Mechanical leg and robot

Abstract

The utility model discloses a mechanical leg and a robot. The mechanical leg is used for assisting the robot in walking or standing. The mechanical leg includes: a first leg mechanism; the second leg mechanism is connected with the first leg mechanism in a sliding mode so that the second leg mechanism can linearly move in the first direction relative to the first leg mechanism, and the first direction is the extending direction of the first leg mechanism; the elastic part is compressed when the first leg mechanism and the second leg mechanism relatively slide to a preset position, and the elastic reset force of the elastic part is used for assisting in supporting the robot and assisting the second leg mechanism to linearly move in the first direction relative to the first leg mechanism. According to the structure, the mechanical leg can reduce power consumption needed for supporting a robot, can assist movement of the mechanical leg, is more energy-saving and environment-friendly, and has a better damping effect due to the arrangement of the elastic piece.

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] A robot is an intelligent machine designed to mimic human appearance and behavior. Some robots are equipped with mechanical legs to simulate human legs, allowing them to stand or walk on the ground.

[0003] With the development of technology and the improvement of functions, existing robots are equipped with more and more parts on the body, which makes the robot itself heavier. Therefore, some mechanical legs need higher energy consumption to support the entire robot when standing or walking, or require greater driving force when performing other actions. Therefore, making robots more energy-efficient is the focus of research in the existing robotics field. Utility Model Content

[0004] In view of the above existing situation, the present invention provides a mechanical leg and a robot, which can significantly reduce the power consumption required to support the robot, making the robot more energy-saving and environmentally friendly.

[0005] To this end, the first aspect of the utility model provides a mechanical leg for assisting a robot in walking or standing, the mechanical leg comprising: a first leg mechanism connected to the body of the robot; a second leg mechanism slidably connected to the first leg mechanism so that the second leg mechanism can move linearly in a first direction relative to the first leg mechanism, the first direction being an extension direction of the first leg mechanism; an elastic member provided on the first leg mechanism and / or the second leg mechanism, the elastic member being compressed when the first leg mechanism and the second leg mechanism slide relative to each other to a preset position, the elastic reset force of the elastic member being used to assist in supporting the robot and assisting the second leg mechanism in moving linearly in the first direction relative to the first leg mechanism.

[0006] In the mechanical leg involved in the utility model, optionally, the first leg mechanism includes a first guide section and a second guide section, and the second leg mechanism is slidably connected between the first guide section and the second guide section; wherein, when the second leg mechanism slides in a direction close to the fuselage, the length of the first guide section decreases accordingly, and the length of the second guide section increases accordingly, and when the second leg mechanism slides in a direction away from the fuselage, the length of the first guide section increases accordingly, and the length of the second guide section decreases accordingly; the elastic member includes a first spring, the first spring is located in the first guide section, and the first spring is compressed when the first guide section is shortened to a preset length.

[0007] In the mechanical leg involved in the utility model, optionally, when the robot is in a normal walking state, the length of the first guide segment is smaller than the length of the first spring in an initial state.

[0008] In the mechanical leg involved in the utility model, optionally, the elastic member includes a second spring, the second spring is located in the second guide section, and the second spring is compressed when the second guide section is shortened to a preset length.

[0009] In the mechanical leg involved in the utility model, optionally, the first leg mechanism includes a support member and a guide rod, the support member is detachably connected to both sides of the first leg mechanism in a first direction, the guide rod extends along the first direction and is arranged between the two sides of the first leg mechanism, and the two ends of the guide rod are respectively detachably connected to the support member; the second leg mechanism includes a slider, and the slider is slidably connected to the guide rod; the first spring is sleeved on the guide rod and located in the first guide section, and when the first spring is compressed, the two ends of the first spring respectively abut against the support member and the slider; the second spring is sleeved on the guide rod and located in the second guide section, and when the second spring is compressed, the two ends of the second spring respectively abut against the slider and the support member.

[0010] In the mechanical leg involved in the utility model, optionally, the length of the first spring in the initial state is greater than the length of the second spring in the initial state.

[0011] In the mechanical leg involved in the utility model, optionally, when the slider slides to the point where the second spring is compressed to an extreme state, the length of the first guide section is a first length, and the first length is greater than or equal to the length of the first spring in an initial state; and / or, when the slider slides to the point where the first spring is compressed to an extreme state, the length of the second guide section is a second length, and the second length is greater than or equal to the length of the second spring in an initial state.

[0012] In the mechanical leg involved in the utility model, optionally, the mechanical leg includes a first driving member and a second driving member; the first driving member and the second driving member are used to work together to drive the first leg mechanism and the second leg mechanism to rotate as a whole relative to the fuselage; the first driving member and the second driving member are also used to work together to drive the second leg mechanism to move linearly along the first direction relative to the first leg mechanism.

[0013] In the mechanical leg involved in the utility model, optionally, the first driving component includes a first motor and a first transmission assembly, and the second driving component includes a second motor and a second transmission assembly; the first motor and the second motor are used to be connected to the fuselage, and the first motor and the second motor are coaxially arranged; the first transmission assembly is connected to the output shaft of the first motor and connected to the second leg mechanism, and the second transmission assembly is connected to the output shaft of the second motor and connected to the second leg mechanism; the rotation axis of the first leg mechanism is coaxial with the rotation axis of the first motor and the second motor.

[0014] In the mechanical leg involved in the utility model, optionally, the length from the axis of the first motor to the side of the support member facing the second leg mechanism is a third length, and the initial length of the first spring is greater than the third length.

[0015] In the mechanical leg involved in the utility model, optionally, the first transmission assembly includes a first transmission wheel, a second transmission wheel and a first belt, the first transmission wheel and the second transmission wheel are rotatably connected to the first leg mechanism and are arranged at intervals along the first direction, the first transmission wheel is connected to the output shaft of the first motor, and the first belt is rotatably wrapped around the first transmission wheel and the second transmission wheel and is connected to the second leg mechanism; the second transmission assembly includes a third transmission wheel, a fourth transmission wheel and a second belt; the third transmission wheel and the fourth transmission wheel are rotatably connected to the first leg mechanism and are arranged at intervals along the first direction, the third transmission wheel is connected to the output shaft of the second motor, and the first transmission wheel and the third transmission wheel are coaxially arranged, and the second belt is rotatably wrapped around the third transmission wheel and the fourth transmission wheel and is connected to the second leg mechanism.

[0016] In the mechanical leg involved in the utility model, optionally, the first motor and the second motor are used to respectively drive the first belt and the second belt to rotate in the same direction and at the same speed, thereby driving the first leg mechanism and the second leg mechanism to rotate as a whole; or, the first motor and the second motor are also used to respectively drive the first belt and the second belt to rotate in the opposite direction and at the same speed, thereby driving the second leg mechanism to move linearly along the first direction relative to the first leg mechanism; or, the first motor and the second motor are also used to respectively drive the first belt and the second belt to rotate in the same direction and at different speeds, thereby driving the second leg mechanism to move linearly along the first direction relative to the first leg mechanism while driving the first leg mechanism and the second leg mechanism to rotate as a whole; or, the first motor and the second motor are also used to respectively drive the first belt and the second belt to rotate in the opposite direction and at different speeds, thereby driving the second leg mechanism to move linearly along the first direction relative to the first leg mechanism while driving the first leg mechanism and the second leg mechanism to rotate as a whole.

[0017] In the mechanical leg involved in the utility model, optionally, the guide rod includes a first guide rod and a second guide rod, the first guide rod and the second guide rod are spaced apart in the second direction, and the length direction of the first guide rod is parallel to the length direction of the second guide rod, and the second direction is perpendicular to the first direction; the slider includes a first slider and a second slider, the first slider is slidably connected to the first guide rod, and the second slider is slidably connected to the second guide rod.

[0018] In the mechanical leg involved in the utility model, optionally, the second leg mechanism also includes a seat and a foot; the first slider and the second slider are connected to both sides of the seat in the second direction, the first slider is connected to the side of the first belt close to the first slider, and the second slider is connected to the side of the second belt close to the second slider; the foot is connected to the seat, and the foot is used to provide support when the robot is moving or standing.

[0019] A second aspect of the utility model provides a robot comprising the mechanical leg as described above.

[0020] The mechanical leg involved in the utility model is used to assist the robot to walk or stand, and the mechanical leg includes a first leg mechanism, a second leg mechanism and an elastic member. Specifically, the first leg mechanism is connected to the body of the robot, and the second leg mechanism is slidably connected to the first leg mechanism, so that the second leg mechanism can move linearly along the first direction relative to the first leg mechanism, so that the first mechanical leg and the second mechanical leg can slide and cooperate to achieve the adjustment of the length of the mechanical leg, wherein the elastic member is compressed when the first leg mechanism and the second leg mechanism slide relative to each other to a preset position. On the one hand, the elastic reset force of the elastic member is used to assist in supporting the robot, especially when the direction of the elastic reset force is completely opposite to the gravity direction of the body, the elastic member has the maximum support effect, which can significantly reduce the power consumption required for the mechanical leg to support the robot, making the robot more energy-saving and environmentally friendly. On the other hand, the elastic reset force of the elastic member can also assist the movement of the first leg mechanism and / or the second leg mechanism, so that the first leg mechanism and the second leg mechanism can obtain the assistance of the elastic member when sliding relative to each other, thereby further reducing the power consumption of the robot. In addition, when the elastic part is compressed, it can also play a shock-absorbing role, which can reduce the impact on the mechanical legs caused by bumps. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Embodiments of the present invention will now be explained in further detail by way of example only with reference to the accompanying drawings, in which:

[0022] Figure 1 It is a schematic diagram showing the overall structure of the robot involved in the present application.

[0023] Figure 2 It is a schematic diagram showing the partial structure of the robot involved in the present application.

[0024] Figure 3 is a partial exploded view showing the robot involved in the present application.

[0025] Figure 4 It is a schematic diagram showing the partial structure of the mechanical leg involved in the present application.

[0026] Figure 5 is a partial exploded view showing the mechanical leg involved in the present application.

[0027] Figure 6 is another partial exploded view showing the mechanical leg involved in the present application.

[0028] Figure 7 is another partial exploded view showing the mechanical leg involved in the present application.

[0029] Figure 8 is another partial structural schematic diagram of the mechanical leg involved in the present application.

[0030] Figure numerals: 100, robot; 200, mechanical leg; 300, fuselage; 1, first leg mechanism; 11, first guide section; 12, second guide section; 13, support member; 14, guide rod; 141, first guide rod; 142, second guide rod; 2, second leg mechanism; 21, slider; 211, first slider; 212, second slider; 22, seat; 23, foot; 3, elastic member; 31, first spring; 32, second spring; 4, first driving component; 41, first motor; 42, first transmission wheel; 43, second transmission wheel; 44, first belt; 5, second driving component; 51, second motor; 52, third transmission wheel; 53, fourth transmission wheel; 54, second belt. DETAILED DESCRIPTION

[0031] Hereinafter, with reference to the accompanying drawings, the preferred embodiments of the present invention are described in detail. In the following description, the same symbols are assigned to the same components, and repeated descriptions are omitted. In addition, the accompanying drawings are only schematic diagrams, and the ratio of the dimensions of the components to each other or the shapes of the components may be different from the actual ones. It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention 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.

[0032] In addition, the descriptions of "first", "second", etc. in the present utility model are only used 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" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in this field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present utility model.

[0033] Reference Figure 1 and Figure 2The first aspect of the utility model provides a mechanical leg 200, which is used to assist the robot 100 to walk or stand. The mechanical leg 200 includes: a first leg mechanism 1, connected to the body 300 of the robot 100; a second leg mechanism 2, slidably connected to the first leg mechanism 1, so that the second leg mechanism 2 can move linearly along a first direction relative to the first leg mechanism 1, and the first direction is the extension direction of the first leg mechanism 1; an elastic member 3, arranged on the first leg mechanism 1 and / or the second leg mechanism 2, when the first leg mechanism 1 and the second leg mechanism 2 slide relatively to a preset position, the elastic member 3 is compressed, and the elastic reset force of the elastic member 3 is used to assist in supporting the robot 100, and to assist the second leg mechanism 2 to move linearly along the first direction relative to the first leg mechanism 1.

[0034] The mechanical leg 200 involved in the utility model is used to assist the robot 100 in walking or standing, and the mechanical leg 200 includes a first leg mechanism 1, a second leg mechanism 2 and an elastic member 3. Specifically, the first leg mechanism 1 is connected to the body 300 of the robot 100, and the second leg mechanism 2 is slidably connected to the first leg mechanism 1, so that the second leg mechanism 2 can move linearly along a first direction relative to the first leg mechanism 1, so that the first mechanical leg 200 and the second mechanical leg 200 can slide and cooperate to adjust the length of the mechanical leg 200, wherein the elastic member 3 is compressed when the first leg mechanism 1 and the second leg mechanism 2 slide relatively to a preset position. On the one hand, the elastic restoring force of the elastic member 3 is used to assist in supporting the robot 100. In particular, when the direction of the elastic restoring force is completely opposite to the gravity direction of the body 300, the elastic member 3 has the greatest supporting effect, which can significantly reduce the power consumption required by the mechanical leg 200 to support the robot 100, making the robot 100 more energy-efficient and environmentally friendly. On the other hand, the elastic restoring force of the elastic member 3 can also assist the movement of the first leg mechanism 1 and / or the second leg mechanism 2, so that the first leg mechanism 1 and the second leg mechanism 2 can be assisted by the elastic member 3 when they slide relative to each other, thereby further reducing the power consumption of the robot 100. In addition, when the elastic member 3 is compressed, it can also play a shock-absorbing role, which can reduce the impact on the mechanical leg 200 caused by bumps and unevenness.

[0035] refer to Figure 3 and Figure 4As an embodiment, the first leg mechanism 1 includes a first guide section 11 and a second guide section 12, and the second leg mechanism 2 is slidably connected between the first guide section 11 and the second guide section 12; wherein, when the second leg mechanism 2 slides in a direction close to the fuselage 300, the length of the first guide section 11 decreases accordingly, and the length of the second guide section 12 increases accordingly, and when the second leg mechanism 2 slides in a direction away from the fuselage 300, the length of the first guide section 11 increases accordingly, and the length of the second guide section 12 decreases accordingly; the elastic member 3 includes a first spring 31, and the first spring 31 is located in the first guide section 11, and the first spring 31 is compressed when the first guide section 11 is shortened to a preset length. Specifically, it can be understood that, since the second leg mechanism 2 is slidably connected to the first leg mechanism 1, the point where the second leg mechanism 2 is connected to the first leg mechanism 1 can be used as the dividing point, thereby the first leg mechanism 1 is spatially divided into the first guide section 11 and the second guide section 12. Therefore, when the second leg mechanism 2 slides toward a direction close to the fuselage 300 or away from the fuselage 300, the length of the first guide segment 11 and the length of the second guide segment 12 will each change differently, but the sum of the length of the first guide segment 11 and the length of the second guide segment 12 remains unchanged. In addition, the elastic member 3 includes a first spring 31. In some examples, the two ends of the first spring 31 can be connected to the first leg mechanism 1 and the second leg mechanism 2, respectively. When the first leg mechanism 1 and the second leg mechanism 2 slide relatively to a preset position, the first spring 31 is compressed by the first leg mechanism 1 and the second leg mechanism 2, so that the first spring 31 generates an elastic reset force to assist in supporting the fuselage 300.

[0036] It can be understood that, since the second leg mechanism 2 can move linearly along the first direction relative to the first leg mechanism 1, the second leg mechanism 2 can achieve extension and retraction of the entire mechanical leg 200 when sliding relative to the first leg mechanism 1, thereby adjusting the length of the mechanical leg 200.

[0037] Specifically, when the second leg mechanism 2 is driven by the driving component to move along the first direction to achieve the extension of the mechanical leg 200, the compressed first spring 31 can have an elastic reset force. Under the action of the elastic reset force of the first spring 31, the two ends of the first spring 31 can push the first leg mechanism 1 and the second leg mechanism 2 respectively to play a power-assisting effect. In some examples, the robot 100 can also have a squatting state, and the elastic member 3 can also be used to assist when the robot 100 switches from the squatting state to the standing state. If the robot 100 compresses the elastic member 3 more in the squatting state, the first leg mechanism 1 and the second leg mechanism 2 move relative to each other after the robot 100 stands up, so that the length of the first guide section 11 becomes longer, and the elastic reset force of the elastic member 3 is released at this time, thereby assisting the extension of the mechanical leg 200, so as to assist the robot 100 when switching from the squatting state to the standing state.

[0038] As an embodiment, when the robot 100 is in a normal walking state, the length of the first guide section 11 is less than the length of the first spring 31 in the initial state. It should be noted that the length of the first spring 31 in the initial state is the natural length of the first spring 31 when it is not subject to any force. Therefore, when the robot 100 is in a normal walking state, the length of the first guide section 11 is less than the length of the first spring 31 in the initial state, and at this time the first spring 31 is compressed, and the first spring 31 can generate an elastic reset force.

[0039] Specifically, the normal walking state defined in the present application refers to the state in which the robot 100 is most often used after startup, and the first spring 31 is also in a compressed state at this time. For example, in a wheeled robot 100, when it completes walking by driving the wheeled feet, it is mostly in an upright state when standing and walking, and at this time the direction of the elastic reset force of the first spring 31 is opposite to the direction of gravity of the body 300. In this way, it can be ensured that the first spring 31 can support the body 300 as much as possible in the most commonly used state of the robot 100, thereby better reducing the power consumption required to support the robot 100 and saving more energy.

[0040] Reference Figures 2 to 4 As an embodiment, the elastic member 3 includes a second spring 32, which is located in the second guide section 12. When the second guide section 12 is shortened to a preset length, the second spring 32 is compressed. Therefore, when the second spring 32 is compressed, the second spring 32 is elastically deformed. At this time, the second spring 32 can absorb the energy such as impact and vibration generated by the robot 100 during movement. For example, when the robot 100 walks on a bumpy ground, the second spring 32 can achieve a buffering and vibration reduction effect, reducing the impact caused by bumps and vibrations.

[0041] Reference Figures 4 to 7As an embodiment, the first leg mechanism 1 includes a support member 13 and a guide rod 14, the support member 13 is detachably connected to both sides of the first leg mechanism 1 in the first direction, the guide rod 14 extends along the first direction and is arranged between the two sides of the first leg mechanism 1, and the two ends of the guide rod 14 are respectively detachably connected to the support member 13; the second leg mechanism 2 includes a slider 21, the slider 21 is slidably connected to the guide rod 14; the first spring 31 is sleeved on the guide rod 14 and is located in the first guide section 11, when the first spring 31 is compressed, the two ends of the first spring 31 are respectively abutted against the support member 13 and the slider 21; the second spring 32 is sleeved on the guide rod 14 and is located in the second guide section 12, when the second spring 32 is compressed, the two ends of the second spring 32 are respectively abutted against the slider 21 and the support member 13. Specifically, since the guide rod 14 is detachably connected to the support member 13, when installing the first spring 31 and the second spring 32, the support member 13 can be first detached from the guide rod 14, and the first spring 31 is inserted into the guide rod 14 at the position of the first guide section 11, and the second spring 32 is inserted into the guide rod 14 at the position of the second guide section 12, and then the support member 13 is installed at both ends of the guide rod 14. When the slider 21 slides on the guide rod 14, the lengths of the first guide section 11 and the second guide section 12 change accordingly, and when the slider 21 slides to two different preset positions, the first spring 31 can be compressed or the second spring 32 can be compressed.

[0042] Reference Figure 5 As an embodiment, the length of the first spring 31 in the initial state is greater than the length of the second spring 32 in the initial state. Therefore, after the robot 100 is started, the first guide section 11 is slightly shortened to allow the first spring 31 to be compressed, so that the first spring 31 can play the role of auxiliary support, thereby achieving energy saving and consumption reduction.

[0043] As an embodiment, when the slider 21 slides to the second spring 32 being compressed to the limit state, the length of the first guide section 11 is the first length, and the first length is greater than or equal to the length of the first spring 31 in the initial state. Specifically, when the slider 21 slides to the second spring 32 being compressed to the limit state, the length of the first guide section 11 reaches the longest, and the first length is greater than or equal to the length of the first spring 31 in the initial state, then in this state, the first spring 31 is not compressed. However, when the robot 100 is in the normal walking state, in order to achieve support for the fuselage 300, it is necessary to set the robot 100 to have a certain compression on the first spring 31 in the normal walking state, at which time the elastic reset force of the first spring 31 can support the fuselage 300, so that the robot 100 is more energy-efficient. It should be noted that when the first spring 31 continues to be compressed, the resistance to compressing the first spring 31 will gradually increase, and a certain amount of energy will also be consumed, but the first spring 31 does not need to be compressed to a large extent in the normal walking state of the robot 100. Therefore, the first length and the setting of the first spring 31 can prevent the first spring 31 from being in a highly compressed state for a long time. Among them, the first length and the length of the first spring 31 in the initial state can be specifically set according to customer needs, and are not limited here.

[0044] As another embodiment, when the slider 21 slides until the first spring 31 is compressed to the limit state, the length of the second guide section 12 is the second length, and the second length is greater than or equal to the length of the second spring 32 in the initial state. Specifically, when the slider 21 slides until the first spring 31 is compressed to the limit state, the length of the second guide section 12 reaches the longest, and the second length is greater than or equal to the length of the second spring 32 in the initial state, then in this state, the first spring 31 is not compressed. Among them, the matching relationship between the second length and the second spring 32 is consistent with the matching relationship between the first length and the first spring 31, and will not be repeated here.

[0045] Reference Figure 2 and Figure 3As an embodiment, the mechanical leg 200 includes a first driving member 4 and a second driving member 5; the first driving member 4 and the second driving member 5 are used to work together to drive the first leg mechanism 1 and the second leg mechanism 2 to rotate relative to the body 300 as a whole; the first driving member 4 and the second driving member 5 are also used to work together to drive the second leg mechanism 2 to move linearly along the first direction relative to the first leg mechanism 1. Therefore, the first driving member 4 and the second driving member 5 need to cooperate to drive the mechanical leg 200 to rotate or retract independently, or to perform a compound movement of rotation and retraction. The first driving member 4 and the second driving member 5 work together to cooperate to drive the mechanical leg 200 to rotate and / or retract, so that the power sources of the first driving member 4 and the second driving member 5 are connected in parallel, which can reduce the parameters required for the power source drive, reduce errors, improve the running speed of the robot 100, and reduce the cost of use.

[0046] It should be noted that the extension and retraction of the mechanical leg 200 is achieved through the relative linear motion of the second leg mechanism 2 and the first leg mechanism 1, so that sufficient extension and retraction can be achieved without increasing the lateral volume of the robot 100, effectively improving the mobility of the robot 100 in a limited space, and through the setting of linear extension and retraction, the force arm of the load on the power source of the driving mechanism is kept constant during the extension and retraction of the mechanical leg 200, simplifying the control model of the robot 100, improving the accuracy and response speed of the movement of the robot 100, and generally, the force arm of the load on the power source is short, and the power source power consumption is low. The driving mechanism drives the first leg mechanism 1 to rotate relative to the fuselage 300, and drives the second leg mechanism 2 to move linearly relative to the first leg mechanism 1, so as to assist the robot 100 in maintaining self-balance when walking or standing, thereby facilitating the self-balancing control of the robot 100.

[0047] It should be noted that in the prior art, the robot 100 with a connecting rod structure has a connecting rod angle that keeps changing during the extension and retraction process of its legs, and the lever arm of the load on the power source keeps changing, which makes the control model complex. The robot 100 with a connecting rod structure has a relatively short lever arm, except when the leg extension is at or close to the longest. Most of the time, the robot 100 has a certain extension and retraction amount of its legs, and is not in the longest state. Its lever arm is relatively long, and the robot 100 consumes more energy when standing, walking, and retracting.

[0048] Reference Figure 2 and Figure 3As an embodiment, the first driving member 4 includes a first motor 41 and a first transmission assembly, and the second driving member 5 includes a second motor 51 and a second transmission assembly; the first motor 41 and the second motor 51 are used to connect to the fuselage 300, and the first motor 41 and the second motor 51 are coaxially arranged; the first transmission assembly is connected to the output shaft of the first motor 41 and connected to the second leg mechanism 2, and the second transmission assembly is connected to the output shaft of the second motor 51 and connected to the second leg mechanism 2; the rotation axis of the first leg mechanism 1 is coaxial with the rotation axis of the first motor 41 and the second motor 51. Therefore, the rotation axes of the first motor 41 and the second motor 51 are coaxially arranged with the rotation axis of the first leg mechanism 1, so that the two motors can be connected in parallel, thereby driving the first transmission assembly and the second transmission assembly to work together to drive the mechanical leg 200 to rotate and / or extend, which can reduce the parameters required for motor driving, reduce errors, improve the running speed of the robot 100, and reduce the use cost.

[0049] Reference Figure 2 As an embodiment, the length from the axis of the first motor 41 to the side of the support member 13 facing the second leg mechanism 2 is the third length, and the initial length of the first spring 31 is greater than the third length. Specifically, since the rotation axis of the first leg mechanism 1 is coaxial with the rotation axis of the first motor 41 and the second motor 51, when the second leg mechanism 2 slides toward the fuselage 300 along the first direction, the second leg mechanism 2 is likely to interfere with the motor shaft, housing, etc. of the first motor 41 and / or the second motor 51. Therefore, setting the initial length of the first spring 31 to be greater than the third length can enable the end of the second leg mechanism 2 facing the fuselage 300 to be compressed to the first spring 31 without sliding to the axis of the first motor 41, thereby ensuring that the first spring 31 is compressed.

[0050] Reference Figure 8As an embodiment, the first transmission assembly includes a first transmission wheel 42, a second transmission wheel 43 and a first belt 44, the first transmission wheel 42 and the second transmission wheel 43 are rotatably connected to the first leg mechanism 1 and are arranged at intervals along the first direction, the first transmission wheel 42 is connected to the output shaft of the first motor 41, the first belt 44 is rotatably wrapped around the first transmission wheel 42 and the second transmission wheel 43 and is connected to the second leg mechanism 2; the second transmission assembly includes a third transmission wheel 52, a fourth transmission wheel 53 and a second belt 54; the third transmission wheel 52 and the fourth transmission wheel 53 are rotatably connected to the first leg mechanism 1 and are arranged at intervals along the first direction, the third transmission wheel 52 is connected to the output shaft of the second motor 51, and the first transmission wheel 42 and the third transmission wheel 52 are arranged coaxially, the second belt 54 is rotatably wrapped around the third transmission wheel 52 and the fourth transmission wheel 53 and is connected to the second leg mechanism 2. During operation, the first motor 41 can drive the first transmission wheel 42 to rotate through the reducer, thereby driving the first belt 44 to move, and the second transmission wheel 43 rotates accordingly, so that the first belt 44 can move between the first transmission wheel 42 and the second transmission wheel 43; at the same time, the second motor 51 can drive the third transmission wheel 52 to rotate through the reducer, thereby driving the second belt 54 to move, and the fourth transmission wheel 53 rotates accordingly, so that the second belt 54 can move between the third transmission wheel 52 and the fourth transmission wheel 53, thereby driving the first leg mechanism 1 to rotate relative to the fuselage 300 and / or driving the second leg mechanism 2 to move linearly relative to the first leg mechanism 1 through the cooperation of the first belt 44 and the second belt 54. Among them, the first belt 44 and the second belt 54 can play a buffering role as a flexible transmission member, reduce the impact of the impact force directly acting on the motor, and increase the durability and operational stability of the drive mechanism.

[0051] As an embodiment, the first motor 41 and the second motor 51 are used to respectively drive the first belt 44 and the second belt 54 to rotate in the same direction and at the same speed, thereby driving the first leg mechanism 1 and the second leg mechanism 2 to rotate as a whole; or, the first motor 41 and the second motor 51 are also used to respectively drive the first belt 44 and the second belt 54 to rotate in the opposite direction and at the same speed, thereby driving the second leg mechanism 2 to move linearly along the first direction relative to the first leg mechanism 1; or, the first motor 41 and the second motor 51 are also used to respectively drive the first belt 44 and the second belt 54 to rotate in the same direction and at different speeds, thereby driving the second leg mechanism 2 to move linearly along the first direction relative to the first leg mechanism 1 while driving the first leg mechanism 1 and the second leg mechanism 2 to rotate as a whole; or, the first motor 41 and the second motor 51 are also used to respectively drive the first belt 44 and the second belt 54 to rotate in the opposite direction and at different speeds, thereby driving the second leg mechanism 2 to move linearly along the first direction relative to the first leg mechanism 1 while driving the first leg mechanism 1 and the second leg mechanism 2 to rotate as a whole. Specifically, the robot 100 can be divided into the following three different driving states when working.

[0052] In the first driving state, the first motor 41 and the second motor 51 respectively drive the first belt 44 and the second belt 54 to rotate in the same direction and at the same speed, thereby driving the first leg mechanism 1 and the second leg mechanism 2 to rotate relative to the body 300 as a whole. Specifically, the first motor 41 and the second motor 51 rotate in opposite directions, and the torque of the first motor 41 and the second motor 51 is the same, respectively driving the first belt 44 and the second belt 54 to rotate in the same direction and at the same speed, so that the force direction of the second leg mechanism 2 in the first direction is opposite and the magnitude is the same, thereby locking the linear motion of the second leg mechanism 2 in the first direction. At the same time, the torque direction of the first leg mechanism 1 is the same, thereby driving the first leg mechanism 1 to drive the second leg mechanism 2 to rotate around the third direction relative to the body 300.

[0053] In the second driving state, the first motor 41 and the second motor 51 respectively drive the first belt 44 and the second belt 54 to rotate in opposite directions and at the same speed, thereby driving the second leg mechanism 2 to move linearly along the first direction relative to the first leg mechanism 1. Specifically, the first motor 41 and the second motor 51 have the same rotation direction, and the first motor 41 and the second motor 51 have the same torque, respectively driving the first belt 44 and the second belt 54 to rotate in opposite directions and at the same speed, so that the torques on the first leg mechanism 1 are opposite in direction and the same in magnitude, thereby locking the rotational movement of the first leg mechanism 1. At the same time, the force direction of the second leg mechanism 2 in the first direction is the same, thereby driving the second leg mechanism 2 to move linearly along the first direction relative to the first leg mechanism 1.

[0054] In the third driving state, the first motor 41 and the second motor 51 respectively drive the first belt 44 and the second belt 54 to rotate in the same direction and at different speeds, thereby driving the second object to move linearly relative to the first object in the first direction, and driving the first object and the second object to rotate as a whole. Specifically, the first motor 41 and the second motor 51 have the same rotation direction but different torques, and respectively drive the first belt 44 and the second belt 54 to rotate in the same direction and at different speeds, so that the force directions of the second leg mechanism 2 in the first direction are opposite, but the magnitudes are different, thereby driving the second leg mechanism 2 to move linearly relative to the first leg mechanism 1 in the first direction. At the same time, the torque direction of the first leg mechanism 1 is the same, thereby driving the first leg mechanism 1 to drive the second leg mechanism 2 to rotate relative to the fuselage 300 around the third direction. In addition, in the third driving state, the first motor 41 and the second motor 51 can also respectively drive the first belt 44 and the second belt 54 to rotate in opposite directions and at different speeds, thereby driving the first object and the second object to rotate as a whole, and driving the second object to move linearly relative to the first object in the first direction. Specifically, the first motor 41 and the second motor 51 rotate in opposite directions and have different torques, and respectively drive the first belt 44 and the second belt 54 to rotate in opposite directions and at different speeds, so that the torques on the first leg mechanism 1 are opposite in direction but different in magnitude, thereby driving the first leg mechanism 1 to drive the second leg mechanism 2 to rotate around the third direction relative to the fuselage 300. At the same time, the force direction on the second leg mechanism 2 in the first direction is the same, thereby driving the second leg mechanism 2 to move linearly along the first direction relative to the first leg mechanism 1.

[0055] Reference Figure 7 As an embodiment, the guide rod 14 includes a first guide rod 141 and a second guide rod 142, the first guide rod 141 and the second guide rod 142 are spaced apart in the second direction, and the length direction of the first guide rod 141 is parallel to the length direction of the second guide rod 142, and the second direction is perpendicular to the first direction; the slider 21 includes a first slider 211 and a second slider 212, the first slider 211 is slidably connected to the first guide rod 141, and the second slider 212 is slidably connected to the second guide rod 142. Therefore, the design of the two sets of guide rods 14 and the slider 21 can enhance the guiding effect, so that the first leg mechanism 1 and the second leg mechanism 2 are more stable when sliding relative to each other.

[0056] Reference Figures 5 to 7As an embodiment, the second leg mechanism 2 further includes a seat 22 and a foot 23; a first slider 211 and a second slider 212 are connected to both sides of the seat 22 in the second direction, the first slider 211 is connected to the side of the first belt 44 close to the first slider 211, and the second slider 212 is connected to the side of the second belt 54 close to the second slider 212; the foot 23 is connected to the seat 22, and the foot 23 is used to support the robot 100 when it is moving or standing. Therefore, through the arrangement of the first belt 44, the second belt 54 and the slider 21, not only can the complex structure of the existing multi-link be replaced, but also the overall design of the robot 100 is simplified, the maintenance cost and the difficulty of operation are reduced, and at the same time, the compact arrangement allows the mechanical leg 200 to achieve sufficient telescopic amount without increasing the volume of the robot 100, effectively improving the mobility of the robot 100 in a limited space.

[0057] The second aspect of the utility model provides a robot 100, which includes the mechanical leg 200 as described above. It is understandable that the robot 100 with the mechanical leg 200 described above also has all the technical effects thereof, and the robot 100 includes, in addition to the aforementioned structure, a structure for realizing other basic functions, and the structure for realizing other basic functions can refer to the existing technology, and will not be described in detail here.

[0058] Although the utility model is specifically described above in conjunction with the accompanying drawings and embodiments, it is to be understood that the above description does not limit the utility model in any form. Those skilled in the art can modify and change the utility model as needed without departing from the essential spirit and scope of the utility model, and these modifications and changes all fall within the scope of the utility model.

Claims

1. A mechanical leg for assisting a robot in walking or standing, characterized in that: include: A first leg mechanism connected to the body of the robot; a second leg mechanism, slidably connected to the first leg mechanism, so that the second leg mechanism can move linearly along a first direction relative to the first leg mechanism, the first direction being an extension direction of the first leg mechanism; An elastic member is provided on the first leg mechanism and / or the second leg mechanism. When the first leg mechanism and the second leg mechanism slide relative to each other to a preset position, the elastic member is compressed. The elastic restoring force of the elastic member is used to assist in supporting the robot and to help the second leg mechanism to move linearly in a first direction relative to the first leg mechanism.

2. The mechanical leg according to claim 1, characterized in that: The first leg mechanism comprises a first guide segment and a second guide segment, and the second leg mechanism is slidably connected between the first guide segment and the second guide segment; When the second leg mechanism slides toward the direction approaching the fuselage, the length of the first guide segment decreases and the length of the second guide segment increases; when the second leg mechanism slides toward the direction away from the fuselage, the length of the first guide segment increases and the length of the second guide segment decreases; The elastic member includes a first spring, the first spring is located in the first guide section, and the first spring is compressed when the first guide section is shortened to a preset length.

3. The mechanical leg according to claim 2, characterized in that: When the robot is in a normal walking state, the length of the first guide segment is smaller than the length of the first spring in an initial state.

4. The mechanical leg according to claim 2, characterized in that: The elastic member includes a second spring, the second spring is located in the second guide section, and the second spring is compressed when the second guide section is shortened to a preset length.

5. The mechanical leg according to claim 4, characterized in that: The first leg mechanism comprises a support member and a guide rod, the support member is detachably connected to two sides of the first leg mechanism in a first direction, the guide rod extends along the first direction and is arranged between the two sides of the first leg mechanism, and both ends of the guide rod are detachably connected to the support member respectively; The second leg mechanism includes a slider, and the slider is slidably connected to the guide rod; The first spring is sleeved on the guide rod and located in the first guide section, and when the first spring is compressed, two ends of the first spring abut against the support member and the slider respectively; The second spring is sleeved on the guide rod and located in the second guide section. When the second spring is compressed, two ends of the second spring abut against the sliding block and the supporting member respectively.

6. The mechanical leg according to claim 4, characterized in that: The length of the first spring in the initial state is greater than the length of the second spring in the initial state.

7. The mechanical leg according to claim 5, characterized in that: When the slider slides until the second spring is compressed to the limit state, the length of the first guide section is a first length, and the first length is greater than or equal to the length of the first spring in the initial state; and / or, When the sliding block slides until the first spring is compressed to the limit state, the length of the second guide section is a second length, and the second length is greater than or equal to the length of the second spring in the initial state.

8. The mechanical leg according to claim 5, characterized in that: The mechanical leg includes a first driving member and a second driving member; The first driving member and the second driving member are used to work together to drive the first leg mechanism and the second leg mechanism to rotate relative to the fuselage as a whole; The first driving member and the second driving member are further configured to work together to drive the second leg mechanism to move linearly along the first direction relative to the first leg mechanism.

9. The mechanical leg according to claim 8, characterized in that: The first driving member includes a first motor and a first transmission assembly, and the second driving member includes a second motor and a second transmission assembly; The first motor and the second motor are used to be connected to the fuselage, and the first motor and the second motor are coaxially arranged; The first transmission assembly is connected to the output shaft of the first motor and connected to the second leg mechanism, and the second transmission assembly is connected to the output shaft of the second motor and connected to the second leg mechanism; The rotation axis of the first leg mechanism is coaxial with the rotation axes of the first motor and the second motor.

10. The mechanical leg according to claim 9, characterized in that: The length from the axis of the first motor to the side of the support member facing the second leg mechanism is a third length, and the initial length of the first spring is greater than the third length.

11. The mechanical leg according to claim 10, characterized in that: The first transmission assembly includes a first transmission wheel, a second transmission wheel and a first belt, the first transmission wheel and the second transmission wheel are rotatably connected to the first leg mechanism and are spaced apart along the first direction, the first transmission wheel is connected to the output shaft of the first motor, and the first belt is rotatably wrapped around the first transmission wheel and the second transmission wheel and connected to the second leg mechanism; The second transmission assembly includes a third transmission wheel, a fourth transmission wheel and a second belt. The third transmission wheel and the fourth transmission wheel are rotatably connected to the first leg mechanism and are arranged at intervals along the first direction. The third transmission wheel is connected to the output shaft of the second motor, and the first transmission wheel and the third transmission wheel are arranged coaxially. The second belt is rotatably wrapped around the third transmission wheel and the fourth transmission wheel and is connected to the second leg mechanism.

12. The mechanical leg according to claim 11, characterized in that: The first motor and the second motor are used to respectively drive the first belt and the second belt to rotate in the same direction and at the same speed, thereby driving the first leg mechanism and the second leg mechanism to rotate as a whole; or, The first motor and the second motor are further used to drive the first belt and the second belt to rotate in opposite directions and at the same speed, respectively, so as to drive the second leg mechanism to move linearly along the first direction relative to the first leg mechanism; or, The first motor and the second motor are further used to respectively drive the first belt and the second belt to rotate in the same direction and at different speeds, thereby driving the second leg mechanism to move linearly along the first direction relative to the first leg mechanism, while driving the first leg mechanism and the second leg mechanism to rotate as a whole; or, The first motor and the second motor are also used to drive the first belt and the second belt to rotate in opposite directions and at different speeds, respectively, so as to drive the second leg mechanism to move linearly along the first direction relative to the first leg mechanism while driving the first leg mechanism and the second leg mechanism to rotate as a whole.

13. The mechanical leg according to claim 12, characterized in that: The guide rod comprises a first guide rod and a second guide rod, the first guide rod and the second guide rod are spaced apart in a second direction, the length direction of the first guide rod and the length direction of the second guide rod are parallel to each other, and the second direction is perpendicular to the first direction; The slider includes a first slider and a second slider, the first slider is slidably connected to the first guide rod, and the second slider is slidably connected to the second guide rod.

14. The mechanical leg according to claim 13, characterized in that: The second leg mechanism also includes a seat and a foot; The first slider and the second slider are connected to two sides of the seat in the second direction, the first slider is connected to a side of the first belt close to the first slider, and the second slider is connected to a side of the second belt close to the second slider; The foot is connected to the seat, and is used for supporting the robot when it is moving or standing.

15. A robot, characterized in that: Comprising a mechanical leg as described in any one of claims 1-14.

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