Robot leg structure and wheel-foot type robot

Abstract

The utility model is suitable for the technical field of wheel-foot type robots, and provides a robot leg structure and a wheel-foot type robot, the robot leg structure comprises a swing arm part, a wheel-foot part and a limiting part, a containing cavity is formed in the swing arm part, a wire inlet is formed in the swing arm part, and the wire inlet communicates with the containing cavity; the wheel foot part comprises a driving wheel assembly and a cable assembly, a wire outlet is formed in the swing arm part, the wire outlet is communicated with the containing cavity and corresponds to the driving wheel assembly in position, and the cable assembly penetrates into the containing cavity through the wire inlet and is electrically connected with the driving wheel assembly through the wire outlet; the limiting part comprises a limiting pin, and the limiting pin is arranged in the containing cavity. According to the robot leg structure, at least part of the cable assembly is arranged in the containing cavity, most of the cable assembly is prevented from being exposed in the external environment, a protective sleeve does not need to be arranged on the cable assembly located in the containing cavity, and the production cost of the robot leg structure is reduced.

Description

Technical Field

[0001] The present application belongs to the technical field of wheeled-legged robots, and more specifically, to a robot leg structure and a wheeled-legged robot. Background Art

[0002] A wheeled-legged robot is a robot that combines wheels and legs, and its wheels can be used as legs. The design of a wheeled-legged robot combines the characteristics of wheels and legs, making it highly maneuverable and adaptable. The foot structure composed of multiple wheels has better performance in energy efficiency, movement speed and load capacity than other robots with different movement forms and composite movement forms. It can operate efficiently in structured or unstructured environments. Wheeled-legged robots are widely used in logistics, military, industrial manufacturing, service industry, education and other fields. Most of the current wheeled-legged robots expose the signal lines and power lines at the end of the soles, or use additional shells to cover them.

[0003] However, exposing the wiring harness is prone to scratches, requiring additional protective covers for protection, which increases costs. Utility Model Content

[0004] The purpose of the embodiments of the present application is to provide a robot leg structure and a wheeled-legged robot, aiming to solve the technical problem in the prior art that the wiring harness at the end of the sole of the wheeled-legged robot is exposed to the outside and needs to be protected by an additional protective cover, which is costly.

[0005] To achieve the above-mentioned purpose, according to one aspect of the present application, a robot leg structure is provided, and the robot leg structure includes: a swing arm part, a wheel foot part and a limiting part, wherein a accommodating cavity is arranged in the swing arm part, and a wire inlet is arranged on the swing arm part, and the wire inlet is connected with the accommodating cavity; the wheel foot part includes a driving wheel assembly and a cable assembly, and the driving wheel assembly is arranged on the swing arm part, and a wire outlet is arranged on the swing arm part, and the wire outlet is connected with the accommodating cavity and corresponds to the position of the driving wheel assembly, and the cable assembly penetrates into the accommodating cavity through the wire inlet and is electrically connected with the driving wheel assembly through the wire outlet; the limiting part includes a limiting pin, and the limiting pin is arranged in the accommodating cavity, and the cable assembly can be limited by abutting against the limiting pin.

[0006] Optionally, the swing arm part includes a first swing arm assembly and a second swing arm assembly, the second swing arm assembly is pivotally connected to the first end of the first swing arm assembly, and the driving wheel assembly is arranged on the first end of the second swing arm assembly; the swing arm part also includes a driving assembly, the driving assembly is arranged on the first swing arm assembly and is drivingly connected to the second swing arm assembly, and the second swing arm can swing along the pivot axis of the second swing arm assembly and the first swing arm assembly under the drive of the driving assembly.

[0007] Optionally, the driving assembly includes a driving servo, a transmission rocker and a transmission connecting rod, the driving servo is arranged on the second end of the first swing arm assembly, the first end of the transmission rocker is drivingly connected to the output end of the driving servo, the second end of the transmission rocker is pivoted to the first end of the transmission connecting rod, and the second end of the transmission connecting rod is pivoted to the second end of the second swing arm assembly.

[0008] Optionally, the pivot axis between the first swing arm assembly and the second swing arm assembly is the first axis, the axis of the output end of the driving servo is the second axis, the pivot axis between the second end of the transmission rocker and the first end of the transmission connecting rod is the third axis, the pivot axis between the second end of the transmission connecting rod and the second end of the second swing arm assembly is the fourth axis, the first axis, the second axis, the third axis and the fourth axis are arranged in parallel, and the distance between the first axis and the second axis is equal to the distance between the third axis and the fourth axis.

[0009] Optionally, a first cavity is provided in the first swing arm assembly, a second cavity is provided in the second swing arm assembly, the first cavity is communicated with the second cavity, the first cavity and the second cavity together form an accommodating cavity, the output end of the driving servo, the transmission rocker and the transmission connecting rod are all provided in the accommodating cavity; the line inlet is provided on the first swing arm assembly and is communicated with the first cavity, and the line outlet is provided on the second swing arm assembly and is communicated with the second cavity.

[0010] Optionally, the transmission connecting rod is gradually bent from both ends of the transmission connecting rod to the middle of the transmission connecting rod, away from the driving wheel assembly.

[0011] Optionally, the second swing arm assembly includes a second swing arm body and a cover plate, the second swing arm body is provided with a limiting groove, the cover plate is covered in the limiting groove, and the limiting groove and a side of the cover plate close to the limiting groove jointly form a second cavity.

[0012] Optionally, the limiting portion further includes a wire pressing assembly, which is disposed in the accommodating cavity and corresponds to the position of the cable assembly, and is used to press the cable assembly onto the side wall of the accommodating cavity.

[0013] Optionally, the robot leg structure also includes a first bearing support portion, which is arranged on the second end of the first swing arm assembly and is coaxially arranged with the output end of the driving servo, for supporting the side of the driving rocker away from the driving servo.

[0014] According to another aspect of the present application, a wheel-legged robot is provided, the wheel-legged robot comprising a robot leg structure, and the robot leg structure is the robot leg structure described above.

[0015] The beneficial effect of the robot leg structure provided by the present application is that compared with the prior art, the robot leg structure provided by the present application respectively arranges a wire inlet and a wire outlet connected to the accommodating cavity on the swing arm part, and makes the position of the wire outlet hole correspond to the position of the driving wheel assembly, so that during the process of connecting the cable assembly with the driving wheel assembly, the cable assembly can be at least partially arranged in the accommodating cavity by passing through the wire inlet and the wire outlet in sequence, thereby avoiding most of the cable assembly from being exposed to the external environment, and making the robot leg structure unnecessary to arrange a protective cover on the cable assembly located in the accommodating cavity, effectively reducing the production cost of the robot leg structure, and at the same time, by arranging a limit pin in the accommodating cavity, the cable assembly can be limited by abutting against the limit pin, thereby avoiding the cable assembly affecting the normal operation of other components in the accommodating cavity. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0017] Figure 1 A schematic structural diagram of a robot leg structure with a swinging portion in a first position provided by an embodiment of the present application;

[0018] Figure 2 A schematic structural diagram of a robot leg structure with a swinging portion in a first position with some components removed provided by an embodiment of the present application;

[0019] Figure 3 A schematic structural diagram of a robot leg structure with a swinging portion in a first position from another perspective provided in an embodiment of the present application;

[0020] Figure 4 A partial schematic diagram of a robot leg structure with some parts removed provided in an embodiment of the present application;

[0021] Figure 5 A partial cross-sectional schematic diagram of a robot leg structure provided in an embodiment of the present application;

[0022] Figure 6 A partial cross-sectional schematic diagram of a robot leg structure provided in an embodiment of the present application;

[0023] Figure 7 A schematic structural diagram of a robot leg structure with a swinging portion in a second position provided in an embodiment of the present application;

[0024] The reference numerals in the above drawings are as follows:

[0025] 10. Swing arm part; 11. First swing arm assembly; 111. Wire inlet; 12. Second swing arm assembly; 121. Second swing arm body; 1211. Wire outlet; 1212. Limiting groove; 122. Wire cover plate; 13. Driving assembly; 131. Driving steering gear; 132. Transmission rocker; 133. Transmission connecting rod;

[0026] 20. Wheel foot; 21. Driving wheel assembly;

[0027] 30. Limiting part; 31. Limiting pin; 32. Wire pressing assembly;

[0028] 40. A first bearing support portion;

[0029] 50. Second bearing support portion. DETAILED DESCRIPTION

[0030] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0031] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or indirectly connected to the other element. In the absence of conflict, the embodiments in this application and the features in the embodiments may be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0032] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0033] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0034] As described in the background technology, a wheeled-legged robot is a robot that combines wheels and legs, and its wheels can be used as legs. The design of the wheeled-legged robot combines the characteristics of wheels and legs, making it highly maneuverable and adaptable. The foot structure composed of multiple wheels has better performance in terms of energy efficiency, moving speed and load capacity than robots with other motion forms and composite movement forms. It can efficiently operate in structural or non-structural environments. Wheeled-legged robots are widely used in logistics, military, industrial manufacturing, service industry, education and other fields. Most of the current wheeled-legged robots expose the signal wires and power wires at the end of the sole, or use additional shells to cover them. However, exposing the wiring harness to the outside is prone to scratches on the wiring harness, and additional protective covers are required for protection, which increases costs.

[0035] See also Figures 1 to 7 As shown, in order to solve the above-mentioned problems, according to one aspect of the present application, an embodiment of the present application provides a robot leg structure, the robot leg structure comprising: a swing arm portion 10, a wheel foot portion 20 and a limiting portion 30, wherein a accommodating cavity is arranged in the swing arm portion 10, a wire inlet 111 is arranged on the swing arm portion 10, and the wire inlet 111 is communicated with the accommodating cavity; the wheel foot portion 20 comprises a driving wheel assembly 21 and a cable assembly, the driving wheel assembly 21 is arranged on the swing arm portion 10, a wire outlet 1211 is arranged on the swing arm portion 10, the wire outlet 1211 is communicated with the accommodating cavity and corresponds to the position of the driving wheel assembly 21, the cable assembly penetrates into the accommodating cavity through the wire inlet 111, and is electrically connected to the driving wheel assembly 21 through the wire outlet 1211; the limiting portion 30 comprises a limiting pin 31, the limiting pin 31 is arranged in the accommodating cavity, and the cable assembly can be limited by abutting against the limiting pin 31. The robot leg structure provided in the present embodiment is provided with a wire inlet 111 and a wire outlet hole which are connected to the accommodating cavity on the swing arm part 10, and the position of the wire outlet hole is made to correspond to the position of the driving wheel assembly 21, so that during the process of connecting the cable assembly with the driving wheel assembly 21, the cable assembly can be at least partially arranged in the accommodating cavity by passing through the wire inlet 111 and the wire outlet 1211 in sequence, thereby avoiding most of the cable assembly from being exposed to the external environment, and making it unnecessary to provide a protective cover on the cable assembly located in the accommodating cavity for the robot leg structure, thereby effectively reducing the production cost of the robot leg structure. At the same time, by providing a limit pin 31 in the accommodating cavity, the cable assembly can be limited by abutting against the limit pin 31, thereby avoiding the cable assembly from affecting the normal operation of other components in the accommodating cavity.

[0036] In an optional embodiment, the cable assembly provided in this embodiment includes a driving wheel power supply line and a driving wheel signal line. The external device can power the driving wheel assembly 21 through the driving wheel power supply line and control the driving wheel assembly 21 through the driving wheel signal line.

[0037] See also Figures 1 to 3 and Figure 7 As shown, in a specific embodiment, the swing arm part 10 in this embodiment includes a first swing arm assembly 11 and a second swing arm assembly 12, the second swing arm assembly 12 is pivotally connected to the first end of the first swing arm assembly 11, and the driving wheel assembly 21 is arranged on the first end of the second swing arm assembly 12; the swing arm part 10 also includes a driving assembly 13, the driving assembly 13 is arranged on the first swing arm assembly 11, and is drivingly connected to the second swing arm assembly 12, and the second swing arm can swing along the pivot axis of the second swing arm assembly 12 and the first swing arm assembly 11 under the drive of the driving assembly 13. By pivoting the second swing arm assembly 12 provided in this embodiment to the first end of the first swing arm assembly 11, setting the driving wheel assembly 21 on the first end of the second swing arm assembly 12, and making the driving assembly 13 on the first swing arm assembly 11 drive connected to the second swing arm assembly 12, the second swing arm can swing along the pivot axis between the second swing arm assembly 12 and the first swing arm assembly 11 under the drive of the driving assembly 13, so that the wheeled robot with the robot leg structure provided in this embodiment can move through the driving wheel assembly 21.

[0038] In an optional embodiment, the first swing arm assembly 11 provided in this embodiment forms the thigh of the robot leg structure, the second swing arm assembly 12 forms the calf of the robot leg structure, and the pivot joint between the first swing arm assembly 11 and the second swing arm assembly 12 forms the knee joint of the robot leg structure.

[0039] See also Figure 3 and Figure 7 As shown, in a specific embodiment, there is a swing angle between the first swing arm assembly 11 and the second swing arm assembly 12 provided in this embodiment, and the swing arm part 10 provided in this embodiment adjusts the swing angle between the first swing arm assembly 11 and the second swing arm assembly 12 through the driving assembly 13, and the swing arm part 10 has a first position that maximizes the swing angle between the first swing arm assembly 11 and the second swing arm assembly 12, and a second position that minimizes the swing angle between the first swing arm assembly 11 and the second swing arm assembly 12.

[0040] See also Figure 2As shown, in a specific embodiment, the driving assembly 13 in this embodiment includes a driving servo 131, a transmission rocker 132 and a transmission connecting rod 133. The driving servo 131 is arranged on the second end of the first swing arm assembly 11, the first end of the transmission rocker 132 is drivingly connected to the output end of the driving servo 131, the second end of the transmission rocker 132 is pivotally connected to the first end of the transmission connecting rod 133, and the second end of the transmission connecting rod 133 is pivotally connected to the second end of the second swing arm assembly 12. By setting the driving servo 131 provided in this embodiment on the second end of the first swing arm assembly 11, and drivingly connecting the first end of the transmission rocker 132 to the output end of the driving servo 131, the second end of the transmission rocker 132 is pivoted to the first end of the transmission connecting rod 133, and the second end of the transmission connecting rod 133 is pivoted to the second end of the second swing arm assembly 12, so that the driving servo 131 can drive the second swing arm assembly 12 through the transmission rocker 132 and the transmission connecting rod 133. At the same time, the robot leg structure provided in this embodiment sets the driving servo 131 on the second end of the first swing arm assembly 11, so that the center of mass of the robot leg structure provided in this embodiment can move in a direction away from the driving wheel assembly 21, even if the robot leg structure has a smaller terminal inertia, the smaller terminal inertia is beneficial to the real-time compensation of the motion error of the robot leg structure provided in this embodiment.

[0041] In a specific embodiment, the pivot axis between the first swing arm assembly 11 and the second swing arm assembly 12 in this embodiment is the first axis, the axis of the output end of the driving servo 131 is the second axis, the pivot axis between the second end of the transmission rocker 132 and the first end of the transmission connecting rod 133 is the third axis, the pivot axis between the second end of the transmission connecting rod 133 and the second end of the second swing arm assembly 12 is the fourth axis, the first axis, the second axis, the third axis and the fourth axis are arranged in parallel, and the distance between the first axis and the second axis is equal to the distance between the third axis and the fourth axis. By arranging the first axis, the second axis, the third axis and the fourth axis provided in this embodiment in parallel, and making the distance between the first axis and the second axis and the distance between the third axis and the fourth axis equal, the four-bar mechanism composed of the first swing arm assembly 11, the transmission rocker 132, the transmission connecting rod 133 and the second swing arm assembly 12 provided in this embodiment is an equivalent four-bar mechanism, so that the motion control of the robot leg structure provided in this embodiment is more accurate.

[0042] In a specific embodiment, a first cavity is provided in the first swing arm assembly 11 of this embodiment, a second cavity is provided in the second swing arm assembly 12, the first cavity is connected to the second cavity, the first cavity and the second cavity together form an accommodating cavity, the output end of the driving servo 131, the transmission rocker 132 and the transmission connecting rod 133 are all provided in the accommodating cavity; the line inlet 111 is provided on the first swing arm assembly 11 and is connected to the first cavity, and the line outlet 1211 is provided on the second swing arm assembly 12 and is connected to the second cavity.

[0043] In an optional embodiment, a first opening connected to the first cavity is provided on the first end of the first swing arm assembly 11 provided in this embodiment, and a second opening connected to the second cavity is provided on the second end of the second swing arm assembly 12 provided in this embodiment. In this embodiment, the first cavity and the second cavity are connected through the first opening and the second opening.

[0044] In an optional embodiment, the second swing arm assembly 12 provided in this embodiment is pivotally connected to the first cavity through the first opening.

[0045] In an optional embodiment, the driving servo 131 provided in this embodiment includes a servo body and a servo output disk. The servo body provided in this embodiment is fixedly connected to the first swing arm assembly 11. A servo output disk is provided on the servo body. The servo output disk of the servo body is penetrated into the first cavity. The servo output disk provided in this embodiment forms the output end of the driving servo 131. The transmission rocker 132 provided in this embodiment is connected to the driving servo 131 through the servo output disk.

[0046] In an optional embodiment, the servo body provided in this embodiment is a servo driver composed of a servo housing, a circuit board, a drive motor, a reducer and a position detection element, and its specific structure is a conventional structure in the prior art and will not be described in detail here.

[0047] See also Figure 2 As shown, in a specific embodiment, the transmission link 133 in this embodiment is gradually bent from the two ends of the transmission link 133 to the middle of the transmission link 133, away from the driving wheel assembly 21. By setting the transmission link 133 provided in this embodiment to be gradually bent from the two ends of the transmission link 133 to the middle of the transmission link 133, away from the driving wheel assembly 21, the transmission link 133 can avoid the first swing arm assembly 11 through the bent middle part during the swinging of the second swing arm assembly 12 toward the direction close to the first swing arm assembly 11, thereby avoiding the interference between the transmission link 133 and the first swing arm assembly 11.

[0048] See also Figure 3 and Figure 4As shown, in a specific embodiment, the second swing arm assembly 12 in this embodiment includes a second swing arm body 121 and a cover plate 122. A limiting groove 1212 is provided on the second swing arm body 121. The cover plate 122 is covered on the limiting groove 1212. The limiting groove 1212 and a side of the cover plate 122 close to the limiting groove 1212 jointly form a second cavity. By providing the limiting groove 1212 on the second swing arm body 121 and covering the cover plate 122 on the limiting groove 1212, the limiting groove 1212 and a side of the cover plate 122 close to the limiting groove 1212 can jointly form a second cavity.

[0049] See also Figure 2 and Figure 4 As shown, in a specific embodiment, the limiting portion 30 in this embodiment also includes a wire pressing assembly 32, which is arranged in the accommodating cavity and corresponds to the position of the cable assembly, and is used to press the cable assembly on the side wall of the accommodating cavity. By arranging the wire pressing assembly 32 in the accommodating cavity and making the position of the wire pressing assembly 32 correspond to the position of the cable assembly, the cable assembly provided in this embodiment can be pressed on the side wall of the accommodating cavity through the wire pressing assembly 32, so that the cable assembly located in the accommodating cavity can be relatively fixed with the swing arm portion 10, thereby avoiding the cable assembly provided in this embodiment from being worn during the movement of the swing arm portion 10.

[0050] In an optional embodiment, the present embodiment provides a plurality of wire crimping assemblies 32 , and the plurality of wire crimping assemblies 32 are respectively disposed in the first cavity and the second cavity.

[0051] In an optional embodiment, a first flexible abutment is provided on the side of the wire crimping assembly 32 provided in this embodiment close to the cable assembly. The wire crimping assembly 32 provided in this embodiment can abut against the cable assembly through the first flexible abutment to avoid rigid contact between the wire crimping assembly 32 and the cable assembly.

[0052] In an optional embodiment, a second flexible abutment is provided on the side wall of the accommodating cavity provided in this embodiment, and the position of the second flexible abutment corresponds to the position of the wire crimping assembly 32. The side wall of the accommodating cavity can abut against the cable assembly through the second flexible abutment to avoid rigid contact between the side wall of the accommodating cavity and the cable assembly.

[0053] In an optional embodiment, when a large current flows through the cable assembly provided in this embodiment, or the resistance of the cable assembly itself is large, the cable assembly will generate heat during operation. In order to avoid heat accumulation at the wire crimping assembly of the cable assembly, which may cause damage to the cable assembly, the wire crimping assembly 32 provided in this embodiment is provided with a heat dissipation structure on the side away from the cable assembly, so that when the wire crimping assembly 32 is in contact with the cable assembly, the heat on the cable assembly can be transferred to the wire crimping assembly 32 and dissipated into the accommodating cavity through the heat dissipation structure, thereby avoiding heat accumulation at the wire crimping assembly of the cable assembly.

[0054] In an optional embodiment, the wire crimping assembly 32 provided in this embodiment is made of metal.

[0055] In an optional embodiment, the material of the first flexible abutting member provided in this embodiment is thermally conductive silicone.

[0056] In a specific embodiment, by setting the material of the wire crimping assembly 32 provided in this embodiment to metal and the material of the first flexible abutment member provided in this embodiment to thermal conductive silicone, the heat on the cable assembly can be quickly transferred to the wire crimping assembly 32 through the first flexible abutment member, and dissipated into the accommodation cavity through the heat dissipation structure on the wire crimping assembly 32. Figure 5 As shown, in a specific embodiment, the robot leg structure in this embodiment further includes a first bearing support portion 40, which is disposed on the second end of the first swing arm assembly 11 and is coaxially disposed with the output end of the driving servo 131, and is used to support the side of the transmission rocker 132 away from the driving servo 131. By arranging the first bearing support portion 40 on the second end of the first swing arm assembly 11 provided in this embodiment to support the side of the transmission rocker 132 away from the driving servo 131, it is possible to avoid the output end of the driving servo 131 from forming a cantilever, effectively improving the impact resistance and overall rigidity of the swing arm portion 10 provided in this embodiment, and avoiding damage to the reducer of the driving servo 131 when the swing arm portion 10 is impacted.

[0057] See also Figure 6As shown, in an optional embodiment, the robot leg structure in the embodiment also includes a second bearing support portion 50. The second bearing support portion 50 provided in this embodiment includes a first bearing end cover assembly and a second bearing end cover assembly. The first bearing end cover assembly and the second bearing end cover assembly provided in this embodiment are both arranged in the first cavity. The first bearing end cover assembly and the second bearing end cover assembly are respectively located on both sides of the second swing arm assembly 12 and are coaxially arranged for supporting the second swing arm assembly 12. Supporting the second swing arm assembly 12 by the first bearing end cover assembly and the second bearing end cover assembly can effectively improve the impact resistance and overall stiffness of the swing arm portion 10 provided in this embodiment.

[0058] According to another aspect of the present application, a wheel-legged robot is provided, the wheel-legged robot comprising a robot leg structure, and the robot leg structure is the robot leg structure described above.

[0059] In an optional embodiment, the wheeled-legged robot provided in this embodiment also includes a robot body, and the robot leg structure provided in this embodiment is pivotally connected to the robot body, and the pivot point between the robot leg structure and the robot body is the hip joint of the robot leg structure.

[0060] In an optional embodiment, the robot leg structure provided in this embodiment is pivotally connected to the robot body through the servo body.

[0061] In an optional embodiment, a thigh driving unit is provided on the robot body provided in this embodiment, and the thigh driving unit provided in this embodiment is connected to the servo body for driving the servo body. The first swing arm assembly 11 fixedly connected to the servo body can swing relative to the robot body under the drive of the thigh driving unit.

[0062] In a specific embodiment, when the servo body provided in this embodiment is stationary and outputs torque, the thigh of the robot leg structure provided in this embodiment is stationary, and the driving remote control rod and the driving connecting rod drive the calf of the robot leg structure to rotate, thereby realizing the rotation of the knee joint; when the servo body provided in this embodiment does not output torque, and the thigh driving part drives the servo body, the thigh of the robot leg structure rotates relative to the robot body, and the calf of the robot leg structure does not rotate relative to the thigh of the robot leg structure, thereby realizing the rotation of the hip joint; when the servo body provided in this embodiment outputs torque and the thigh driving part drives the servo body, the thigh of the robot leg structure rotates relative to the robot body, and the calf of the robot leg structure rotates relative to the thigh of the robot leg structure, thereby realizing the two-degree-of-freedom movement of the robot leg structure.

[0063] In summary, the robot leg structure and wheeled robot provided by the present embodiment have at least the following beneficial technical effects: the robot leg structure provided by the present embodiment respectively arranges an inlet port 111 and an outlet port connected to the accommodating cavity on the swing arm portion 10, and makes the position of the outlet port correspond to the position of the driving wheel assembly 21, so that during the process of connecting the cable assembly with the driving wheel assembly 21, the cable assembly can be at least partially arranged in the accommodating cavity by passing through the inlet port 111 and the outlet port 1211 in sequence, thereby avoiding most of the cable assembly from being exposed to the external environment, and making the robot leg structure unnecessary to arrange a protective cover on the cable assembly located in the accommodating cavity, thereby effectively reducing the production cost of the robot leg structure, and at the same time, by arranging a limit pin 31 in the accommodating cavity, the cable assembly can be limited by abutting against the limit pin 31, thereby avoiding the cable assembly from affecting the normal operation of other components in the accommodating cavity.

[0064] The above are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A robot leg structure, characterized in that: The robot leg structure comprises: A swing arm portion (10), wherein a receiving cavity is provided in the swing arm portion (10), and a wire inlet (111) is provided on the swing arm portion (10), wherein the wire inlet (111) is communicated with the receiving cavity; A wheel foot (20), the wheel foot (20) comprising a driving wheel assembly (21) and a cable assembly, the driving wheel assembly (21) being arranged on the swing arm (10), the swing arm (10) being provided with a wire outlet (1211), the wire outlet (1211) being communicated with the accommodating cavity and corresponding to the position of the driving wheel assembly (21), the cable assembly passing through the wire inlet (111) into the accommodating cavity, and being electrically connected to the driving wheel assembly (21) through the wire outlet (1211); A limiting portion (30), wherein the limiting portion (30) comprises a limiting pin (31), wherein the limiting pin (31) is arranged in the accommodating cavity, and the cable assembly can be limited by abutting against the limiting pin (31).

2. The robot leg structure according to claim 1, characterized in that: The swing arm portion (10) comprises a first swing arm assembly (11) and a second swing arm assembly (12), wherein the second swing arm assembly (12) is pivotally connected to a first end of the first swing arm assembly (11), and the driving wheel assembly (21) is arranged on the first end of the second swing arm assembly (12); The swing arm portion (10) further comprises a driving assembly (13), wherein the driving assembly (13) is arranged on the first swing arm assembly (11) and is drivingly connected to the second swing arm assembly (12); the second swing arm can swing along a pivot axis between the second swing arm assembly (12) and the first swing arm assembly (11) under the drive of the driving assembly (13).

3. The robot leg structure according to claim 2, characterized in that: The driving assembly (13) comprises a driving servo (131), a transmission rocker (132) and a transmission connecting rod (133); the driving servo (131) is arranged on the second end of the first swing arm assembly (11); the first end of the transmission rocker (132) is drivingly connected to the output end of the driving servo (131); the second end of the transmission rocker (132) is pivotally connected to the first end of the transmission connecting rod (133); and the second end of the transmission connecting rod (133) is pivotally connected to the second end of the second swing arm assembly (12).

4. The robot leg structure according to claim 3, characterized in that: The pivot axis between the first swing arm assembly (11) and the second swing arm assembly (12) is a first axis, the axis of the output end of the driving servo (131) is a second axis, the pivot axis between the second end of the transmission rocker (132) and the first end of the transmission connecting rod (133) is a third axis, and the pivot axis between the second end of the transmission connecting rod (133) and the second end of the second swing arm assembly (12) is a fourth axis. The first axis, the second axis, the third axis and the fourth axis are arranged in parallel, and the distance between the first axis and the second axis is equal to the distance between the third axis and the fourth axis.

5. The robot leg structure according to claim 3, characterized in that: A first cavity is provided in the first swing arm assembly (11), a second cavity is provided in the second swing arm assembly (12), the first cavity is communicated with the second cavity, the first cavity and the second cavity together form the accommodating cavity, and the output end of the driving steering gear (131), the transmission rocker (132) and the transmission connecting rod (133) are all provided in the accommodating cavity; The line inlet (111) is arranged on the first swing arm assembly (11) and is in communication with the first cavity, and the line outlet (1211) is arranged on the second swing arm assembly (12) and is in communication with the second cavity.

6. The robot leg structure according to claim 3, characterized in that: The transmission connecting rod (133) is bent from both ends of the transmission connecting rod (133) to the middle of the transmission connecting rod (133), gradually in a direction away from the driving wheel assembly (21).

7. The robot leg structure according to claim 5, characterized in that: The second swing arm assembly (12) comprises a second swing arm body (121) and a cover plate (122); a limiting groove (1212) is provided on the second swing arm body (121); the cover plate (122) covers the limiting groove (1212); the limiting groove (1212) and a side of the cover plate (122) close to the limiting groove (1212) together form the second cavity.

8. The robot leg structure according to any one of claims 3 to 7, characterized in that: The limiting portion (30) further comprises a wire pressing assembly (32), which is arranged in the accommodating cavity and corresponds to the position of the cable assembly, and is used to press the cable assembly onto the side wall of the accommodating cavity.

9. The robot leg structure according to any one of claims 3 to 7, characterized in that: The robot leg structure also includes a first bearing support portion (40), which is arranged on the second end of the first swing arm assembly (11) and is coaxially arranged with the output end of the driving servo (131) to support the side of the transmission rocker (132) away from the driving servo (131).

10. A wheel-legged robot, characterized in that: The wheel-legged robot comprises a robot leg structure, and the robot leg structure is the robot leg structure according to any one of claims 1 to 9.

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