Leg mechanism and multi-legged robot

Abstract

The application discloses a leg mechanism and a multi-legged robot, wherein the leg mechanism comprises a thigh skeleton, a shank skeleton, a transmission assembly and a locking assembly. The thigh skeleton has a connecting end for transmission connection to a body and a swing end opposite to the connecting end. The shank skeleton has a sole end and a joint end opposite to the sole end. The joint end is rotationally connected to the swing end, so that the shank skeleton has an outwardly unfolded walking state and an inwardly folded folding state. The transmission assembly is arranged on the thigh skeleton and has a transmission part linked with the shank skeleton. The locking assembly comprises a locking part arranged on the thigh skeleton and capable of relative movement with the thigh skeleton. When the shank skeleton is in the folding state, the locking part is limitedly matched with the transmission part to lock the shank skeleton, so that the situation that the motor needs to be continuously powered when the shank skeleton is locked in the folding state is avoided, and the energy consumption of the multi-legged robot is reduced, and the sustainable working time of the multi-legged robot is prolonged.

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