the first side is connected to the first transmission component, and the second rotating part of the joint component closer to the second side is connected to the second transmission component.

[0020] Secondly, this application provides a robot that includes the aforementioned leg assembly.

[0021] The advantages of the embodiments of this application, which differ from the prior art, are as follows: This application provides a leg assembly and a robot. The leg assembly includes a first motion component, a second motion component, a first joint mechanism, and a shock absorption mechanism. The second motion component includes a first housing with a receiving cavity formed therein. The first joint mechanism is at least partially disposed within the receiving cavity and connected to the first motion component for driving the first motion component to move relative to the second motion component. The shock absorption mechanism is at least partially disposed within the receiving cavity and includes a first transmission component and a first shock absorption component connected to the first transmission component. The first transmission component connects the first joint mechanism and the first motion component and is configured to drive the first shock absorption component to rotate when the first motion component moves relative to the second motion component, so that the first shock absorption component stores or releases energy and transfers the energy to the first joint mechanism when the first shock absorption component releases energy. By configuring the first transmission component to drive the first damping component to rotate when the first motion component moves relative to the second motion component, the first damping component stores or releases energy, and transmits the energy to the first joint mechanism when releasing energy. On the one hand, the first damping component can absorb the vibration energy of the first joint mechanism and the first motion component during the energy storage process, which can effectively reduce the vibration amplitude of the first joint mechanism and the first motion component and help improve the stability of robot operation. On the other hand, when the energy stored by the first damping component is released, it can be transmitted to the first joint mechanism through the first transmission component, so that together with the first joint mechanism, the first motion component moves relative to the second motion component. This is equivalent to the first damping component providing additional driving energy to the first joint mechanism during the energy release process, which can reduce the output torque of the first joint mechanism driving the first motion component, and help improve the energy utilization efficiency of the leg assembly and reduce energy consumption. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort, wherein: Figure 1 This is a schematic diagram of a structural embodiment of the leg assembly provided in this application; Figure 2 This is an exploded structural diagram of an embodiment of the leg assembly provided in this application; Figure 3 yes Figure 2 A sectional view of the leg assembly shown; Figure 4 This is an exploded structural diagram of the shock absorption mechanism of the leg assembly provided in this application; Figure 5This is an exploded structural diagram of the first joint mechanism and the second motion component of the leg assembly provided in this application; Figure 6 This is a perspective structural diagram of another embodiment of the leg assembly provided in this application; Figure 7 yes Figure 6 The diagram shows an exploded view of the leg assembly. Figure 8 This is an exploded structural diagram of the second joint mechanism and part of the third motion component of the leg assembly provided in this application; Figure 9 This is an exploded structural diagram of the energy-saving components of the leg assembly provided in this application; Figure 10 This is a schematic diagram of a portion of the drive mechanism of the leg assembly provided in this application; Figure 11 This is a schematic diagram of a portion of the structure of the third motion component of the leg assembly provided in this application. Detailed Implementation

[0023] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It is understood that the specific embodiments described herein are only for explaining this application and not for limiting it. Furthermore, it should be noted that, for ease of description, only the parts related to this application are shown in the accompanying drawings, not all structures. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0024] In the description of this application, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0025] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0026] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0027] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0028] This application provides a leg assembly 100 for a robot. For example... Figures 1 to 3 As shown, Figure 1 This is a schematic diagram of a structural embodiment of the leg assembly provided in this application; Figure 2 This is an exploded structural diagram of an embodiment of the leg assembly provided in this application; Figure 3 yes Figure 2The diagram shows a cross-sectional view of the leg assembly 100. The leg assembly 100 includes a first motion component 40, a second motion component 10, a first joint mechanism 20, and a shock-absorbing mechanism 30. The second motion component 10 includes a first housing 11, within which a receiving cavity 1111 is formed. The first joint mechanism 20 is at least partially disposed within the receiving cavity 1111 and connected to the first motion component 40, for driving the first motion component 40 to move relative to the second motion component 10. The shock-absorbing mechanism 30 is at least partially disposed within the receiving cavity 1111. The shock-absorbing mechanism 30 includes a first transmission component 31 and a first shock-absorbing component 32 connected to the first transmission component 31. The first transmission component 31 connects the first joint mechanism 20 and the first motion component 40, and is configured to drive the first shock-absorbing component 32 to rotate when the first motion component 40 moves relative to the second motion component 10, so that the first shock-absorbing component 32 stores or releases energy, and transfers energy to the first joint mechanism 20 when the first shock-absorbing component 32 releases energy.

[0029] The first motion component 40 can be a lower leg component. The second motion component 10 can be a thigh component, and the first housing 11 can be a thigh shell. The first housing 11 of the second motion component 10 can be a hollow cylindrical structure conforming to the contour of a human thigh. The first housing 11 forms a receiving cavity 1111, which is used to accommodate at least a portion of the first joint mechanism 20 and at least a portion of the shock absorption mechanism 30. The first housing 11 can be a combined structure formed by at least two components overlapping each other, or it can be a one-piece integral structure.

[0030] The first joint mechanism 20 can be a knee joint mechanism. The first joint mechanism 20 connects the first motion component 40 and the second motion component 10. The first joint mechanism 20 can be a highly integrated connection and control mechanism, capable of converting the output power source into rotational motion of the first motion component 40, so that the first motion component 40 moves relative to the second motion component 10. Specifically, after receiving a control command, the first joint mechanism 20 can precisely drive the first motion component 40 to perform flexion or extension movements relative to the second motion component 10.

[0031] One end of the first transmission component 31 is connected to the first joint mechanism 20 and the first motion component 40, and the other end is connected to the first damping component 32. When the first joint mechanism 20 drives the first motion component 40 to move relative to the second motion component 10, it synchronously drives the first transmission component 31 to rotate. The first transmission component 31 is used to transmit rotational motion to the first damping component 32 when it rotates under the drive of the first joint mechanism 20, so that the first transmission component 31 can drive the first damping component 32 to rotate when the first motion component 40 moves relative to the second motion component 10. The first damping component 32 can store or release energy during rotation. The first transmission component 31 is connected between the first damping component 32 and the first joint mechanism 20, and can transmit energy to the first joint mechanism 20 when the first damping component 32 releases energy, so that it can drive the first motion component 40 to move relative to the second motion component 10 together with the first joint mechanism 20.

[0032] By configuring the first transmission component 31 to drive the first damping component 32 to rotate when the first motion component 40 moves relative to the second motion component 10, the first damping component 32 stores or releases energy, and transmits the energy to the first joint mechanism 20 when the first damping component 32 releases energy. On the one hand, the first damping component 32 can absorb the vibration energy of the first joint mechanism 20 and the first motion component during the energy storage process, which can effectively reduce the vibration amplitude of the first joint mechanism 20 and the first motion component, and help improve the stability of robot operation. On the other hand, when the energy stored in the first damping component 32 is released, it can be transmitted to the first joint mechanism 20 through the first transmission component 31, so that together with the first joint mechanism 20, the first motion component 40 moves relative to the second motion component 10. This is equivalent to the first damping component 32 providing additional driving energy to the first joint mechanism 20 during the energy release process, which can reduce the output torque of the first joint mechanism 20 driving the first motion component 40 to move, and help improve the energy utilization efficiency of the leg assembly 100 and reduce energy consumption.

[0033] The movements of the first motion component 40 include flexion and extension. The flexion movement of the first motion component 40 is similar to squatting or lifting the first motion component 40 backward, causing the end of the first motion component 40 away from the second motion component 10 to move closer to the second motion component 10; during the flexion movement, the angle between the first motion component 40 and the second motion component 10 decreases. The extension movement of the first motion component 40 is similar to switching from a squatting state to a standing state, or the opposite of lifting the first motion component 40 backward; during the extension movement, the end of the first motion component 40 away from the second motion component 10 moves away from the second motion component 10, and the angle between the first motion component 40 and the second motion component 10 increases.

[0034] In some embodiments, please refer to the following: Figure 4 , Figure 4 This is an exploded structural diagram of the shock absorption mechanism of the leg assembly provided in this application. The first shock absorption component 32 includes a second housing 321 and a shock absorption body 322. The second housing 321 is disposed within the receiving cavity 1111 and is rotatably connected to the first housing 11. The shock absorption body 322 is disposed within the second housing 321 and is connected to or abuts against the inner wall of the second housing 321. The first transmission component 31 is used to drive the second housing 321 to rotate in a preset direction when the first motion component 40 performs a flexing movement, so that the shock absorption body 322 stores energy. The first transmission component 31 is also used to drive the second housing 321 to rotate in the opposite direction of the preset direction when the first motion component 40 performs a straightening movement, so that the shock absorption body 322 releases energy.

[0035] The second housing 321 can be a hollow cylindrical structure to house the shock-absorbing body 322, and the second housing 321 can rotate relative to the first housing 11 in a preset direction or the opposite direction of the preset direction under the drive of the first transmission component 31. The preset direction can be clockwise, and the opposite direction of the preset direction is counterclockwise; or the preset direction can also be counterclockwise, and the opposite direction of the preset direction is clockwise.

[0036] Specifically, when the first motion component 40 performs a flexing motion, the first transmission component 31 can drive the second housing 321 to rotate in a preset direction. At this time, the vibration energy of the first joint mechanism 20 and the first motion component can be transmitted to the shock absorber body 322 through the first transmission component 31 and the second housing 321, forcing the shock absorber body 322 to deform. During the deformation of the shock absorber body 322, the vibration energy can be stored, which can effectively reduce the vibration amplitude of the first joint mechanism 20 and the first motion component, and help improve the stability of the robot's operation. When the first motion component 40 extends, the first transmission component 31 can drive the second housing 321 to rotate in the opposite direction of the preset direction, so that the shock absorber body 322 can recover its deformation and release energy. The energy released by the shock absorber body 322 can be transmitted to the first joint mechanism 20 through the second housing 321 and the first transmission component 31, thereby providing additional energy to the first joint mechanism 20. This reduces the output torque of the first joint mechanism 20 when the first motion component 40 extends, reduces the energy supply burden of the first joint mechanism 20 on the first motion component 40, and saves more energy.

[0037] In some embodiments, when the first motion component 40 is impacted by an external force, or the third motion component 60 is impacted by the ground, part of the impact is borne by the first joint mechanism 20, and the other part is absorbed by the shock-absorbing body 322. This reduces the impact force borne by the first joint mechanism 20, thereby reducing vibration and noise, enabling the first joint mechanism 20 to operate smoothly, and preventing loosening of connecting parts on the first joint mechanism 20, reducing the possibility of malfunction. The third motion component 60 can be a lower leg component.

[0038] In some embodiments, when the first motion component 40 is in an extended state (e.g., the leg assembly 100 is in a standing posture), the first transmission component 31 can provide a preload to the second housing 321 to maintain the second housing 321 at a set angle, thereby causing a certain deformation of the shock-absorbing body 322. This allows the shock-absorbing body 322 to also provide torque to the first joint mechanism 20 when the first motion component 40 is in an extended state. Therefore, when the robot is in a standing posture, the torque provided by the shock-absorbing body 322 to the first joint mechanism 20 can counteract at least part of the torque exerted by gravity on the first motion component, thereby reducing the output torque of the first joint mechanism 20 and helping to reduce the energy consumption of the robot in a standing posture.

[0039] In some embodiments, such as Figure 3 and Figure 4 As shown, the inner wall of the second housing 321 is provided with a plurality of first slots 321a spaced apart circumferentially thereon, and the plurality of first slots 321a extend axially along the second housing 321. The outer surface of the shock-absorbing body 322 is provided with a plurality of second slots 322a spaced apart circumferentially thereon, and at least a portion of the plurality of second slots 322a corresponds one-to-one with the plurality of first slots 321a. The first shock-absorbing assembly 32 also includes a positioning pin 323 extending axially along the second housing 321, the positioning pin 323 being engaged in the first slots 321a and the second slots 322a, or being engaged in the second slot 322a.

[0040] In the plurality of first card slots 321a, the distance between two adjacent first card slots 321a may be equal, or the distance between two adjacent first card slots 321a may be unequal. Similarly, in the plurality of second card slots 322a, the distance between two adjacent second card slots 322a may be equal, or the distance between two adjacent second card slots 322a may be unequal.

[0041] The number of first slots 321a on the inner wall of the second housing 321 can be equal to or unequal to the number of second slots 322a on the outer surface of the shock-absorbing body 322. If the number of first slots 321a is equal to the number of second slots 322a, multiple first slots 321a can correspond one-to-one with multiple second slots 322a; if they are unequal, the number of second slots 322a can be greater than the number of first slots 321a, for example, the number of second slots 322a can be 2-3 times the number of first slots 321a, and each first slot 321a corresponds to one second slot 322a.

[0042] When the second slot 322a corresponds to the first slot 321a, a portion of the positioning pin 323 is embedded in the second slot 322a and the other portion is embedded in the first slot 321a, thereby achieving the connection between the second housing 321 and the shock-absorbing body 322. When the second housing 321 rotates along a preset direction under the drive of the first transmission assembly 31, it can transmit rotational force to the shock-absorbing body 322 through the positioning pin 323, causing the shock-absorbing body 322 to deform and store energy. During the rotation of the second housing 321 along the preset direction, the energy absorbed by the shock-absorbing body 322 can be accumulated. When the second housing 321 rotates in the opposite direction of the preset direction, the energy is transmitted to the second housing 321 through the positioning pin 323, and then transmitted to the first joint mechanism 20 through the first transmission assembly 31.

[0043] During the assembly of the second housing 321 and the shock absorber body 322, it is only necessary to align at least a portion of the second slots 322a with the first slots 321a one by one, and then insert the positioning pins 323 from the axial end of the second housing 321 into the second slots 322a and the first slots 321a to achieve the connection between the second housing 321 and the shock absorber body 322. During disassembly, it is only necessary to pull out the positioning pins 323, which facilitates the installation, maintenance and replacement of the shock absorber body 322. Moreover, the connection method between the second housing 321 and the shock absorber body 322 has a simple structure and no complicated parts, which can reduce the number of failure points.

[0044] When the number of second slots 322a is greater than the number of first slots 321a, the positioning pins 323 can also be inserted into the second slots 322a that do not correspond to the first slots 321a. This not only enhances the structural strength of the damping body 322, but also disperses the stress on the individual damping body 322 onto the other damping bodies 322 through the positioning pins 323. This reduces the local stress peak of the individual damping body 322, helps to reduce the risk of fatigue damage to the damping body 322, and thus extends the service life of the damping body 322.

[0045] In some embodiments, such as Figure 3 and Figure 4 As shown, the first damping assembly 32 also includes an end cap 324. The second housing 321 has an end cap 324 at at least one end along its axial direction, and the end cap 324 is located inside the second housing 321. The outer surface of the end cap 324 has a plurality of third slots 324a, at least a portion of which corresponds one-to-one with a plurality of first slots 321a. The third slots 324a are used to accommodate locating pins 323.

[0046] The outer diameter of the end cap 324 is slightly smaller than the inner diameter of the second housing 321, so that the end cap 324 can be fitted into the second housing 321. When the end cap 324 is fitted into the second housing 321, the outer surface of the end cap 324 abuts against or connects with the inner surface of the second housing 321. The second housing 321 and the end cap 324 can be fixed together by means of interference fit, riveting connection, pin connection or snap-fit ​​connection.

[0047] The first damping assembly 32 may include two end caps 324, one of which is embedded at one end of the second housing 321, and the other of which is embedded at the other end of the second housing 321. The damping body 322 is disposed between the two end caps 324, and the two end caps 324 can limit the displacement of the damping body 322 along the axial direction of the second housing 321. Alternatively, the first damping assembly 32 may also include one end cap 324, which is embedded at one end of the second housing 321. The other end of the second housing 321 is provided with other limiting components or mounting components for rotatably mounting the second housing 321 to the first housing 11, and the damping body 322 is limited between the end cap 324 and other limiting components or mounting components.

[0048] Multiple third slots 324a are spaced apart circumferentially on the outer surface of the end cover 324 and extend axially along the end cover 324. The number of third slots 324a on the end cover 324 can be equal to the number of first slots 321a on the second housing 321, and the multiple third slots 324a on the end cover 324 correspond one-to-one with the multiple first slots 321a on the second housing 321, so that a portion of the positioning pin 323 is engaged in the first slot 321a and the second slot 322a of the shock-absorbing body 322, and the other portion is engaged in the third slots 324a and the first slots 321a. If both ends of the second housing 321 are provided with end caps 324, the middle part of the positioning pin 323 is engaged in the first slot 321a and the second slot 322a of the shock absorber body 322, and both ends are engaged in the third slot 324a and the first slot 321a. If the second housing 321 is provided with an end cap 324 at only one end, the middle part of the positioning pin 323 and one end of it are engaged in the first slot 321a and the second slot 322a of the shock absorber body 322, and the other end of it is engaged in the third slot 324a and the first slot 321a. Thus, the shock absorber body 322 is stably fixed to the end cap 324 and the second housing 321 by the positioning pin 323, reducing or avoiding the risk of the shock absorber body 322 becoming loose or falling off.

[0049] In some embodiments, if the number of second slots 322a is greater than the number of first slots 321a, the number of third slots 324a can be equal to the number of second slots 322a. A portion of the third slots 324a corresponds one-to-one with a plurality of first slots 321a, and another portion corresponds one-to-one with a plurality of second slots 322a, so that at least one end of all positioning pins 323 along their axial direction can be engaged in the third slots 324a, thereby improving the structural strength and stability of the positioning pins 323 and the shock-absorbing body 322.

[0050] In some embodiments, such as Figure 3 and Figure 4 As shown, the first damping assembly 32 includes multiple damping bodies 322. The multiple damping bodies 322 are arranged along the axial direction of the second housing 321.

[0051] In this design, adjacent damping bodies 322 can be connected or abutted against each other. The stacking of multiple damping bodies 322 enhances their overall resistance to bending and torsion, allowing them to withstand greater loads. Furthermore, when a damping body 322 deforms, relative sliding and friction occur between adjacent bodies, absorbing vibration energy and acting as a damper. This allows for rapid vibration attenuation when the first moving component 40 undergoes buckling motion or is subjected to external impacts, eliminating the need for additional damping components such as rubber pads and reducing production costs. Additionally, the friction between adjacent damping bodies 322 during deformation ensures even stress distribution across each body, reducing the risk of fatigue fracture in individual bodies and improving their service life and reliability.

[0052] In some embodiments, the number of damping bodies 322 can be 2 to 20, for example, 2, 3, 5, 6, 7, 9, 10, 11, 13, 15, 16, 17, 19, 20, etc., but is not limited thereto. The specific number can be selected according to the axial dimension of the second housing 321 and the axial thickness of the damping body 322.

[0053] In some embodiments, the shock-absorbing body 322 includes a leaf spring, a coil spring, or a disc spring.

[0054] By employing leaf springs, coil springs, or disc springs as the shock-absorbing body 322, the shock-absorbing body 322 can generate torque during both flexion and extension movements of the first motion component 40. Thus, when the leg assembly 100 is in a standing position, the torque generated by the shock-absorbing body 322 can offset all or part of the gravitational torque, thereby reducing the energy consumption of the first joint mechanism 20 in this state. Furthermore, during flexion movements of the first motion component 40, the shock-absorbing body 322 can deform and store energy, thereby reducing the peak torque of the first joint mechanism 20 during extension movements (e.g., when the leg assembly 100 switches from a squatting to a standing position). During robot walking or climbing stairs, when the foot contacts the ground, the shock-absorbing body 322 can absorb impact, achieving shock absorption without the need for additional rubber pads or other shock-absorbing components. Simultaneously, by selecting the type and quantity of leaf springs, coil springs, or disc springs, the torque requirements of different robots in walking scenarios can be adapted, improving the robot's walking energy efficiency and joint force control accuracy.

[0055] In some embodiments, such as Figure 3 and Figure 4As shown, the shock absorption mechanism 30 also includes a first sensing component 34, which is connected to the second housing 321 or opposite to the end of the second housing 321, for sensing the rotation angle of the second housing 321, so as to calculate the deformation of the shock absorption body 322 based on the rotation angle, and then calculate the energy stored and released by the shock absorption body 322.

[0056] The shape of the first sensing component 34 can be adapted to the shape of the cross-section of the second housing 321 along its radial direction. The first sensing component 34 can be disposed on the end face of the second housing 321, or the first sensing component 34 can be disposed opposite to and spaced apart from the end face of the second housing 321.

[0057] When the first transmission component 31 drives the second housing 321 to rotate in a preset direction during the flexing motion of the first motion component 40, the shock absorber body 322 can twist and deform, thereby generating torque. The process of generating torque by the shock absorber body 322 is also the process of storing energy. The energy stored by the shock absorber body 322 is proportional to the rotation angle of the second housing 321. When the first transmission component 31 drives the second housing 321 to rotate in the opposite direction of the preset direction during the straightening motion of the first motion component 40, the energy released by the shock absorber body 322 is proportional to the rotation angle of the second housing 321. The first sensing component 34 has a built-in processor, or the first sensing component 34 can be connected to a processor on the leg assembly 100. The processor is used to receive the rotation angle information read by the first sensing component 34, and based on the received rotation angle information, calculate the torque generated or released by the shock absorber body 322 according to the torque-angle conversion formula, and then calculate the energy stored and released by the shock absorber body 322.

[0058] Because the energy stored in the shock absorber 322 can be transferred to the first joint mechanism 20 through the second housing 321 and the first transmission component 31, it serves as part of the driving force for the movement of the first motion component 40. By acquiring the energy stored and released by the shock absorber 322, the actual output torque required by the first joint mechanism 20 when the first motion component 40 moves or remains in a fixed posture can be further calculated. This allows the first joint mechanism 20 to control the first motion component 40 based on the actual output torque, achieving on-demand functionality and improving the overall energy efficiency of the leg assembly 100. Specifically, the actual output torque of the first joint mechanism 20 is equal to the total torque required by the first motion component 40 minus the torque corresponding to the energy exerted by the shock absorber 322 on the first joint mechanism 20.

[0059] In some embodiments, such as Figure 4As shown, the first sensing component 34 includes a base 341 and a plurality of sensing bodies 342. The shape of the base 341 is adapted to the shape of the cross section of the second housing 321 along its radial direction. The plurality of sensing bodies 342 are distributed on the base 341 at intervals along the circumference of the base 341. The base 341 can be disposed on one end face of the second housing 321 along the axial direction and coaxial with the second housing 321. The sensing body 342 can be connected to or embedded in the end face of the second housing 321. When the first transmission component 31 drives the second housing 321 to rotate, the first sensing component 34 can rotate with the rotation of the second housing 321 to sense the rotation angle of the second housing 321, realizing contact sensing. Alternatively, the base 341 can also be disposed on the first housing 11 and coaxial with the second housing 321. The sensing body 342 faces the second housing 321 and is positioned opposite and spaced from the end of the second housing 321. The sensing body 342 can photoelectrically sense the rotation angle of the second housing 321 to realize non-contact angle detection. Since the base 341 is coaxial with the second housing 321, the sensing body 342 can directly read the real-time rotation angle of the second housing 321, reducing the possibility of delay in the read rotation angle and improving the measurement accuracy of the rotation angle of the second housing 321 by the first sensing component 34. The sensing body 342 can be an optical encoder, magnetic encoder, capacitive encoder, or inductive encoder, but is not limited to these.

[0060] In some embodiments, such as Figures 2 to 4 As shown, the first transmission assembly 31 includes a first connector 313, a rotating shaft 311, and a transmission belt 312. The first connector 313 connects the first joint mechanism 20 and the first motion assembly 40. The rotating shaft 311 is connected to the first connector 313. The transmission belt 312 is sleeved on the second housing 321 and the rotating shaft 311. The first connector 313 rotates when the first joint mechanism 20 drives the first motion assembly 40 to move relative to the second motion assembly 10, and drives the rotating shaft 311 to rotate, so that the rotating shaft 311 drives the second housing 321 to rotate via the transmission belt 312.

[0061] When the first joint mechanism 20 drives the first motion component 40 to move relative to the second motion component 10, it can synchronously drive the first connecting member 313 to rotate. The rotating shaft 311 can be a rigid shaft made of metal. One end of the rotating shaft 311 is connected to the first connecting member 313 to receive the torque provided by the first joint mechanism 20 through the first connecting member 313, and the other end is rotatably mounted on the first housing 11 so that the rotating shaft 311 can rotate under the drive of the first joint mechanism 20. Specifically, the rotation of the rotating shaft 311 is synchronized with the movement of the first motion component 40. During the process of driving the first motion component 40 to move relative to the second motion component 10, the first joint mechanism 20 can drive the rotating shaft 311 to rotate simultaneously through the first connecting member 313. The transmission belt 312 can be a rigid transmission belt 312 or an elastic transmission belt 312. The transmission belt 312 is used to transmit the rotational motion of the rotating shaft 311 to the second housing 321 so that the second housing 321 rotates synchronously with the rotating shaft 311, thereby realizing that the second housing 321 moves synchronously with the first motion component 40.

[0062] In some embodiments, such as Figure 4 As shown, the outer surface of the second housing 321 is provided with a limiting groove 321b, which is arranged circumferentially around the second housing 321. Limiting structures are also provided at both ends of the rotating shaft 311 along the axial direction. The transmission belt 312 is sleeved within the limiting groove 321b of the second housing 321 and outside the rotating shaft 311, and is located between the limiting structures at both ends of the rotating shaft 311. The limiting groove 321b of the second housing 321 and the limiting structures on the rotating shaft 311 are used to limit the axial displacement of the transmission belt 312, preventing axial slippage or detachment of the transmission belt 312 during transmission. This not only improves the working stability and reliability of the first transmission assembly 31, but also extends the service life of the transmission belt 312.

[0063] In some embodiments, such as Figure 3 and Figure 4 As shown, the accommodating cavity 1111 includes two opposing side walls 11a. The damping mechanism 30 also includes a fixing assembly 33, which is used to rotatably mount the two ends of the second housing 321 along the axial direction onto the two side walls 11a. The fixing assembly 33 includes two fixing bearings 331. One of the two fixing bearings 331 is used to rotatably mount one end of the second housing 321 onto one of the two side walls 11a of the accommodating cavity 1111, and the other of the two fixing bearings 331 is used to rotatably mount the other end of the second housing 321 onto the other of the two side walls 11a.

[0064] The end cap 324 has an axially penetrating opening 324b in its center. When the fixed bearing 331 is rotatably mounted on the side wall 11a of the accommodating cavity 1111 at the end of the second housing 321 without the end cap 324, the outer diameter of the fixed bearing 331 can be slightly smaller than the inner diameter of the second housing 321, so that the fixed bearing 331 can be fitted into and connected to the second housing 321. When the fixed bearing 331 is rotatably mounted on the side wall 11a of the accommodating cavity 1111 at the end of the second housing 321 with the end cap 324, the fixed bearing 331 can be fitted into the opening 324b of the end cap 324. The following embodiment describes the fixed bearing 331 fitted into the opening 324b of the end cap 324 as an example.

[0065] The fixed bearing 331 includes a first fixed part 3311 and a first rotating part 3312 rotatably sleeved outside the first fixed part 3311. The first rotating part 3312 is connected to the second housing 321, and the first fixed part 3311 is fixed to the side wall 11a. Specifically, the first fixed part 3311 is the inner ring of the fixed bearing 331, and the first rotating part 3312 is the outer ring of the fixed bearing 331. The first fixed part 3311 can be directly or indirectly connected to the side wall 11a of the accommodating cavity 1111; the outer surface of the first rotating part 3312 and the inner wall of the opening 324b of the end cover 324 can be fixedly connected by welding, riveting, interference fit, transition fit, bolt connection, snap connection, etc., but are not limited to these methods.

[0066] In some embodiments, the fixed bearing 331 may be a rolling bearing, such as a deep groove ball bearing or a cylindrical roller bearing, but is not limited thereto.

[0067] In some embodiments, such as Figure 4 As shown, the shock-absorbing body 322 and the first fixing part 3311 are provided with a first through hole 30a arranged coaxially. The fixing assembly 33 also includes a support shaft 332, which passes through the first through hole 30a and is connected between the two side walls 11a.

[0068] The support shaft 332 extends axially along the second housing 321, with one end fixed to one of the two side walls 11a and the other end fixed to the other side wall 11a. The first fixing part 3311 is fixedly connected to the support shaft 332 through the first through hole 30a to fix the first fixing part 3311 to the first housing 11, so that the second housing 321 can rotate relative to the first fixing part 3311 and the first housing 11 under the drive of the transmission belt 312 via the first rotating part 3312.

[0069] The inner surface of the damping body 322 and the outer surface of the support shaft 332 can be connected by a clearance fit or a sliding fit, so that when the second housing 321 rotates, the damping body 322 can rotate or slide slightly relative to the support shaft 332 in the circumferential direction. This not only does not affect the deformation of the damping body 322 and its storage or release of energy, but also reduces or avoids stress concentration in the area of ​​the damping body 322 near the first through hole 30a, thereby reducing or avoiding the risk of excessive deformation or breakage in the area of ​​the damping body 322 near the first through hole 30a. Since the damping body 322 is limited on both sides along the axial direction by the fixed bearing 331 or the fixed bearing 331 and the end cover 324, the damping body 322 will not move along the axial direction of the support shaft 332, which reduces the risk of wear on the damping body 322.

[0070] In some embodiments, such as Figure 2 , Figure 3 and Figure 5 As shown, where, Figure 5 This is an exploded structural diagram of the first joint mechanism and the second motion component of the leg assembly provided in this application. The first joint mechanism 20 includes a first drive component 21 and a second transmission component 22. The first drive component 21 is at least partially disposed within the receiving cavity 1111 and is located on the side of the second housing 321 away from the first motion component 40. The second transmission component 22 is connected to the first drive component 21 and extends toward and connects to the first motion component 40. The second transmission component 22 is used to drive the first motion component 40 to perform flexion or extension movements relative to the second motion component 10 under the drive of the first drive component 21.

[0071] The first drive assembly 21, the second transmission assembly 22, and the first motion assembly 40 are connected in sequence so that the second transmission assembly 22 can rotate and move up and down under the drive of the first drive assembly 21, and drive the first motion assembly 40 to perform flexion or extension relative to the second motion assembly 10.

[0072] The first drive assembly 21 is located on the side of the shock-absorbing mechanism 30 away from the first motion assembly 40, meaning the first drive assembly 21 is as far away from the first motion assembly 40 as possible. This allows the second transmission assembly 22 to be designed to be longer. A longer second transmission assembly 22 helps reduce transmission losses and improve energy utilization. Furthermore, it allows the distribution of the first joint mechanism 20 and the shock-absorbing mechanism 30 to be more dispersed, avoiding the problem of space congestion on the first housing 11. This not only improves heat dissipation efficiency but also prevents components located inside the first housing 11 from interfering with the first motion assembly 40. The first drive assembly 21 can be fixed to the inner wall of the accommodating cavity 1111 by means of clips, bolts, or screws.

[0073] In some embodiments, such as Figure 3 and Figure 5 As shown, the first joint mechanism 20 also includes a joint assembly 23. The joint assembly 23 is located at one end of the first housing 11 near the first motion assembly 40 and is connected to the second transmission assembly 22 and the first connecting member 313 of the first transmission assembly 31. The second transmission assembly 22 is connected to the first motion assembly 40, and its portion connecting to the first motion assembly 40 is connected to the joint assembly 23. The first drive assembly 21 drives a portion of the first motion assembly 40 to rotate relative to the joint assembly 23 via the second transmission assembly 22, thereby achieving flexion or extension movements of the first motion assembly 40. The first connecting member 313 of the second transmission assembly 22 is located on the joint assembly 23 and is connected to the first motion assembly 40 and the rotation shaft 311. When the first drive assembly 21 drives the first motion assembly 40 to rotate relative to the joint assembly 23, it also drives a portion of the first connecting member 313 to rotate relative to the joint assembly 23, causing the rotation shaft 311 to rotate with the rotation of the first connecting member 313 and, through the transmission belt 312, to rotate the second housing 321. The joint assembly 23 comprises two parts: a first part fixed to the first housing 11, and a second part connected to the first part and rotatable relative to the first part. A second transmission assembly 22 and a first connecting member 313 are connected to the second part. For further description of the joint assembly 23, please refer to the embodiments below.

[0074] The joint assembly 23 includes a second fixed portion 231 and a second rotating portion 232. The second fixed portion 231 is disposed in the first housing 11. The second rotating portion 232 is rotatably disposed within the second fixed portion 231 and is connected to the second transmission assembly 22 or the first transmission assembly 31. It is used to rotate relative to the second fixed portion 231 under the drive of the second transmission assembly 22, so as to drive the first motion assembly 40 and the first transmission assembly 31 to move.

[0075] In this design, the first fixing part 3311 is the outer ring of the joint assembly 23, and the second rotating part 232 is the inner ring of the joint assembly 23. The second fixing part 231 is disposed around the second rotating part 232, and the second rotating part 232 is rotatable relative to the second fixing part 231. The second fixing part 231 is disposed on the first housing 11 as a rotation fulcrum, and the second rotating part 232 is rotatably embedded in the radial center of the second fixing part 231 as a rotary joint, used to transmit rotational force to the first motion assembly 40 and the first transmission assembly 31.

[0076] The second fixing part 231 can be fixed to the first housing 11 by means of interference fit, snap connection, bolt connection or rivet connection. The end of the second transmission assembly 22 away from the first drive assembly 21 is connected to the second rotating part 232 and the first motion assembly 40. The end of the second transmission assembly 22 away from the first drive assembly 21 can be embedded in the middle of the second rotating part 232, and the two can be fixed together by means of interference fit, snap connection, bolt connection or rivet connection. The first connecting piece 313 of the first transmission assembly 31 can also be embedded in the middle of the second rotating part 232, and the two can be fixed together by means of interference fit, snap connection, bolt connection or rivet connection.

[0077] When the first drive assembly 21 is working, it can drive the second transmission assembly 22 to rotate and move up and down. When the second transmission assembly 22 rotates and moves up and down, it can transmit driving force to the first motion assembly 40, so that the first motion assembly 40 drives the second rotating part 232 to rotate relative to the second fixed part 231, thereby realizing the flexion or extension movement of the first motion assembly 40. When the second rotating part 232 rotates relative to the second fixed part 231, the first connecting member 313 of the first transmission assembly 31 can rotate synchronously with the second rotating part 232, and drive the rotating shaft 311 to rotate, so that the rotating shaft 311 drives the second housing 321 to rotate through the transmission belt 312.

[0078] In some embodiments, such as Figure 2 , Figure 3 and Figure 5 As shown, the first housing 11 includes a housing body 111 and a cover plate 112. The housing body 111 is a hollow cylindrical structure with an internal accommodating cavity 1111. The cover plate 112 may be plate-shaped, or it may be a recessed structure on the side facing the housing body 111. The housing body 111 and the cover plate 112 can be fixed together by means of riveting, bolting, snap-fitting, or adhesive bonding.

[0079] The accommodating cavity 1111 formed by the shell body 111 includes a first sub-cavity 1111a and a second sub-cavity 1111b arranged vertically. The first sub-cavity 1111a is disposed close to the first motion component 40 relative to the second sub-cavity 1111b. The first sub-cavity 1111a is used to accommodate the shock absorption mechanism 30, and the second sub-cavity 1111b is used to accommodate at least a portion of the first drive component 21. The vertical direction is parallel to the arrangement direction between the second motion component 10 and the first motion component 40 (i.e., the third direction ZZ). The first sub-cavity 1111a and the second sub-cavity 1111b can be interconnected or isolated from each other, as long as it is ensured that the rotation of the second shell 321 does not interfere with or be constrained by the first drive component 21 or other components.

[0080] The shell body 111 includes a first side 1112 and a second side 1113 arranged opposite to each other. The arrangement direction of the first side 1112 and the second side 1113 is perpendicular to the vertical direction and perpendicular to the axial direction of the fixed bearing 331, that is, the first side 1112 and the second side 1113 can be arranged opposite to each other along the second direction YY. The first side 1112 is provided with a second through hole 1112a communicating with the first sub-cavity 1111a. The cover plate 112 covers at least the second through hole 1112a, that is, the cover plate 112 can cover the entire first side 1112 of the shell body 111, or the cover plate 112 can also cover the second through hole 1112a and extend in a direction away from the second sub-cavity 1111b. The second housing 321 is disposed within the first sub-cavity 1111a and is rotatably connected between the housing body 111 and the cover plate 112. Specifically, one end of the second housing 321 along its axial direction is rotatably disposed on the side of the housing body 111 near the first sub-cavity 1111a via one of the two fixed bearings 331, and the other end is rotatably disposed on the side of the cover plate 112 near the first sub-cavity 1111a via the other of the two fixed bearings 331.

[0081] In some embodiments, such as Figure 3 and Figure 5 As shown, the first drive assembly 21 is at least partially disposed within the second sub-cavity 1111b, and the second side 1113 is provided with a third through hole 1113a communicating with the second sub-cavity 1111b; the first drive assembly 21 includes a first drive motor 211 and a first drive shaft (not shown) connected to the first drive motor 211. The first drive shaft is disposed at one end of the first drive motor 211 near the third through hole 1113a and is connected to the second transmission assembly 22.

[0082] The first drive shaft can be located inside the second sub-cavity 1111b, and the second transmission assembly 22 extends into the second sub-cavity 1111b via the third through hole 1113a and is connected to the first drive shaft; alternatively, the first drive shaft can extend to or exit through the third through hole 1113a. The first drive motor 211 is used to drive the second transmission assembly 22 to rotate via the first drive shaft.

[0083] By forming a third through hole 1113a connecting the second sub-cavity 1111b on the second side 1113 of the shell body 111, and forming a second through hole 1112a connecting the first sub-cavity 1111a on the first side 1112 of the shell body 111, the first transmission component 31 of the shock absorption mechanism 30 and the second transmission component 22 of the first joint mechanism 20 can be connected to the fixed bearing 331 at the end near the first side 1112 and the end near the second side 1113, respectively. On the one hand, this can balance the weight of the first shell 11 in the vertical direction and in the arrangement direction of the first side 1112 and the second side 1113, reducing the generation of overturning moment, thereby making the center of gravity of the robot more stable when maintaining a standing posture or walking. On the other hand, it can make the vibration generated by the first transmission component 31 and the second transmission component 22 more dispersed when they move, reducing the risk of resonance. Furthermore, it facilitates the connection of the second transmission component 22 and the first transmission component 31 to the joint component 23 from the first side 1112 and the second side 1113, respectively, which can improve assembly efficiency and subsequent maintenance efficiency.

[0084] In some embodiments, such as Figure 3 and Figure 5 As shown, the shell body 111 has a first mounting groove 1114 at one end near the first moving component 40. The first mounting groove 1114 extends through the first side 1112 and the second side 1113, and a first slot 1114a is formed on the side of the first mounting groove 1114 near the first moving component 40. The joint component 23 is disposed in the first mounting groove 1114. The second transmission component 22 passes through the first side 1112 into the first mounting groove 1114 and is connected to the second rotating part 232 of the joint component 23. The cover plate 112 extends from the second through hole 1112a to the first mounting groove 1114. The rotating shaft 311 of the first transmission component 31 is rotatably disposed in the area corresponding to the cover plate 112 and the first mounting groove 1114, and is connected to the second rotating part 232 of the joint component 23 through the first connector 313. The first motion component 40 is inserted into the first mounting groove 1114 through the first slot 1114a and is connected to the first connector 313 of the first transmission component 31 and the second mounting part 222 of the second transmission component 22.

[0085] In some embodiments, such as Figure 3 and Figure 5 As shown, the second transmission assembly 22 includes a first mounting portion 221, a second mounting portion 222, and at least one first connecting rod 223 connected between the first mounting portion 221 and the second mounting portion 222. The first mounting portion 221 is connected to the first drive assembly 21, and the second mounting portion 222 is connected to the second rotating portion 232 and the first motion assembly 40.

[0086] The second transmission assembly 22 may include one or more first connecting rods 223. When the second transmission assembly 22 includes multiple first connecting rods 223, the multiple first connecting rods 223 may be spaced apart and respectively connected to the first mounting portion 221 and the second mounting portion 222. The first mounting portion 221 is connected to the first drive shaft of the first drive assembly 21, and the second mounting portion 222 may be pressed against the middle of the second rotating portion 232 of the joint assembly 23 and connected to the first motion assembly 40. The first drive motor 211 drives the first mounting portion 221 to rotate through the first drive shaft. When the first mounting portion 221 rotates, it can drive the second rotating portion 232 to rotate relative to the second fixed portion 231 through the first connecting rod 223 and the second mounting portion 222, thereby driving the first motion assembly 40 to move.

[0087] In some embodiments, such as Figure 3 and Figure 5 As shown, the first joint mechanism 20 includes two joint assemblies 23. The two joint assemblies 23 are spaced apart along the arrangement direction of the first side 1112 and the second side 1113. The second rotating part 232 of the joint assembly 23 near the first side 1112 is connected to the first transmission assembly 31, and the second rotating part 232 of the joint assembly 23 near the second side 1113 is connected to the second transmission assembly 22.

[0088] The second mounting portion 222 of the second transmission assembly 22 is connected to the second rotating portion 232 of the joint assembly 23 near the second side 1113. The first connecting member 313 of the first transmission assembly 31 is connected to the second rotating portion 232 of the joint assembly 23 near the first side 1112, and is also connected to the first motion assembly 40 and the rotating shaft 311. When the first motion assembly 40 moves, it can drive the second rotating portion 232 of the joint assembly 23 near the first side 1112 to rotate, thereby driving the first connecting member 313 to rotate, so that the rotating shaft 311 rotates with the rotation of the first connecting member 313 and drives the second housing 321 to rotate through the transmission belt 312.

[0089] The first motion component 40 can extend through the first slot 1114a between the two joint components 23 and connect with the second mounting part 222 of the second transmission component 22 and the first connector 313 of the first transmission component 31.

[0090] By setting two joint components 23, and the two joint components 23 are arranged at intervals along the arrangement direction of the first side 1112 and the second side 1113, the second rotating part 232 of the two joint components 23 are respectively connected to the first motion component 40 through the first transmission component 31 and the second transmission component 22. The two joint components 23 can share the load when the first motion component 40 performs flexion or extension movements, reducing the risk of wear or overload.

[0091] In some embodiments, such as Figure 1 and Figure 5 As shown, the leg assembly 100 also includes a hip assembly 50. The hip assembly 50 is located at the end of the second motion assembly 10 away from the first motion assembly 40. The hip assembly 50 and the second motion assembly 10 are connected by a second connector 51.

[0092] In some embodiments, such as Figure 1 , Figure 6 and Figure 7 As shown, where, Figure 6 This is a perspective structural diagram of another embodiment of the leg assembly provided in this application; Figure 7 yes Figure 6 The exploded view of the leg assembly shown indicates that the leg assembly 100 includes a third motion component 60, a second joint mechanism 70, a first motion component 40, and a drive mechanism 80. The second joint mechanism 70 is movably mounted on the third motion component 60. The first motion component 40 is connected to the second joint mechanism 70. The drive mechanism 80 is at least partially mounted on the first motion component 40 and connected to the second joint mechanism 70, for driving the second joint mechanism 70 to move, thereby causing the second joint mechanism 70 to move the third motion component 60 relative to the first motion component 40.

[0093] The third motion component 60 can be a footplate component. The second joint mechanism 70 can be an ankle joint mechanism. The third motion component 60, the second joint mechanism 70, and the first motion component 40 are arranged sequentially. The drive mechanism 80 is mounted on the first motion component 40 and connected to the second joint mechanism 70, allowing the second joint mechanism 70 to move relative to the third motion component 60. When the drive mechanism 80 operates, it can drive the second joint mechanism 70 to move, and when the second joint mechanism 70 moves, it can drive the third motion component 60 to move relative to the first motion component 40.

[0094] By connecting the second joint mechanism 70 between the third motion component 60 and the first motion component 40, and connecting the drive mechanism 80 to the second joint mechanism 70, the drive mechanism 80 can drive the second joint mechanism 70 to move, so that the second joint mechanism 70 drives the third motion component 60 to move relative to the first motion component 40. Compared with the traditional solution of driving the third motion component 60 to move relative to the first motion component 40 around the bearing by a motor, the overall structure of the second joint mechanism 70 can be used to resist the reaction force generated when the third motion component 60 moves, and the reaction force can be distributed to the first motion component 40 and other structures. This can reduce stress concentration, thereby reducing the risk of wear on the connection structure between the second joint mechanism 70 and the third motion component 60, and helping to improve the smoothness of the movement of the third motion component 60.

[0095] In some embodiments, such as Figure 8 As shown, Figure 8 This is an exploded structural diagram of the second joint mechanism and part of the third motion component of the leg assembly provided in this application. The second joint mechanism 70 includes at least one link assembly 71, and the link assembly 71 includes a first end 71a and a second end 71b disposed opposite to each other along the first direction XX.

[0096] In this configuration, the first direction XX is parallel to the extension direction of the third motion component 60. The first end 71a and the second end 71b of the link assembly 71, positioned opposite each other along the first direction XX, are respectively located on both sides of the third motion component 60 along its extension direction. The first end 71a can be located on the rear side of the third motion component 60 along its forward direction, and the second end 71b can be located on the front side of the third motion component 60 along its forward direction. A hinge point is provided in the middle of the link assembly 71, referring to the area of ​​the link assembly 71 located between the first end 71a and the second end 71b. The regions of the link assembly 71 from the hinge point to the first end 71a and from the hinge point to the second end 71b can rotate relative to each other around the hinge point. In the link assembly 71, the dimensions from the hinge point to the first end 71a and from the hinge point to the second end 71b can be equal or unequal.

[0097] The first end 71a is rotatably disposed on the third motion assembly 60 and connected to the drive mechanism 80, and the second end 71b is slidably disposed on the third motion assembly 60. The hinge point of the link assembly 71 is movably connected to the first motion assembly 40. The drive mechanism 80 is used to drive the first end 71a to rotate relative to the third motion assembly 60, so that the second end 71b slides relative to the third motion assembly 60, thereby causing the third motion assembly 60 to perform a flexing motion relative to the first motion assembly 40.

[0098] The flexion movements of the third motor component 60 include at least plantar flexion and dorsiflexion. Plantar flexion and dorsiflexion are standard terms in the fields of human anatomy, rehabilitation medicine, and sports science, and have recognized and clearly defined terms.

[0099] The first end 71a of the connecting rod assembly 71 may be rotatably mounted on the third motion assembly 60 via a bushing or bearing, but is not limited thereto. The second end 71b of the connecting rod assembly 71 may be slidably mounted on the third motion assembly 60 via a groove structure, a slide rail structure, or a linear bearing structure, but is not limited thereto. The hinge point of the connecting rod assembly 71 may be movably connected to the first motion assembly 40 via a pin or bearing, so that the region of the connecting rod assembly 71 from the hinge point to the first end 71a and the region from the hinge point to the second end 71b can rotate relative to each other around the hinge point.

[0100] When the drive mechanism 80 is working, it can drive the first end 71a of the linkage assembly 71 to rotate relative to the third motion assembly 60. Since the hinge point of the linkage assembly 71 is movably connected to the first motion assembly 40, when the first end 71a of the linkage assembly 71 rotates under the drive of the drive mechanism 80, it can drive the region of the linkage assembly 71 from the hinge point to the first end 71a and the region from the hinge point to the second end 71b to rotate relative to the hinge point, and push or pull the second end 71b of the linkage assembly 71 to slide relative to the third motion assembly 60. The first end 71a of the linkage assembly 71 performs circular motion, and the second end 71b performs linear motion along the first direction XX. The linkage assembly 71 can transmit these two motion forms to the third motion assembly 60, so as to drive the third motion assembly 60 to perform flexing motion relative to the first motion assembly 40.

[0101] By rotatably mounting the first end 71a of the link assembly 71 on the third motion assembly 60 and connecting it to the drive mechanism 80, slidably mounting the second end 71b on the third motion assembly 60, and movably connecting the hinge point of the link assembly 71 to the first motion assembly 40, the drive mechanism 80 can drive the third motion assembly 60 to flex relative to the first motion assembly 40 through the link assembly 71. Since the link assembly 71 and the third motion assembly 60 are connected through multiple connection points, the reaction force generated when the third motion assembly 60 moves can be dispersed to multiple connection points and transmitted to the link assembly 71. This can improve the resistance of the link assembly 71 to the reaction force of the third motion assembly 60. In addition, the link assembly 71 has a larger force-bearing area, which can reduce stress concentration, thereby reducing the risk of wear on the connection structure between the second joint mechanism 70 and the third motion assembly 60, and helping to improve the smoothness of the movement of the third motion assembly 60.

[0102] In some embodiments, when the second end 71b slides relative to the third motion component 60, the distance between the first end 71a and the second end 71b decreases or increases. For example, when the second end 71b slides along the first direction XX toward a direction closer to the first end 71a, the distance between the first end 71a and the second end 71b decreases, so that the linkage assembly 71 can drive the third motion component 60 to perform dorsiflexion (the front end of the third motion component 60 hooks upward and the rear end steps downward); when the second end 71b slides along the first direction XX toward a direction away from the first end 71a, the distance between the first end 71a and the second end 71b increases, so that the linkage assembly 71 can drive the third motion component 60 to perform plantarflexion (the front end of the third motion component 60 steps downward and the rear end lifts upward).

[0103] like Figures 6 to 8As shown, the second joint mechanism 70 also includes at least one second damping component 72. The second damping component 72 is telescopically disposed between the first end 71a and the second end 71b. The movement of the first end 71a and the second end 71b of the connecting rod assembly 71 can be converted into linear movement of the piston inside the second damping component 72. When the distance between the first end 71a and the second end 71b decreases or increases, the length of the second damping component 72 shortens or lengthens.

[0104] Specifically, when the distance between the first end 71a and the second end 71b decreases, the length of the second damping component 72 shortens. When the distance between the first end 71a and the second end 71b increases, the length of the second damping component 72 increases.

[0105] In some embodiments, the second damping component 72 is configured to absorb energy during length shortening and release energy during length increase. Specifically, when the distance between the first end 71a and the second end 71b decreases, the first end 71a and the second end 71b can respectively squeeze the two ends of the second damping component 72 along the first direction XX, so that the second damping component 72 is compressed and absorbs the vibration energy generated by the connecting rod assembly 71. The second damping component 72 can convert the absorbed vibration energy into heat energy and dissipate it into the environment, so that the vibration energy generated by the connecting rod assembly 71 is consumed, thereby suppressing the vibration of the connecting rod assembly 71 and the third motion assembly 60. This not only protects the connecting rod assembly 71 and the third motion assembly 60 and extends their service life, but also further improves the smoothness of the movement of the third motion assembly 60. The second damping component 72 can also overcome the compressive force of the first end 71a and the second end 71b and reset itself when the driving force of the drive mechanism 80 on the linkage assembly 71 decreases, or when the drive mechanism 80 drives the first end 71a to reverse. That is, it switches from a compressed state to an extended state. During the reset process, the second damping component 72 can push the first end 71a to rotate relative to the third motion component 60 and push the second end 71b to slide away from the first end 71a along the first direction XX. This can reduce the driving force of the drive mechanism 80 on the linkage assembly 71, improve energy utilization efficiency, and save energy. After the second damping component 72 resets, it means that the second damping component 72 has completed a complete motion cycle, preparing for the next movement of the first end 71a and the second end 71b away from each other.

[0106] In some embodiments, the second damping component 72 is configured to absorb energy during length growth and release energy during length shortening, thereby reducing the driving force of the drive mechanism 80 on the linkage assembly 71 as the second end 71b slides along the first direction XX toward the direction close to the first end 71a.

[0107] In some embodiments, the second damping component 72 can be a bidirectional damper. The second damping component 72 can absorb the vibration energy generated by the connecting rod assembly 71 during the stretching or compression process, thereby maintaining the stability of the third motion component 60 throughout the entire motion process.

[0108] In some embodiments, the second damping assembly 72 includes a monotube damper, a twin-tube damper, or a combined-tube pneumatic damper, but is not limited thereto.

[0109] In some embodiments, the link assembly 71 and the second damping assembly 72 are arranged in a triangle. The combined structure of the link assembly 71 and the second damping assembly 72 can fully utilize the stability advantage of a triangle, thereby improving the overall stability of the second joint mechanism 70.

[0110] In some embodiments, such as Figure 7 As shown, the leg assembly 100 also includes a second sensing component 101. The second sensing component 101 is connected to the first end 71a and is used to sense the rotation angle of the first end 71a to calculate the change in damping force of the second damping component 72. The second sensing component 101 is also used to sense the rotation angle of the first end 71a of the linkage assembly 71 relative to the third motion component 60 to calculate the change in the angle between the region of the linkage assembly 71 from the hinge point to the first end 71a and the second damping component 72. Since the total length of the linkage assembly 71 remains constant, the initial length of the second damping assembly 72 is fixed in the initial state (i.e., when the plane containing the bottom of the third motion assembly 60 is parallel to the horizontal plane). The linkage assembly 71 and the second damping assembly 72 are arranged in a triangle. Based on the initial length of the second damping assembly 72, the total length of the linkage assembly 71, and the angle change between the area of ​​the linkage assembly 71 from the hinge point to the first end 71a and the second damping assembly 72, the real-time length of the second damping assembly 72 can be calculated. The damping force change of the second damping assembly 72 can be calculated based on the real-time length of the second damping assembly 72, and then the foot force of the robot can be calculated. This facilitates the adjustment of the output torque of the drive mechanism 80 based on the foot force of the robot to control the motion posture of the third motion assembly 60, which helps to further improve the smoothness and compliance of the motion of the third motion assembly 60.

[0111] In some embodiments, such as Figure 8 As shown, the linkage assembly 71 includes a second link 711 and a third link 712 arranged and rotatably connected along a first direction XX. The hinge point is the rotatable connection point between the second link 711 and the third link 712. The end of the second link 711 furthest from the third link 712 is the first end 71a, and the end of the third link 712 furthest from the second link 711 is the second end 71b.

[0112] The linkage assembly 71 can be a split structure, including a second linkage 711 and a third linkage 712. The second linkage 711 and the third linkage 712 are rotatably connected and movably connected to the first motion assembly 40 via a connecting component. The end of the second linkage 711 away from the third linkage 712 is rotatably disposed on the third motion assembly 60 and connected to the drive mechanism 80. The end of the third linkage 712 away from the second linkage 711 is slidably disposed on the third motion assembly 60. The second linkage 711 and the third linkage 712 can rotate relative to each other. The second damping assembly 72 is connected between the end of the second linkage 711 away from the third linkage 712 and the end of the third linkage 712 away from the second linkage 711. The second linkage 711, the third linkage 712, and the second damping assembly 72 form a triangular structure.

[0113] The lengths of the second link 711 and the third link 712 can be equal, or they can be unequal. Preferably, the length of the third link 712 is greater than the length of the second link 711.

[0114] In some embodiments, such as Figure 8 As shown, the second link 711 includes a first link segment 7111 and a second link segment 7112 that are interconnected and arranged at an angle. The end of the second link segment 7112 away from the first link segment 7111 is rotatably connected to the third link 712. The end of the first link segment 7111 away from the second link segment 7112 is connected to the drive mechanism 80. The end of the second link segment 7112 near the first link segment 7111, the end of the first link segment 7111 near the second link segment 7112, or the connection point between the first link segment 7111 and the second link segment 7112 is rotatably disposed on the third motion assembly 60.

[0115] The connection point between the first link segment 7111 and the second link segment 7112, and the end of the second link segment 7112 near the first link segment 7111, constitute the first end 71a of the link assembly 71.

[0116] The first link segment 7111 and the second link segment 7112 can be integrally formed. They can be integrally formed by stamping, casting, or forging, but are not limited to these methods. The included angle between the first link segment 7111 and the second link segment 7112 can be an obtuse angle; of course, the included angle between the first link segment 7111 and the second link segment 7112 can also be a right angle or an acute angle. When the robot is in a standing state, that is, when the plane containing the bottom of the third motion component 60 is parallel to the horizontal plane, the extension direction of the first link segment 7111 can be parallel to the first direction XX, or it can be inclined relative to the first direction XX. For example, the end of the first link segment 7111 away from the second link segment 7112 can extend inclined towards or away from the first motion component 40. The end of the second link segment 7112 away from the first link segment 7111 extends inclined towards the first motion component 40.

[0117] The first link segment 7111 is spaced apart from the third motion component 60, and the end of the first link segment 7111 away from the second link segment 7112 is connected to the drive mechanism 80. The end of the first link segment 7111 away from the second link segment 7112 can move closer to or further away from the third motion component 60 under the drive of the drive mechanism 80, so that the second link 711 can rotate relative to the third motion component 60 about its rotation axis with the third motion component 60, and drive the third link 712 to slide relative to the third motion component 60 in the first direction XX.

[0118] In some embodiments, such as Figure 6 , Figure 7 and Figure 9 As shown, Figure 9 This is an exploded structural diagram of the energy-saving component of the leg assembly provided in this application. The leg assembly 100 also includes at least one energy-saving component 90. The energy-saving component 90 is connected between the first motion component 40 and the first end 71a, and is used to store or release energy when the drive mechanism 80 drives the first end 71a to rotate relative to the third motion component 60.

[0119] Among them, the end of the energy-saving component 90 away from the first motion component 40 is connected to the end of the first rod segment 7111 away from the second rod segment 7112.

[0120] The energy-saving component 90 stores energy during the sliding of the second end 71b in the first direction XX toward the direction closer to the first end 71a, and releases energy when the second end 71b slides in the first direction XX toward the direction away from the first end 71a. Specifically, when the end of the first rod segment 7111 away from the second rod segment 7112 moves toward the third motion component 60 under the drive of the drive mechanism 80, the end of the energy-saving component 90 away from the first motion component 40 also moves toward the third motion component 60. At this time, the energy-saving component 90 is stretched, and its internal energy storage component deforms and stores energy. At the same time, the first rod segment 7111 can pull the third connecting rod 712 through the second rod segment 7112, so that the second end 71b slides in the first direction XX toward the direction closer to the first end 71a, thereby driving the third motion component 60 to perform a backbend motion. During the energy storage process, the energy-saving component 90 can absorb the vibration energy generated by the connecting rod assembly 71. When the end of the first link segment 7111 away from the second link segment 7112 moves away from the third motion component 60 under the drive of the drive mechanism 80, the end of the energy-saving component 90 away from the first motion component 40 also moves away from the third motion component 60. At this time, the energy storage component inside the energy-saving component 90 resets and releases energy. Simultaneously, the first link segment 7111 can push the third link 712 through the second link segment 7112, so that the second end 71b slides along the first direction XX in a direction away from the first end 71a, thereby driving the third motion component 60 to perform plantar flexion. The energy released by the energy-saving component 90 can act on the first end 71a of the link assembly 71, so that together with the drive mechanism 80, it drives the end of the first link segment 7111 away from the second link segment 7112 to move away from the third motion component 60. This is equivalent to the energy-saving component 90 providing additional driving energy to the link assembly 71 during the energy release process, thereby reducing the output torque of the drive mechanism 80 driving the link assembly 71 to move, which helps to improve the energy utilization efficiency of the leg assembly 100 and reduce energy consumption.

[0121] The end of the energy-saving component 90 furthest from the first motion component 40 can be connected to the drive mechanism 80 in the same area of ​​the link assembly 71. For example, the end of the energy-saving component 90 furthest from the first motion component 40 can be connected to one side of the first link segment 7111 along the second direction YY, and the drive mechanism 80 can be connected to the other side of the first link segment 7111 along the second direction YY. This makes the area where the energy released by the energy-saving component 90 acts on the link assembly 71 the same as the area where the torque output by the drive mechanism 80 acts on the link assembly 71, facilitating the effective superposition of the two energies and reducing energy waste.

[0122] In some embodiments, the energy-saving component 90 and the second damping component 72 on the second joint mechanism 70 can work synergistically. The energy-saving component 90 releases energy during the sliding of the second end 71b along the first direction XX toward a direction away from the first end 71a, and the second damping component 72 releases energy during the sliding of the second end 71b along the first direction XX toward a direction closer to the first end 71a. That is, the energy-saving component 90 releases energy when the third motion component 60 performs plantar flexion, and the second damping component 72 releases energy when the third motion component 60 performs dorsiflexion, thereby reducing the total output torque of the drive mechanism 80 during the movement of the third motion component 60 relative to the first motion component 40, thereby further improving the energy utilization efficiency of the leg assembly 100 and reducing energy consumption. In other embodiments, both the energy-saving component 90 and the second damping component 72 are used to release energy during the plantar flexion of the third motion component 60, thereby reducing the output torque of the drive mechanism 80 during the plantar flexion phase of the third motion component 60.

[0123] In some embodiments, such as Figure 9 As shown, the energy-saving component 90 includes a sliding sleeve 91, a pull rod 92, and an elastic element 93. The sliding sleeve 91 is disposed on the first moving component 40 and extends towards the third moving component 60. The sliding sleeve 91 has a first groove 91a extending axially therefrom. One end of the pull rod 92 is slidably inserted into the first groove 91a from the end of the sliding sleeve 91 near the third moving component 60, and the other end of the pull rod 92 is connected to the first end 71a. The elastic element 93 is sleeved outside the sliding sleeve 91, with one end connected to or abutting against the sliding sleeve 91, and the other end connected to or abutting against the pull rod 92. The pull rod 92 is used to slide along the first groove 91a toward or away from the third moving component 60 when the first end 71a rotates relative to the third moving component 60, so that the elastic element 93 stores or releases energy.

[0124] The extension direction of the sliding sleeve 91 is parallel to the arrangement direction of the first motion component 40 and the third motion component 60, or inclined relative to the arrangement direction of the first motion component 40 and the third motion component 60. The end of the sliding sleeve 91 near the third motion component 60 can extend through the first sliding groove 91a, so that one end of the pull rod 92 can be slidably inserted into the first sliding groove 91a from the end of the sliding sleeve 91 near the third motion component 60. The shape of at least a portion of the pull rod 92 inserted into the first sliding groove 91a is adapted to the shape of the first sliding groove 91a. For example, the first sliding groove 91a can be a dovetail-shaped sliding groove, and at least a portion of the pull rod 92 can be a dovetail-shaped sliding rod; the first sliding groove 91a can be a rectangular sliding groove, and at least a portion of the pull rod 92 can be a rectangular sliding rod.

[0125] The position of the elastic element 93 can correspond to the position of the portion of the pull rod 92 located within the first slide groove 91a. For example, the elastic element 93 can be located at one end of the sliding sleeve 91 near the third motion component 60, and this end of the elastic element 93 near the third motion component 60 is connected to or abuts against this end of the sliding sleeve 91 near the third motion component 60. The other end of the elastic element 93 away from the third motion component 60 is directly or indirectly connected to or abuts against the pull rod 92. The elastic element 93 is an energy storage component inside the energy-saving component 90.

[0126] When the drive mechanism 80 drives the first end 71a of the linkage assembly 71 to rotate toward the direction close to the third motion assembly 60, the first end 71a of the linkage assembly 71 can pull the pull rod 92 to slide along the first slide groove 91a toward the direction close to the third motion assembly 60, so that the pull rod 92 directly or indirectly compresses the elastic member 93, thereby causing the elastic member 93 to deform and store energy. When the drive mechanism 80 drives the first end 71a of the linkage assembly 71 to rotate away from the third motion assembly 60, the first end 71a of the linkage assembly 71 can push the pull rod 92 to slide along the first slide groove 91a away from the third motion assembly 60, so that the compressive force between the pull rod 92 and the elastic member 93 is reduced or eliminated, thereby causing the elastic member 93 to reset and release energy. The energy released by the elastic member 93 can act on the linkage assembly 71 through the pull rod 92, thereby providing additional energy to the linkage assembly 71, which can reduce the output torque of the drive mechanism 80 driving the linkage assembly 71, helping to improve the energy utilization efficiency of the leg assembly 100 and reduce energy consumption.

[0127] In some embodiments, the elastic element 93 includes a spring, a rubber elastic element, a polyurethane elastic element, or a butterfly spring assembly, but is not limited thereto.

[0128] In some embodiments, such as Figure 9 As shown, the pull rod 92 is provided with a socket 92a. The energy-saving component 90 also includes a brake pin 94, which is detachably inserted into the socket 92a. The brake pin 94 is used to adjust the pre-compression of the elastic member 93 and to apply pressure to the elastic member 93 when the pull rod 92 slides along the first groove 91a toward the third motion component 60.

[0129] The brake pin 94 is detachably inserted into the socket 92a and is used to cooperate with the limiting part 913 on the sliding sleeve 91 to limit the elastic member 93 between it and the limiting part 913.

[0130] The pull rod 92 has multiple insertion holes 92a, which are spaced apart along the axial direction of the pull rod 92. The specific number of insertion holes 92a can be 2, 3, 5, 7, 8, 10, 11, 12, 15, 16, 18, 20, 25, 28, 30, etc., but is not limited to these; the specific number of insertion holes 92a can be selected according to actual needs. In other embodiments, the pull rod 92 may also have only one insertion hole 92a.

[0131] The outer surface of the sliding sleeve body 912 has a second slot 91b that communicates with the first sliding groove 91a, and the insertion hole 92a on the pull rod 92 corresponds to the second slot 91b, so that the brake pin 94 can extend into the first sliding groove 91a through the second slot 91b and be inserted into the insertion hole 92a. The end of the brake pin 94 away from the pull rod 92 extends out of the second slot 91b and is connected to or abuts against the other end of the elastic member 93 away from the third motion assembly 60. When the pull rod 92 slides along the first sliding groove 91a toward the direction of approaching the third motion assembly 60, the brake pin 94 also moves toward the third motion assembly 60 with the pull rod 92 and applies pressure to the elastic member 93 to compress the elastic member 93 so that the elastic member 93 stores energy, and conversely, the elastic member 93 releases energy.

[0132] According to Hooke's Law, the elastic force of the elastic element 93 is directly proportional to its compression; that is, the greater the pre-compression, the more potential energy the elastic element 93 stores in the initial state, and the greater its initial restoring force. By inserting the brake pin 94 into different holes 92a, the initial restoring force of the elastic element 93 can be adjusted, thereby adjusting the restoring force applied to the linkage assembly 71 when the elastic element 93 resets, and thus controlling the movement speed of the third motion assembly 60.

[0133] In some embodiments, such as Figure 9 As shown, the pull rod 92 includes a sliding section 922 and an extension section 921. The sliding section 922 is slidably inserted into the first groove 91a, and a plurality of insertion holes 92a are spaced apart along the axial direction of the sliding section 922. The extension section 921 is connected to the end of the sliding section 922 near the third motion component 60, and the end of the extension section 921 away from the sliding section 922 is connected to the first end 71a. Specifically, the end of the extension section 921 away from the sliding section 922 can be connected to the first end 71a of the connecting rod assembly 71 by screws, bolts, or pins, but is not limited thereto.

[0134] In some embodiments, such as Figure 9As shown, the sliding sleeve 91 includes a connecting portion 911, a sliding sleeve body 912, and a limiting portion 913. The connecting portion 911 is connected to the first motion component 40. The sliding sleeve body 912 is connected to the end of the connecting portion 911 near the third motion component 60. An elastic member 93 is sleeved on the outside of the sliding sleeve body 912, and a first sliding groove 91a is provided inside the sliding sleeve body 912. The limiting portion 913 is connected to the end of the sliding sleeve body 912 away from the connecting portion 911, and is used to limit the displacement of the elastic member 93 along the sliding sleeve 91 toward the third motion component 60.

[0135] The outer diameter of the connecting portion 911 near the sliding sleeve body 912 can be larger than the outer diameter of the sliding sleeve body 912, used to limit the displacement of the brake pin 94 and the elastic member 93 in a direction away from the third motion assembly 60. The sliding sleeve body 912 is the main structure of the sliding sleeve 91, and guides the movement of the pull rod 92 through the first sliding groove 91a. The outer diameter of the limiting portion 913 can be larger than the outer diameter of the sliding sleeve body 912, so that the limiting portion 913 can limit the displacement of the elastic member 93 along the sliding sleeve 91 towards the third motion assembly 60. The connecting portion 911, the sliding sleeve body 912, and the limiting portion 913 are integrally formed, or they can be a fixed connection structure.

[0136] The connecting part 911 can be connected to the first moving component 40 via the first assembly assembly 95. The end of the connecting part 911 away from the slide body 912 has a first fixing hole (not shown). The first assembly assembly 95 includes a fixing member 951, a fixing rod 952, and a first locking member 953. The fixing member 951 has a second mounting groove 951a, and the end of the connecting part 911 away from the slide body 912 is inserted into the second mounting groove 951a. The fixing member 951 has second fixing holes (not shown) on opposite sides of the axis of the first fixing hole of the connecting part 911, communicating with the second mounting groove 951a. The first fixing hole and the second fixing hole are coaxially arranged. The first locking member 953 is sequentially inserted into one second fixing hole, the first fixing hole, and the other second fixing hole to fix the fixing member 951 to the end of the connecting part 911 away from the slide body 912. The fixing rod 952 can be connected to the fixing member 951 by screws, bolts or pins, and fixed to the first motion component 40 by screws, bolts or pins.

[0137] In some embodiments, such as Figures 6 to 8 As shown, the second joint mechanism 70 includes two link assemblies 71. The two link assemblies 71 are arranged at intervals along a second direction YY. The second direction YY is perpendicular to the first direction XX and perpendicular to the arrangement direction of the first motion assembly 40 and the third motion assembly 60.

[0138] The two linkage assemblies 71 are symmetrically arranged along the second direction YY, and the drive mechanism 80 is used to drive the two linkage assemblies 71 to move synchronously, which can realize symmetrical ankle joint movement control. The two linkage assemblies 71 can jointly bear the reaction force generated when the third motion assembly 60 moves, which can reduce stress concentration, help improve the fatigue resistance and reliability of the second joint mechanism 70, and thus further improve the smoothness of the movement of the third motion assembly 60.

[0139] In some embodiments, such as Figures 6 to 8 As shown, the second joint mechanism 70 further includes a connecting assembly 73. The connecting assembly 73 includes two first connecting shafts 731 and two second connecting shafts 732 connected to each other. The two first connecting shafts 731 extend in opposite directions along a first direction XX and are coaxially arranged. The two second connecting shafts 732 extend in opposite directions along a second direction YY and are coaxially arranged. The two first connecting shafts 731 are respectively hinged to the first motion assembly 40, and the two second connecting shafts 732 are respectively hinged to the hinge points of the two link assemblies 71.

[0140] The connecting component 73 can be a cross-shaped structure. The two first connecting shafts 731 and the two second connecting shafts 732 are integrally formed.

[0141] Two first connecting shafts 731 can be hinged to the respective first motion components 40 via the second assembly 74, and two second connecting shafts 732 can be hinged to the hinge points of the two connecting rod assemblies 71 via the third assembly 75. Specifically, both the two first connecting shafts 731 and the two second connecting shafts 732 are provided with shaft holes. The two first connecting shafts 731 cooperate with the second assembly 74 through the shaft holes to achieve a rotatable connection with the first motion component 40; the two second connecting shafts 732 cooperate with the third assembly 75 through the shaft holes to achieve a rotatable connection with the hinge points of the connecting rod assemblies 71.

[0142] like Figure 8 As shown, the second assembly 74 includes a first spherical plain bearing 741, a first bushing 742, and a second locking member 743. The outer ring of the first spherical plain bearing 741 can be pressed into the shaft hole at the lower end of the first moving assembly 40 by an interference fit or a transition fit. The first connecting shaft 731 is pressed into the inner ring of the first spherical plain bearing 741, and the first connecting shaft 731 and the inner ring of the first spherical plain bearing 741 can be fixed by an interference fit or a transition fit. The first bushing 742 is disposed on the end face of the first connecting shaft 731 and has a shaft hole. The second locking member 743 is sequentially inserted into the shaft hole of the first bushing 742 and the shaft hole of the first connecting shaft 731, and the head of the second locking member 743 abuts against the side of the first bushing 742 away from the first connecting shaft 731. The first spherical plain bearing 741 can be a rolling bearing, such as a deep groove ball bearing or a cylindrical roller bearing, but is not limited to these.

[0143] like Figure 8 As shown, the third assembly 75 includes a second spherical plain bearing 751, a second bushing 752, and a third locking member 753. The outer ring of the first spherical plain bearing 741 can be pressed into the hinge point of the connecting rod assembly 71 by an interference fit or a transition fit. The second connecting shaft 732 is pressed into the inner ring of the second spherical plain bearing 751, and the second connecting shaft 732 and the inner ring of the second spherical plain bearing 751 can be fixed by an interference fit or a transition fit. The second bushing 752 is provided on the end face of the second connecting shaft 732 and has a shaft hole. The third locking member 753 is sequentially inserted into the shaft hole of the second bushing 752 and the shaft hole of the second connecting shaft 732, and the head of the third locking member 753 abuts against the side of the second bushing 752 away from the second connecting shaft 732. The second spherical plain bearing 751 can be a rolling bearing, such as a deep groove ball bearing or a cylindrical roller bearing, but is not limited to these.

[0144] The third motion component 60 is connected to the first motion component 40 via a link assembly 71 and a connecting assembly 73. The link assembly 71, driven by the drive mechanism 80, causes the hinge point to rotate around the axis of the second joint bearing 751, thereby achieving plantar flexion and dorsiflexion movements of the first motion component 40. The link assembly 71, also driven by the drive mechanism 80, can cause the first connecting shaft 731 of the connecting assembly 73 to rotate around the axis of the first joint bearing 741, thereby achieving inversion or eversion movements of the first motion component 40. Inversion refers to the movement of the bottom of the third motion component 60 rotating towards the robot along its central axis in the left-right direction (i.e., the second direction YY), while eversion is the opposite of inversion. Inversion and eversion are standard terms in human anatomy, rehabilitation medicine, and sports science, with recognized and clearly defined terms.

[0145] In some embodiments, such as Figure 7 As shown, the leg assembly 100 also includes a third sensing component 102. The third sensing component 102 is disposed on the first connecting shaft 731 and is used to sense the rotation angle of the first connecting shaft 731 relative to the first motion component 40, so as to calculate the inward or outward angle of the third motion component 60 relative to the first motion component 40.

[0146] The detection unit of the third sensing component 102 can be located at the end of the first connecting shaft 731 and coaxially connected to the first connecting shaft 731. The third sensing component 102 can output the rotation angle signal of the first connecting shaft 731 in real time when the first connecting shaft 731 rotates around the axis of the first joint bearing 741, so as to calculate the inward or outward angle of the third motion component 60 relative to the first motion component 40 based on the rotation angle signal.

[0147] In some embodiments, such as Figures 6 to 8 As shown, the second joint mechanism 70 also includes two second damping components 72 arranged at intervals along the second direction YY. One of the two second damping components 72 is connected to a link assembly 71, and the other is connected to another link assembly 71. A second damping component 72 is connected between the first end 71a and the second end 71b of each link assembly 71, meaning that each link assembly 71 and a second damping component 72 form a triangular structure. This improves the structural strength and stability of the link assembly 71 and reduces the risk of fatigue fracture. Furthermore, by absorbing or releasing vibration energy through the two second damping components 72, not only can the overall damping capacity and effect of the second joint mechanism 70 be improved, thereby further enhancing the smoothness of the movement of the third motion component 60, but it also helps to improve the energy utilization rate of the drive mechanism 80.

[0148] In some embodiments, the second sensing component 101 and the third sensing component 102 can be optical encoders, magnetic encoders, capacitive encoders or inductive encoders, but are not limited thereto.

[0149] In some embodiments, such as Figure 6 , Figure 7 and Figure 9 As shown, the leg assembly 100 also includes two energy-saving components 90 arranged at intervals along the second direction YY. One of the two energy-saving components 90 is connected to a link assembly 71, and the other is connected to another link assembly 71. The first end 71a of each link assembly 71 is connected to the energy-saving component 90, so that when the link assembly 71 moves, each link assembly 71 has a corresponding energy-saving component 90 to absorb or release vibration energy, which helps to improve the smoothness and reliability of the movement of the third motion component 60.

[0150] In some embodiments, such as Figure 6 and Figure 7 As shown, the drive mechanism 80 includes two second drive components 81 and two third transmission components 82. The two second drive components 81 are disposed on the first motion component 40 and arranged at intervals along a third direction ZZ. The two third transmission components 82 are respectively connected to the two second drive components 81 and extend towards the third motion component 60. The ends of the two third transmission components 82 away from the second drive components 81 are respectively connected to the first end 71a of the two link assemblies 71. The third direction ZZ is perpendicular to the first direction XX and the second direction YY, that is, the third direction ZZ is parallel to the arrangement direction between the first motion component 40 and the third motion component 60.

[0151] The first motion component 40 has two receiving spaces for mounting two second drive components 81. The vertical line connecting the axes of the two receiving spaces can be parallel to the third direction ZZ. By arranging the two receiving spaces at intervals along the third direction ZZ, the size of the first motion component 40 along the second direction YY can be reduced. This reduces the material used to manufacture the first motion component 40, lowers the weight of the leg assembly 100 and the robot as a whole, and results in a lighter first motion component 40 with a smaller size along the second direction YY. This reduces the inertia during movement, thereby reducing the torque required by the drive mechanism 80, which in turn reduces energy consumption during robot walking and helps improve the robot's endurance. In other embodiments, the vertical line connecting the axes of the two receiving spaces can also be inclined relative to the third direction ZZ.

[0152] One of the two third transmission components 82 is used to connect a second drive component 81 and the first end 71a of a link assembly 71, and the other of the two third transmission components 82 is used to connect another second drive component 81 and the first end 71a of another link assembly 71. The two second drive components 81 can work synchronously to drive the first ends 71a of the two link assemblies 71 to rotate synchronously relative to the third motion component 60 through the corresponding third transmission component 82.

[0153] Two energy-saving components 90 can be positioned between two third transmission components 82 along the second direction YY. The two energy-saving components 90 and the two third transmission components 82 are spaced apart from each other to avoid interference. The ends of the two energy-saving components 90 near the third motion component 60 can be connected to the inner side of the two connecting rod assemblies 71 along the second direction YY, respectively. The ends of the two third transmission components 82 near the third motion component 60 can be connected to the outer side of the two connecting rod assemblies 71 along the second direction YY, respectively.

[0154] like Figure 10 As shown, Figure 10This is a partial structural diagram of the drive mechanism of the leg assembly provided in this application. Both third transmission components 82 include a third mounting portion 821, a fourth mounting portion 822, and a fourth connecting rod 823 connecting the third mounting portion 821 and the fourth mounting portion 822. The third mounting portion 821 is connected to the second drive component 81, and the fourth mounting portion 822 is connected to the first end 71a. The dimensions of the fourth connecting rod 823 in the two third transmission components 82 along the third direction ZZ are not equal. The second drive component 81 drives the third mounting portion 821 to rotate. When the third mounting portion 821 rotates, it drives the fourth connecting rod 823 to rotate and move up and down. This causes the fourth connecting rod 823 to drive the first end 71a of the connecting rod assembly 71 to rotate and move closer to or away from the third motion component 60 via the fourth mounting portion 822. This causes the second end 71b of the connecting rod assembly 71 to slide relative to the third motion component 60 along the first direction XX, thereby causing the third motion component 60 to flex relative to the first motion component 40.

[0155] In some embodiments, such as Figure 7 As shown, both second drive components 81 include a second drive motor 811, a second drive shaft 812, and a fourth sensing component (not shown). The second drive motor 811 is disposed on the first motion component 40. The second drive shaft 812 is connected to the second drive motor 811 and is also connected to the third transmission component 82. The fourth sensing component is connected to the second drive shaft 812 and is used to sense the rotation angle of the second drive shaft 812 relative to the second drive motor 811, so as to calculate the flexion angle of the third motion component 60 when it performs plantar flexion relative to the first motion component 40 or to calculate the flexion angle of the third motion component 60 when it performs dorsiflexion relative to the first motion component 40.

[0156] When the third motion component 60 performs plantar flexion or dorsiflexion relative to the first motion component 40, the fourth sensing components on the two second drive components 81 operate simultaneously to sense the rotation angle of the second drive shafts 812 of the two second drive components 81 respectively. Since the total length of the two third transmission components 82 is known, a geometric model can be established based on the rotation angle of the second drive shafts 812 of the two second drive components 81 and the total length of the two third transmission components 82, and the flexion angle of the leg component during dorsiflexion or plantar flexion can be calculated analytically using spatial geometry.

[0157] In some embodiments, such as Figures 6 to 8As shown, the third motion component 60 includes a motion body 61 and a first mounting base 62 and a second mounting base 63 disposed on the motion body 61 facing the first motion component 40. The first mounting base 62 and the second mounting base 63 are arranged at intervals along a first direction XX. The first mounting base 62 is provided with a mounting hole 62a, and the second mounting base 63 is provided with a second sliding groove 63a. The second sliding groove 63a extends along the first direction XX, with a first end 71a rotatably disposed in the mounting hole 62a and a second end 71b slidably disposed in the second sliding groove 63a.

[0158] Among them, the main body 61 can be the main structure of the foot.

[0159] The first end 71a of the connecting rod assembly 71 is rotatably disposed in the mounting hole 62a via a bearing or pin. The second end 71b of the connecting rod assembly 71 is provided with a sliding member 713, which is fixedly connected to or integrally formed with the second end 71b of the connecting rod assembly 71. The sliding member 713 is slidably disposed within the second sliding groove 63a.

[0160] Both the first mounting base 62 and the second mounting base 63 include a base plate 621 and mounting bodies 622 disposed opposite each other on both sides of the base plate 621 along a second direction YY. The base plate 621 is located on the side of the moving body 61 facing the first moving component 40, and the mounting bodies 622 are connected to the base plate 621 and extend towards the first moving component 40. A mounting hole 62a is provided on the mounting body 622 of the first mounting base 62. A second sliding groove 63a is provided on the mounting body 622 of the second mounting base 63.

[0161] In some embodiments, such as Figure 11 As shown, Figure 11 This is a schematic diagram of a portion of the structure of the third motion component of the leg assembly provided in this application. The motion body 61 includes a fiberboard layer 611, a soft rubber layer 612, and a wear-resistant layer 613, which are sequentially stacked along the third direction ZZ. The first mounting seat 62 and the second mounting seat 63 are located on the side of the fiberboard layer 611 away from the soft rubber layer 612.

[0162] The fiberboard layer 611, the soft rubber layer 612, and the wear-resistant layer 613 are sequentially stacked and connected along the third direction ZZ from closest to furthest from the first moving component 40. The first mounting base 62 and the second mounting base 63 can be fixed to the fiberboard layer 611 by screws, adhesive, or clips, but are not limited to these methods. The fiberboard layer 611 and the soft rubber layer 612, as well as the soft rubber layer 612 and the wear-resistant layer 613, can be interconnected by adhesive, thread, or screws, but are not limited to these methods.

[0163] By placing the fiberboard layer 611 on the side of the soft rubber layer 612 closer to the first motion component 40, the hardness and impact resistance of the motion body 61 can be improved, enabling the motion body 61 to withstand the loads of the second joint mechanism 70, the first motion component 40, the second motion component, and other structures located above it, thereby reducing or eliminating the risk of deformation or breakage of the motion body 61. By placing the wear-resistant layer 613 on the side of the soft rubber layer 612 facing away from the first motion component 40, the wear resistance of the bottom of the motion body 61 can be improved, thereby reducing the risk of wear on the bottom of the motion body 61.

[0164] This application also provides a robot. The robot includes the leg assembly 100 of any of the above embodiments.

[0165] In this application embodiment, the specific structure of the leg assembly 100 refers to the above embodiment. Since the robot adopts all the technical solutions of all the above embodiments of the leg assembly 100, it has at least all the beneficial effects brought by the technical solutions of the above embodiments, which will not be repeated here.

[0166] The above description is merely an embodiment of this application and does not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A leg assembly for a robot, characterized in that, The leg assembly includes: First motion component; The second motion component includes a first housing, wherein a receiving cavity is formed within the first housing; A first joint mechanism is at least partially disposed within the accommodating cavity and connected to the first motion component, for driving the first motion component to move relative to the second motion component; A shock-absorbing mechanism is at least partially disposed within the accommodating cavity. The shock-absorbing mechanism includes a first transmission component and a first shock-absorbing component connected to the first transmission component. The first transmission component is connected to the first joint mechanism and the first motion component, and is configured to drive the first shock-absorbing component to rotate when the first motion component moves relative to the second motion component, so that the first shock-absorbing component stores or releases energy, and transfers the energy to the first joint mechanism when the first shock-absorbing component releases energy.

2. The leg assembly according to claim 1, characterized in that, The motion of the first motion component includes flexion and extension movements, and the first shock absorption component includes: The second housing is disposed within the accommodating cavity and is rotatably connected to the first housing; The shock-absorbing body is disposed inside the second housing and is connected to or abuts against the inner wall of the second housing; The first transmission component is used to drive the second housing to rotate in a preset direction when the first motion component performs the flexing motion, so as to store energy in the shock-absorbing body. The first transmission component is also used to drive the second housing to rotate in the opposite direction of the preset direction when the first motion component performs the straightening motion, so as to release energy in the shock-absorbing body.

3. The leg assembly according to claim 2, characterized in that, The inner wall of the second housing is provided with a plurality of first slots spaced apart along its circumference, and the plurality of first slots extend along the axial direction of the second housing. The outer surface of the shock-absorbing body is provided with a plurality of second slots spaced apart along its circumference, and at least a portion of the plurality of second slots corresponds one-to-one with the plurality of first slots. The first shock-absorbing component also includes a positioning pin extending axially along the second housing, the positioning pin being engaged in the first slot and the second slot, or being engaged in the second slot.

4. The leg assembly according to claim 3, characterized in that, The first shock absorber assembly further includes an end cap, and the second housing is provided with the end cap at at least one end along its axial direction, and the end cap is located inside the second housing; The outer surface of the end cap is provided with a plurality of third slots, at least a portion of which correspond one-to-one with the plurality of first slots, and the third slots are used to accommodate the positioning pins.

5. The leg assembly according to claim 2, characterized in that, The first damping assembly includes a plurality of damping bodies, which are arranged along the axial direction of the second housing.

6. The leg assembly according to claim 2, characterized in that, The shock-absorbing body includes a leaf spring, a coil spring, or a disc spring.

7. The leg assembly according to claim 2, characterized in that, The shock absorption mechanism further includes a first sensing component, which is connected to the second housing or opposite to the end of the second housing, for sensing the rotation angle of the second housing, so as to calculate the deformation of the shock absorption body based on the rotation angle, and then calculate the energy stored and released by the shock absorption body.

8. The leg assembly according to claim 2, characterized in that, The first transmission assembly includes: The first connector connects the first joint mechanism and the first motion component; A rotating shaft connects to the first connecting member; A transmission belt is fitted over the second housing and the rotating shaft. The first connector is used to rotate when the first joint mechanism drives the first motion component to move relative to the second motion component, and to drive the rotating shaft to rotate, so that the rotating shaft drives the second housing to rotate through the transmission belt.

9. The leg assembly according to claim 2, characterized in that, The accommodating cavity includes two opposing side walls; the shock absorption mechanism further includes a fixing component, the fixing component includes two fixing bearings, one of the two fixing bearings is used to rotatably mount one end of the second housing onto one of the two side walls of the accommodating cavity, and the other of the two fixing bearings is used to rotatably mount the other end of the second housing onto the other of the two side walls; The fixed bearing includes a first fixed part and a first rotating part rotatably sleeved outside the first fixed part. The first rotating part is connected to the second housing, and the first fixed part is fixed to the side wall.

10. The leg assembly according to claim 9, characterized in that, The shock-absorbing body and the first fixing part are provided with a first through hole arranged coaxially; the fixing component also includes a support shaft, which passes through the first through hole and is connected between the two side walls.

11. The leg assembly according to any one of claims 2 to 10, characterized in that, The first joint mechanism includes: The first drive component is at least partially disposed within the accommodating cavity and is located on the side of the second housing away from the first motion component; The second transmission component is connected to the first drive component and extends toward and is connected to the first motion component. The second transmission component is used to drive the first motion component to perform flexion or extension motion relative to the second motion component under the drive of the first drive component.

12. The leg assembly according to claim 11, characterized in that, The first joint mechanism further includes a joint assembly disposed at one end of the first housing near the first motion component; the joint assembly includes: The second fixing part is disposed on the first housing; The second rotating part is rotatably disposed within the second fixed part and connected to the second transmission component or the first transmission component. It is used to rotate relative to the second fixed part under the drive of the second transmission component, so as to drive the first motion component and the first transmission component to move.

13. The leg assembly according to claim 12, characterized in that, The first housing includes: The shell body includes a first side and a second side arranged opposite to each other, and forms the receiving cavity. The receiving cavity includes a first sub-cavity and a second sub-cavity arranged in a vertical direction. The first sub-cavity is arranged close to the first moving component relative to the second sub-cavity. The first side is provided with a second through hole communicating with the first sub-cavity. A cover plate is provided at least over the second through hole, and the second housing is disposed in the first sub-cavity and is rotatably connected between the housing body and the cover plate.

14. The leg assembly according to claim 13, characterized in that, The first drive assembly is at least partially disposed within the second sub-cavity, and the second side is provided with a third through hole communicating with the second sub-cavity; the first drive assembly includes a first drive motor and a first drive shaft connected to the first drive motor, the first drive shaft is disposed at one end of the first drive motor near the third through hole, and is connected to the second transmission assembly.

15. The leg assembly according to claim 12, characterized in that, The second transmission assembly includes a first mounting portion, a second mounting portion, and at least one first connecting rod connected between the first mounting portion and the second mounting portion. The first mounting portion is connected to the first drive assembly, and the second mounting portion is connected to the second rotating portion and the first motion assembly.

16. The leg assembly according to claim 13, characterized in that, The first joint mechanism includes two joint components, which are spaced apart along the arrangement direction of the first side and the second side; The second rotating part of the joint assembly near the first side is connected to the first transmission assembly, and the second rotating part of the joint assembly near the second side is connected to the second transmission assembly.

17. A robot, characterized in that, The robot includes the leg assembly as described in any one of claims 1 to 16.

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