Mechanical leg and robot thereof

Abstract

The utility model provides a mechanical leg and a robot thereof, the mechanical leg comprises a first leg mechanism, a second leg mechanism, a foot assembly and a first driving mechanism, and the first leg mechanism is relatively rotatably connected with a robot body of the robot; the foot component is rotationally connected with the second leg mechanism; the first driving mechanism comprises a first motor, a second motor, a first transmission wheel assembly and a first flexible transmission piece, and the first transmission wheel assembly is connected with an output shaft of the first motor and an output shaft of the second motor and is connected with the foot assembly, the first leg mechanism and the second leg mechanism; the first flexible transmission part is in transmission connection with the first transmission wheel assembly; the first motor and the second motor are used for jointly working and cooperatively driving the first transmission wheel assembly to drive the foot assembly to rotate relative to the second leg mechanism and drive the second leg mechanism to do linear telescopic motion relative to the first leg mechanism in the vertical direction.

Description

Technical Field

[0001] The present application relates to the technical field of intelligent devices, and in particular to a mechanical leg and a robot thereof. Background Art

[0002] With the continuous development of science and technology, robots are also widely used in many fields. In the existing technology, the mechanical legs of robots can usually rotate relative to the body, making the robot more flexible and able to adapt to different terrains and environments. However, the mechanical leg structure of the existing robot is relatively complex, resulting in a large control error of the mechanical leg, which in turn leads to poor flexibility of the robot's mechanical leg. Utility Model Content

[0003] In view of this, the present application proposes a mechanical leg and a robot thereof.

[0004] A first aspect of the present application provides a mechanical leg for a robot, the mechanical leg comprising:

[0005] A frame, the frame being used for being mounted to a body of the robot;

[0006] A first leg mechanism, wherein the first leg mechanism is connected to the frame for relative rotation;

[0007] a second leg mechanism, the second leg mechanism being slidably connected to the first leg mechanism;

[0008] a foot assembly, rotatably connected to the second leg mechanism;

[0009] The first driving mechanism includes a first motor, a second motor, a first transmission wheel assembly and a first flexible transmission member. The first transmission wheel assembly is connected to the first motor output shaft and the second motor output shaft and is connected to the foot assembly, the first leg mechanism and the second leg mechanism. The first flexible transmission member is in transmission connection with the first transmission wheel assembly. The first motor and the second motor are used to work together to drive the first transmission wheel assembly to drive the foot assembly to rotate relative to the second leg mechanism and drive the second leg mechanism to perform linear telescopic motion along the up and down direction relative to the first leg mechanism. The up and down direction is the extension direction of the first leg mechanism.

[0010] The second aspect of the present application provides a mechanical leg for a robot, wherein the mechanical leg comprises a frame, a first leg mechanism, a second leg mechanism, and up to the nth leg mechanism, a first driving mechanism, and a foot assembly, wherein the frame is used to be installed on the body of the robot; when the leg length of the mechanical leg is at its longest, the first leg mechanism to the nth leg mechanism are arranged from top to bottom; the first leg mechanism is used to be rotatably connected to the frame; the second leg mechanism is used to be slidably connected to the first leg mechanism; and so on, the nth leg mechanism is slidably connected to the n-1th leg mechanism, wherein n>2; a foot assembly, connected to the lower end of the nth leg mechanism and rotatably connected to the nth leg mechanism; the first driving mechanism comprises a first motor, a second motor, a first transmission wheel assembly, and a A first flexible transmission member, the first motor and the second motor are connected to the first leg mechanism, the first transmission wheel assembly is connected to the first motor output shaft and the second motor output shaft and is connected to the foot assembly and the first leg mechanism to the nth leg mechanism, the first flexible transmission member is in transmission connection with the first transmission wheel assembly, the first motor and the second motor are used to work together to drive the first transmission wheel assembly to drive the foot assembly to rotate relative to the nth leg mechanism and drive the second leg mechanism to move linearly in the up and down directions relative to the first leg mechanism, and so on, the first driving mechanism is also used to drive the nth leg mechanism to move linearly in the up and down directions relative to the n-1th leg mechanism, and the up and down directions are the extension directions of the first leg mechanism.

[0011] The third aspect of the present application proposes a robot, comprising a frame, a body, and the mechanical legs proposed in the first aspect, wherein the frame is used to be installed on the body, and the mechanical legs are rotatably connected to the frame.

[0012] The mechanical leg proposed in the present application can realize the rotation of the foot component and the extension and retraction of the mechanical leg by setting up a flexible transmission member with the first motor and the second motor in parallel. The structure is simple and compact, the robot control error is small, the flexibility of the mechanical leg is greatly improved, and the first motor and the second motor are driven in parallel, which can reduce the parameters required for the power supply, reduce errors, improve the operating speed of the robot, and reduce the cost of use. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained like these drawings without paying any creative work.

[0014] Figure 1 This is a schematic diagram of the structure of the robot proposed in the embodiment of the present application.

[0015] Figure 2A schematic diagram of the transformation of the mechanical legs of the robot proposed in an embodiment of the present application.

[0016] Figure 3 This is a schematic diagram of the structure of the hidden parts of the robot proposed in the embodiment of the present application.

[0017] Figure 4 This is an exploded schematic diagram of some components of the robot proposed in an embodiment of the present application.

[0018] Figure 5 This is an exploded schematic diagram of some components of the mechanical leg proposed in an embodiment of the present application.

[0019] Figure 6 This is a schematic diagram of the structure of multiple leg mechanisms of the robotic leg proposed in the second aspect of the embodiment of the present application.

[0020] Figure 7 This is a schematic structural diagram of the extension of multiple leg mechanisms of the robotic leg proposed in the second aspect of an embodiment of the present application.

[0021] Figure 8 This is a structural diagram of one of the embodiments of the mechanical leg proposed in the embodiments of the present application.

[0022] Fig. 9 This is an exploded schematic diagram of some components of the mechanical leg proposed in an embodiment of the present application.

[0023] Fig.10 This is a schematic diagram of some components of the first leg mechanism and the second leg mechanism after being extended according to an embodiment of the present application.

[0024] Fig.11 This is a schematic diagram of the structure of the second driving structure proposed in an embodiment of the present application.

[0025] Fig.12 This is an exploded schematic diagram of the second driving structure proposed in an embodiment of the present application.

[0026] Fig.13 This is an exploded schematic diagram from another perspective of the second driving structure proposed in an embodiment of the present application.

[0027] Fig.14 This is a schematic diagram of the structure of the support assembly proposed in an embodiment of the present application.

[0028] Fig.15 This is an exploded schematic diagram of the support assembly proposed in an embodiment of the present application.

[0029] Description of reference numerals:

[0030] 100, mechanical leg; 10, first leg mechanism; 20, second leg mechanism; 30, foot assembly; 40, first driving mechanism; 41, first motor; 42, second motor; 43, first transmission wheel assembly; 430, first driving wheel; 431, second driving wheel; 432, first transmission wheel; 433, second transmission wheel; 434, third transmission wheel; 435, first slave wheel; 436, first limiting member; 437, second limiting member; 438, fourth transmission wheel; 439, fifth transmission wheel; 44, first flexible transmission member; 50, second driving mechanism; 51, third motor; 52, fourth Motor; 53, second transmission wheel assembly; 531, third driving wheel; 532, fourth driving wheel; 533, second driven wheel; 534, third driven wheel; 54, second flexible transmission member; 55, limit stopper; 60, support frame assembly; 61, connecting frame; 611, accommodating cavity; 6111, fixing hole; 612, penetration hole; 613, limit block; 62, pre-tightening shaft; 621, threaded hole; 622, fastening hole; 63, pre-tightening screw; 70, frame; 80, n-2nd leg mechanism; 90, n-1st leg mechanism; 91, nth leg mechanism; a, first axis; b, second axis. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0032] It should be understood that all directional indications in the embodiments of the present application (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0033] It should also be understood that when an element is referred to as being "fixed" or "disposed on" another element, it can be directly on the other element or there may be an intermediate element at the same time. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or it can be indirectly connected to the other element through an intermediate element.

[0034] The terms used in this specification of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. For example, the descriptions of "first", "second", etc. in the present application are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of the features.

[0035] It should be further understood that the term “and / or” used in the specification and appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0036] See also Figure 1-Figure 15 As shown, the embodiment of the present application proposes a mechanical leg 100 for a robot, the mechanical leg 100 includes a frame 70, the frame 70 is used to be installed on the body of the robot; the mechanical leg also includes a first leg mechanism 10, a second leg mechanism 20, a foot assembly 30 and a first driving mechanism 40; the first leg mechanism 10 is connected to the frame 70 for relative rotation; the second leg mechanism 20 is connected to the first leg mechanism 10 for relative sliding; the foot assembly 30 is connected to the second leg mechanism 20 for rotation; the first driving mechanism 40 includes a first motor 41, a second motor 42, a first transmission wheel assembly 43 and a first flexible transmission member 44, the first motor The motor 41 and the second motor 42 are connected to the first leg mechanism 10, the first transmission wheel assembly 43 is connected to the output shaft of the first motor 41 and the output shaft of the second motor 42 and is connected to the foot assembly 30, the first leg mechanism 10, and the second leg mechanism 20, the first flexible transmission member 44 is transmission-connected to the first transmission wheel assembly 43, the first motor 41 and the second motor 42 are used to work together to drive the first transmission wheel assembly 43 to drive the foot assembly 30 to rotate relative to the second leg mechanism 20 and drive the second leg mechanism 20 to perform linear telescopic motion along the up and down directions relative to the first leg mechanism 10, and the up and down directions are the extension directions of the first leg mechanism 10.

[0037] In this embodiment, a flexible transmission member is provided to realize the rotation of the foot assembly 30 and the extension and retraction of the leg mechanism. The structure is simple and compact, and the control error is small, and the flexibility of the mechanical leg is greatly improved.

[0038] Specifically, for example, with respect to multiple flexible transmission parts, the aging degree of each flexible transmission part is different, and each flexible transmission part is connected to the motor transmission. Since the aging degree of each flexible transmission part is different, when the motor has the same speed, the rotation speed of each flexible transmission part is different. Due to these errors, the control of the robot becomes complicated and the response speed of the robot is affected.

[0039] It should be noted that the up and down direction of the present application is the extension direction of the first leg mechanism 10. When the mechanical leg 100 is standing, the up and down direction is the vertical direction. When the mechanical leg 100 is placed horizontally in reverse, the up and down direction is the horizontal direction.

[0040] That is to say, the first driving mechanism 40 is not only used to drive the foot assembly 30 to rotate relative to the leg assembly, but also used to drive the leg assembly to perform telescopic movement.

[0041] The mechanical leg 100 proposed in the embodiment of the present application, in addition, due to the linear telescopic setting between the first leg mechanism 10 and the second leg mechanism 20, the force leg of the robot remains unchanged during the telescopic process of any telescopic leg mechanism, that is, the load force leg of the power source remains unchanged during the telescopic process, and under normal circumstances, the force leg of the load on the power source is shorter, the power source has low power consumption, strong load capacity, and better stability.

[0042] It should be noted that in the prior art, when the legs of robots with connecting rod structures are extended and retracted, the connecting rod angle is constantly changing, the force leg of the load on the power source is constantly changing, and the control model is complex. For robots with connecting rod structures, except when the legs are extended to the longest or close to the longest, the force leg is relatively short. Most of the time, the robot's legs have a certain extension and retraction amount, and are not in the longest state. Its force leg is relatively long, and the robot consumes more energy when standing, walking, and retracting.

[0043] Moreover, the linear telescopic setting of the present application makes the appearance of the robot more compact, provides greater freedom for the appearance design of the robot, and makes the robot more in line with humanization and aesthetic requirements.

[0044] It can not only replace the existing complex multi-link structure, but also simplify the overall design of the robot, reduce maintenance costs and operating difficulties. At the same time, the compact setting allows the mechanical leg 100 to achieve sufficient extension and retraction without increasing the size of the robot, effectively improving the robot's ability to move in a limited space and improving space efficiency.

[0045] In some embodiments, the first motor 41 and the second motor 42 are connected to the upper end of the first leg mechanism 10. By arranging the first motor 41 and the second motor 42 at the upper end of the leg, it is helpful to improve the center of gravity of the mechanical leg 100 and reduce the rotational inertia of the mechanical leg 100 when rotating relative to the body, which is beneficial to control the energy consumption of the robot and improve the response speed of the robot.

[0046] The first motor 41 and the second motor 42 work together to drive the rotation of the foot assembly 30 and / or the extension and retraction of the leg mechanism, so that the first motor 41 and the second motor 42 are connected in parallel, which can reduce the parameters required for the motor drive, reduce errors, increase the operating speed of the robot, and reduce the cost of use.

[0047] In some embodiments, the robotic leg 100 has a first motion state, a second motion state and a third motion state, and the robotic leg 100 can switch freely among the first motion state, the second motion state and the third motion state; in the first motion state, the first driving mechanism 40 is only used to drive the foot assembly 30 to rotate, and the second leg mechanism 20 is stationary relative to the first leg mechanism 10; in the second motion state, the first driving mechanism 40 is only used to drive the second leg mechanism 20 to move linearly in the up and down directions relative to the first leg mechanism 10, and the foot assembly 30 does not rotate; in the third motion state, the first driving mechanism 40 is used to drive the foot assembly 30 to rotate while driving the second leg mechanism 20 to move linearly in the up and down directions relative to the first leg mechanism 10.

[0048] It should be noted that when the leg mechanism of the robot is extending and retracting, since the mechanical leg 100 is in contact with the ground, the second leg mechanism 20 remains stationary relative to the ground, and the first leg mechanism 10 moves up and down relative to the second leg mechanism 20 .

[0049] In addition, the robot of the present application has two mechanical legs 100. Of course, in other embodiments, the robot may also have only one mechanical leg 100, or even three or four mechanical legs 100. The number of the mechanical legs 100 of the robot is not limited herein.

[0050] The following usage scenario takes two robotic legs 100 as an example.

[0051] In some usage scenarios, the robot is in a standing state. When the robot needs to keep the leg height unchanged but needs to move from one place to another, the first drive mechanism 40 only drives the foot assembly 30 to rotate so that the robot can move. At this time, the second leg mechanism 20 is stationary relative to the first leg mechanism 10 to keep the leg height of the robot unchanged; in some usage scenarios, the robot only needs to adjust the leg height of the robot. The first drive mechanism 40 is only used to drive the second leg mechanism 20 to move linearly in the up and down directions relative to the first leg mechanism 10, and the foot assembly 30 does not rotate; in some other usage scenarios, the robot not only needs to adjust the leg height of the robot but also needs to move in space. The first drive mechanism 40 is used to drive the foot assembly 30 to rotate while driving the second leg mechanism 20 to move linearly in the up and down directions relative to the first leg mechanism 10.

[0052] In some embodiments, in a first motion state, when the first motor 41 and the second motor 42 rotate in the same direction and the output torques of the first motor 41 and the second motor 42 are the same, the foot assembly 30 rotates and the second leg mechanism 20 remains stationary relative to the first leg mechanism 10; in a second motion state, when the first motor 41 and the second motor 42 rotate in opposite directions and the output torques of the first motor 41 and the second motor 42 are the same, the foot assembly 30 does not rotate and the second leg mechanism 20 moves linearly in the up and down directions relative to the first leg mechanism 10; in a third motion state, when the first motor 41 and the second motor 42 rotate in the same or opposite directions but the output torques of the first motor 41 and the second motor 42 are different, the foot assembly 30 rotates while the second leg mechanism 20 moves linearly in the up and down directions relative to the first leg mechanism 10.

[0053] It should be noted that, in the present embodiment, the first motor and the second motor are spaced apart in the front-to-rear direction, and the output shafts of the first motor and the second motor are oriented in the same direction.

[0054] like Figures 3 to 5As shown, in some embodiments, the first transmission wheel assembly 43 includes a first driving wheel 430, a second driving wheel 431, at least one first transmission wheel 432, at least one second transmission wheel 433, at least one third transmission wheel 434, and a first driven wheel 435. The first driving wheel 430 and the second driving wheel 431 are respectively connected to the output shafts of the first motor 41 and the second motor 42; the first transmission wheel 432 is rotatably connected to the first leg mechanism 10 and is arranged between the first driving wheel 430 and the first driven wheel 435; the third transmission wheel 434 is rotatably connected to the first leg mechanism 10 The second leg mechanism 20 is rotatably connected to the second leg mechanism 20 and is arranged between the second driving wheel 431 and the first driven wheel 435; the second transmission wheel 433 is rotatably connected to the second leg mechanism 20 and is arranged between the first transmission wheel 432 and the third transmission wheel 434. When the second leg mechanism 20 is extended to the maximum relative to the first leg mechanism 10 and the height of the first transmission wheel 432 is higher than the height of the third transmission wheel 434, the height of the highest point of the second transmission wheel 433 is not lower than the height of the lowest point of the first transmission wheel 432; when the second leg mechanism 20 is extended relative to the first leg mechanism 10, the height of the second transmission wheel 433 is not lower than the height of the lowest point of the first transmission wheel 432. When the elongation is the longest and the height of the third transmission wheel 434 is higher than the height of the first transmission wheel 432, the height of the highest point of the second transmission wheel 433 is not lower than the height of the lowest point of the third transmission wheel 434; the first driven wheel 435 is rotatably connected to the second leg mechanism 20 and connected to the foot assembly 30 to drive the foot assembly 30 to rotate relative to the second leg mechanism 20; the first flexible transmission member 44 is transmission-connected to the first driving wheel 430, the first transmission wheel 432, the second transmission wheel 433, the third transmission wheel 434, the second driving wheel 431, and the first driven wheel 435 To form a closed loop; the first flexible transmission member 44 between the first transmission wheel 432 and the second transmission wheel 433 is at least partially configured to be parallel to the up and down direction; the first flexible transmission member 44 between the second transmission wheel 433 and the third transmission wheel 434 is at least partially configured to be parallel to the up and down direction; the first flexible transmission member 44 between the first driving wheel 430 and the first driven wheel 435 is at least partially configured to be parallel to the up and down direction; the first flexible transmission member 44 between the second driving wheel 431 and the first driven wheel 435 is at least partially configured to be parallel to the up and down direction.

[0055] In some embodiments, the foot assembly 30 is a wheel assembly, which includes a wheel axle, a wheel and a bearing. The driven wheel is fastened to the wheel axle, the wheel axle is fastened to the wheel, and the wheel axle is rotatably connected to the second leg mechanism 20 via a bearing.

[0056] Of course, in other embodiments, the foot component 30 can also be a rotating sole component, which includes a rotating shaft and a sole, the sole is fixedly connected to the rotating shaft, and the rotating shaft is rotatably connected to the leg mechanism through a bearing to rotatably connect the sole and the leg mechanism.

[0057] In this embodiment, the second leg mechanism 20 includes a second seat frame, and the wheel shaft is rotatably connected to the second seat frame via a bearing.

[0058] In this embodiment, one first transmission wheel 432, one second transmission wheel 433, and one third transmission wheel 434 are provided. Of course, in other embodiments, in order to install other components, the transmission wheels may interfere with the first flexible transmission member 44. Multiple first transmission wheels 432, second transmission wheels 433, and third transmission wheels 434 may also be provided to facilitate the movement of the first flexible transmission member 44. The first transmission wheel 432 and the third transmission wheel 434 of this embodiment refer to the transmission wheels rotatably provided on the first leg mechanism 10, and the second transmission wheel 433 refers to the transmission wheel rotatably provided on the second leg mechanism 20, that is, the transmission wheels rotatably provided on the first leg mechanism 10 and transmitting with the first flexible transmission member 44 can be referred to as the first transmission wheel 432 and the third transmission wheel 434, and the transmission wheel rotatably provided on the second leg mechanism 20 and transmitting with the first flexible transmission member 44 can be referred to as the second transmission wheel 433.

[0059] In this embodiment, at least part of the flexible transmission member between the first driving wheel 430 and the first driven wheel 435 is configured to be parallel to the up-down direction. Due to the spatial structure arrangement, the flexible transmission member between the first driving wheel 430 and the first driven wheel 435 may not be able to ensure that the entire section is parallel to the up-down direction, but it is sufficient to ensure that the flexible transmission member between the transmission wheel connected to the first leg mechanism 10 and the transmission wheel between the second leg mechanism 20 is parallel to the up-down direction. Since the first driving wheel 430 is arranged on the first leg mechanism 10 and the first driven wheel 435 is arranged on the second leg mechanism 20, it is sufficient to ensure that at least part of the flexible transmission member between the first driving wheel 430 and the first driven wheel 435 is parallel to the up-down direction.

[0060] In some embodiments, a rotating wheel is provided between the first driving wheel 430 and the first driven wheel 435 and is rotatably connected to the flexible transmission member. When the rotating wheel is rotatably provided on the first leg mechanism 10, it is necessary to ensure that the flexible transmission member between the rotating wheel and the first driven wheel 435 remains parallel to the up-down direction; when the rotating wheel is rotatably provided on the second leg mechanism 20, it is necessary to ensure that the flexible transmission member between the rotating wheel and the first driving wheel 430 remains parallel to the up-down direction; when the flexible transmission member between the first driving wheel 430 and the first driven wheel 435 is transmitted with two rotating wheels, the two rotating wheels are rotatably provided on the first leg mechanism 10 and the second leg mechanism 20 respectively, so that it is sufficient to ensure that the flexible transmission member between the two rotating wheels remains parallel to the up-down direction, that is to say, it is sufficient to ensure that the flexible transmission member between the transmission wheel connected to the first leg mechanism 10 and the transmission wheel connected to the second leg mechanism 20 remains parallel to the up-down direction. It should be noted that the rotating wheel is also a kind of transmission wheel, and the wheels rotatably connected to the flexible transmission member can be called transmission wheels, that is, when the flexible transmission member is transmitted, the rotating wheel rotates.

[0061] At least a portion of the flexible transmission member between the second driving wheel 431 and the first driven wheel 435 is configured to be parallel to the up-down direction, similar to the above.

[0062] Similarly, due to the arrangement of the spatial structure, the flexible transmission member between the first transmission wheel 432 and the second transmission wheel 433 may not be able to ensure that the entire section is parallel to the up-down direction, but it is sufficient to ensure that the flexible transmission member between the transmission wheel connected to the first leg mechanism 10 and the transmission wheel connected to the second leg mechanism 20 remains parallel to the up-down direction. In some embodiments, there may be multiple first transmission wheels 432 and second transmission wheels 433, and the first flexible transmission member 44 may be connected to several first transmission wheels 432 after being connected to the first driving wheel 430, and then connected to the second transmission wheel 433. At this time, it is sufficient to ensure that the flexible transmission member between the transmission wheel connected to the first leg mechanism 10 and the transmission wheel between the second leg mechanism 20 remains parallel to the up-down direction, that is, the first flexible transmission member 44 remains parallel to the up-down direction between the flexible transmission member between the first second transmission wheel 433 on the second leg mechanism 20 after passing through the last first transmission wheel 432 on the first leg mechanism 10.

[0063] Alternatively, in order to ensure that the flexible transmission member between the first transmission wheel 432 and the second transmission wheel 433 at least partially remains parallel to the up-down direction, the flexible transmission member between the first transmission wheel 432 and the second transmission wheel 433 is rotatably connected to a rotating wheel. When the rotating wheel is rotatably arranged on the first leg mechanism 10, it is necessary to ensure that the flexible transmission member between the rotating wheel and the second transmission wheel 433 on the second leg mechanism 20 remains parallel to the up-down direction; when the rotating wheel is rotatably arranged on the second leg mechanism 20, it is necessary to ensure that the flexible transmission member between the rotating wheel and the first transmission wheel 432 on the first leg mechanism 10 remains parallel to the up-down direction.

[0064] At least a portion of the flexible transmission member between the second transmission wheel 433 and the third transmission wheel 434 is configured to be parallel to the up-down direction, similar to the above.

[0065] In this embodiment, the entire section of the flexible transmission member between the first transmission wheel 432 and the second transmission wheel 433 is configured to be parallel to the up-down direction, and the entire section of the flexible transmission member between the second transmission wheel 433 and the third transmission wheel 434 is configured to be parallel to the up-down direction.

[0066] When the second leg mechanism 20 makes a linear extension motion relative to the first leg mechanism 10, the first driven wheel 435 moves away from the first driving wheel 430 and the second driving wheel 431 as the second leg mechanism 20 moves, the length of the first flexible transmission member 44 between the first driving wheel 430 and the first driven wheel 435, and between the second driving wheel 431 and the first driven wheel 435 increases, and the length of the first flexible transmission member 44 between the first transmission wheel 432 and the second transmission wheel 433, and between the second transmission wheel 433 and the third transmission wheel 434 decreases synchronously.

[0067] When the second leg mechanism 20 makes a linear shortening motion relative to the first leg mechanism 10, the first driven wheel 435 moves closer to the first driving wheel 430 as the second leg mechanism 20 moves, the length of the first flexible transmission member 44 between the first driving wheel 430 and the first driven wheel 435, the length of the second driving wheel 431 and the first driven wheel 435 decreases, and the length of the first flexible transmission member 44 between the first transmission wheel 432 and the second transmission wheel 433, and the length of the second transmission wheel 433 and the third transmission wheel 434 increases synchronously.

[0068] It should be noted that when the second leg mechanism 20 performs linear motion relative to the first leg mechanism 10, since the first driving wheel 430, the second driving wheel 431, the first transmission wheel 432, and the third transmission wheel 434 are rotationally connected to the first leg mechanism 10, the second transmission wheel 433 and the first driven wheel 435 are rotationally connected to the second leg mechanism 20, the length of the first flexible transmission member 44 between the first driving wheel 430 and the first transmission wheel 432 remains unchanged, and the length of the first flexible transmission member 44 between the second driving wheel 431 and the first driven wheel 435 remains unchanged. And when the second leg mechanism 20 performs linear motion relative to the first leg mechanism 10, only the first driving wheel 430, the first transmission wheel 432, the second driving wheel 431, and the third transmission wheel 434 are rotationally transmitted, and the first driven wheel 435 and the second transmission wheel 433 do not rotate.

[0069] However, when the foot assembly 30 rotates, the first driving wheel 430, the first transmission wheel 432, the second transmission wheel 433, the second driving wheel 431, the third transmission wheel 434, the fourth transmission wheel 438, and the first driven wheel 435 all rotate and transmit. However, the length of the flexible transmission member between each transmission wheel is not limited.

[0070] It should be noted that when the second leg mechanism 20 performs a linear extension motion relative to the first leg mechanism 10, the second transmission wheel 433 cannot continue to move downward at a certain position, otherwise, the first flexible transmission member 44 cannot drive the second leg mechanism 20 to move downward relative to the first leg mechanism 10 by applying a downward force to the second transmission wheel 433. For example, when the second leg mechanism 20 is extended to the longest length relative to the first leg mechanism 10, the height of the lowest point of the first transmission wheel 432 is A, the height of the highest point of the third transmission wheel 434 is B, and the height of the highest point of the second transmission wheel 433 is C, and C cannot be less than A and B. In this way, the first flexible transmission member 44 can drive the second leg mechanism 20 to move downward relative to the first leg mechanism 10 by applying a downward force to the second transmission wheel 433. That is, when the second transmission wheel 433 moves downward to be tangent to the first transmission wheel 432 and the third transmission wheel 434, the second transmission wheel 433 cannot continue to move. The second leg mechanism 20 of the present application is provided with a first limit member, and the first leg mechanism 10 is provided with a corresponding second limit member. When the second leg mechanism 20 moves downward to a certain position, the first limit member abuts against the second limit member, and the second leg mechanism 20 cannot continue to move downward to ensure that C cannot be lower than A and B.

[0071] In some embodiments, there are other ways to dispose the first transmission wheel assembly 43 and the second transmission wheel assembly 53, such as the motor is connected to a plurality of gear structures and then the gears are connected to the flexible transmission member.

[0072] In some embodiments, when the first motor 41 and the second motor 42 rotate in the same direction and the torque of the first motor 41 and the second motor 42 is the same, the first flexible transmission member 44 applies torque to the first driven wheel 435, and the first flexible transmission member 44 applies an upward force to the first driven wheel 435 and a downward force to the second transmission wheel 433 of the same magnitude, the first driving wheel 430, the first transmission wheel 432, the second transmission wheel 433, the third transmission wheel 434, the second driving wheel 431 and the first driven wheel 435 rotate and transmit, the second leg mechanism 20 is stationary relative to the first leg mechanism 10, and the foot assembly 30 rotates.

[0073] When the first motor 41 and the second motor 42 rotate in opposite directions and the torques of the first motor 41 and the second motor 42 are the same, the first flexible transmission member 44 applies an upward force to the first driven wheel 435 or applies a downward force to the second transmission wheel 433, and the flexible transmission second leg mechanism 20 moves linearly in the up and down directions relative to the first leg mechanism 10, and the foot assembly 30 does not rotate.

[0074] When the first motor 41 and the second motor 42 rotate in opposite directions and the torque of the first motor 41 and the second motor 42 is different, the first flexible transmission member 44 applies torque to the first driven wheel 435, the first flexible transmission member 44 applies an upward force to the first driven wheel 435 or applies a downward force to the second transmission wheel 433, the second leg mechanism 20 moves linearly in the up and down directions relative to the first leg mechanism 10, and the foot assembly 30 rotates.

[0075] When the first motor 41 and the second motor 42 rotate in the same direction and the torque of the first motor 41 and the second motor 42 are different in magnitude, the first flexible transmission member 44 applies torque to the first driven wheel 435, and the first flexible transmission member 44 applies an upward force to the first driven wheel 435 and a downward force to the second transmission wheel 433 of different magnitudes. The first driving wheel 430, the first transmission wheel 432, the second transmission wheel 433, the third transmission wheel 434, the second driving wheel 431 and the first driven wheel 435 rotate and transmit, the second leg mechanism 20 moves linearly in the up and down directions relative to the first leg mechanism 10, and the foot assembly 30 rotates.

[0076] It should be noted that, when the second leg mechanism 20 moves downward relative to the first leg mechanism 10, the downward force exerted by the first flexible transmission member 44 on the second transmission wheel 433 or the upward force exerted by the first flexible transmission member 44 on the first driven wheel 435 is smaller than the downward force exerted by the first flexible transmission member 44 on the second transmission wheel 433, so that the second leg mechanism 20 as a whole is subjected to a resultant force downward that is greater than 0, so that the second leg mechanism 20 moves downward relative to the first leg mechanism 10; when the second leg mechanism 20 moves upward relative to the first leg mechanism 10, the upward force exerted by the first flexible transmission member 44 on the first driven wheel 435 or the upward force exerted by the first flexible transmission member 44 on the first driven wheel 435 is greater than the downward force exerted by the first flexible transmission member 44 on the second transmission wheel 433, so that the second leg mechanism 20 as a whole is subjected to a resultant force upward that is greater than 0, so that the second leg mechanism 20 moves upward relative to the first leg mechanism 10.

[0077] The robot leg 100 has a front-to-back direction and a left-to-right direction, and the front-to-back direction, the left-to-right direction and the up-to-down direction are perpendicular to each other.

[0078] The first motor 41 and the second motor 42 are spaced apart in the front-to-back direction and the rotation axes of the first motor 41 and the second motor 42 are parallel to the left-to-right direction; the first driving wheel 430 and the second driving wheel 431 are spaced apart in the front-to-back direction and the setting heights are consistent, and the first transmission wheel 432 and the third transmission wheel 434 are spaced apart in the front-to-back direction and the setting heights are consistent.

[0079] Since the downward and upward moving distance of the second leg mechanism 20 is not only limited by the distance between the first transmission wheel 432 and the second transmission wheel 433, but also by the distance between the second transmission wheel 433 and the third transmission wheel 434, for example, when the extension of the second leg mechanism 20 relative to the first leg mechanism 10 is 0, the distance between the first transmission wheel 432 and the second transmission wheel 433 is E, and the distance between the second transmission wheel 433 and the third transmission wheel 434 is F, when E is less than F, the maximum movement distance of the second leg mechanism 20 relative to the first leg mechanism 10 is E, that is, the movement distance of the second leg mechanism 20 is the smallest one between E and F.

[0080] By arranging the first driving wheel 430 and the second driving wheel 431 at intervals in the front-to-back direction and at the same height, and arranging the first transmission wheel 432 and the third transmission wheel 434 at intervals in the front-to-back direction and at the same height, the distances between E and F are consistent, so that the structure is compact, the robot leg 100 is small, and the moving stroke of the second leg mechanism 20 is maximized within the limited structural space.

[0081] In some embodiments, the first driving wheel 430, the second driving wheel 431, the second transmission wheel 433, and the first driven wheel 435 are synchronous pulleys, the first flexible transmission member 44 is a synchronous belt, and the first flexible transmission member 44 is meshed and transmitted with the first driving wheel 430, the second driving wheel 431, the third transmission wheel 434, and the first driven wheel 435; the first transmission wheel 432 and the third transmission wheel 434 are non-toothed rotating wheels, and the non-toothed surface of the first flexible transmission member 44 is wound and connected with the first transmission wheel 432 and the third transmission wheel 434.

[0082] Optionally, the first flexible transmission member 44 may be a rope or other flexible transmission member, thereby playing a buffering role, reducing the impact of the impact force directly acting on the motor, and increasing the durability and operational stability of the drive mechanism.

[0083] In some embodiments, the radius of the first driving wheel 430 and the second driving wheel 431 are consistent, and the radius of the first driving wheel 430 and the second driving wheel 431 is smaller than the radius of the first driven wheel 435. This is beneficial to increase the transmission ratio of the driving wheel and the transmission wheel, increase the torque of the first driven wheel 435, make the robot leg 100 adapt to rugged terrain or muddy harsh environment, and improve the robot's obstacle crossing ability.

[0084] In some embodiments, the first transmission wheel assembly 43 includes a first limiting member 436 and a second limiting member 437; the first limiting member 436 is rotatably arranged on the first leg mechanism 10 and is arranged between the first driving wheel 430 and the first driven wheel 435 and is arranged on the outside of the first flexible transmission member 44, and the first limiting member 436 is used to make the first flexible transmission member 44 between the first limiting member 436 and the first driven wheel 435 remain parallel to the up and down directions; the second limiting member 437 is rotatably arranged on the first leg mechanism 10 and is arranged between the second driving wheel 431 and the first driven wheel 435 and is arranged on the outside of the first flexible transmission member 44, and the second limiting member 437 is used to make the first flexible transmission member 44 between the second limiting member 437 and the first driven wheel 435 remain parallel to the up and down directions.

[0085] A first limiting member 436 and a second limiting member 437 are provided on the first leg mechanism 10, and the first limiting member 436 is provided on the outside of the first flexible transmission member 44 and the second limiting member 437 is provided on the outside of the first flexible transmission member 44. This not only allows the first flexible transmission member 44 between the first limiting member 436 and the first driven wheel 435 and the first flexible transmission member 44 between the second limiting member 437 and the first driven wheel 435 to remain parallel to the up and down directions, but also allows the flexible transmission member to be retracted to the inside of the leg mechanism, thereby reducing the space occupied by the flexible transmission member and making the mechanical leg 100 more compact.

[0086] In some embodiments, the first limiting member 436 and the second limiting member 437 are both non-toothed rollers; the first limiting member 436 and the second limiting member 437 are transmission-connected to the first flexible transmission member 44 .

[0087] like Figure 8 As shown, in some embodiments, the mechanical leg also includes a second driving mechanism 50, the second driving mechanism includes a third motor 51, the third motor 51 is connected to the first leg mechanism 10 and is used to drive the first leg mechanism 10 and the second leg mechanism 20 to rotate as a whole.

[0088] By providing the third motor 51 to drive the first leg mechanism 10 and the second leg mechanism 20 to rotate as a whole, the mechanical leg is more flexible and can adapt to various gaits.

[0089] In some embodiments, the second driving mechanism 50 further includes a second transmission wheel assembly 53 and a second flexible transmission member 54, the second transmission wheel assembly 53 includes a third driving wheel 531 and a second driven wheel 533, the third driving wheel 531 is connected to the output shaft of the third motor 51, the second driven wheel 533 is connected to the first leg mechanism 10, the second flexible transmission member 54 is in transmission connection with the third driving wheel 531 and the second driven wheel 533, and the radius of the third driving wheel 531 is smaller than that of the second driven wheel 533. This is conducive to increasing the transmission ratio of the driving wheel and the transmission wheel, increasing the torque of the second driven wheel 533, so that the mechanical leg 100 can adapt to harsh environments with rugged terrain or muddy terrain, and improve the robot's obstacle crossing ability.

[0090] like Figures 9 to 12 As shown, in some embodiments, the second drive mechanism 50 includes a third motor 51, a fourth motor 52, a second transmission wheel assembly 53 and a second flexible transmission member 54; the second transmission wheel assembly 53 is transmission-connected to the output shafts of the third motor 51 and the fourth motor 52 and is connected to the first leg mechanism 10, and the second flexible transmission member 54 is transmission-connected to the second transmission wheel assembly 53; the third motor 51 and the fourth motor 52 are used to work together to drive the second transmission wheel assembly 53 to drive the first leg mechanism 10 and the second leg mechanism 20 to rotate as a whole around the first axis a, and are also used to work together to drive the first leg mechanism 10 and the second leg mechanism 20 to rotate as a whole around the second axis b, and the first axis a and the second axis b are not parallel.

[0091] By only setting one flexible transmission member, the two degrees of freedom of the robot leg 100 can be realized, the structure is simple, and the control error of the robot leg 100 is greatly reduced. On the other hand, the third motor 51 and the fourth motor 52 work together to drive the two degrees of freedom of the robot leg 100, so that the third motor 51 and the fourth motor 52 are connected in parallel, which can reduce the parameters required for the motor drive, reduce errors, improve the running speed of the robot, and reduce the use cost.

[0092] In some embodiments, the third motor 51 and the fourth motor 52 are disposed on the frame 70. By disposing the third motor 51 and the fourth motor 52 at the upper end of the leg, it is helpful to improve the center of gravity of the mechanical leg 100, reduce the moment of inertia of the mechanical leg 100 when rotating relative to the body, and thus help control the energy consumption of the robot and improve the response speed of the robot.

[0093] In this embodiment, the first axis a is parallel to the front-rear direction, and the second axis b is parallel to the left-right direction.

[0094] In some embodiments, the mechanical leg 100 has a fourth motion state, a fifth motion state and a sixth motion state, and the mechanical leg 100 can switch freely among the fourth motion state, the fifth motion state and the sixth motion state; in the fourth motion state, the second driving mechanism 50 is only used to drive the first leg mechanism 10 and the second leg mechanism 20 to rotate around the first axis a as a whole, and the first leg mechanism 10 and the second leg mechanism 20 as a whole are stationary in the second direction; in the fifth motion state, the first driving mechanism 40 is only used to drive the first leg mechanism 10 and the second leg mechanism 20 to rotate around the second axis b as a whole, and the first leg mechanism 10 and the second leg mechanism 20 as a whole are stationary in the first direction; in the sixth motion state, the first driving mechanism 40 is used to drive the first leg mechanism 10 and the second leg mechanism 20 as a whole to rotate around the first axis a while driving the first leg mechanism 10 and the second leg mechanism 20 as a whole to rotate around the second axis b. The robot has multiple motion states, so that the robot can adapt to different environments according to different gaits.

[0095] In some embodiments, the third motor and the fourth motor are arranged relative to each other. When the third motor 51 and the fourth motor 52 rotate in the same direction and the torque of the third motor 51 and the fourth motor 52 is the same, the first leg mechanism 10 and the second leg mechanism 20 rotate around the first axis a as a whole, and the first leg mechanism 10 and the second leg mechanism 20 remain stationary in the second direction as a whole; when the third motor 51 and the fourth motor 52 rotate in opposite directions and the torque of the third motor 51 and the fourth motor 52 is the same, the first leg mechanism 10 and the second leg mechanism 20 rotate around the second axis b as a whole, and the first leg mechanism 10 and the second leg mechanism 20 remain stationary in the first direction as a whole; when the third motor 51 and the fourth motor 52 rotate in opposite or same directions and the torque of the third motor 51 and the fourth motor 52 is different, the first leg mechanism 10 and the second leg mechanism 20 rotate around the first axis a as a whole and around the second axis b at the same time.

[0096] It should be noted that the reference object for the rotation direction of the two motors here is the earth. The following are several situations of the two motor settings. When the two motors are set relative to each other, that is, mirrored, with the earth as the reference object, when one of the motors rotates counterclockwise, the other also rotates counterclockwise; but if the motor is used as the reference object, when one of the motors rotates counterclockwise, the other also rotates clockwise. When the two motors are set at intervals but not mirrored, that is, with the earth as the reference object, when one of the motors rotates counterclockwise, the other also rotates counterclockwise; if the motor is used as the reference object, when one of the motors rotates counterclockwise, the other also rotates counterclockwise.

[0097] In some embodiments, the second transmission wheel assembly 53 includes a third driving wheel 531, a fourth driving wheel 532, a second driven wheel 533, a third driven wheel 534 and a second flexible transmission member 54; the output shaft of the third motor 51 is connected to the third driving wheel 531; the output shaft of the fourth motor 52 is connected to the fourth driving wheel 532; the second driven wheel 533 is tightly connected to the first leg mechanism 10, and the first leg mechanism 10 is driven to rotate when the second driven wheel 533 rotates; the rotation axes of the third driving wheel 531 and the fourth driving wheel 532 are coaxial, and the rotation axes of the third driving wheel 531 and the fourth driving wheel 532 rotate coaxially with the first axis a; the rotation axis of the second driven wheel 533 rotates coaxially with the second axis b; the first axis a and the second axis b are perpendicular to each other; the second flexible transmission member 54 is transmission-connected to the third driving wheel 531, the fourth driving wheel 532, the second driven wheel 533 and the third driven wheel 534.

[0098] This embodiment can enable the mechanical leg 100 to move with two degrees of freedom by setting a second flexible transmission member 54. The structure is simple and the control error of the mechanical leg 100 is greatly reduced. Specifically, for example, compared with multiple flexible transmission members, the aging degree of each flexible transmission member is different, and each flexible transmission member is connected to the motor transmission. Since the aging degree of each flexible transmission member is different, the rotation speed of each flexible transmission member is different when the motor has the same rotation speed. Due to these errors, the control of the robot becomes complicated and the response speed of the robot is affected.

[0099] In this embodiment, the third driving wheel 531 and the fourth driving wheel 532 rotate around the first axis a, and the second driven wheel 533 rotates around the second axis b.

[0100] Of course, in other embodiments, the third driving wheel 531 and the fourth driving wheel 532 may also rotate around the second axis b, and at this time, the second driven wheel 533 rotates around the first axis a.

[0101] In some embodiments, the third driving wheel 531 and the fourth driving wheel 532 have the same radius, the second driven wheel 533 and the third driven wheel 534 have the same radius, and the radius of the second driven wheel 533 is larger than the radius of the third driving wheel 531 and the fourth driving wheel 532. This is beneficial to increase the transmission ratio of the driving wheel and the transmission wheel, increase the torque of the second driven wheel 533, make the robot leg 100 adapt to the harsh environment of rugged terrain or muddy, and improve the robot's obstacle crossing ability.

[0102] In some embodiments, the mechanical leg 100 also includes a support frame assembly 60, which is rotatably connected to the third driving wheel 531 and the fourth driving wheel 532; the support frame assembly 60 is also rotatably connected to the second driven wheel 533 and the third driven wheel 534; when the first leg mechanism 10 and the second leg mechanism 20 rotate around the second axis b as a whole, the support frame assembly 60 remains stationary; when the first leg mechanism 10 and the second leg mechanism 20 rotate around the first axis a as a whole, the support frame assembly 60 and the first leg mechanism 10 and the second leg mechanism 20 rotate around the first axis a as a whole.

[0103] By providing the support frame assembly 60 , the support frame assembly 60 connects the second driven wheel 533 and the third driven wheel 534 , supports the second driven wheel 533 and the third driven wheel 534 , and improves the stability of the structure.

[0104] like Figures 13 to 15As shown, in some embodiments, the support frame assembly 60 includes a connecting frame 61, a pre-tightening shaft 62, a pre-tightening screw 63, and a fixing screw; the connecting frame 61 is rotatably connected to the third driving wheel 531, the fourth driving wheel 532, and the second driven wheel 533, and the pre-tightening shaft 62 is rotatably connected to the third driven wheel 534; the connecting frame 61 is provided with a accommodating cavity 611, and a through hole 612 is provided on the outer wall of the connecting frame 61, and the pre-tightening shaft 62 is provided with a threaded hole 621 corresponding to the through hole 612, and the pre-tightening screw 63 passes through the through hole 612 and is threadedly connected with the threaded hole 621 so that the pre-tightening shaft 62 can move in the accommodating cavity 611, and a fixing hole 6111 is provided on the cavity wall of the accommodating cavity 611, and a fastening hole 622 is provided on the pre-tightening shaft 62 corresponding to the fixing hole 6111, and the pre-tightening shaft 62 is fastened to the fixing hole 6111 by a fixing screw passing through the fastening hole 622 to be arranged in the accommodating cavity 611.

[0105] The support frame assembly 60 includes a connecting frame 61, a pre-tightening shaft 62, a pre-tightening screw 63, and a fixing screw to connect the second driven wheel 533 and the third driven wheel 534 with the third driving wheel 531 and the fourth driving wheel 532, to support the second driven wheel 533 and the third driven wheel 534, to improve the structural stability of the structure, and at the same time, the pre-tightening shaft is provided to pre-tighten the flexible transmission member.

[0106] like Fig.11 and Fig.12 As shown, in some embodiments, the second driving mechanism 50 further includes a limit stopper 55, the connecting frame 61 is provided with a limit block 613, and the limit stopper 55 is provided in the rotation direction of the limit block 613. When the connecting frame 61 rotates to a certain position, the limit block 613 abuts against the limit stopper 55. By providing the limit stopper 55, the rotation angle of the motor is limited.

[0107] In some embodiments, the second flexible transmission member 54 is a synchronous belt, and the third driving wheel 531 , the fourth driving wheel 532 , the second driven wheel 533 , and the third driven wheel 534 are synchronous pulleys.

[0108] Optionally, the second flexible transmission member 54 can be a rope or other flexible transmission member, which can play a buffering role, reduce the impact of the impact force directly acting on the motor, and increase the durability and operational stability of the drive mechanism.

[0109] like Figure 6 and Figure 7As shown, in the second aspect, the present embodiment proposes a mechanical leg 100, which is used for a robot. The mechanical leg 100 includes a frame, a first leg mechanism 10, a second leg mechanism 20 and up to the nth leg mechanism 91, a first driving mechanism 40, and a foot assembly 30. The frame is used to be installed on the body of the robot. When the leg length of the mechanical leg 100 is at its longest, the first leg mechanism 10 to the nth leg mechanism 91 are arranged from top to bottom; the first leg mechanism 10 is used to be rotatably connected to the frame 70; the second leg mechanism 20 is used to be slidably connected to the first leg mechanism 10; and so on, the nth leg mechanism 91 is slidably connected to the n-1th leg mechanism, where n>2; the foot assembly 30 is connected to the lower end of the nth leg mechanism 91 and is rotatably connected to the nth leg mechanism 91; the first driving mechanism 40 includes a first motor 41, a second motor 4 2. A first transmission wheel assembly 43 and a first flexible transmission member 44, a first motor 41 and a second motor 42 are connected to the first leg mechanism, the first transmission wheel assembly 43 is connected to the output shaft of the first motor 41 and the output shaft of the second motor 42 and is connected to the foot assembly 30, the first leg mechanism 10 to the nth leg mechanism 91, the first flexible transmission member 44 is transmission-connected to the first transmission wheel assembly 43, the first motor 41 and the second motor 42 are used to work together to drive the first transmission wheel assembly 43 to drive the foot assembly 30 to rotate relative to the nth leg mechanism 91 and drive the second leg mechanism 20 to move linearly in the up-down direction relative to the first leg mechanism 10, and so on, the first driving mechanism 40 is also used to drive the nth leg mechanism 91 to move linearly in the up-down direction relative to the n-1th leg mechanism 90, and the up-down direction is the extension direction of the first leg mechanism 10.

[0110] By providing multiple legs, the elongation of the mechanical leg 100 can be increased.

[0111] This embodiment can realize the rotation of the foot part and the extension and retraction of the leg by providing a flexible transmission member, and has a simple and compact structure and a small control error.

[0112] The first motor 41 and the second motor 42 work together to drive the rotation of the foot assembly 30 and / or the extension and retraction of the leg mechanism, so that the first motor 41 and the second motor 42 are connected in parallel, which can reduce the parameters required for the motor drive, reduce errors, increase the operating speed of the robot, and reduce the cost of use.

[0113] In some embodiments, the first motor 41 and the second motor 42 are connected to the upper end of the first leg mechanism 10. By arranging the first motor 41 and the second motor 42 at the upper end of the leg, it is helpful to improve the center of gravity of the mechanical leg 100 and reduce the rotational inertia of the mechanical leg 100 when rotating relative to the body, which is beneficial to control the energy consumption of the robot and improve the response speed of the robot.

[0114] In some embodiments, the robotic leg 100 has a first motion state, a second motion state, and a third motion state, and the robotic leg 100 can switch freely among the first motion state, the second motion state, and the third motion state; in the first motion state, the first driving mechanism 40 is used to drive the foot assembly 30 to rotate, the second leg mechanism 20 is stationary relative to the first leg mechanism 10, and so on, the nth leg mechanism 91 is stationary relative to the n-1th leg mechanism 90; in the second motion state, the first driving mechanism 40 is used to drive the second leg mechanism 20 The first driving mechanism 40 is also used to drive the nth leg mechanism 91 to move linearly in the up-down direction relative to the first leg mechanism 10, and so on, and the foot assembly 30 does not rotate; in the third motion state, the first driving mechanism 40 is used to drive the foot assembly 30 to rotate while driving the second leg mechanism 20 to move linearly in the up-down direction relative to the first leg mechanism 10, and so on, and the first driving mechanism 40 is also used to drive the nth leg mechanism 91 to move linearly in the up-down direction relative to the n-1 leg mechanism 90.

[0115] The robot has multiple motion states, so that the robot's gait can be diversified, making the robot more flexible and able to adapt to different environments.

[0116] In some embodiments, when the first motor 41 and the second motor 42 rotate in the same direction and the output torques of the first motor 41 and the second motor 42 are the same, the foot assembly 30 rotates, and the second leg mechanism 20 remains stationary relative to the first leg mechanism 10, and by analogy, the nth leg mechanism 91 remains stationary relative to the n-1th leg mechanism; when the first motor 41 and the second motor 42 rotate in opposite directions and the output torques of the first motor 41 and the second motor 42 are the same, the foot assembly 30 does not rotate, and the second leg mechanism 20 moves linearly in the up-down direction relative to the first leg mechanism 10, and by analogy, the nth leg mechanism 91 moves linearly in the up-down direction relative to the n-1th leg mechanism 90; when the first motor 41 and the second motor 42 rotate in the same or opposite directions but the output torques of the first motor 41 and the second motor 42 are different, the foot assembly 30 rotates while the second leg mechanism 20 moves linearly in the up-down direction relative to the first leg mechanism 10, and by analogy, the nth leg mechanism 91 moves linearly in the up-down direction relative to the n-1th leg mechanism 90.

[0117] It should be noted that, in the present embodiment, the first motor and the second motor are spaced apart in the front-to-rear direction, and the output shafts of the first motor and the second motor are oriented in the same direction.

[0118] In some embodiments, the first transmission wheel assembly 43 includes a first driving wheel 430, a second driving wheel 431, at least one first transmission wheel 432, at least one second transmission wheel 433, at least one third transmission wheel 434, at least one fourth transmission wheel 438, at least one fifth transmission wheel 439, and a first driven wheel 435. The first driving wheel 430 and the second driving wheel 431 are respectively connected to the output shafts of the first motor 41 and the second motor 42; the first driven wheel 435 is rotatably connected to the nth leg mechanism 91 and connected to the foot assembly 30. When the first driven wheel 435 rotates, it can drive the foot assembly 30 to rotate; the first transmission wheel 432 and the third transmission wheel 434 are rotatably arranged on the first leg mechanism 10 to the n-1th leg mechanism 10. The fourth transmission wheel 438 and the fifth transmission wheel 439 are rotatably arranged on the second leg mechanism 20 to the n-1 leg mechanism; the first transmission wheel 432 of the first leg mechanism 10 is arranged between the first driving wheel 430 and the first driven wheel 435; the first transmission wheel 432 on the second leg mechanism 20 is arranged between the fourth transmission wheel 438 and the first driven wheel 435 on the second leg mechanism 20; and so on, the first transmission wheel 432 on the n-1 leg mechanism 90 is arranged between the fourth transmission wheel 438 and the first driven wheel 435 on the n-1 leg mechanism 90; the third transmission wheel 434 of the first leg mechanism 10 is arranged between the second driving wheel 431 and the first driven wheel 435; the second leg mechanism 20 is arranged between the fourth transmission wheel 438 and the first driven wheel 435 on the n-1 leg mechanism 90; the third transmission wheel 434 of the first leg mechanism 10 is arranged between the second driving wheel 431 and the first driven wheel 435; the second leg mechanism 20 is arranged between the fourth transmission wheel 438 and the first driven wheel 435 on the n-1 leg mechanism 90; the third transmission wheel 434 of the first leg mechanism 10 is arranged between the second driving wheel 431 and the first driven wheel 435; the first ... The third transmission wheel 434 on the mechanism 20 is arranged between the fourth transmission wheel 438 and the first driven wheel 435 on the second leg mechanism 20; by analogy, the third transmission wheel 434 on the n-1th leg mechanism is arranged between the fifth transmission wheel 439 and the first driven wheel 435 on the n-1th leg mechanism 90; when the mechanical leg 100 is extended to the longest length, the highest point height of the fourth transmission wheel 438 on the second leg mechanism 20 is not lower than the lowest point height of the first transmission wheel 432 on the first leg mechanism 10 and / or the lowest point height of the third transmission wheel 434 on the first leg mechanism 10; by analogy, the highest point of the fourth transmission wheel 438 on the n-1th leg mechanism 90 is not lower than the lowest point height of the third transmission wheel 434 on the n-2nd leg mechanism 80. The height of the lowest point of the first transmission wheel 432 and / or the height of the lowest point of the third transmission wheel 434 on the n-2 leg mechanism 80; the fifth transmission wheel 439 and the fourth transmission wheel 438 on the second leg mechanism 20 to the n-1 leg mechanism 90 are arranged at the same height; the second transmission wheel 433 is rotatably arranged on the n-th leg mechanism 91, and when the mechanical leg 100 is extended to the longest length, the height of the highest point of the second transmission wheel 433 is not lower than the height of the lowest point of the first transmission wheel 432 of the n-1 leg mechanism 90 and / or the height of the lowest point of the third transmission wheel 434 on the n-1 leg mechanism 90; the first flexible transmission member 44 between the first driving wheel 430 and the first driven wheel 435 is at least partially configured to be parallel to the up-down direction;The first flexible transmission member 44 between the second driving wheel 431 and the first driven wheel 435 is at least partially configured to be parallel to the up-down direction; the first flexible transmission member 44 between the fourth transmission wheel 438 on the second leg mechanism 20 and the first transmission wheel 432 on the first leg mechanism 10 is at least partially configured to be parallel to the up-down direction; and so on, the first flexible transmission member 44 between the fourth transmission wheel 438 on the n-1th leg mechanism 90 and the first transmission wheel 432 on the n-2nd leg mechanism 80 is at least partially configured to be parallel to the up-down direction; the first flexible transmission member 44 between the fifth transmission wheel 439 on the second leg mechanism 20 and the third transmission wheel 434 on the first leg mechanism 10 is at least partially configured to be parallel to the up-down direction; The first flexible transmission member 44 between the second transmission wheel 433 and the first transmission wheel 432 on the n-1 leg mechanism 90 is at least partially configured to be parallel to the up-down direction; the first flexible transmission member 44 between the second transmission wheel 433 on the n-1 leg mechanism 91 and the third transmission wheel 434 on the n-1 leg mechanism 90 is at least partially configured to be parallel to the up-down direction; the first flexible transmission member 44 is transmission-connected with the first driving wheel 430, the second driving wheel 431, the first transmission wheel 432 and the third transmission wheel 434 on the first leg mechanism 10 to the n-1 leg mechanism 90, the fourth transmission wheel 438 and the fifth transmission wheel 439 on the second leg mechanism 20 to the n-1 leg mechanism 90, the second transmission wheel 433 on the n-1 leg mechanism 91, and the first driven wheel 435. ;

[0119] In the third aspect, the present embodiment provides a robot, comprising a frame, a fuselage, and the mechanical leg 100 of the first aspect, wherein the frame 70 is connected to the fuselage, and the mechanical leg 100 is rotatably connected to the frame 70. Among them, the mechanical leg 100 in the embodiment of the present application can have the same structure as any of the mechanical legs 100 in the above embodiments, and can bring the same or similar beneficial effects. For details, please refer to the description in the above embodiments, which will not be repeated in this embodiment. In addition, the mechanical leg 100 arranged on the fuselage can be one or more, and those skilled in the art can set it accordingly according to actual needs.

[0120] Those skilled in the art may combine and associate different embodiments or examples and features of different embodiments or examples described in this specification without mutual contradiction.

[0121] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A mechanical leg for a robot, characterized in that: The mechanical leg comprises: A frame, the frame being used to be mounted to a body of the robot; A first leg mechanism, wherein the first leg mechanism is connected to the frame for relative rotation; a second leg mechanism, the second leg mechanism being slidably connected to the first leg mechanism; a foot assembly, rotatably connected to the second leg mechanism; The first driving mechanism includes a first motor, a second motor, a first transmission wheel assembly and a first flexible transmission member. The first motor and the second motor are connected to the first leg mechanism. The first transmission wheel assembly is connected to the first motor output shaft and the second motor output shaft and is connected to the foot assembly, the first leg mechanism and the second leg mechanism. The first flexible transmission member is transmission-connected to the first transmission wheel assembly. The first motor and the second motor are used to work together to drive the first transmission wheel assembly to drive the foot assembly to rotate relative to the second leg mechanism and drive the second leg mechanism to perform linear telescopic motion along the up and down direction relative to the first leg mechanism. The up and down direction is the extension direction of the first leg mechanism.

2. The mechanical leg according to claim 1, characterized in that: The first motor and the second motor are connected to the upper end of the first leg mechanism.

3. The mechanical leg according to claim 1, characterized in that: The mechanical leg has a first motion state, a second motion state and a third motion state, and the mechanical leg can freely switch between the first motion state, the second motion state and the third motion state; In the first motion state, the first driving mechanism is only used to drive the foot assembly to rotate, and the second leg mechanism is stationary relative to the first leg mechanism; In the second motion state, the first driving mechanism is only used to drive the second leg mechanism to move linearly along the up-down direction relative to the first leg mechanism, and the foot assembly does not rotate; In the third motion state, the first driving mechanism is used to drive the foot assembly to rotate and simultaneously drive the second leg mechanism to move linearly along the up-down direction relative to the first leg mechanism.

4. The mechanical leg according to claim 1, characterized in that: In a first motion state, when the first motor and the second motor rotate in the same direction and the output torques of the first motor and the second motor are the same, the foot assembly rotates, and the second leg mechanism remains stationary relative to the first leg mechanism; In the second motion state, when the first motor and the second motor rotate in opposite directions and the output torques of the first motor and the second motor are the same, the foot assembly does not rotate, and the second leg mechanism moves linearly along the up-down direction relative to the first leg mechanism; In the third motion state, when the first motor and the second motor rotate in the same or opposite directions but the output torques of the first motor and the second motor are different, the second leg mechanism moves linearly along the up and down direction relative to the first leg mechanism while the foot assembly rotates.

5. The mechanical leg according to claim 1, characterized in that: The first transmission wheel assembly includes a first driving wheel, a second driving wheel, at least one first transmission wheel, at least one second transmission wheel, at least one third transmission wheel, and a first driven wheel; The first driving wheel and the second driving wheel are connected to the first motor and the second motor output shaft respectively; The first transmission wheel is rotatably connected to the first leg mechanism and is disposed between the first driving wheel and the first driven wheel; The third transmission wheel is rotatably connected to the first leg mechanism and is disposed between the second driving wheel and the first driven wheel; The second transmission wheel is rotatably connected to the second leg mechanism and is arranged between the first transmission wheel and the third transmission wheel. When the second leg mechanism is extended to the maximum relative to the first leg mechanism and the setting height of the first transmission wheel is higher than the setting height of the third transmission wheel, the height of the highest point of the second transmission wheel is not lower than the height of the lowest point of the first transmission wheel. When the second leg mechanism is the longest relative to the first leg mechanism and the third transmission wheel is set at a higher height than the first transmission wheel, the height of the highest point of the second transmission wheel is not lower than the height of the lowest point of the third transmission wheel; The first driven wheel is rotatably connected to the second leg mechanism and is connected to the foot assembly to drive the foot assembly to rotate relative to the second leg mechanism; The first flexible transmission member is transmission-connected with the first driving wheel, the first transmission wheel, the second transmission wheel, the third transmission wheel, the second driving wheel, and the first driven wheel to form a closed loop; The first flexible transmission member between the first transmission wheel and the second transmission wheel is at least partially configured to be parallel to the up-down direction; The first flexible transmission member between the second transmission wheel and the third transmission wheel is at least partially configured to be parallel to the up-down direction; The first flexible transmission member between the first driving wheel and the first driven wheel is at least partially configured to be parallel to the up-down direction; At least a portion of the first flexible transmission member between the second driving wheel and the first driven wheel is configured to be parallel to the up-down direction.

6. The mechanical leg according to claim 5, characterized in that: The entire section of the first flexible transmission member between the first transmission wheel and the second transmission wheel is configured to be parallel to the up-down direction; The entire section of the first flexible transmission member between the second transmission wheel and the third transmission wheel is configured to be parallel to the up-down direction.

7. The mechanical leg according to claim 5, characterized in that: When the second leg mechanism is extended to its longest length relative to the first leg mechanism, the lowest point height of the first transmission wheel is A, the lowest point height of the third transmission wheel is B, and the highest point height of the second transmission wheel is C. C cannot be less than A and B.

8. The mechanical leg according to claim 5, characterized in that: When the first motor and the second motor rotate in the same direction and the output torques of the first motor and the second motor are the same, the first flexible transmission member applies torque to the first driven wheel, and the first flexible transmission member applies an upward force to the first driven wheel and a downward force to the second transmission wheel of the same magnitude, the first driving wheel, the first transmission wheel, the second transmission wheel, the third transmission wheel, the second driving wheel and the first driven wheel rotate and transmit, the second leg mechanism is stationary relative to the first leg mechanism, and the foot assembly rotates; When the first motor and the second motor rotate in opposite directions and the output torques of the first motor and the second motor are the same, the first flexible transmission member applies an upward force to the first driven wheel or applies a downward force to the second transmission wheel, the second leg mechanism moves linearly along the up-down direction relative to the first leg mechanism, and the foot assembly does not rotate; When the first motor and the second motor rotate in opposite directions and the output torques of the first motor and the second motor are different in magnitude, the first flexible transmission member applies torque to the first driven wheel, the first flexible transmission member applies an upward force to the first driven wheel or applies a downward force to the second transmission wheel, the second leg mechanism moves linearly along the up-down direction relative to the first leg mechanism, and the foot assembly rotates; When the first motor and the second motor rotate in the same direction and the output torque of the first motor and the second motor are different in magnitude, the first flexible transmission member applies torque to the first driven wheel, and the first flexible transmission member applies an upward force to the first driven wheel and a downward force to the second transmission wheel of different magnitudes, the first driving wheel, the first transmission wheel, the second transmission wheel, the third transmission wheel, the second driving wheel and the first driven wheel rotate and transmit, the second leg mechanism moves linearly along the up and down directions relative to the first leg mechanism, and the foot assembly rotates.

9. The mechanical leg according to claim 5, characterized in that: The mechanical leg has a front-to-back direction and a left-to-right direction, and the front-to-back direction, the left-to-right direction and the up-down direction are perpendicular to each other; The first motor and the second motor are spaced apart in the front-to-rear direction, and the rotation axes of the first motor and the second motor are parallel to the left-to-right direction; The first driving wheel and the second driving wheel are arranged at intervals in the front-rear direction and at the same height; The first transmission wheel and the third transmission wheel are arranged at intervals in the front-to-back direction and have the same height.

10. The mechanical leg according to claim 5, characterized in that: The first driving wheel, the second driving wheel, the second transmission wheel and the first driven wheel are synchronous pulleys, the first flexible transmission member is a synchronous belt, and the first flexible transmission member is meshed and transmitted with the first driving wheel, the second driving wheel, the third transmission wheel and the first driven wheel; The first transmission wheel and the third transmission wheel are non-toothed rotating wheels, and the non-toothed surface of the first flexible transmission member is wound and connected with the first transmission wheel and the third transmission wheel.

11. The mechanical leg according to claim 5, characterized in that: The radius of the first driving wheel is consistent with that of the second driving wheel, and the radius of the first driving wheel and the second driving wheel is smaller than that of the first driven wheel.

12. The mechanical leg according to claim 11, characterized in that: The first transmission wheel assembly includes a first limiting member and a second limiting member; The first limiting member is rotatably disposed on the first leg mechanism and disposed between the first driving wheel and the first driven wheel and disposed on the outside of the first flexible transmission member, and the first limiting member is used to keep the first flexible transmission member between the first limiting member and the first driven wheel parallel to the up-down direction; The second limiting member is rotatably arranged on the first leg mechanism and is arranged between the second driving wheel and the first driven wheel and is arranged on the outside of the first flexible transmission member. The second limiting member is used to make the first flexible transmission member between the second limiting member and the first driven wheel remain parallel to the up and down direction.

13. The mechanical leg according to claim 12, characterized in that: The first limiting member and the second limiting member are both non-toothed rollers; The first limiting member and the second limiting member are in transmission connection with the first flexible transmission member.

14. The mechanical leg according to any one of claims 1 to 13, characterized in that: The mechanical leg also includes a second driving mechanism, which includes a third motor. The third motor is connected to the first leg mechanism and is used to drive the first leg mechanism and the second leg mechanism to rotate as a whole.

15. The mechanical leg according to claim 14, characterized in that: The second driving mechanism also includes a second transmission wheel assembly, which includes a third driving wheel, a second driven wheel, and a second flexible transmission member. The third driving wheel is connected to the output shaft of the third motor, the second driven wheel is connected to the first leg mechanism, and the second flexible transmission member is connected to the third driving wheel and the second driven wheel. The radius of the third driving wheel is smaller than that of the second driven wheel.

16. The mechanical leg according to claim 14, characterized in that: The second driving mechanism further comprises a fourth motor, a second transmission wheel assembly and a second flexible transmission member; The second transmission wheel assembly is transmission-connected to the output shafts of the third motor and the fourth motor and is connected to the first leg mechanism, and the second flexible transmission member is transmission-connected to the second transmission wheel assembly; The third motor and the fourth motor rotate coaxially; The third motor and the fourth motor are used to work together to drive the second transmission wheel assembly to drive the first leg mechanism and the second leg mechanism to rotate around the first axis as a whole, and are also used to work together to drive the first leg mechanism and the second leg mechanism to rotate around the second axis as a whole; The first axis and the second axis are non-parallel.

17. The mechanical leg according to claim 16, characterized in that: The third motor and the fourth motor are arranged on the frame.

18. The mechanical leg according to claim 16, characterized in that: The mechanical leg has a fourth motion state, a fifth motion state and a sixth motion state, and the mechanical leg can freely switch between the fourth motion state, the fifth motion state and the sixth motion state; In the fourth motion state, the second driving mechanism is only used to drive the first leg mechanism and the second leg mechanism to rotate as a whole around the first axis, and the first leg mechanism and the second leg mechanism as a whole are stationary in the second direction; In the fifth motion state, the first driving mechanism is only used to drive the first leg mechanism and the second leg mechanism to rotate around the second axis as a whole, and the first leg mechanism and the second leg mechanism as a whole are stationary in the first direction; In the sixth motion state, the first driving mechanism is used to drive the first leg mechanism and the second leg mechanism to rotate as a whole around the first axis and simultaneously drive the first leg mechanism and the second leg mechanism to rotate as a whole around the second axis.

19. The mechanical leg according to claim 16, characterized in that: The second transmission wheel assembly includes a third driving wheel, a fourth driving wheel, a second driven wheel, and a third driven wheel; The third motor output shaft is connected to the third driving wheel; The fourth motor output shaft is connected to the fourth driving wheel; The second driven wheel is tightly connected to the first leg mechanism, and when the second driven wheel rotates, the first leg mechanism is driven to rotate; The rotation axes of the third driving wheel and the fourth driving wheel are coaxial, the rotation axes of the third driving wheel and the fourth driving wheel rotate coaxially with the first axis, and the rotation axis of the second driven wheel rotates coaxially with the second axis; The first axis and the second axis are perpendicular to each other; The second flexible transmission member is in transmission connection with the third driving wheel, the fourth driving wheel, the second driven wheel, and the third driven wheel.

20. The mechanical leg according to claim 19, characterized in that: The third motor and the fourth motor are arranged opposite to each other, and when the third motor and the fourth motor rotate in the same direction and the torque of the third motor and the fourth motor is the same, the first leg mechanism and the second leg mechanism rotate around the first axis as a whole, and the first leg mechanism and the second leg mechanism remain stationary in the second direction as a whole; When the third motor and the fourth motor rotate in opposite directions and the torque of the third motor and the fourth motor are the same, the first leg mechanism and the second leg mechanism rotate around the second axis as a whole, and the first leg mechanism and the second leg mechanism remain stationary in the first direction as a whole; When the third motor and the fourth motor rotate in opposite or same directions and the torques of the third motor and the fourth motor are different, the first leg mechanism and the second leg mechanism rotate as a whole around the first axis and around the second axis at the same time.

21. The mechanical leg according to claim 20, characterized in that: The third driving wheel and the fourth driving wheel have the same radius, the second driven wheel and the third driven wheel have the same radius, and the radius of the second driven wheel is larger than the radius of the third driving wheel and the fourth driving wheel.

22. The mechanical leg according to claim 21, characterized in that: The mechanical leg further comprises a support frame assembly, and the support frame assembly is rotatably connected to the third driving wheel and the fourth driving wheel; The support frame assembly is also rotatably connected to the second driven wheel and the third driven wheel; When the first leg mechanism and the second leg mechanism rotate as a whole around the second axis, the support frame assembly remains stationary; When the first leg mechanism and the second leg mechanism rotate around the first axis as a whole, the support frame assembly and the first leg mechanism and the second leg mechanism rotate around the first axis as a whole.

23. The mechanical leg according to claim 22, characterized in that: The support frame assembly includes a connecting frame, a pre-tightening shaft, a pre-tightening screw, and a fixing screw; The connecting frame is rotatably connected to the third driving wheel, the fourth driving wheel, and the second driven wheel; The preload shaft is rotatably connected to the third driven wheel; The connecting frame is provided with a accommodating cavity, a through hole is provided on the outer wall of the connecting frame, a threaded hole is provided on the outer wall of the preload shaft corresponding to the through hole, the preload screw passes through the through hole and is threadedly connected with the threaded hole so that the preload shaft can move in the accommodating cavity, a fixing hole is provided on the cavity wall of the accommodating cavity, a fastening hole is provided on the preload shaft corresponding to the fixing hole, and the preload shaft is fastened to the fixing hole by a fixing screw passing through the fastening hole so as to be arranged in the accommodating cavity.

24. The mechanical leg according to claim 23, characterized in that: The second driving mechanism further includes a limit stopper. The connecting frame is provided with a limit block. The limit stopper is provided in a rotation direction of the limit block. When the connecting frame rotates to a certain position, the limit block abuts against the limit stopper.

25. The mechanical leg of claim 24, wherein: The second flexible transmission member is a synchronous belt, and the third driving wheel, the fourth driving wheel, the second driven wheel and the third driven wheel are synchronous belt wheels.

26. A mechanical leg, characterized in that: The mechanical leg comprises a first leg mechanism, a second leg mechanism and up to the nth leg mechanism, and when the leg length of the mechanical leg is at its longest, the first leg mechanism to the nth leg mechanism are arranged from top to bottom; The first leg mechanism is used to be rotatably connected to the frame; The second leg mechanism is used for sliding connection with the first leg mechanism; By analogy, the nth leg mechanism is slidably connected to the n-1th leg mechanism, where n>2; a foot assembly connected to the lower end of the nth leg mechanism and rotatably connected to the nth leg mechanism; The first driving mechanism includes a first motor, a second motor, a first transmission wheel assembly and a first flexible transmission member, the first motor and the second motor are connected to the first leg mechanism, the first transmission wheel assembly is connected to the first motor output shaft and the second motor output shaft and is connected to the foot assembly and the first leg mechanism to the nth leg mechanism, the first flexible transmission member is in transmission connection with the first transmission wheel assembly, the first motor and the second motor are used to work together to drive the first transmission wheel assembly to drive the foot assembly to rotate relative to the nth leg mechanism and drive the second leg mechanism to move linearly in the up and down directions relative to the first leg mechanism, and so on, the first driving mechanism is also used to drive the nth leg mechanism to move linearly in the up and down directions relative to the n-1th leg mechanism, and the up and down directions are the extension directions of the first leg mechanism.

27. The mechanical leg of claim 26, wherein: The first motor and the second motor are connected to the upper end of the first leg mechanism.

28. The mechanical leg of claim 26, wherein: The mechanical leg has a first motion state, a second motion state and a third motion state, and the mechanical leg can freely switch between the first motion state, the second motion state and the third motion state; In the first motion state, the first driving mechanism is used to drive the foot assembly to rotate, the second leg mechanism is stationary relative to the first leg mechanism, and so on, the nth leg mechanism is stationary relative to the n-1th leg mechanism; In the second motion state, the first driving mechanism is used to drive the second leg mechanism to move linearly in the up-down direction relative to the first leg mechanism, and similarly, the first driving mechanism is also used to drive the nth leg mechanism to move linearly in the up-down direction relative to the n-1th leg mechanism, and the foot assembly does not rotate; In the third motion state, the first driving mechanism is used to drive the foot assembly to rotate while driving the second leg mechanism to move linearly in the up and down direction relative to the first leg mechanism, and so on. The first driving mechanism is also used to drive the nth leg mechanism to move linearly in the up and down direction relative to the n-1th leg mechanism.

29. The mechanical leg of claim 26, wherein: When the first motor and the second motor rotate in the same direction and the output torques of the first motor and the second motor are the same, the foot assembly rotates, the second leg mechanism remains stationary relative to the first leg mechanism, and so on, the nth leg mechanism remains stationary relative to the n-1th leg mechanism; When the first motor and the second motor rotate in opposite directions and the output torques of the first motor and the second motor are the same, the foot assembly does not rotate, and the second leg mechanism moves linearly in the up-down direction relative to the first leg mechanism, and so on, the nth leg mechanism moves linearly in the up-down direction relative to the n-1th leg mechanism; When the first motor and the second motor rotate in the same or opposite directions but the output torques of the first motor and the second motor are different, the second leg mechanism moves linearly in the up and down directions relative to the first leg mechanism while the foot assembly rotates, and similarly the nth leg mechanism moves linearly in the up and down directions relative to the n-1th leg mechanism.

30. The mechanical leg of claim 29, wherein: The first transmission wheel assembly includes a first driving wheel, a second driving wheel, at least one first transmission wheel, at least one second transmission wheel, at least one third transmission wheel, at least one fourth transmission wheel, at least one fifth transmission wheel, and a first driven wheel; The first driving wheel and the second driving wheel are connected to the first motor and the second motor output shaft respectively; The first driven wheel is rotatably connected to the nth leg mechanism and connected to the foot assembly, and the first driven wheel can drive the foot assembly to rotate when rotating; The first transmission wheel and the third transmission wheel are rotatably arranged on the first leg mechanism to the n-1th leg mechanism; The fourth transmission wheel and the fifth transmission wheel are rotatably arranged on the second leg mechanism to the n-1th leg mechanism; The first transmission wheel of the first leg mechanism is arranged between the first driving wheel and the first driven wheel; The first transmission wheel on the second leg mechanism is arranged between the fourth transmission wheel and the first driven wheel on the second leg mechanism; Similarly, the first transmission wheel on the n-1th leg mechanism is arranged between the fourth transmission wheel and the first driven wheel on the n-1th leg mechanism; The third transmission wheel of the first leg mechanism is arranged between the second driving wheel and the first driven wheel; The third transmission wheel on the second leg mechanism is arranged between the fourth transmission wheel on the second leg mechanism and the first driven wheel; Similarly, the third transmission wheel on the n-1th leg mechanism is arranged between the fifth transmission wheel and the first driven wheel on the n-1th leg mechanism; When the mechanical leg is extended to its longest length, the height of the highest point of the fourth transmission wheel on the second leg mechanism is not lower than the height of the lowest point of the first transmission wheel on the first leg mechanism and / or the height of the lowest point of the third transmission wheel on the first leg mechanism; By analogy, the highest point of the fourth transmission wheel on the n-1th leg mechanism is not lower than the lowest point height of the first transmission wheel on the n-2th leg mechanism and / or the lowest point height of the third transmission wheel on the n-2th leg mechanism; The fifth transmission wheels on the second leg mechanism to the (n-1)th leg mechanism and the fourth transmission wheel are arranged at the same height; The second transmission wheel is rotatably arranged on the nth leg mechanism, and when the mechanical leg is extended to the longest length, the height of the highest point of the second transmission wheel is not lower than the height of the lowest point of the first transmission wheel of the n-1th leg mechanism and / or the height of the lowest point of the third transmission wheel on the n-1th leg mechanism; The first flexible transmission member between the first driving wheel and the first driven wheel is at least partially configured to be parallel to the up-down direction; The first flexible transmission member between the second driving wheel and the first driven wheel is at least partially configured to be parallel to the up-down direction; The first flexible transmission member between the fourth transmission wheel on the second leg mechanism and the first transmission wheel on the first leg mechanism is at least partially configured to be parallel to the up-down direction; By analogy, at least a portion between the fourth transmission wheel on the n-1th leg mechanism and the first flexible transmission member of the first transmission wheel on the n-2th leg mechanism is configured to be parallel to the up-down direction; The first flexible transmission member between the fifth transmission wheel on the second leg mechanism and the third transmission wheel on the first leg mechanism is at least partially configured to be parallel to the up-down direction; The first flexible transmission member between the second transmission wheel on the nth leg mechanism and the first transmission wheel on the n-1th leg mechanism is at least partially configured to be parallel to the up-down direction; The first flexible transmission member between the second transmission wheel on the nth leg mechanism and the third transmission wheel on the n-1th leg mechanism is at least partially configured to be parallel to the up-down direction; The first flexible transmission member is transmission-connected to the first driving wheel, the second driving wheel, the first transmission wheel and the third transmission wheel on the first leg mechanism to the n-1th leg mechanism, the fourth transmission wheel and the fifth transmission wheel on the second leg mechanism to the n-1th leg mechanism, the second transmission wheel on the nth leg mechanism, and the first driven wheel.

31. A robot, characterized in that: It comprises a fuselage and the mechanical leg according to any one of claims 1 to 13, wherein the frame is connected to the fuselage, and the mechanical leg is rotatably connected to the frame.

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