Mechanical leg and robot

Abstract

The embodiment of the utility model provides a mechanical leg and a robot, comprising a leg part, a foot part, a first driving mechanism and a wiring board, the leg part is connected to the body of the robot; the foot part is rotationally connected to the leg part, and the foot part is supported on a bearing surface; the first driving mechanisms are arranged on the legs and connected to the feet, the first driving mechanisms are electrically connected with a control mechanism arranged on the machine body through electric connecting wires, and the first driving mechanisms are used for driving the feet to rotate relative to the legs; the wiring board is arranged on the leg part and / or the first driving mechanism, the wiring board is provided with a wiring groove, and the wiring groove is used for accommodating an electric connecting wire. The technical scheme of the embodiment of the utility model aims to solve the problems that the electric connecting wires of the mechanical leg are disordered and are easy to wind a leg mechanism.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a mechanical leg and a robot. Background Art

[0002] With the continuous development of science and technology, robots are now widely used in various fields such as national defense, deep-sea exploration, biomedicine, domestic services, transportation, etc. However, the structure of the mechanical legs of robots in the prior art is relatively complex, requiring a large number of connecting wires to realize the electrical connection between the electronic components of the mechanical legs and the body, and the connecting wires are long, resulting in very messy connecting wires, which are even easy to be entangled in the leg structure of the mechanical legs when the mechanical legs are moving. Utility Model Content

[0003] The embodiments of the utility model provide a mechanical leg and a robot, aiming to solve the problem that the electrical connection wires of the mechanical leg are messy and easily entangled in the leg mechanism.

[0004] In a first aspect, an embodiment of the utility model provides a mechanical leg, comprising:

[0005] A leg connected to the body of the robot;

[0006] A foot portion, rotatably connected to the leg portion, the foot portion being used to support the bearing surface;

[0007] a first driving mechanism, disposed on the leg and connected to the foot, electrically connected to a control mechanism disposed on the body through an electrical connection line, the first driving mechanism being used to drive the foot to rotate relative to the leg; and

[0008] A wiring board is arranged on the leg and / or the first driving mechanism, and the wiring board is provided with a wiring groove, and the wiring groove is used to accommodate the electrical connection line.

[0009] In the mechanical leg of the present invention, the foot includes a roller, which is rotatably connected to the leg and used to be supported on the bearing surface. The first driving mechanism is used to drive the roller to rotate relative to the leg so that the roller rolls on the bearing surface, thereby realizing the forward or backward movement of the robot.

[0010] In the mechanical leg of the utility model, the first driving mechanism comprises:

[0011] A first motor, disposed on the leg and electrically connected to the control mechanism through the electrical connection line;

[0012] A first transmission wheel connected to an output end of the first motor;

[0013] a second transmission wheel connected to the foot;

[0014] The transmission belt is wound around the outer circumference of the first transmission wheel and the second transmission wheel.

[0015] In the mechanical leg of the utility model, the leg part comprises:

[0016] A connecting portion, used to connect to the fuselage;

[0017] a sliding portion, slidably connected to the connecting portion, the foot portion being rotatably connected to the sliding portion, and the first driving mechanism being disposed on the sliding portion;

[0018] The mechanical leg also includes a second driving mechanism, which is connected to the sliding part and is used to drive the sliding part to move along a first direction relative to the connecting part, so that the mechanical leg can be retracted.

[0019] In the mechanical leg of the present invention, the connecting part is rotatably connected to the fuselage, and the second driving mechanism includes a first driving component and a second driving component. The first driving component can cooperate with the second driving component to drive the connecting part to rotate relative to the fuselage, and cooperate to drive the sliding part to move relative to the connecting part along the first direction.

[0020] In the mechanical leg of the utility model, the first driving assembly includes a second motor and a first transmission subassembly, the second driving assembly includes a third motor and a second transmission subassembly, the second motor and the third motor are used to be connected to the fuselage, and the second motor and the third motor are coaxially arranged;

[0021] The first transmission subassembly is connected to the output shaft of the second motor and connected to the sliding part, and the second transmission subassembly is connected to the output shaft of the third motor and connected to the sliding part;

[0022] The rotation axis of the connecting portion is coaxial with the rotation axes of the second motor and the third motor.

[0023] In the mechanical leg of the utility model, the leg is provided with a plurality of wiring boards, and the plurality of wiring boards are arranged in sequence along the direction from the fuselage to the first driving mechanism;

[0024] At least one wiring board is provided on the first driving mechanism;

[0025] The electrical connection line extends from the body toward the first driving mechanism, passes through the wiring grooves of the plurality of wiring boards on the legs in sequence, and then passes through the wiring grooves of the wiring boards on the first driving mechanism and is connected to the first driving mechanism.

[0026] In the mechanical leg of the utility model, at least one wiring board is arranged on the connecting part, and the wiring board is also provided with an avoidance groove spaced apart from the wiring groove, and the avoidance groove is used to avoid the sliding part when the sliding part moves relative to the connecting part.

[0027] In the mechanical leg of the utility model, the leg is provided with a weight-reducing groove, and at least one of the wiring boards is provided with a clamping block, and the clamping block is clamped in the weight-reducing groove.

[0028] In the mechanical leg of the utility model, the mechanical leg further comprises a wire harness, and the wire harness is sleeved on the outer circumference of the plurality of electrical connection wires and clamped in the wiring groove.

[0029] In a second aspect, an embodiment of the utility model provides a robot, comprising the mechanical leg as described in the first aspect above.

[0030] The mechanical leg and robot provided by the embodiments of the utility model, by arranging a wiring board on the leg and / or the first drive mechanism, and utilizing the wiring grooves of the wiring board to accommodate the electrical connection wires that conduct the first drive mechanism and the control mechanism, thereby limiting the position of the electrical connection wires on the leg, making the routing of the electrical connection wires stable without being excessively arched or scattered, thereby preventing the electrical connection wires from being entangled on the leg or foot, facilitating the rotation of the foot relative to the leg, and facilitating the normal operation of the mechanical leg. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] 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 based on these drawings without paying any creative work.

[0032] Figure 1 A schematic diagram of the structure of a mechanical leg provided by an embodiment of the utility model;

[0033] Figure 2 A schematic structural diagram of a connecting portion, a first transmission subassembly, and a second transmission subassembly provided in an embodiment of the utility model;

[0034] Figure 3 A schematic structural diagram of a wiring board provided in an embodiment of the utility model.

[0035] Description of main reference numerals:

[0036] 1. Leg; 11. Connecting part; 111. Weight-reducing groove; 12. Sliding part; 2. Foot; 3. First driving mechanism; 31. First motor; 32. Transmission assembly; 321. First transmission wheel; 322. Second transmission wheel; 323. Transmission belt; 4. Wiring board; 41. Wiring groove; 42. Avoidance groove; 43. Block; 5. Second driving mechanism; 51. Second motor; 52. First transmission subassembly; 53. Third motor; 54. Second transmission subassembly. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0038] See also Figures 1 to 3 In the first aspect, an embodiment of the utility model provides a mechanical leg that can be applied to a robot. Specifically, the mechanical leg includes a leg 1, a foot 2, a first driving mechanism 3 and a wiring board 4. Among them, the leg 1 is connected to the body of the robot. The foot 2 is rotatably connected to the leg 1, and the foot 2 is used to support the bearing surface. The first driving mechanism 3 is arranged on the leg 1 and connected to the foot 2. The first driving mechanism 3 is electrically connected to a control mechanism arranged on the body through an electrical connection line (not shown), and the first driving mechanism 3 is used to drive the foot 2 to rotate relative to the leg 1. The wiring board 4 is arranged on the leg 1 and / or the first driving mechanism 3, and the wiring board 4 is provided with a wiring groove 41, and the wiring groove 41 is used to accommodate the electrical connection line.

[0039] It can be understood that the foot 2 is supported on the ground, and the first drive mechanism 3 is connected to the control mechanism provided on the body through an electrical connection line, so as to drive the foot 2 to rotate relative to the leg 1 under the control of the control mechanism, so as to realize the robot moving on the bearing surface. By arranging one or more wiring boards 4 on the leg 1 and / or the first drive mechanism 3, and using the wiring grooves 41 of the wiring board 4 to accommodate the electrical connection lines that conduct the first drive mechanism 3 and the control mechanism, the position of the electrical connection lines on the leg 1 is limited, so that the wiring of the electrical connection lines is stable, and the electrical connection lines will not be excessively arched or scattered, thereby preventing the electrical connection lines from being entangled on the leg 1 or the foot 2, which is convenient for the foot 2 to rotate relative to the leg 1 and is conducive to ensuring the normal operation of the mechanical leg.

[0040] It can be understood that the foot 2 can be supported on a bearing surface such as the ground, a table or a track, and the first driving mechanism 3 can drive the foot 2 to rotate relative to the leg 1 so that the robot moves on the bearing surface.

[0041] In an optional embodiment, the foot 2 includes a roller, which is rotatably connected to the leg 1, and the roller is used to support the bearing surface. The first driving mechanism 3 is used to drive the roller to rotate relative to the leg 1, so that the roller rolls on the bearing surface, so that the robot moves forward or backward on the bearing surface, and the robot moves forward. It can be understood that the robot moves forward by rolling the roller on the bearing surface, which is conducive to making the robot suitable for rugged or muddy harsh environments and improving the robot's obstacle crossing ability.

[0042] Exemplarily, the roller may include a support member and a buffer member, wherein the support member is connected to the first driving mechanism 3 and is rotatably connected to the leg 1, and the buffer member is connected to the support member, and the buffer member is used to be supported on the bearing surface.

[0043] In another optional embodiment, the foot 2 may include tracks and walking wheels, the walking wheels are connected to the first driving mechanism 3, the tracks are wrapped around the outer circumference of at least two walking wheels and supported on the bearing surface, and the walking wheels can drive the tracks to rotate under the drive of the first driving mechanism 3, so that the tracks slide on the bearing surface to realize the movement of the robot.

[0044] In another optional embodiment, the foot 2 may include a flat plate connected to the first driving mechanism 3 and supported on a bearing surface. The first driving mechanism 3 drives the flat plate to rotate relative to the leg 1, and the robot can move in coordination with the extension or rotation of the leg 1 itself and the rotation of the leg 1 relative to the body.

[0045] In some embodiments, Figure 1 As shown, the first driving mechanism 3 includes a first motor 31 and a transmission assembly 32. The first motor 31 is arranged on the leg 1 and is electrically connected to the control mechanism through an electrical connection line. The first motor 31 is located on the side of the roller facing the fuselage and is spaced apart from the roller. The transmission assembly 32 is connected to the output shaft of the first motor 31 and the roller. It can be understood that the force of the first motor 31 is transmitted to the roller through the transmission assembly 32, so that the first motor 31 can be spaced apart from the roller, and the first motor 31 is arranged on the side of the roller facing the fuselage, which is conducive to making the electrical connection line between the first motor 31 and the control mechanism and the roller spaced a certain distance, further avoiding the electrical connection line from winding around the roller and affecting the normal rotation of the roller.

[0046] Further, the transmission assembly 32 includes a first transmission wheel 321, a second transmission wheel 322 and a transmission belt 323. The first transmission wheel 321 is connected to the output shaft of the first motor 31. The second transmission wheel 322 is connected to the roller. The transmission belt 323 is wound around the outer periphery of the first transmission wheel 321 and the second transmission wheel 322. The first motor 31 drives the first transmission wheel 321 to rotate, and the first transmission wheel 321 drives the second transmission wheel 322 to rotate through the transmission belt 323, so that the roller rotates relative to the leg 1. It can be understood that the transmission assembly 32 includes the first transmission wheel 321, the second transmission wheel 322 and the transmission belt 323, that is, the transmission assembly 32 is a belt transmission assembly, and the transmission assembly 32 is transmitted by belt transmission, so that the transmission of the transmission assembly 32 is more stable, the transmission efficiency of the transmission assembly 32 is improved, and the structure of the transmission assembly 32 can be simplified.

[0047] Specifically, the transmission ratio of the first transmission wheel 321 and the second transmission wheel 322 can be adjusted according to actual conditions.

[0048] Exemplarily, the first transmission wheel 321 and the second transmission wheel 322 are gears whose outer circumferences may be provided with gear teeth, and the transmission belt 323 is a gear belt whose inner ring may be provided with latch teeth, and the latch teeth of the transmission belt 323 are respectively engaged with the gear teeth of the first transmission wheel 321 and the second transmission wheel 322 to realize transmission between the first transmission wheel 321 and the transmission belt 323, and between the transmission belt 323 and the second transmission wheel 322.

[0049] Preferably, the number of teeth of the first transmission wheel 321 is smaller than the number of teeth of the second transmission wheel 322 .

[0050] Exemplarily, the second transmission wheel 322 can be connected to one side of the roller along the direction of its own rotation axis, and the rotation axis of the second transmission wheel 322 is colinear with the rotation axis of the roller, so that the second transmission wheel 322 transmits force to the roller, driving the roller to rotate smoothly relative to the leg 1. The second transmission wheel 322 and the roller can be connected by a fastener, and the second transmission wheel 322 can be connected to the roller by the fastener. For example, the second transmission wheel 322 is provided with a prismatic groove, and the roller is provided with a prismatic protrusion, and the prismatic protrusion is engaged with the prismatic groove to achieve the engagement of the second transmission wheel 322 and the roller, thereby improving the connection stability between the second transmission wheel 322 and the roller.

[0051] Of course, in addition to the above-mentioned belt transmission method, in other embodiments, the transmission assembly 32 can also be transmitted by gear transmission or chain transmission. Exemplarily, when the transmission assembly 32 is a gear transmission assembly, the transmission assembly 32 may include multiple gears, one gear can be rotatably connected to the leg 1 and connected to the output shaft of the first motor 31 to achieve transmission between the transmission assembly 32 and the first motor 31, and another gear can be connected to one side of the roller along the axis direction of its rotation axis through a fastener, and the rotation axis of the gear is colinear with the rotation axis of the roller, or the roller can be provided with a transmission tooth on one side of the axis direction of its rotation axis, and the gear can be connected with the transmission tooth of the roller to achieve transmission between the transmission assembly 32 and the foot 2.

[0052] In some embodiments, the first driving mechanism 3 includes a first motor 31, which is disposed on the leg 1. The roller can be directly connected to the output shaft of the first motor 31 and can rotate relative to the leg 1 driven by the first motor 31, thereby realizing a rotational connection between the roller and the leg 1.

[0053] In some embodiments, the leg 1 includes a connecting portion 11 and a sliding portion 12. The connecting portion 11 is used to connect to the fuselage. The sliding portion 12 is slidably connected to the connecting portion 11, the foot 2 is rotatably connected to the sliding portion 12, and the first driving mechanism 3 is arranged on the sliding portion 12. The mechanical leg also includes a second driving mechanism 5, which is connected to the sliding portion 12, and the second driving mechanism 5 is used to drive the sliding portion 12 to move relative to the connecting portion 11 along the first direction so that the mechanical leg can be extended. It can be understood that the sliding portion 12 can slide relative to the connecting portion 11 to achieve the extension and retraction of the mechanical leg, which is conducive to improving the flexibility of the robot. The foot 2 and the first driving mechanism 3 are both connected to the sliding portion 12, so that the position between the first driving mechanism 3 and the foot 2 is relatively fixed, which is convenient for realizing the connection between the first driving mechanism 3 and the foot 2, so that the first driving mechanism 3 can drive the foot 2 to rotate relative to the sliding portion 12 to realize the movement of the robot.

[0054] The first direction can be Figure 1 As shown in the Z direction in FIG, the first direction is the extension and retraction direction of the mechanical leg.

[0055] Furthermore, the sliding portion 12 may be located on one side of the connecting portion 11 along the Y direction, the foot 2 and the first driving mechanism 3 may be located on the side of the sliding portion 12 away from the connecting portion 11 along the Y direction, and the Y direction may be perpendicular to the Z direction. In this way, it is beneficial to appropriately increase the sliding range of the sliding portion 12 relative to the connecting portion 11 and improve the flexibility of the robot.

[0056] Specifically, one of the sliding part 12 and the connecting part 11 may be provided with a slide groove extending along the first direction, and the other may be provided with a sliding rod extending along the first direction, and the sliding rod is inserted into the slide groove to achieve the sliding connection between the sliding part 12 and the connecting part 11. Exemplarily, the sliding part 12 is provided with two slide grooves, and the two slide grooves are respectively located on both sides of the sliding part 12 along the X direction, and the connecting part 11 is provided with a sliding rod on both sides along the X direction, and the two sliding rods are respectively inserted into the two slide grooves to achieve the sliding connection between the sliding part 12 and the connecting part 11.

[0057] Furthermore, the wiring board 4 is located on the other side of the connecting part 11 along the Y direction to reduce the probability of interference between the wiring board 4 and the route of the sliding part 12, to ensure the range in which the sliding part 12 can slide relative to the connecting part 11, and the wiring board 4 can be respectively arranged at multiple locations of the connecting part 11 along the first direction, so that each location of the electrical connection line can be clamped in the wiring groove 41 of the wiring board 4, so that the routing of the electrical connection line is more regular.

[0058] In some embodiments, Figure 3 As shown, at least one wiring plate 4 is provided at the connecting portion 11, and the wiring plate 4 is further provided with an avoidance groove 42 spaced apart from the wiring groove 41, and the avoidance groove 42 is used to avoid the sliding portion 12 when the sliding portion 12 moves relative to the connecting portion 11, so as to prevent a conflict between the wiring plate 4 and the sliding portion 12. It can be understood that the avoidance groove 42 is spaced apart from the wiring groove 41, and the wiring groove 41 is not connected to the avoidance groove 42, so as to ensure that the electrical connection line can be passed through and clamped in the wiring groove 41.

[0059] In some embodiments, the wiring board 4 extends along the Y direction so that the wiring groove 41 is located on one side of the connecting part 11 and the sliding part 12 along the Y direction and is spaced apart from the connecting part 11 and the sliding part 12. The Y direction can be perpendicular to the Z direction, so that after the electrical connection line is connected to the wiring groove 41, it can be spaced a certain distance between the sliding part 12 and the connecting part 11 to avoid the electrical connection line hindering the sliding of the sliding part 12, or the sliding part 12 pulling the electrical connection line. In addition, it is also convenient for the electrical connection line to be connected to the first driving mechanism 3 after extending along the first direction.

[0060] In some embodiments, the first motor 31 and the foot 2 are arranged on the sliding part 12, and the position of the first motor 31 on the sliding part 12 can be spaced apart from the foot 2, so that the first motor 31 is located on the side of the foot 2 facing the fuselage, which is beneficial to improve the overall center of gravity of the leg 1, so that when the connecting part 11 is rotated and connected to the fuselage, the rotational inertia of the mechanical leg relative to the fuselage can be reduced, the energy consumption of the robot can be reduced, and the response time of the robot can be improved.

[0061] Preferably, the first motor 31 and the foot 2 are respectively located at opposite ends of the sliding portion 12 along the first direction.

[0062] In some embodiments, the connecting portion 11 is rotatably connected to the body, and the second driving mechanism 5 includes a first driving component and a second driving component, and the first driving component can cooperate with the second driving component to drive the connecting portion 11 to rotate relative to the body, and cooperate to drive the sliding portion 12 to move along the first direction relative to the connecting portion 11. The first driving component and the second driving component cooperate to work together to realize the rotation of the mechanical leg and to work together to realize the extension and retraction of the mechanical leg, which is conducive to reducing the number of the total driving mechanisms of the robot while ensuring the response speed of the robot, and making the structure of the robot more compact, reducing the size of the robot, and facilitating the robot to move in a limited space.

[0063] It can be understood that the first drive assembly and the second drive assembly can drive the connecting part 11, and the connecting part 11 can drive the sliding part 12 and the foot 2, so that the first drive assembly and the second drive assembly can drive the connecting part 11, the sliding part 12 and the foot 2 to rotate as a whole relative to the fuselage.

[0064] Furthermore, if Figure 1 and Figure 2 As shown, the first drive assembly includes a second motor 51 and a first transmission subassembly 52, and the second drive assembly includes a third motor 53 and a second transmission subassembly 54. The second motor 51 and the third motor 53 are used to be connected to the fuselage, and the second motor 51 and the third motor 53 are coaxially arranged. The first transmission subassembly 52 is connected to the output shaft of the second motor 51 and connected to the sliding part 12, and the second transmission subassembly 54 is connected to the output shaft of the third motor 53 and connected to the sliding part 12. The rotation axis of the connecting part 11 is coaxial with the rotation axis of the second motor 51 and the third motor 53.

[0065] It can be understood that the second motor 51 drives the sliding part 12 to move through the first transmission subassembly 52, and the third motor 53 drives the sliding part 12 to move through the second transmission subassembly 54. By controlling the second motor 51 and the third motor 53, the overall movement of the sliding part 12 can be adjusted to achieve the sliding of the sliding part 12 relative to the connecting part 11, or the sliding part 12 drives the connecting part 11 and the foot 2 to rotate as a whole relative to the body.

[0066] It is worth mentioning that the second motor 51 and the third motor 53 are coaxially arranged. In other words, the output shaft of the second motor 51 and the output shaft of the third motor 53 are coaxially arranged. Specifically, the output shaft of the second motor 51 and the output shaft of the third motor 53 can be arranged relatively spaced to achieve coaxial arrangement, or the output shaft of the second motor 51 can be nested with the output shaft of the third motor 53 to achieve coaxial arrangement. The output shaft of the second motor 51 and the output shaft of the third motor 53 are coaxially arranged, so that the second motor 51 and the third motor 53 can be arranged in parallel, thereby reducing the parameters required for motor drive, reducing drive errors, improving the operating speed of the robot, and reducing the use cost of the robot. The rotation axis of the connecting part 11 is coaxially arranged with the rotation axis of the second motor 51 and the third motor 53, so that the first drive assembly and the second drive assembly cooperate to drive the connecting part 11 to rotate.

[0067] Exemplarily, the first transmission subassembly 52 and the second transmission subassembly 54 can be driven by belt drive or chain drive. Taking the first transmission subassembly 52 and the second transmission subassembly 54 as belt transmission subassemblies as an example, the first drive assembly and the second drive assembly are respectively located on opposite sides of the connection part 11 along the Y direction, the second motor 51 and the third motor 53 are arranged on the fuselage, the first transmission subassembly 52 may include a first driving wheel, a first driven wheel and a first synchronous belt, the second transmission subassembly 54 may include a second driving wheel, a second driven wheel and a second synchronous belt, the first driving wheel is connected to the output shaft of the second motor 51, the first driven wheel is connected to the connection part 11, the first synchronous belt is wound around the outer periphery of the first driving wheel and the first driven wheel and connected to one side of the sliding part 12 along the X direction, the second driving wheel is connected to the output shaft of the third motor 53, the second driven wheel is connected to the connection part 11, and the second synchronous belt is wound around the outer periphery of the second driving wheel and the second driven wheel and connected to the other side of the sliding part 12 along the X direction.

[0068] When the second motor 51 drives the first driving wheel to rotate, the first driving wheel drives the first driven wheel to rotate through the first synchronous belt, and when the third motor 53 drives the second driving wheel to rotate, the second driving wheel drives the second driven wheel to rotate through the second synchronous belt. By controlling the rotation direction of the second motor 51 and the third motor 53, the direction of the force applied by the first synchronous belt and the second synchronous belt to the sliding part 12 can be changed, so that the sliding part 12 can be driven to slide relative to the connecting part 11, or the sliding part 12, the connecting part 11 and the foot 2 can be driven to rotate relative to the fuselage. For example, when the first synchronous belt and the second synchronous belt simultaneously pull the sliding part 12 toward the fuselage or simultaneously push the sliding part 12 in the direction away from the fuselage, the sliding part 12 can be driven to slide in the first direction relative to the connecting part 11, and when one of the first synchronous belt and the second synchronous belt pulls the sliding part 12 toward the fuselage and the other pushes the sliding part 12 in the direction away from the fuselage, the sliding part 12 can drive the connecting part 11 to rotate relative to the fuselage.

[0069] Of course, in other embodiments, the first drive assembly and the second drive assembly can also be used to respectively realize the rotation of the connection part 11 relative to the body and the movement of the sliding part 12 relative to the connection part 11. For example, the first drive assembly may include a second motor 51, which may be a linear motor. The second motor 51 is disposed at the connection part 11 and connected to the sliding part 12 to drive the sliding part 12 to slide along the first direction relative to the connection part 11. The second drive assembly may include a third motor 53, which may be a rotary motor. The third motor 53 is disposed at the body and may be directly or indirectly connected to the connection part 11 through a second transmission subassembly 54 to drive the connection part 11 to rotate relative to the body.

[0070] In some embodiments, the leg 1 is provided with a plurality of wiring boards 4, and the plurality of wiring boards 4 are sequentially arranged along the direction from the fuselage to the first drive mechanism 3. At least one wiring board 4 is provided on the first drive mechanism 3. The electrical connection line extends from the fuselage toward the first drive mechanism 3, passes through the wiring grooves 41 of the plurality of wiring boards 4 on the leg 1 in sequence, and then passes through the wiring grooves 41 of the wiring boards 4 on the first drive mechanism 3 and is connected to the first drive mechanism 3. In this way, the electrical connection line is restricted by the wiring grooves 41 of the plurality of wiring boards 4 at various locations along the leg 1 where the electrical connection line extends from the fuselage toward the first drive mechanism 3, and is restricted by at least one wiring board 4 near the first drive mechanism 3, which is conducive to making the routing of the electrical connection line more regular and ensuring the stability of the connection between the electrical connection line and the first drive mechanism 3.

[0071] Specifically, the first motor 31 is electrically connected to the control mechanism through an electrical connection line, and the wiring board 4 can be arranged on the first motor 31, or on a mounting base of the first motor 31, so that the wiring board 4 is arranged adjacent to the first motor 31 to ensure that the position of the electrical connection line adjacent to the first motor 31 is relatively stable, thereby ensuring the connection stability between the electrical connection line and the first motor 31.

[0072] Exemplarily, the direction from the fuselage to the first driving mechanism 3 can be the above-mentioned first direction, and a plurality of wiring plates 4 can be arranged on the connecting portion 11, and the plurality of wiring plates 4 can be arranged in sequence along the first direction from the side where the fuselage is located to the side where the sliding portion 12 is located. At least one wiring plate 4 is arranged on the mounting seat of the first motor 31. The wiring grooves 41 of the wiring plate 4 arranged on the connecting portion 11 and the wiring plate 4 arranged on the mounting seat of the first motor 31 are both located on the same side of the sliding portion 12 and the connecting portion 11 along the Z direction, so that the electrical connection line can be sequentially passed through the wiring grooves 41 of the plurality of wiring plates 4 arranged on the connecting portion 11 from the first direction, and then passed through the wiring grooves 41 of one or more wiring plates 4 arranged on the mounting seat of the first motor 31, and connected to the first motor 31. In this way, it is beneficial to make the routing of the electrical connection line as regular as possible.

[0073] In some embodiments, the leg 1 is provided with a weight-reducing groove 111, and at least one wiring board 4 is provided with a block 43, and the block 43 is clamped in the weight-reducing groove 111. It can be understood that the leg 1 is provided with a weight-reducing groove 111, which is beneficial to reducing the overall mass of the leg 1, and the block 43 is clamped in the weight-reducing groove 111, which is beneficial to improving the connection stability between the wiring board 4 and the leg 1.

[0074] For example, Figure 2 and Figure 3 As shown, the connection part 11 is provided with a weight-reducing groove 111 extending along the X direction, and the wiring board 4 is provided with a clamping block 43 on one side along the Z direction, and the clamping block 43 is clamped in the weight-reducing groove 111. The wiring board 4 is also provided with a through hole penetrating the clamping block 43, and the connection part 11 is provided with a mounting hole communicating with the weight-reducing groove 111, and the connection between the wiring board 4 and the connection part 11 can be achieved by passing a fastener through the through hole of the wiring board 4 and the mounting hole of the connection part 11.

[0075] In some embodiments, the robot leg further includes a wire harness (not shown), which is sleeved on the outer periphery of the plurality of electrical connection wires and clamped in the wiring groove 41. It can be understood that the size of the wiring groove 41 is limited, and the use of the wire harness to bind the plurality of electrical connection wires together at multiple locations can not only assist the wiring board 4 to prevent the plurality of electrical connection wires from spreading and entangled with each other during the movement of the robot, but also facilitate the selection of the wire harness according to the number of electrical connection wires, ensuring that the electrical connection wires can be clamped in the wiring groove 41 through the wire harness and are not easy to bend.

[0076] Exemplarily, the wire harness may be a chain, which is connected by a plurality of annular components. The annular component has a hollow portion that runs through two opposite sides of the length direction thereof, and the two opposite sides of the annular component along the length direction thereof can be respectively engaged with an annular component to realize the connection between the plurality of annular components, and the hollow portions of the plurality of annular components are connected, and the plurality of electrical connection wires are sequentially passed through the hollow portions of the plurality of annular components, and the plurality of annular components are used to bind the plurality of electrical connection wires together at multiple locations, and in addition, the two adjacent annular components can rotate relative to each other in the width direction of the two annular components, in other words, the wire harness can be bent, so that the plurality of electrical connection wires therein can be extended to the first drive mechanism 3 and connected to the first drive mechanism 3.

[0077] For example, Figure 1 and Figure 3 As shown, the wiring groove 41 can pass through the two opposite sides of the wiring board 4 in the Z direction, and one side of the wiring board 4 in the Y direction. In this way, the electrical connection wire or the wiring harness can be clamped into the wiring groove 41 from the opening on one side of the wiring groove 41 in the Y direction, which is convenient for clamping the electrical connection wire or the wiring harness. Alternatively, the wiring groove 41 can also only pass through the two opposite sides of the wiring board 4 in the Z direction.

[0078] In the second aspect, the embodiment of the utility model further provides a robot, which includes the mechanical leg as described in the first aspect above. It can be understood that the robot with the above-mentioned mechanical leg has all the technical effects of the mechanical leg, that is, it can limit the position of the electrical connection line on the leg 1, so that the routing of the electrical connection line is stable, the electrical connection line will not be excessively arched or scattered, and thus prevent the electrical connection line from being entangled on the leg 1 or the foot 2, so as to facilitate the rotation of the foot 2 relative to the leg 1 and facilitate the normal operation of the mechanical leg.

[0079] The above is only a specific implementation of the utility model, but the protection scope of the utility model 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 by the utility model, and these modifications or replacements should be included in the protection scope of the utility model. Therefore, the protection scope of the utility model should be based on the protection scope of the claims.

Claims

1. A mechanical leg, applied to a robot, characterized in that: include: A leg connected to the body of the robot; A foot portion, rotatably connected to the leg portion, the foot portion being used to support the bearing surface; a first driving mechanism, disposed on the leg and connected to the foot, electrically connected to a control mechanism disposed on the body through an electrical connection line, the first driving mechanism being used to drive the foot to rotate relative to the leg; as well as A wiring board is arranged on the leg and / or the first driving mechanism, and the wiring board is provided with a wiring groove, and the wiring groove is used to accommodate the electrical connection line.

2. The mechanical leg according to claim 1, characterized in that: The foot includes a roller, which is rotatably connected to the leg and is used to be supported on the bearing surface. The first driving mechanism is used to drive the roller to rotate relative to the leg so that the roller rolls on the bearing surface to enable the robot to move forward or backward.

3. The mechanical leg according to claim 2, characterized in that: The first driving mechanism comprises: A first motor, disposed on the leg and electrically connected to the control mechanism through the electrical connection line; A first transmission wheel connected to an output end of the first motor; a second transmission wheel connected to the foot; The transmission belt is wound around the outer circumference of the first transmission wheel and the second transmission wheel.

4. The mechanical leg according to claim 1, characterized in that: The leg comprises: A connecting portion, used to connect to the fuselage; a sliding portion, slidably connected to the connecting portion, the foot portion being rotatably connected to the sliding portion, and the first driving mechanism being disposed on the sliding portion; The mechanical leg also includes a second driving mechanism, which is connected to the sliding part and is used to drive the sliding part to move along a first direction relative to the connecting part, so that the mechanical leg can be retracted.

5. The mechanical leg according to claim 4, characterized in that: The connecting part is rotatably connected to the fuselage, and the second driving mechanism includes a first driving component and a second driving component. The first driving component can cooperate with the second driving component to drive the connecting part to rotate relative to the fuselage, and cooperate to drive the sliding part to move relative to the connecting part along the first direction.

6. The mechanical leg according to claim 5, characterized in that: The first drive assembly includes a second motor and a first transmission subassembly, the second drive assembly includes a third motor and a second transmission subassembly, the second motor and the third motor are used to be connected to the fuselage, and the second motor and the third motor are coaxially arranged; The first transmission subassembly is connected to the output shaft of the second motor and connected to the sliding part, and the second transmission subassembly is connected to the output shaft of the third motor and connected to the sliding part; The rotation axis of the connecting portion is coaxial with the rotation axes of the second motor and the third motor.

7. The mechanical leg according to claim 4, characterized in that: At least one wiring plate is arranged on the connecting portion, and the wiring plate is further provided with an avoidance groove spaced apart from the wiring groove, and the avoidance groove is used to avoid the sliding portion when the sliding portion moves relative to the connecting portion.

8. The mechanical leg according to any one of claims 1 to 7, characterized in that: The leg is provided with a plurality of wiring boards, and the plurality of wiring boards are sequentially arranged along the direction from the fuselage to the first driving mechanism; At least one wiring board is provided on the first driving mechanism; The electrical connection line extends from the body toward the first driving mechanism, passes through the wiring grooves of the plurality of wiring boards on the legs in sequence, and then passes through the wiring grooves of the wiring boards on the first driving mechanism and is connected to the first driving mechanism.

9. The mechanical leg according to any one of claims 1 to 7, characterized in that: The leg is provided with a weight-reducing groove, and at least one of the wiring boards is provided with a clamping block, and the clamping block is clamped in the weight-reducing groove.

10. The mechanical leg according to any one of claims 1 to 7, characterized in that: The mechanical leg also includes a wire harness, which is sleeved on the outer circumference of the plurality of electrical connection wires and clamped in the wiring groove.

11. A robot, characterized in that: The robot comprises a mechanical leg as described in any one of claims 1-10.

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