Mechanical leg and robot thereof

Abstract

The utility model provides a mechanical leg and a robot thereof, the mechanical leg comprises a rack, a leg mechanism, a foot assembly and a first driving mechanism, the rack is used for installing a machine body, and the leg mechanism is used for being rotatably connected with the rack; the foot assembly is arranged at the lower end of the leg mechanism and rotationally connected with the leg mechanism. A power source of the first driving mechanism is connected to the upper end of the leg mechanism, and the first driving mechanism is connected with the foot assembly to drive the foot assembly to rotate relative to the leg mechanism. According to the mechanical leg provided by the invention, the power source of the first driving mechanism is arranged at the upper end of the leg part, so that the gravity center of the mechanical leg is favorably improved, the rotational inertia of the mechanical leg rotating relative to the machine body is reduced, the energy consumption of the robot is favorably controlled, and the response speed of the robot is improved.

Description

Technical Field

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

[0002] With the continuous development of science and technology, robots are also widely used in many fields. In the existing technology, the mechanical legs of robots can usually rotate relative to the body, making the robot more flexible and able to adapt to different terrains and environments. However, the mechanical legs of existing robots have a large moment of inertia, which leads to poor flexibility of the mechanical legs of the robots. Utility Model Content

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

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

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

[0006] A leg mechanism, the leg mechanism is used for rotationally connecting with the frame;

[0007] A foot assembly, which is disposed at the lower end of the leg mechanism and is rotatably connected to the leg mechanism;

[0008] The first driving mechanism has a power source connected to the upper end of the leg mechanism, and the first driving mechanism is connected to the foot component to drive the foot component to rotate relative to the leg mechanism.

[0009] A second aspect of the present application provides a robot, comprising a frame, a body and the above-mentioned mechanical legs, wherein the frame is mounted to the body, and the leg mechanism is rotatably connected to the frame.

[0010] The robotic leg proposed in the present application sets the power source of the first driving mechanism at the upper end of the leg, which helps to improve the center of gravity of the robotic leg and reduce the moment of inertia of the robotic leg when it rotates relative to the body, thereby helping to control the energy consumption of the robot and improve the response speed of the robot and the flexibility of the robotic leg. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained like these drawings without paying any creative work.

[0012] Figure 1 This is a schematic diagram of the structure of the robot proposed in the embodiment of the present application.

[0013] Figure 2 This is a schematic diagram of the structure of the mechanical leg proposed in an embodiment of the present application.

[0014] Figure 3 This is a schematic structural diagram of the mechanical leg proposed in an embodiment of the present application from another perspective.

[0015] Figure 4 This is a schematic structural diagram of the mechanical leg proposed in an embodiment of the present application from another perspective.

[0016] Figure 5 This is a schematic diagram of the explosion of the mechanical leg proposed in an embodiment of the present application.

[0017] Figure 6 This is a schematic diagram of the structure of some components of the mechanical leg proposed in an embodiment of the present application.

[0018] Figure 7 This is a schematic diagram of the structure of some components of the mechanical leg proposed in an embodiment of the present application.

[0019] Figure 8 A schematic diagram of the structure of multiple leg mechanisms of the mechanical leg proposed in the embodiment of the present application.

[0020] Fig. 9 This is a schematic diagram of the structure of the extension of multiple leg mechanisms of the robotic leg proposed in an embodiment of the present application.

[0021] Fig.10 This is a schematic structural diagram of the mechanical leg proposed in an embodiment of the present application from another perspective.

[0022] Fig.11 This is a schematic diagram of an explosion of some components of the mechanical leg proposed in an embodiment of the present application.

[0023] Fig.12 A cross-sectional view of a mechanical leg proposed in an embodiment of the present application.

[0024] Fig.13 for Fig.12 Schematic diagram of the enlarged structure at A.

[0025] Description of reference numerals:

[0026] 100, mechanical leg; 10, leg mechanism; 10a, first leg mechanism; 10b, second leg mechanism; 11, guide assembly; 111, guide rod; 12, slide seat; 13, first seat frame; 131, through hole; 14, second seat frame; 10c, n-1th leg mechanism; 10d, nth leg mechanism; 20, foot assembly; 21, machine wheel; 22, machine wheel shaft; 30, first driving mechanism; 30a, first driving member; 31, first motor; 311, motor frame; 32, first transmission assembly; 321, first driving wheel; 322, first transmission wheel; 323, second transmission wheel; 324, first driven wheel; 325, first flexible transmission member; 326, first limiting member; 327, first preload wheel; 30b, second driving member; 33, second motor; 34, second transmission assembly; 341, second driving wheel ;342, the third transmission wheel;343, the fourth transmission wheel;344, the second flexible transmission member;345, the second limiting member;346, the second preload wheel;40, the second driving mechanism;40a, the third driving member;40b, the fourth driving member;41, the third motor;42, the third transmission assembly;421, the third driving wheel;422, the second driven wheel;423, the third flexible transmission member;424, the fifth transmission wheel;425, the sixth transmission wheel;43, the fourth motor;44, the fourth transmission assembly;441, the fourth driving wheel;442, the fourth flexible transmission member;443, the seventh transmission wheel;444, the eighth transmission wheel;50, the support frame;51, the first connecting frame;52, the second connecting frame;53, the third connecting frame;54, the fourth connecting frame;60, the frame;a, the first axis;b, the second axis;1000, the robot. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0028] It should be understood that all directional indications in the embodiments of the present application (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0029] It should also be understood that when an element is referred to as being "fixed" or "disposed on" another element, it can be directly on the other element or there may be an intermediate element at the same time. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or it can be indirectly connected to the other element through an intermediate element.

[0030] The terms used in this specification of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. For example, the descriptions of "first", "second", etc. in the present application are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of the features.

[0031] It should be further understood that the term “and / or” used in the specification and appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0032] Any and all possible combinations of one or more of the listed items are and include these combinations.

[0033] like Figures 1 to 11 The embodiment of the present application proposes a mechanical leg 100 for a robot 1000, the mechanical leg 100 includes a frame 60, a leg mechanism 10, a foot assembly 20 and a first driving mechanism 30, the frame 60 is used to be installed to the body of the robot 1000, the leg mechanism 10 is used to be rotatably connected to the frame 60; the foot assembly 20 is arranged at the lower end of the leg mechanism 10 and is rotatably connected to the leg mechanism 10; the power source of the first driving mechanism 30 is connected to the upper end of the leg mechanism 10, and the first driving mechanism 30 is connected to the foot assembly 20 to drive the foot assembly 20 to rotate relative to the leg mechanism 10.

[0034] By setting the power source of the first drive mechanism 30 at the upper end of the leg, it is helpful to increase the center of gravity of the mechanical leg 100 and reduce the rotational inertia of the mechanical leg 100 when it rotates relative to the body, which is beneficial to control the energy consumption of the robot 1000 and improve the response speed of the robot 1000.

[0035] like Figure 5 As shown, in some embodiments, the foot assembly 20 is a wheel assembly, which includes a wheel 21 and a wheel axle 22. The wheel axle 22 is fixedly connected to the wheel 21, and the wheel axle 22 is rotatably connected to the leg mechanism 10 through a bearing, thereby rotatably connecting the wheel 21 to the leg mechanism 10.

[0036] Of course, in other embodiments, the foot component can also be a rotating sole component, which includes a rotating shaft and a sole, the sole is fixedly connected to the rotating shaft, and the rotating shaft is rotatably connected to the leg mechanism 10 through a bearing to rotatably connect the sole and the leg mechanism 10.

[0037] In some embodiments, the leg mechanism 10 includes a first leg mechanism 10a and a second leg mechanism 10b; the first leg mechanism 10a is used to be rotatably connected to the frame 60 of the robot 1000; the second leg mechanism 10b is slidably connected to the first leg mechanism 10a; the foot assembly 20 is arranged at the lower end of the second leg mechanism 10b and is rotatably connected to the second leg mechanism 10b; the first driving mechanism 30 is connected to the first leg mechanism 10a and the second leg mechanism 10b and is used to drive the foot assembly 20 to rotate relative to the second leg mechanism 10b, and drive the second leg mechanism 10b to move linearly in the up and down directions relative to the first leg mechanism 10a, and the up and down directions are the extension directions of the first leg mechanism 10a.

[0038] It should be noted that the up and down direction of the present application is the extension direction of the first leg mechanism 10a. When the mechanical leg 100 is standing, the up and down direction is the vertical direction. When the mechanical leg 100 is placed horizontally in reverse, the up and down direction is the horizontal direction.

[0039] That is to say, the first driving mechanism 30 is not only used to drive the foot assembly 20 to rotate relative to the leg mechanism 10, but also used to drive the leg mechanism 10 to perform telescopic movement.

[0040] The mechanical leg 100 proposed in the embodiment of the present application, in addition, due to the linear telescopic setting between the first leg mechanism 10a and the second leg mechanism 10b, the robot 1000 maintains an unchanged force arm during the telescopic process of any telescopic leg mechanism 10, that is, the load force arm borne by the power source remains unchanged during the telescopic process, and under normal circumstances, the force arm of the load borne by the power source is shorter, the power source has low power consumption, strong load capacity, and better stability.

[0041] It should be noted that in the prior art, the robot 1000 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, making the control model complex. The robot 1000 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 1000's legs have a certain extension and retraction amount, and are not in the longest state. Its lever arm is relatively long, and the robot 1000 consumes more energy when standing, walking, and retracting.

[0042] Moreover, the linear telescopic setting of the present application makes the appearance of the robot 1000 more compact, provides greater freedom for the appearance design of the robot 1000, and makes the robot 1000 more in line with humanization and aesthetic requirements.

[0043] In some embodiments, the robotic leg 100 has a first motion state, a second motion state and a third motion state, and the robotic leg 100 can switch freely among the first motion state, the second motion state and the third motion state; in the first motion state, the first driving mechanism 30 is only used to drive the foot assembly 20 to rotate, and the second leg mechanism 10b is stationary relative to the first leg mechanism 10a; in the second motion state, the first driving mechanism 30 is only used to drive the second leg mechanism 10b to move linearly in the up and down directions relative to the first leg mechanism 10a, and the foot assembly 20 does not rotate; in the third motion state, the first driving mechanism 30 is used to drive the foot assembly 20 to rotate while driving the second leg mechanism 10b to move linearly in the up and down directions relative to the first leg mechanism 10a.

[0044] The robot 1000 has multiple motion states, so that the gait of the robot 1000 can be diversified, making the robot 1000 more flexible and able to adapt to different environments.

[0045] It should be noted that when the leg mechanism 10 of the robot 1000 is extended or retracted, since the robot leg 100 is in contact with the ground, the second leg mechanism 10b remains stationary relative to the ground, and the first leg mechanism 10a moves up and down relative to the second leg mechanism 10b.

[0046] In addition, the robot 1000 of the present application has two mechanical legs 100. Of course, in other embodiments, the robot 1000 may also have only one mechanical leg 100, or even three or four mechanical legs 100. The number of mechanical legs 100 of the robot 1000 is not limited herein.

[0047] The following usage scenario takes two robotic legs 100 as an example.

[0048] In some usage scenarios, the robot 1000 is in a standing state. When the robot 1000 needs to keep the leg height of the robot 1000 unchanged but needs to move from one place to another, the first driving mechanism 30 only drives the foot assembly 20 to rotate so that the robot 1000 can move. At this time, the second leg mechanism 10b is stationary relative to the first leg mechanism 10a to keep the leg height of the robot 1000 unchanged; in some usage scenarios, the robot 1000 only needs to adjust the leg height of the robot 1000, and the first driving mechanism 30 is only used to drive the second leg mechanism 10b to move linearly in the up and down directions relative to the first leg mechanism 10a, and the foot assembly 20 does not rotate; in some other usage scenarios, the robot 1000 not only needs to adjust the leg height of the robot 1000 but also needs to move in space. The first driving mechanism 30 is used to drive the foot assembly 20 to rotate while driving the second leg mechanism 10b to move linearly in the up and down directions relative to the first leg mechanism 10a.

[0049] In some embodiments, the first driving mechanism 30 includes a first driving member 30a and a second driving member 30b, and the power sources of the first driving member 30a and the second driving member 30b are connected to the upper end of the first leg mechanism 10a, and the first driving member 30a is connected to the first leg mechanism 10a, the second leg mechanism 10b, and the foot assembly 20; the second driving member 30b is connected to the first leg mechanism 10a and the second leg mechanism 10b; the first driving member 30a and the second driving member 30b are used to work together to drive the foot assembly 20 to rotate relative to the second leg mechanism 10b; the first driving member 30a and the second driving member 30b are also used to work together to drive the second leg mechanism 10b to move linearly in the up and down directions relative to the first leg mechanism 10a. Therefore, the first driving member 30a and the second driving member 30b need to cooperate to drive the leg mechanism 10 to extend and retract or drive the foot assembly 20 to rotate relative to the leg mechanism 10, or a compound movement of the foot assembly 20 rotating and the leg mechanism 10 extending and retracting. The first driving member 30a and the second driving member 30b work together to cooperate to drive the rotation of the foot assembly 20 and / or the extension and retraction of the leg mechanism 10, so that the power sources of the first driving member 30a and the second driving member 30b are connected in parallel, which can reduce the parameters required for the power source drive, reduce errors, improve the operating speed of the robot 1000, and reduce the cost of use.

[0050] At the same time, the power sources of the first driving component 30a and the second driving component 30b are connected to the upper end of the first leg mechanism 10a, which is beneficial to improve the center of gravity of the mechanical leg 100 and reduce the rotational inertia of the mechanical leg 100 when it rotates relative to the fuselage, and further helps to control the energy consumption of the robot 1000 and improve the response speed of the robot 1000.

[0051] In some embodiments, the first driving component 30a includes a first motor 31 and a first transmission assembly 32, the first motor 31 is connected to the upper end of the leg mechanism 10; the first transmission assembly 32 is connected to the output shaft of the first motor 31 and is connected to the foot component 20, the first leg mechanism 10a, and the second leg mechanism 10b; the second driving component 30b includes a second motor 33 and a second transmission assembly 34, the second motor 33 is connected to the upper end of the first leg mechanism 10a; the second transmission assembly 34 is connected to the output shaft of the second motor 33 and is connected to the first leg mechanism 10a and the second leg mechanism 10b; the first motor 31 and the second motor 33 are used to respectively drive the first transmission assembly 32 and the second transmission assembly 34 to cooperate with each other to drive the foot component 20 to rotate relative to the second leg mechanism 10b and drive the second leg mechanism 10b to move linearly in the up and down directions relative to the first leg mechanism 10a.

[0052] The first motor 31 and the second motor 33 are arranged in parallel, thereby driving the first transmission assembly 32 and the second transmission assembly 34 to work together to drive the foot assembly 20 to rotate and / or the leg mechanism 10 to extend and retract, which can reduce the parameters required for the motor drive, reduce errors, increase the operating speed of the robot 1000, and reduce the cost of use.

[0053] In some embodiments, in a first motion state, when the first motor 31 and the second motor 33 rotate in the same direction and the output torques of the first motor 31 and the second motor 33 are the same, the foot assembly 20 rotates and the second leg mechanism 10b remains stationary relative to the first leg mechanism 10a; in a second motion state, when the first motor 31 and the second motor 33 rotate in opposite directions and the output torques of the first motor 31 and the second motor 33 are the same, the foot assembly 20 does not rotate and the second leg mechanism 10b moves linearly in the up and down directions relative to the first leg mechanism 10a; in a third motion state, when the first motor 31 and the second motor 33 rotate in the same or opposite directions but the output torques of the first motor 31 and the second motor 33 are different, the foot assembly 20 rotates while the second leg mechanism 10b moves linearly in the up and down directions relative to the first leg mechanism 10a.

[0054] It should be noted that the reference object for the rotation direction of the two motors here is the earth. The following are several situations of the two motor settings. When the two motors are set relative to each other, that is, mirrored, with the earth as the reference object, when one of the motors rotates counterclockwise, the other also rotates counterclockwise; but if the motor is used as the reference object, when one of the motors rotates counterclockwise, the other rotates clockwise. When the two motors are set at intervals but not mirrored, that is, with the earth as the reference object, when one of the motors rotates counterclockwise, the other also rotates counterclockwise; if the motor is used as the reference object, when one of the motors rotates counterclockwise, the other also rotates counterclockwise.

[0055] In this embodiment, the rotation axis of the foot component 20 is parallel to the rotation axes of the first motor 31 and the second motor 33 .

[0056] In this example, the rotation axis of the foot assembly 20 is parallel to the left-right direction.

[0057] like Figures 5 to 7 As shown, in some embodiments, the first transmission assembly 32 includes a first driving wheel 321, at least one first transmission wheel 322, at least one second transmission wheel 323, a first flexible transmission member 325 and at least one first driven wheel 324; the second transmission assembly 34 includes a second driving wheel 341, at least one third transmission wheel 342, at least one fourth transmission wheel 343 and a second flexible transmission member 344; the first driving wheel 321 is connected to the output shaft of the first motor 31, the first driven wheel 324 is rotatably connected to the second leg mechanism 10b and connected to the foot assembly 20, and the first driven wheel 324 is rotatably connected to the second leg mechanism 10b and connected to the foot assembly 20. When the leg mechanism 10a is in motion, the foot assembly 20 can be driven to rotate; the second driving wheel 341 is connected to the output shaft of the second motor 33; the first transmission wheel 322 is arranged between the first driving wheel 321 and the first driven wheel 324 and is rotatably arranged on the first leg mechanism 10a; the second transmission wheel 323 is rotatably arranged on the second leg mechanism 10b, and when the second leg mechanism 10b is extended to the longest relative to the first leg mechanism 10a, the height of the highest point of the second transmission wheel 323 is not lower than the height of the lowest point of the first transmission wheel 322; the height of the highest point of the fourth transmission wheel 343 is not lower than the height of the lowest point of the third transmission wheel 342; The third transmission wheel 342 is arranged between the second driving wheel 341 and the first driven wheel 324 and is rotatably arranged on the first leg mechanism 10a; the fourth transmission wheel 343 is rotatably arranged on the second leg mechanism 10b, and when the second leg mechanism 10b is extended to the maximum relative to the first leg mechanism 10a, the fourth transmission wheel 343 is arranged above the third transmission wheel 342; the first flexible transmission member 325 is transmission-connected with the first driving wheel 321, the first transmission wheel 322, the second transmission wheel 323, and the first driven wheel 324 to form a closed transmission loop; the second flexible transmission member 344 is connected to the second transmission wheel 323 , the third transmission wheel 342, the fourth transmission wheel 343, and the first driven wheel 324 are transmission connected to form a closed transmission loop; the flexible transmission member between the first driving wheel 321 and the first driven wheel 324 is at least partially configured to be parallel to the up-down direction; the flexible transmission member between the second driving wheel 341 and the first driven wheel 324 is at least partially configured to be parallel to the up-down direction; the flexible transmission member between the first transmission wheel and the second transmission wheel 323 is at least partially configured to be parallel to the up-down direction; the flexible transmission member between the third transmission wheel 342 and the fourth transmission wheel 343 is at least partially configured to be parallel to the up-down direction.

[0058] In this embodiment, the second transmission wheel is arranged on the outside of the first transmission wheel, and the fourth transmission wheel is arranged on the outside of the third transmission wheel; of course, in other embodiments, the second transmission wheel can also be arranged on the inside of the first transmission wheel, and the fourth transmission wheel can be arranged on the inside of the third transmission wheel.

[0059] In some embodiments, the driven wheel is fastened to the wheel shaft 22, the wheel shaft 22 is fastened to the wheel 21, and the wheel shaft 22 is rotatably connected to the second leg mechanism 10b via a bearing.

[0060] In some embodiments, Figure 5 As shown, the second leg mechanism 10b includes a second seat frame 14, and the wheel shaft 22 is rotatably connected to the second seat frame 14 through a bearing.

[0061] It should be noted that, in the present embodiment, one first driven wheel 324 is provided. Of course, in other embodiments, two driven wheels may also be provided, wherein the first flexible transmission member 325 and the second flexible transmission member 344 are respectively connected to the two first driven wheels 324. The first driven wheel 324 and the second driven wheel 422 are fixedly connected to the foot assembly 20, and when the first flexible transmission member 325 and the second flexible transmission member 344 respectively drive the first driven wheel 324 and the second driven wheel 422 to rotate synchronously, the foot assembly 20 rotates.

[0062] In some embodiments, the transmission of the foot assembly 20 can be achieved by providing a driven wheel, and the structure is simple and compact.

[0063] In some embodiments, one first transmission wheel 322, one second transmission wheel 323, one third transmission wheel 342, and one fourth transmission wheel 343 are each provided. Of course, in other embodiments, in order to install other components, there may be interference with the first flexible transmission member 325 and the second flexible transmission member 344. The first transmission wheel 322, the second transmission wheel 323, the third transmission wheel 342, and the fourth transmission wheel 343 may also be provided in plurality to facilitate the movement of the first flexible transmission member 325 and the second flexible transmission member 344. The first transmission wheel 322 and the second transmission wheel 323 of this embodiment refer to the transmission wheels rotatably arranged on the first leg mechanism 10a and the second leg mechanism 10b respectively, and the third transmission wheel 342 and the fourth transmission wheel 343 refer to the transmission wheels rotatably arranged on the first leg mechanism 10a and the second leg mechanism 10b respectively, that is, the transmission wheel rotatably arranged on the first leg mechanism 10a and transmitted with the first flexible transmission member 325 can be called the first transmission wheel 322; the transmission wheel rotatably arranged on the second leg mechanism 10b and transmitted with the first flexible transmission member 325 can be called the second transmission wheel 323; the transmission wheel rotatably arranged on the first leg mechanism 10a and transmitted with the second flexible transmission member 344 can be called the third transmission wheel 342; the transmission wheel rotatably arranged on the second leg mechanism 10b and transmitted with the second flexible transmission member 344 can be called the fourth transmission wheel 343.

[0064] In some embodiments, at least part of the flexible transmission member between the first driving wheel 321 and the first driven wheel 324 is configured to be parallel to the up-down direction. Due to the spatial structure arrangement, the flexible transmission member between the first driving wheel 321 and the first driven wheel 324 may not be able to ensure that the entire section is parallel to the up-down direction, but it is sufficient to ensure that the flexible transmission member between the transmission wheel connected to the first leg mechanism 10a and the transmission wheel connected to the second leg mechanism 10b remains parallel to the up-down direction.

[0065] In some embodiments, a rotating wheel is provided between the first driving wheel 321 and the first driven wheel 324, and is rotatably connected to a flexible transmission member. When the rotating wheel is rotatably provided on the first leg mechanism 10a, it is necessary to ensure that the flexible transmission member between the rotating wheel and the first driven wheel 324 remains parallel to the up-down direction; when the rotating wheel is rotatably provided on the second leg mechanism 10b, it is necessary to ensure that the flexible transmission member between the rotating wheel and the first driving wheel 321 remains parallel to the up-down direction; when the flexible transmission member between the first driving wheel 321 and the first driven wheel 324 is transmitted There are two rotating wheels, which are rotatably arranged on the first leg mechanism 10a and the second leg mechanism 10b respectively. In this way, it is sufficient to ensure that the flexible transmission member between the two rotating wheels remains parallel to the up and down direction, that is to say, it is sufficient to ensure that the flexible transmission member between the transmission wheel connecting the first leg mechanism 10a and the transmission wheel connecting the second leg mechanism 10b remains parallel to the up and down direction. It should be noted that the rotating wheel is also a kind of transmission wheel, and the wheels rotatably connected to the flexible transmission member can be called transmission wheels, that is, when the flexible transmission member is transmitted, the rotating wheel rotates.

[0066] At least a portion of the flexible transmission member between the second driving wheel 341 and the first driven wheel 324 is configured to be parallel to the up-down direction, similar to the above.

[0067] Similarly, due to the arrangement of the spatial structure, the flexible transmission member between the first transmission wheel 322 and the second transmission wheel 323 may not be able to ensure that the entire section is parallel to the up-down direction, but it is sufficient to ensure that the flexible transmission member between the transmission wheel connected to the first leg mechanism 10a and the transmission wheel connected to the second leg mechanism 10b remains parallel to the up-down direction. In some embodiments, there may be multiple first transmission wheels 322 and second transmission wheels 323, and the first flexible transmission member 325 may be connected to several first transmission wheels 322 after being connected to the first driving wheel 321, and then connected to the second transmission wheel 323. At this time, it is sufficient to ensure that the flexible transmission member between the transmission wheel connected to the first leg mechanism 10a and the transmission wheel connected to the second leg mechanism 10b remains parallel to the up-down direction, that is, the first flexible transmission member 325 passes through the last first transmission wheel 322 on the first leg mechanism 10a and the flexible transmission member between the first second transmission wheel 323 on the second leg mechanism 10b remains parallel to the up-down direction.

[0068] Alternatively, in order to ensure that the flexible transmission member between the first transmission wheel 322 and the second transmission wheel 323 at least partially remains parallel to the up-down direction, the flexible transmission member between the first transmission wheel 322 and the second transmission wheel 323 is rotatably connected to a rotating wheel. When the rotating wheel is rotatably set on the first leg mechanism 10a, it is necessary to ensure that the flexible transmission member between the rotating wheel and the second transmission wheel 323 on the second leg mechanism 10b remains parallel to the up-down direction; when the rotating wheel is rotatably set on the second leg mechanism 10b, it is necessary to ensure that the flexible transmission member between the rotating wheel and the first transmission wheel 322 on the first leg mechanism 10a remains parallel to the up-down direction.

[0069] At least a portion of the flexible transmission member between the third transmission wheel 342 and the fourth transmission wheel 343 is configured to be parallel to the up-down direction, similar to the above.

[0070] In some embodiments, the entire section of the flexible transmission member between the first transmission wheel 322 and the second transmission wheel 323 is configured to be parallel to the up-down direction, and the flexible transmission member between the third transmission wheel 342 and the fourth transmission wheel 343 is configured to be parallel to the up-down direction.

[0071] When the second leg mechanism 10b makes a linear extension motion relative to the first leg mechanism 10a, the first driven wheel 324 moves away from the first driving wheel 321 as the second leg mechanism 10b moves, the length of the first flexible transmission member 325 between the first driving wheel 321 and the first driven wheel 324 increases, and the length of the first flexible transmission member 325 between the first transmission wheel 322 and the second transmission wheel 323 decreases synchronously. At the same time, the length of the second flexible transmission member 344 between the second driving wheel 341 and the first driven wheel 324 increases synchronously, and the length of the second flexible transmission member 344 between the third transmission wheel 342 and the fourth transmission wheel 343 decreases synchronously.

[0072] When the second leg mechanism 10b makes a linear shortening motion relative to the first leg mechanism 10a, the first driven wheel 324 moves closer to the first driving wheel 321 as the second leg mechanism 10b moves, the length of the first flexible transmission member 325 between the first driving wheel 321 and the first driven wheel 324 decreases, and the length of the first flexible transmission member 325 between the first transmission wheel 322 and the second transmission wheel 323 increases synchronously. At the same time, the length of the second flexible transmission member 344 between the second driving wheel 341 and the first driven wheel 324 decreases synchronously, and the length of the second flexible transmission member 344 between the third transmission wheel 342 and the fourth transmission wheel 343 increases synchronously.

[0073] It should be noted that when the second leg mechanism 10b makes a linear motion relative to the first leg mechanism 10a, since the first driving wheel 321, the second driving wheel 341, the first transmission wheel 322, and the third transmission wheel 342 are rotationally connected to the first leg mechanism 10a, the second driven wheel 422, the fourth transmission wheel 343 and the first driven wheel 324 are rotationally connected to the second leg mechanism 10b, the length of the first flexible transmission member 325 between the first driving wheel 321 and the first transmission wheel 322 remains unchanged, the length of the first flexible transmission member 325 between the second transmission wheel 323 and the first driven wheel 324 remains unchanged, the length of the second flexible transmission member 344 between the second driving wheel 341 and the third transmission wheel 342 remains unchanged, and the length of the second flexible transmission member 344 between the fourth transmission wheel 343 and the first driven wheel 324 remains unchanged. When the second leg mechanism 10b makes a linear motion relative to the first leg mechanism 10a, only the first driving wheel 321, the first transmission wheel 324, the second driving wheel 341, and the third transmission wheel 342 rotate and transmit, and the first driven wheel 324, the second transmission wheel 323, and the fourth transmission wheel 343 do not rotate.

[0074] However, when the foot assembly 20 rotates, the first driving wheel 321, the first transmission wheel 322, the second transmission wheel 323, the second driving wheel 341, the third transmission wheel 342, the fourth transmission wheel 343, and the first driven wheel 324 all rotate and transmit. However, the length of the flexible transmission member between each transmission wheel remains unchanged. It should be noted that the first driving wheel 321, the second driving wheel 341, the first transmission wheel 322, the second transmission wheel 323, the third transmission wheel 342, the fourth transmission wheel 343, and the first driven wheel 324 are all transmission wheels.

[0075] It should be noted that when the second leg mechanism 10b performs a linear extension motion relative to the first leg mechanism 10a, the second transmission wheel 323 and the fourth transmission wheel 343 cannot continue to move downward at a certain position, otherwise, the first flexible transmission member 325 cannot drive the second leg mechanism 10b to move downward relative to the first leg mechanism 10a by applying a downward force to the second transmission wheel 323, and the second flexible transmission member 344 cannot drive the second leg mechanism 10b to move downward relative to the first leg mechanism 10a by applying a downward force to the fourth transmission wheel 343. For example, when the second leg mechanism 10b is extended to the longest length relative to the first leg mechanism 10a, the lowest point height of the first transmission wheel 322 is A, and the highest point height of the second transmission wheel 323 is B, and B cannot be lower than A. In this way, the first flexible transmission member 325 can drive the second leg mechanism 10b to move downward relative to the first leg mechanism 10a by applying a downward force to the second transmission wheel 323. When the second leg mechanism 10b is extended to the longest length relative to the first leg mechanism 10a, the lowest point height of the third transmission wheel 342 is C, and the highest point height of the fourth transmission wheel 343 is D, and D cannot be less than C. The second flexible transmission member 344 applies a downward force to the fourth transmission wheel 343, so that the second leg mechanism 10b moves downward relative to the first leg mechanism 10a. That is, when the second transmission wheel 323 moves downward to be tangent to the first transmission wheel 322, the second transmission wheel 323 cannot continue to move; when the fourth transmission wheel 343 moves downward to be tangent to the third transmission wheel 342, the fourth transmission wheel 343 cannot continue to move. The second leg mechanism 10b of the present application is provided with a limit block, and the first leg mechanism 10a is provided with a corresponding limit member. When the second leg mechanism 10b moves downward to a certain position, the limit block abuts against the limit member, and the second leg mechanism 10b cannot continue to move downward, so as to ensure that B cannot be lower than A and C cannot be less than D.

[0076] In some embodiments, there are other ways to set the first transmission assembly 32 and the second transmission assembly 34, such as the motor is connected to a plurality of gear structures and then the gears are connected to the flexible transmission member.

[0077] In some embodiments, when the rotation directions of the first flexible transmission member 325 and the second flexible transmission member 344 are the same and the output torques of the first motor 31 and the second motor 33 are the same, the torque directions of the first flexible transmission member 325 and the second flexible transmission member 344 acting on the first driven wheel 324 are the same, and the upward pulling force of the first flexible transmission member 325 on the first driven wheel 324 and the downward pulling force of the second flexible transmission member 344 on the fourth transmission wheel 343 are the same, or the upward pulling force of the second flexible transmission member 344 on the first driven wheel 324 and the downward pulling force of the first flexible transmission member 325 on the second transmission wheel 323 are the same, the second leg mechanism 10b is stationary relative to the first leg mechanism 10a, and the foot assembly 20 rotates.

[0078] The first flexible transmission member 325 and the second flexible transmission member 344 rotate in opposite directions, the first motor 31 and the second motor 33 have the same output torque, and the first flexible transmission member 325 and the second flexible transmission member 344 act on the first driven wheel 324 to pull it upward, or the first flexible transmission member 325 acts on the second transmission wheel 323 to pull it downward, and the second flexible transmission member 344 acts on the fourth transmission wheel 343 to pull it downward, the second leg mechanism 10b moves linearly in the up and down directions relative to the first leg mechanism 10a, and the foot assembly 20 does not rotate; the first flexible transmission member 325 and the second flexible transmission member 344 act on the first driven wheel 324 to pull it upward, and the second flexible transmission member 344 acts on the fourth transmission wheel 343 to pull it downward, and the second leg mechanism 10b moves linearly in the up and down directions relative to the first leg mechanism 10a, and the foot assembly 20 does not rotate; The rotation directions are opposite and the output torques of the first motor 31 and the second motor 33 are different in magnitude. The torques applied by the first flexible transmission member 325 and the second flexible transmission member 344 to the first driven wheel 324 are opposite in direction but different in magnitude. The first flexible transmission member 325 and the second flexible transmission member 344 apply an upward pulling force to the first driven wheel 324 or the first flexible transmission member 325 applies a downward pulling force to the second transmission wheel 323 and the second flexible transmission member 344 applies a downward pulling force to the fourth transmission wheel 343. While the second leg mechanism 10b moves linearly in the up and down directions relative to the first leg mechanism 10a, the foot assembly 20 rotates.

[0079] The first flexible transmission member 325 and the second flexible transmission member 344 have the same rotation direction and the first motor 31 and the second motor 33 have different output torques, the first flexible transmission member 325 and the second flexible transmission member 344 act on the first driven wheel 324 with the same torque direction, and the upward pulling force of the first flexible transmission member 325 on the first driven wheel 324 and the downward pulling force of the second flexible transmission member 344 on the fourth transmission wheel 343 are different in magnitude, or the upward pulling force of the second flexible transmission member 344 on the first driven wheel 324 and the downward pulling force of the first flexible transmission member 325 on the second transmission wheel 323 are different in magnitude, and while the second leg mechanism 10b moves linearly in the up and down directions relative to the first leg mechanism 10a, the foot assembly 20 rotates.

[0080] It should be noted that, in this embodiment, when the first motor 31 and the second motor 33 rotate in the same direction and the torques of the first motor 31 and the second motor 33 are the same, the second leg mechanism 10b is stationary relative to the first leg mechanism 10a, and the foot assembly 20 rotates.

[0081] When the first motor 31 and the second motor 33 rotate in opposite directions and the torques of the first motor 31 and the second motor 33 are the same, the second leg mechanism 10b moves linearly in the up-down direction relative to the first leg mechanism 10a, and the foot assembly 20 does not rotate.

[0082] When the first motor 31 and the second motor 33 rotate in opposite directions and the torques of the first motor 31 and the second motor 33 are different, the second leg mechanism 10b moves linearly in the up-down direction relative to the first leg mechanism 10a, and the foot assembly 20 rotates.

[0083] When the first motor 31 and the second motor 33 rotate in the same direction and the torques of the first motor 31 and the second motor 33 are different, the second leg mechanism 10b moves linearly in the up-down direction relative to the first leg mechanism 10a, and the foot assembly 20 rotates.

[0084] It should be noted that the reference object for the rotation direction of the two motors here is the earth. The following are several situations of the two motor settings. When the two motors are set relative to each other, that is, mirrored, with the earth as the reference object, when one of the motors rotates counterclockwise, the other also rotates counterclockwise; but if the motor is used as the reference object, when one of the motors rotates counterclockwise, the other rotates clockwise. When the two motors are set at intervals but not mirrored, that is, with the earth as the reference object, when one of the motors rotates counterclockwise, the other also rotates counterclockwise; if the motor is used as the reference object, when one of the motors rotates counterclockwise, the other also rotates counterclockwise.

[0085] It should be noted that, when the second leg mechanism 10b moves downward relative to the first leg mechanism 10a, the first flexible transmission member 325 and the second flexible transmission member 344 respectively act on the second transmission wheel 323 and the fourth transmission wheel 343 downward, or the upward pulling force of the first flexible transmission member 325 on the first driven wheel 324 is smaller than the downward force of the second flexible transmission member 344 on the fourth transmission wheel 343, or the upward pulling force of the second flexible transmission member 344 on the first driven wheel 324 is smaller than the downward force of the first flexible transmission member 325 on the second transmission wheel 323, so that the second leg mechanism 10b as a whole is subjected to a combined force downward and greater than 0, so that the second leg mechanism 10b moves relative to the first leg mechanism 10a. Mechanism 10a moves downward; when the second leg mechanism 10b moves upward relative to the first leg mechanism 10a, the upward force exerted by the first flexible transmission member 325 and the second flexible transmission member 344 on the first driven wheel 324 is greater than the downward force exerted by the second flexible transmission member 344 on the fourth transmission wheel 343, or the upward force exerted by the second flexible transmission member 344 on the first driven wheel 324 is greater than the downward force exerted by the first flexible transmission member 325 on the second transmission wheel 323, so that the second leg mechanism 10b as a whole is subjected to a combined force upward and greater than 0, so that the second leg mechanism 10b moves upward relative to the first leg mechanism 10a.

[0086] In some embodiments, the mechanical leg 100 has a left and right direction, which is perpendicular to the up and down direction; the first motor 31 and the second motor 33 are symmetrically arranged in the left and right directions and rotate coaxially; the first flexible transmission member 325 and the second flexible transmission member 344 are mirror-arranged; the first transmission wheel 322 and the third transmission wheel 342 are symmetrically arranged; the second transmission wheel 323 and the fourth transmission wheel 343 are symmetrically arranged; the direction of the rotation axis of the first motor 31 and the second motor 33 is parallel to the direction of the rotation axis of the foot assembly 20.

[0087] In this embodiment, the rotation axes of the first motor 31 , the second motor 33 , and the foot assembly 20 are parallel to the left-right direction.

[0088] In some embodiments, the first motor 31 and the second motor 33 can rotate about different axes. The axes of the first motor 31 and the second motor 33 are parallel, and the two axes are staggered.

[0089] In this embodiment, the shafts of the first motor 31 and the second motor 33 are arranged relative to each other. In some other embodiments, the shafts of the first motor 31 and the second motor 33 may be arranged to be nested with each other.

[0090] Since the downward and upward moving distance of the second leg mechanism 10b is not only limited by the distance between the first transmission wheel 322 and the second transmission wheel 323, but also by the distance between the third transmission wheel 342 and the fourth transmission wheel 343, for example, when the extension of the second leg mechanism 10b relative to the first leg mechanism 10a is 0, the distance between the first transmission wheel 322 and the second transmission wheel 323 is E, and the distance between the third transmission wheel 342 and the fourth transmission wheel 343 is F, when E is less than F, the maximum movement distance of the second leg mechanism 10b relative to the first leg mechanism 10a is E, that is, the movement distance of the second leg mechanism 10b is the smallest one between E and F.

[0091] In this embodiment, the first flexible transmission member 325 and the second flexible transmission member 344 are arranged in a mirror image; the first transmission wheel 322 and the third transmission wheel 342 are arranged symmetrically; the second transmission wheel 323 and the fourth transmission wheel 343 are arranged symmetrically, so that the distance between E and F is consistent, making the structure compact, the mechanical leg 100 of the robot 1000 is small, and the moving range of the second leg mechanism 10b is maximized as much as possible within the limited structural space.

[0092] In this embodiment, the first driving wheel 321, the second transmission wheel 323, the fourth transmission wheel 343, the second driving wheel 341, and the first driven wheel 324 are synchronous pulleys, the first flexible transmission member 325 and the second flexible transmission member 344 are synchronous belts, the first flexible transmission member 325 is meshed with the first driving wheel 321, the first driven wheel 324, and the second transmission wheel 323 for transmission, and the second flexible transmission member 344 is meshed with the first driven wheel 324, the second driving wheel 341, and the fourth transmission wheel 343 for transmission; the first transmission wheel 322 and the third transmission wheel 342 are non-toothed rotating wheels, the non-toothed surface of the first flexible transmission member 325 is wound around and connected with the first transmission wheel 322, and the non-toothed surface of the second flexible transmission member 344 is wound around and connected with the third transmission wheel 342.

[0093] Optionally, the first flexible transmission member 325 and the second flexible transmission member 344 can also be ropes or other flexible transmission members, so as to play a buffering role, reduce the impact of the impact force directly acting on the motor, and increase the durability and operational stability of the drive mechanism.

[0094] In this embodiment, the radius of the first driving wheel 321 and the second driving wheel 341 are the same, and the radius of the first driven wheel 324 is larger than the radius of the first driving wheel 321 and the second driving wheel 341. This is beneficial to increase the transmission ratio of the driving wheel and the transmission wheel, increase the torque of the first driven wheel 324, make the mechanical leg 100 adapt to the harsh environment of rugged terrain or muddy, and improve the obstacle crossing ability of the robot 1000.

[0095] In this embodiment, the first transmission assembly 32 includes a first limiting member 326; the first limiting member 326 rotates on the second leg mechanism 10b; the first limiting member 326 is arranged between the first driving wheel 321 and the first driven wheel 324 and is arranged on the outside of the first flexible transmission member 325, and the first limiting member 326 is used to make the first flexible transmission member 325 between the first limiting member 326 and the first driving wheel 321 remain parallel to the up and down direction, so that when the first flexible transmission member 325 between the first driving wheel 321 and the first driven wheel 324 increases or decreases, the first flexible transmission member 325 between the first transmission wheel 322 and the second transmission wheel 323 can be synchronously reduced or reduced accordingly Increase; the second transmission assembly 34 includes a second limiting member 345, and the second limiting member 345 is rotatably arranged on the second leg mechanism 10b; the second limiting member 345 is arranged between the second driving wheel 341 and the first driven wheel 324 and is arranged on the outside of the second flexible transmission member 344, and the second limiting member 345 is used to make the second flexible transmission member 344 between the second limiting member 345 and the second driving wheel 341 remain parallel to the up and down directions, so that when the second flexible transmission member 344 between the second driving wheel 341 and the first driven wheel 324 increases or decreases, the second flexible transmission member 344 between the third transmission wheel 342 and the fourth transmission wheel 343 can be correspondingly reduced or increased synchronously.

[0096] Since the radius of the first driven wheel 324 is larger than the radius of the first driving wheel 321 and the second driving wheel 341, the first flexible transmission member 325 connecting the first driven wheel 324 and the first driving wheel 321 is biased outward from top to bottom, and the second flexible transmission member 344 connecting the first driven wheel 324 and the second driving wheel 341 is set outward from top to bottom. At this time, the first limiting member 326 and the second limiting member 345 are rotated and set on the second leg mechanism 10b, and the first limiting member 326 is set on the outside of the first flexible transmission member 325 and the second limiting member 345 is set on the outside of the second flexible transmission member 344. This not only allows the first flexible transmission member 325 between the first limiting member 326 and the first driving wheel 321 and the second flexible transmission member 344 between the second limiting member 345 and the second driving wheel 341 to remain parallel to the up and down directions, but also allows the flexible transmission member to be retracted to the inside of the leg mechanism 10, reducing the space occupied by the flexible transmission member, making the mechanical leg 100 more compact.

[0097] Of course, the first limiting member 326 and the second limiting member 345 are rotatably set on the first leg mechanism 10a, but because the radius of the first driven wheel 324 is larger than the radius of the first driving wheel 321 and the second driving wheel 341, the first limiting member 326 and the second limiting member 345 are required to be respectively set on the inner sides of the first flexible transmission member 325 and the second flexible transmission member 344, so that the flexible transmission members between the first limiting member 326 and the first driven wheel 324 and the second limiting member 345 and the first driven wheel 324 remain parallel to the up and down directions, but this will cause the flexible transmission members to lean to the outside, which will take up more space, and the mechanical leg 100 of the robot 1000 will not be small enough.

[0098] It should be noted that, in other embodiments, the radius of the first driven wheel 324 may be smaller than the radius of the first driving wheel 321 and the second driving wheel 341 .

[0099] In other embodiments, the limiting member may also be other structures, such as a protrusion provided on the second leg mechanism 10b, which is provided on the outside of the flexible transmission member to keep the flexible transmission member between the first driving wheel 321 and the second driving wheel 341 and the limiting member parallel to the up and down directions.

[0100] In this embodiment, the first limiting member 326 and the second limiting member 345 are both non-toothed rollers; the first limiting member 326 is rotatably connected to the first flexible transmission member 325 ; and the second limiting member 345 is rotatably connected to the second flexible transmission member 344 .

[0101] By configuring the limiting member as a roller, the friction between the limiting member and the flexible transmission member can be reduced.

[0102] In this embodiment, the first transmission assembly 32 includes a first pre-tensioning wheel 327, which is rotatably arranged on the second leg mechanism 10b; the first pre-tensioning wheel 327 is arranged on the outside of the first flexible transmission member 325 between the second transmission wheel 323 and the first driven wheel 324 and is rotatably connected to the first flexible transmission member 325; the second transmission assembly 34 includes a second pre-tensioning wheel 346, which is rotatably arranged on the second leg mechanism 10b, and the second pre-tensioning wheel 346 is arranged on the outside of the second flexible transmission member 344 between the fourth transmission wheel 343 and the first driven wheel 324 and is rotatably connected to the second flexible transmission member 344.

[0103] By setting the first pre-tensioning wheel 327 and the second pre-tensioning wheel 346, the flexible transmission member can be pre-tightened. At the same time, the first pre-tensioning wheel 327 is set on the outside of the flexible transmission member between the second transmission wheel 323 and the first driven wheel 324, and the second pre-tensioning wheel 346 is set on the outside of the flexible transmission member between the fourth transmission wheel 343 and the first driven wheel 324. The flexible transmission member can be retracted inward, reducing the space occupied by the flexible transmission member and making the mechanical leg 100 more compact.

[0104] In this embodiment, if Figure 5 As shown, the first leg mechanism 10a includes a guide assembly 11, and the second leg mechanism 10b includes a slide 12, which is slidably connected to the guide assembly 11; the guide assembly 11 includes a guide rod 111, which extends in the up and down directions and passes through the slide 12 and is slidably connected to the slide 12.

[0105] In this embodiment, the first leg mechanism 10 a includes a first frame 13 , the guide rod 111 is connected to the first frame 13 , and the second leg mechanism 10 b includes a second frame 14 , on which a slide 12 is disposed.

[0106] By providing the guide assembly 11, the sliding of the second leg mechanism 10b can be guided, so that the second leg mechanism 10b moves in the up and down directions, thereby enhancing the stability of the mechanical leg 100 when extending and retracting.

[0107] In this embodiment, the driving mechanism includes a first driving member 30a and a second driving member 30b. The first driving member 30a is used to drive the foot assembly 20 to rotate relative to the second leg mechanism 10b, and the second driving member 30b is also used to drive the second leg mechanism 10b to move linearly in the up and down directions relative to the first leg mechanism 10a.

[0108] In this embodiment, the first driving member 30a includes a first motor 31 and a first transmission assembly 32, the first motor 31 is used to be connected to the upper end of the first leg mechanism 10a, the first transmission assembly 32 is connected to the output shaft of the first motor 31 and is connected to the foot assembly 20, the first motor 31 is used to drive the first transmission assembly 32 to move, and the first transmission assembly 32 is configured to drive the foot assembly 20 to rotate relative to the second leg mechanism 10b; the second driving member 30b includes a second motor 33 and a second transmission assembly 34, the second motor 33 is used to be connected to the upper end of the first leg mechanism 10a, the second transmission assembly 34 is connected to the output shaft of the second motor 33 and is connected to the second leg mechanism 10b, the second motor 33 is used to drive the second transmission assembly 34 to move, and the second transmission assembly 34 is configured to drive the second leg mechanism 10b to move linearly in the up and down directions relative to the first leg mechanism 10a. In some embodiments, the first transmission assembly 32 and / or the second transmission assembly 34 are configured to drive the second leg mechanism 10b to move linearly in the up and down directions relative to the first leg mechanism 10a through belt drive, chain drive, rope drive or screw nut drive.

[0109] like Figures 8 to 9 As shown, in this embodiment, the leg mechanism 10 includes a first leg mechanism 10a, a second leg mechanism 10b and an nth leg mechanism 10d. When the leg length of the leg mechanism 10 is at its longest, the first leg mechanism to the nth leg mechanism 10d are arranged from top to bottom; the first leg mechanism 10a is used for rotational connection with the frame 60; the second leg mechanism 10b is used for sliding connection with the first leg mechanism 10a; and so on, the nth leg mechanism 10d is slidingly connected with the n-1th leg mechanism 10c, where n>2; the foot assembly 20 is connected to the nth leg mechanism 10d. The first driven wheel 324 rotates to drive the foot assembly 20 to rotate relative to the nth leg mechanism 10d; the first driving mechanism 30 is connected to the first leg mechanism 10a to the nth leg mechanism 10d and is used to drive the second leg mechanism 10b to move linearly in the up-down direction relative to the first leg mechanism 10a, and so on, the first driving mechanism 30 is also used to drive the nth leg mechanism 10d to move linearly in the up-down direction relative to the n-1th leg mechanism 10c, and the up-down direction is the extension direction of the first leg mechanism 10a. By setting a multi-section leg, the maximum extension length of the mechanical leg 100 can be increased.

[0110] The first driving mechanism 30 includes a first driving member 30a and a second driving member 30b, and the power sources of the first driving member 30a and the second driving member 30b are connected to the upper end of the first leg mechanism 10a. The first driving member 30a is connected to the foot assembly 20 and the first leg mechanism 10a to the nth leg mechanism 10d; the second driving member 30b is connected to the first leg mechanism 10a to the nth leg mechanism 10d.

[0111] The first driving member 30a and the second driving member 30b are used to work together to drive the foot assembly 20 to rotate relative to the nth leg mechanism 10d; the first driving member 30a and the second driving member 30b are also used to work together to drive the second leg mechanism 10b to move linearly in the up-down direction relative to the first leg mechanism 10a; and by analogy, the first driving member 30a and the second driving member 30b are also used to work together to drive the nth leg mechanism 10d to move linearly in the up-down direction relative to the n-1th leg mechanism 10c, and the up-down direction is the extension direction of the first leg mechanism 10a. The first driving member 30a and the second driving member 30b work together to drive the rotation of the foot assembly 20 and / or the extension and retraction of the leg mechanism 10, so that the power sources of the first driving member 30a and the second driving member 30b are connected in parallel, which can reduce the parameters required for the power source drive, reduce errors, improve the running speed of the robot 1000, and reduce the use cost.

[0112] At the same time, the power sources of the first driving component 30a and the second driving component 30b are connected to the upper end of the first leg mechanism 10a, which is beneficial to improve the center of gravity of the mechanical leg 100 and reduce the rotational inertia of the mechanical leg 100 when it rotates relative to the fuselage, and further helps to control the energy consumption of the robot 1000 and improve the response speed of the robot 1000.

[0113] The first driving member 30a and the second driving member 30b work together to drive the rotation of the foot assembly 20 and / or the extension and retraction of the leg mechanism 10, so that the power sources of the first driving member 30a and the second driving member 30b are connected in parallel, which can reduce the parameters required for the power source drive, reduce errors, improve the operating speed of the robot 1000, and reduce the cost of use. In this embodiment, the mechanical leg 100 has a first motion state, a second motion state and a third motion state, and the mechanical leg 100 can switch freely between the first motion state, the second motion state and the third motion state; in the first motion state, the first driving mechanism 30 is used to drive the foot assembly 20 to rotate, the second leg mechanism 10b is stationary relative to the first leg mechanism 10a, and so on, the nth leg mechanism 10d is stationary relative to the n-1th leg mechanism 10c; in the second motion state, the first driving mechanism 30 is used to drive the second leg mechanism 10b to rotate relative to the first leg mechanism 10a, and so on, the nth leg mechanism 10d is stationary relative to the n-1th leg mechanism 10c; The first leg mechanism 10a moves linearly in the up-down direction, and so on. The first driving mechanism 30 is also used to drive the nth leg mechanism 10d to move linearly in the up-down direction relative to the n-1th leg mechanism 10, and the foot assembly 20 does not rotate; in the third motion state, the first driving mechanism 30 is used to drive the foot assembly 20 to rotate while driving the second leg mechanism 10b to move linearly in the up-down direction relative to the first leg mechanism 10a, and so on. The first driving mechanism 30 is also used to drive the nth leg mechanism 10d to move linearly in the up-down direction relative to the n-1th leg mechanism 10c.

[0114] The robot 1000 has multiple motion states, so that the gait of the robot 1000 can be diversified, making the robot 1000 more flexible and able to adapt to different environments.

[0115] It should be noted that when the leg mechanism 10 of the robot 1000 is extending or retracting, since the mechanical leg 100 is in contact with the ground, when all the leg mechanisms 10 of the robot 1000 are extended, the nth leg mechanism 10d remains stationary relative to the ground, and the n-1th leg mechanism 10c moves up and down relative to the nth leg mechanism 10d to achieve extension and retraction of the mechanical leg 100.

[0116] In some embodiments, the first driving component 30a includes a first motor 31 and a first transmission assembly 32, the first motor 31 is connected to the upper end of the first leg mechanism 10a; the first transmission assembly 32 is connected to the output shaft of the first motor 31 and is connected to the foot component 20, the first leg mechanism 10a, and the second leg mechanism 10b to the nth leg mechanism 10d; the second driving component 30b includes a second motor 33 and a second transmission assembly 34, the second motor 33 is connected to the upper end of the first leg mechanism 10a; the second transmission assembly 34 is connected to the output shaft of the second motor 33 and is connected to the first leg mechanism 10a, the second leg mechanism 10b to the nth leg mechanism 10d; the first motor 31 and the second motor 33 are used to respectively drive the first transmission assembly 32 and the second transmission assembly 34 to cooperate to drive the foot component 20 to rotate relative to the nth leg mechanism 10d and drive the nth leg mechanism 10d to move linearly in the up and down directions relative to the n-1th leg mechanism 10.

[0117] The first motor 31 and the second motor 33 are arranged in parallel, thereby driving the first transmission assembly 32 and the second transmission assembly 34 to work together to drive the foot assembly 20 to rotate and / or the leg mechanism 10 to extend and retract, which can reduce the parameters required for the motor drive, reduce errors, increase the operating speed of the robot 1000, and reduce the cost of use.

[0118] In this embodiment, the first transmission assembly 32 includes a first driving wheel 321, at least one first transmission wheel 322, at least one second transmission wheel 323, a first flexible transmission member 325 and at least one first driven wheel 324; the second transmission assembly 34 includes a second driving wheel 341, at least one third transmission wheel 342, at least one fourth transmission wheel 343 and a second flexible transmission member 344; the first driving wheel 321 is connected to the output shaft of the first motor 31, the first driven wheel 324 is rotationally connected to the nth leg mechanism 10d and connected to the foot assembly 20, and the first driven wheel 324 can drive the foot assembly 20 to rotate when it rotates; the second driving wheel 341 is connected to the output shaft of the second motor 33.

[0119] The first transmission wheel 322 is rotatably set on the first leg mechanism to the n-1th leg mechanism 10c; the second transmission wheel 323 is rotatably set on the second leg mechanism to the n-1th leg mechanism 10d; the third transmission wheel 342 is rotatably set on the first leg mechanism to the n-1th leg mechanism 10c; the fourth transmission wheel 343 is rotatably set on the second leg mechanism to the n-1th leg mechanism 10d.

[0120] The first transmission wheel 322 on the first leg mechanism 10a is arranged between the first driving wheel 321 and the first driven wheel 324; the first transmission wheel 322 of the second leg mechanism 10b is arranged between the second transmission wheel 323 rotatably arranged on the second leg mechanism 10b and the first driven wheel 324; and so on, the first transmission wheel 322 on the n-1th leg mechanism 10c is arranged between the second transmission wheel 323 rotatably arranged on the n-1th leg mechanism 10c and the first driven wheel 324.

[0121] The third transmission wheel 342 on the first leg mechanism 10a is arranged between the second driving wheel 341 and the first driven wheel 324; the third transmission wheel 342 of the second leg mechanism 10b is arranged between the fourth transmission wheel 343 rotatably arranged on the second leg mechanism 10b and the first driven wheel 324; and so on, the third transmission wheel 342 on the n-1th leg mechanism 10c is arranged between the fourth transmission wheel 343 rotatably arranged on the n-1th leg mechanism 10c and the first driven wheel 324.

[0122] When the leg mechanism 10 is extended to the maximum, the highest point height of the second transmission wheel 323 on the second leg mechanism 10b is not lower than the lowest point height of the first transmission wheel 322 on the first leg mechanism 10a, and so on, the highest point height of the second transmission wheel 323 of the nth leg mechanism 10d is not lower than the lowest point height of the first transmission wheel 322 on the n-1th leg mechanism 10c; and the highest point height of the fourth transmission wheel 343 of the second leg mechanism 10b is not lower than the lowest point height of the third transmission wheel 342 on the first leg mechanism 10a, and so on, the fourth transmission wheel 343 of the nth leg mechanism 10d is arranged above the third transmission wheel 342 on the n-1th leg mechanism 10c.

[0123] The first flexible transmission member 325 is connected to the first driving wheel 321, the first transmission wheel 322 on the first leg mechanism to the n-1 leg mechanism 10c, the second transmission wheel 323 on the second leg mechanism to the n-1 leg mechanism 10d, and the first driven wheel 324 to form a closed transmission loop; the second flexible transmission member 344 is connected to the second driving wheel 341, the third transmission wheel 342 on the first leg mechanism to the n-1 leg mechanism 10c, the fourth transmission wheel 343 on the second leg mechanism to the n-1 leg mechanism 10d, and the first driven wheel 324 to form a closed transmission loop; the flexible transmission member between the first driving wheel 321 and the first driven wheel 324 is at least partially configured to be parallel to the up and down direction; the flexible transmission member between the second driving wheel 341 and the first driven wheel 324 is at least partially configured to be parallel to the up and down direction parallel to the downward direction; the flexible transmission member between the first transmission wheel 324 on the first leg mechanism 10a and the second transmission wheel 323 on the second leg mechanism 10b is at least partially configured to be parallel to the up and down direction; and so on; the flexible transmission member between the first transmission wheel 322 on the n-1 leg mechanism 10c and the second transmission wheel 323 on the n-th leg mechanism 10d is at least partially configured to be parallel to the up and down direction; the flexible transmission member between the third transmission wheel 342 on the first leg mechanism 10a and the fourth transmission wheel 343 on the second leg mechanism 10b is at least partially configured to be parallel to the up and down direction; and so on, the flexible transmission member between the third transmission wheel 342 on the n-1 leg mechanism 10c and the fourth transmission wheel 343 on the n-th leg mechanism 10d is at least partially configured to be parallel to the up and down direction.

[0124] It should be noted that the first transmission wheel 322 is rotatably arranged on the first leg mechanism to the n-1 leg mechanism 10c, and the second transmission wheel 323 is rotatably arranged on the second leg mechanism to the n-1 leg mechanism 10d; the third transmission wheel 342 is rotatably arranged on the first leg mechanism to the n-1 leg mechanism 10d; the fourth transmission wheel 343 is rotatably arranged on the second leg mechanism to the n-1 leg mechanism 10c; the number of the first transmission wheel 322, the second transmission wheel 323, the third transmission wheel 342 and the fourth transmission wheel 343 is not limited here. Due to the interference problem between the structures, the number of transmission wheels arranged between different legs may be different, and the number of transmission wheels is set according to the actual situation. For example, three second transmission wheels 323 are arranged on the second leg mechanism 10b, and four second transmission wheels 323 are arranged on the third leg mechanism.

[0125] Due to structural interference issues, the flexible transmission member connected between different transmission wheels may not remain parallel to the up-and-down direction throughout the entire section, but it is sufficient to ensure that the flexible transmission member between the transmission wheel directly connected to the first leg mechanism 10a and the transmission wheel connected to the second leg mechanism 10b remains parallel to the up-and-down direction. For example, a rotating wheel rotatably connected to the flexible transmission member may be provided between the first driving wheel 321 and the first driven wheel 324. When the rotating wheel is rotatably provided on the first leg mechanism 10a, it is sufficient to ensure that the flexible transmission member between the rotating wheel and the first driven wheel 324 remains parallel to the up-and-down direction. When the rotating wheel is rotatably provided on the second leg mechanism 10b, it is sufficient to ensure that the flexible transmission member between the rotating wheel and the first driving wheel 321 is parallel to the up-and-down direction. The flexible transmission member between the second driving wheel 341 and the first driven wheel 324 is at least partially configured to be parallel to the up-and-down direction. Similarly, as described above.

[0126] Similarly, due to the spatial structure arrangement, the flexible transmission member between the first transmission wheel 322 on the n-1 leg mechanism 10c and the second transmission wheel 323 on the n leg mechanism 10d may not be able to ensure that the entire section is parallel to the up and down direction, but it is sufficient to ensure that the flexible transmission member connecting the n-1 leg mechanism 10c and the n leg mechanism 10d remains parallel to the up and down direction. In some embodiments, there may be multiple first transmission wheels 322 and second transmission wheels 323. After the first flexible transmission member 325 is connected to the first driving wheel 321, it may be connected to several first transmission wheels 322 and then to the second transmission wheel 323. At this time, it is sufficient to ensure that the flexible transmission member between the transmission wheel connected to the n-1 leg mechanism 10c and the transmission wheel connected to the n leg mechanism 10d remains parallel to the up and down direction, that is, the first flexible transmission member 325 remains parallel to the up and down direction through the flexible transmission member between the last first transmission wheel 322 connected to the n-1 leg mechanism 10c and the first second transmission wheel 323 connected to the n leg mechanism 10d.

[0127] Alternatively, in order to ensure that the flexible transmission member between the first transmission wheel 322 and the second transmission wheel 323 on the n-1 leg mechanism 10d on the n-1 leg mechanism 10c at least partially remains parallel to the up-down direction, the flexible transmission member between the first transmission wheel 322 and the second transmission wheel 323 is rotatably connected to a rotating wheel. When the rotating wheel is rotatably set on the n-1 leg mechanism 10c, it is necessary to ensure that the flexible transmission member between the rotating wheel and the second transmission wheel 323 on the n-1 leg mechanism 10d remains parallel to the up-down direction; when the rotating wheel is rotatably set on the n-1 leg mechanism 10d, it is necessary to ensure that the flexible transmission member between the rotating wheel and the first transmission wheel 322 on the n-1 leg mechanism 10c remains parallel to the up-down direction.

[0128] The reason why at least a portion of the flexible transmission member between the third transmission wheel 342 on the (n-1)th leg mechanism 10c and the fourth transmission wheel 343 on the nth leg mechanism 10d is configured to be parallel to the up-down direction is the same as described above.

[0129] It should be noted that, when the nth leg mechanism 10d makes a linear extension movement relative to the n-1th leg mechanism 10c, the second transmission wheel 323 and the fourth transmission wheel 343 cannot continue to move downward after reaching a certain position, otherwise, the first flexible transmission member 325 cannot drive the nth leg mechanism 10d to move downward relative to the n-1th leg mechanism 10c by applying a downward force to the second transmission wheel 323, and the second flexible transmission member 344 cannot drive the nth leg mechanism 10d to move downward relative to the n-1th leg mechanism 10c by applying a downward force to the fourth transmission wheel 343. For example, when the nth leg mechanism 10d is extended to its longest length relative to the n-1th leg mechanism 10c, the lowest point height of the first transmission wheel 322 on the n-1th leg mechanism 10c is A, and the highest point height of the second transmission wheel 323 on the nth leg mechanism 10d is B, and B cannot be lower than A, so that the first flexible transmission member 325 can drive the nth leg mechanism 10d to move downward relative to the n-1th leg mechanism 10c by applying a downward force to the second transmission wheel 323. When the nth leg mechanism 10d is extended to its longest length relative to the n-1th leg mechanism 10c, the lowest point height of the third transmission wheel 342 on the n-1th leg mechanism 10c is C, and the highest point height of the fourth transmission wheel 343 on the nth leg mechanism 10d is D, and C cannot be lower than D, and the second flexible transmission member 344 can drive the nth leg mechanism 10d to move downward relative to the n-1th leg mechanism 10c by applying a downward force to the fourth transmission wheel 343. That is, when the second transmission wheel 323 moves downward to be tangent to the first transmission wheel 322, the second transmission wheel 323 cannot move further; when the fourth transmission wheel 343 moves downward to be tangent to the third transmission wheel 342, the fourth transmission wheel 343 cannot move further. Each leg mechanism 10 of the present application is provided with a limit structure, so that when the nth leg mechanism 10d moves downward to a certain position relative to the n-1th leg mechanism 10c, it cannot move downward further, so as to ensure that B cannot be lower than A and C cannot be smaller than D.

[0130] In some embodiments, when the first motor 31 and the second motor 33 rotate in the same direction and the output torques of the first motor 31 and the second motor 33 are the same, the foot assembly 20 rotates, the second leg mechanism 10b remains stationary relative to the first leg mechanism 10a, and so on, the nth leg mechanism 10d remains stationary relative to the n-1th leg mechanism 10c.

[0131] When the first motor 31 and the second motor 33 rotate in opposite directions and the output torques of the first motor 31 and the second motor 33 are the same, the foot assembly 20 does not rotate, and the second leg mechanism 10b moves linearly in the up and down directions relative to the first leg mechanism 10a, and so on, the nth leg mechanism 10d moves linearly in the up and down directions relative to the n-1th leg mechanism 10c.

[0132] When the first motor 31 and the second motor 33 rotate in the same or opposite directions but the output torques of the first motor 31 and the second motor 33 are different, the second leg mechanism 10b moves linearly in the up and down directions relative to the first leg mechanism 10a while the foot assembly 20 rotates, and similarly the nth leg mechanism 10d moves linearly in the up and down directions relative to the n-1th leg mechanism 10c.

[0133] It should be noted that the reference object for the rotation direction of the two motors here is the earth. The following are several situations of the two motor settings. When the two motors are set relative to each other, that is, mirrored, with the earth as the reference object, when one of the motors rotates counterclockwise, the other also rotates counterclockwise; but if the motor is used as the reference object, when one of the motors rotates counterclockwise, the other rotates clockwise. When the two motors are set at intervals but not mirrored, that is, with the earth as the reference object, when one of the motors rotates counterclockwise, the other also rotates counterclockwise; if the motor is used as the reference object, when one of the motors rotates counterclockwise, the other also rotates counterclockwise.

[0134] In some embodiments, the mechanical leg 100 also includes a second driving mechanism 40, the power source of the second driving mechanism 40 is connected to the frame 60; the second driving mechanism 40 includes a third driving member 40a and a fourth driving member 40b; the third driving member 40a and the fourth driving member 40b are used to work together to drive the leg mechanism 10 to rotate as a whole around the first axis a, and are also used to work together to drive the leg mechanism 10 as a whole to rotate around the second axis b; the first axis and the second axis are not parallel.

[0135] By connecting the power source of the second driving mechanism 40 to the frame 60 of the robot 1000, the moment of inertia of the mechanical leg 100 can be reduced, and the flexibility of the mechanical leg 100 can be improved. By setting the second driving mechanism 40, the mechanical leg 100 can have more degrees of freedom, and the mechanical leg 100 is more flexible, which is conducive to the diversified gait of the robot 1000. The third driving member 40a and the fourth driving member 40b work together to cooperate with the two degrees of freedom of the driving leg mechanism 10, so that the power sources of the third driving member 40a and the fourth driving member 40b are connected in parallel, which can reduce the parameters required for the power source drive, reduce errors, improve the running speed of the robot 1000, and reduce the use cost.

[0136] like Figures 10 to 13 As shown, in some embodiments, the third driving member 40a includes a third motor 41 and a third transmission assembly 42, and the fourth driving member 40b includes a fourth motor 43 and a fourth transmission assembly 44; the third motor 41 and the fourth motor 43 are used to be connected to the frame 60; the third motor 41 and the fourth motor 43 rotate coaxially and the third motor 41 and the fourth motor 43 rotate around the first axis a or the second axis b; the third transmission assembly 42 is connected to the output shaft of the third motor 41 and is connected to the leg mechanism 10; the fourth transmission assembly 44 is connected to the output shaft of the fourth motor 43 and is connected to the leg mechanism 10; the third motor 41 and the fourth motor 43 respectively drive the third transmission assembly 42 and the fourth transmission assembly 44 to jointly drive the leg mechanism 10 as a whole to rotate around the first axis a, and are also used to work together to drive the leg mechanism 10 as a whole to rotate around the second axis b.

[0137] By connecting the third motor 41 and the fourth motor 43 to the frame 60, it is helpful to improve the center of gravity of the mechanical leg 100, reduce the rotational inertia of the mechanical leg 100 when rotating relative to the body, and thus help control the energy consumption of the robot 1000 and improve the response speed of the robot 1000. In this embodiment, the third motor 41 and the fourth motor 43 rotate around the first axis a. Of course, in other embodiments, the third motor 41 and the fourth motor 43 can also rotate around the second axis b.

[0138] In some embodiments, the mechanical leg has a front-to-back direction and a left-to-right direction, the front-to-back direction is perpendicular to the left-to-right direction, the first axis is parallel to the front-to-back direction, the second axis is parallel to the left-to-right direction, the mechanical leg 100 has a fourth motion state, a fifth motion state and a sixth motion state, and the mechanical leg 100 can switch freely between the fourth motion state, the fifth motion state and the sixth motion state; in the fourth motion state, the second drive mechanism 40 is only used to drive the leg mechanism 10 as a whole to rotate around the first axis a, and the leg mechanism 10 is stationary in the front-to-back direction; in the fifth motion state, the second drive mechanism 40 is only used to drive the leg mechanism 10 as a whole to rotate around the second axis b, and the leg mechanism 10 is stationary in the left-to-right direction; in the sixth motion state, the second drive mechanism 40 is used to drive the leg mechanism 10 as a whole to rotate around the first axis a while driving the leg mechanism 10 as a whole to rotate around the second axis b. The robot 1000 has multiple motion states, so that the robot 1000 can adapt to different environments according to different gaits.

[0139] In some embodiments, the third transmission assembly 42 includes a third driving wheel 421, at least one second driven wheel 422, and a third flexible transmission member 423; the third motor and the fourth motor are arranged opposite to each other; the third driving wheel 421 is connected to the output shaft of the third motor 41, and the second driven wheel 422 is fixedly connected to the leg mechanism 10; the third flexible transmission member 423 is connected to the third driving wheel 421 and the second driven wheel 422; the fourth transmission assembly 44 includes a fourth driving wheel 441 and a fourth flexible transmission member 442; the fourth driving wheel 441 is connected to the output shaft of the fourth motor 43 The fourth flexible transmission member 442 is connected to the fourth driving wheel 441 and the second driven wheel 422; the fourth transmission assembly 44 is connected to the leg mechanism 10 through the second driven wheel 422; the rotation axes of the third driving wheel 421 and the fourth driving wheel 441 are coaxial; the third driving wheel 421 and the fourth driving wheel 441 rotate around the first axis a, and the second driven wheel 422 rotates around the second axis b; the first axis a and the second axis b are perpendicular to each other; when the second driven wheel 422 rotates around the second axis b, the leg mechanism 10 rotates with the rotation of the second driven wheel 422.

[0140] In this embodiment, the third transmission assembly 42 includes at least one second driven wheel 422. Of course, in the embodiment, the third transmission assembly 42 may include two second driven wheels 422, and the third flexible transmission member 423 and the fourth flexible transmission member 442 are respectively connected to the second driven wheels 422. In this embodiment, by providing a second driven wheel 422, the rotation of the mechanical leg 100 with two degrees of freedom can be achieved.

[0141] In this embodiment, the two degrees of freedom of rotation, i.e., the rotation of the first axis a and the second axis b, can be realized by the flexible transmission member, which has a simple and compact structure and low cost. Of course, in other embodiments, multiple gear transmissions can also be used, and there is no need to drive the leg mechanism 10 to rotate with two degrees of freedom by the flexible transmission member.

[0142] In this embodiment, the third driving wheel 421 and the fourth driving wheel 441 rotate around the first axis a, and the second driven wheel 422 rotates around the second axis b.

[0143] Of course, in other embodiments, the third driving wheel 421 and the fourth driving wheel 441 may also rotate around the second axis b, and at this time, the second driven wheel 422 rotates around the first axis a.

[0144] In some embodiments, when the third flexible transmission member 423 and the fourth flexible transmission member 442 rotate in the same direction and the output torques of the third motor 41 and the fourth motor 43 are the same, the leg mechanism 10 rotates around the first axis a, and the leg mechanism 10 is stationary in the front-to-back direction; when the third flexible transmission member 423 and the fourth flexible transmission member 442 rotate in opposite directions and the output torques of the third motor 41 and the fourth motor 43 are the same, the leg mechanism 10 rotates around the second axis b, and the leg mechanism 10 is stationary in the left-right direction; when the third flexible transmission member 423 and the fourth flexible transmission member 442 rotate in opposite or same directions and the output torques of the third motor 41 and the fourth motor 43 are different, the leg mechanism 10 rotates around the first axis a and the second axis b at the same time.

[0145] In this embodiment, the third motor and the fourth motor are arranged opposite to each other; when the third motor 41 and the fourth motor 43 rotate in the same direction and the torque of the third motor 41 and the fourth motor 43 are the same, the leg mechanism 10 rotates around the first axis a, and the leg mechanism 10 is stationary in the front and rear direction; when the third motor 41 and the fourth motor 43 rotate in opposite directions and the torque of the third motor 41 and the fourth motor 43 are the same, the leg mechanism 10 rotates around the second axis b, and the leg mechanism 10 is stationary in the left and right direction; when the third motor 41 and the fourth motor 43 rotate in opposite or same directions and the torque of the third motor 41 and the fourth motor 43 are different, the leg mechanism 10 rotates around the first axis a and the second axis b at the same time.

[0146] It should be noted that the reference object for the rotation direction of the two motors here is the earth. The following are several situations of the two motor settings. When the two motors are set relative to each other, that is, mirrored, with the earth as the reference object, when one of the motors rotates counterclockwise, the other also rotates counterclockwise; but if the motor is used as the reference object, when one of the motors rotates counterclockwise, the other also rotates clockwise. When the two motors are set at intervals but not mirrored, that is, with the earth as the reference object, when one of the motors rotates counterclockwise, the other also rotates counterclockwise; if the motor is used as the reference object, when one of the motors rotates counterclockwise, the other also rotates counterclockwise.

[0147] In some embodiments, the radius of the third driving wheel 421 and the fourth driving wheel 441 are the same, and the radius of the second driven wheel 422 is larger than the radius of the third driving wheel 421 and the fourth driving wheel 441. This is beneficial to increase the transmission ratio of the driving wheel and the transmission wheel, increase the torque of the second driven wheel 422, make the mechanical leg 100 adapt to the harsh environment of rugged terrain or muddy, and improve the obstacle crossing ability of the robot 1000.

[0148] like Figures 10 to 13 As shown, the mechanical leg 100 includes a support frame 50, which is rotatably connected to the leg mechanism 10; when the leg mechanism 10 rotates around the first axis a, the support frame 50 and the leg mechanism 10 rotate around the first axis a as a whole; when the leg mechanism 10 rotates around the second axis b, the support frame remains stationary; the third transmission assembly 42 includes at least one fifth transmission wheel 424 and at least one sixth transmission wheel 425, and the fifth transmission wheel 424 and the sixth transmission wheel 425 are rotatably arranged on the upper and lower sides of the support frame 50; the fourth transmission assembly 44 includes at least a seventh transmission wheel 443 and at least an eighth transmission wheel 444, and the seventh transmission wheel 443 and the eighth transmission wheel 444 are rotatably arranged on the upper and lower sides of the support frame 50; the fifth transmission wheel 424 and the sixth transmission wheel 425 are transmission-connected to the third flexible transmission member 423; the seventh transmission wheel 443 and the eighth transmission wheel 444 are transmission-connected to the fourth flexible transmission member 442.

[0149] By setting up a support frame 50, a fifth transmission wheel 424, a sixth transmission wheel 425, a seventh transmission wheel 443, and an eighth transmission wheel 444 are provided on the support frame 50. By setting up these transmission wheels, when the motor drives the leg mechanism 10 to rotate around the first axis a, the flexible transmission member can transmit the force to the support frame 50 through the fifth transmission wheel 424, the sixth transmission wheel 425, the seventh transmission wheel 443, and the eighth transmission wheel 444, and the support frame 50 drives the leg mechanism 10 to rotate around the first axis a. In this way, there is no need to drive the leg mechanism 10 to rotate only through the second driven wheel 422, so that the structural stability of the robot 1000 is improved.

[0150] In some embodiments, the third driving wheel 421, the second driven wheel 422, and the fourth driving wheel 441 are synchronous pulleys, and the third flexible transmission member 423 and the fourth flexible transmission member 442 are synchronous belts; after the third flexible transmission member 423 is flipped, the non-toothed surface of the third flexible transmission member 423 is transmission connected to the fifth transmission wheel 424 and the sixth transmission wheel 425; after the fourth flexible transmission member 442 is flipped, the non-toothed surface of the fourth flexible transmission member 442 is transmission connected to the seventh transmission wheel 443 and the eighth transmission wheel 444.

[0151] Optionally, the third flexible transmission member 423 and the fourth flexible transmission member 442 can also be ropes or other flexible transmission members, so as to play a buffering role, reduce the impact of the impact force directly acting on the motor, and increase the durability and operational stability of the driving mechanism.

[0152] In some embodiments, the support frame 50 includes a first connecting frame 51, a second connecting frame 52 and a third connecting frame 53, and the first connecting frame 51, the second connecting frame 52 and the third connecting frame 53 are connected; the third connecting frame 53 is rotatably connected to the leg mechanism 10; the third motor 41 and the fourth motor 43 are symmetrically arranged; the first connecting frame 51 is arranged on the side of the third driving wheel 421 away from the third motor 41; the second connecting frame 52 is arranged on the side of the fourth driving wheel 441 away from the fourth motor 43; the first driving mechanism 30 includes a first motor 31, and the first motor 31 is used to drive the foot assembly 20 to rotate; the first motor 31 is arranged between the third motor 41 and the fourth motor 43 and is located in the space enclosed by the first connecting frame 51, the second connecting frame 52 and the third connecting frame 53.

[0153] By configuring the support frame 50 to be a first connecting frame 51, a second connecting frame 52 and a third connecting frame 53, the first connecting frame 51 and the second connecting frame 52 are respectively arranged on the sides of the third motor 41 and the fourth motor 43, so that the third motor 41 and the fourth motor 43 can be limited and the stability of the motor can be improved.

[0154] At the same time, the first motor 31 is arranged in the space enclosed by the first connecting frame 51, the second connecting frame 52 and the third connecting frame 53, which can improve the space utilization and make the robot 1000 look more compact.

[0155] In some embodiments, the motor frame 311 of the first motor 31 is fixedly connected to the second driven wheel 422, the motor frame 311 rotates with the rotation of the second driven wheel 422, and the motor frame 311 is used to fix the motor; the support frame 50 also includes a fourth connecting frame 54, the fourth connecting frame 54 is connected to the first connecting frame 51 and the second connecting frame 52, the first motor 31 is located in the space enclosed by the first connecting frame 51, the second connecting frame 52, the third connecting frame 53, and the fourth connecting frame 54, and the fourth connecting frame 54 is rotatably connected to the motor frame 311. By connecting the motor frame 311 to the support frame 50, the first motor 31 is supported by the support frame 50, and the stability of the structure can be improved.

[0156] In some embodiments, the leg mechanism 10 includes a first seat frame 13, which is provided with a through hole 131; the output shaft of the first motor 31 passes through the through hole 131 and is rotatably connected to the first seat frame 13; the first seat frame 13 is fixedly connected to the second driven wheel 422 and is rotatably connected to the third connecting frame 53.

[0157] In the second aspect, this embodiment provides a robot 1000, including a fuselage and the mechanical leg 100 of the first aspect, the frame 60 is mounted on the fuselage, and the leg mechanism is rotatably connected to the frame 60. Among them, the mechanical leg 100 in the embodiment of the present application can have the same structure as any of the mechanical legs 100 in the above embodiments, and can bring the same or similar beneficial effects. For details, please refer to the description in the above embodiments, which will not be repeated in this embodiment. In addition, the mechanical leg 100 arranged on the fuselage can be one or more, and those skilled in the art can set it accordingly according to actual needs.

[0158] Those skilled in the art may combine and associate different embodiments or examples described in this specification as well as features of different embodiments or examples without mutual contradiction.

[0159] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A mechanical leg for a robot, characterized in that: The mechanical leg comprises: A frame, the frame being used to be mounted to a body of the robot; A leg mechanism, the leg mechanism being used to be rotatably connected to the frame; A foot assembly, the foot assembly being disposed at the lower end of the leg mechanism and being rotatably connected to the leg mechanism; A first driving mechanism, wherein a power source of the first driving mechanism is connected to the upper end of the leg mechanism, and the first driving mechanism is connected to the foot component to drive the foot component to rotate relative to the leg mechanism.

2. The mechanical leg according to claim 1, characterized in that: The leg mechanism comprises a first leg mechanism and a second leg mechanism; The first leg mechanism is used to be rotatably connected to the frame; The second leg mechanism is slidably connected to the first leg mechanism; The foot assembly is disposed at the lower end of the second leg mechanism and is rotatably connected to the second leg mechanism; The first driving mechanism is connected to the first leg mechanism and the second leg mechanism and is used to drive the foot assembly to rotate relative to the second leg mechanism, and drive the second leg mechanism to move linearly along the up and down direction relative to the first leg mechanism, and the up and down direction is the extension direction of the first leg mechanism.

3. The mechanical leg according to claim 2, characterized in that: The mechanical leg has a first motion state, a second motion state and a third motion state, and the mechanical leg can freely switch between the first motion state, the second motion state and the third motion state; In a first motion state, the first driving mechanism is only used to drive the foot assembly to rotate, and the second leg assembly is stationary relative to the first leg assembly; In the second motion state, the first driving mechanism is only used to drive the second leg mechanism to move linearly in the up-down direction relative to the first leg mechanism, and the foot assembly does not rotate; In the third movement state, the first driving mechanism is used to drive the foot assembly to rotate and simultaneously drive the second leg assembly to move linearly along the up-down direction relative to the first leg assembly.

4. The mechanical leg according to claim 2, characterized in that: The first driving mechanism includes a first driving member and a second driving member, the power sources of the first driving member and the second driving member are connected to the upper end of the first leg mechanism, and the first driving member is connected to the first leg mechanism, the second leg mechanism, and the foot assembly; The second driving member is connected to the first leg mechanism and the second leg mechanism; The first driving member and the second driving member are used to work together to drive the foot assembly to rotate relative to the second leg mechanism; 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 up-down direction relative to the first leg mechanism.

5. The mechanical leg according to claim 4, characterized in that: The first driving member includes a first motor and a first transmission assembly, and the first motor is connected to the upper end of the first leg mechanism; The first transmission assembly is connected to the output shaft of the first motor and is connected to the foot assembly, the first leg mechanism, and the second leg mechanism; The second driving member includes a second motor and a second transmission assembly, and the second motor is connected to the upper end of the first leg mechanism; The second transmission assembly is connected to the output shaft of the second motor and is connected to the first leg mechanism and the second leg mechanism; The first motor and the second motor are used to drive the first transmission assembly and the second transmission assembly respectively to cooperate with each other to drive the foot assembly to rotate relative to the second leg mechanism and drive the second leg mechanism to move linearly along the up and down directions relative to the first leg mechanism.

6. The mechanical leg according to claim 5, characterized in that: When the first motor and the second motor rotate in the same direction and the output torques of the first motor and the second motor are the same, the foot assembly rotates, and the second leg mechanism remains stationary relative to the first leg mechanism; When the first motor and the second motor rotate in opposite directions and the output torques of the first motor and the second motor are the same, the foot assembly does not rotate, and the second leg mechanism moves linearly along the up-down direction relative to the first leg mechanism; When the first motor and the second motor rotate in the same or opposite directions but the output torques of the first motor and the second motor are different, the second leg mechanism moves linearly in the up and down directions relative to the first leg mechanism while the foot assembly rotates.

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

8. The mechanical leg according to claim 7, characterized in that: The entire section of the flexible transmission member between the first transmission wheel and the second transmission wheel is configured to be parallel to the up-down direction, and the entire section of the flexible transmission member between the third transmission wheel and the fourth transmission wheel is configured to be parallel to the up-down direction.

9. The mechanical leg according to claim 8, characterized in that: When the second leg mechanism is extended to its longest length relative to the first leg mechanism, the height of the lowest point of the first transmission wheel is A, the height of the highest point of the second transmission wheel is B, and B cannot be less than A. The height of the lowest point of the third transmission wheel is C, and the height of the highest point of the fourth transmission wheel is D, and D cannot be less than C.

10. The mechanical leg according to claim 7, characterized in that: When the first flexible transmission member and the second flexible transmission member rotate in the same direction and the first motor and the second motor have the same output torque, the first flexible transmission member and the second flexible transmission member act on the first driven wheel in the same direction, and the upward pulling force of the first flexible transmission member on the first driven wheel and the downward pulling force of the second flexible transmission member on the fourth transmission wheel are the same, or the upward pulling force of the second flexible transmission member on the first driven wheel and the downward pulling force of the first flexible transmission member on the second transmission wheel are the same, the second leg mechanism is stationary relative to the first leg mechanism, and the foot assembly rotates; The first flexible transmission member and the second flexible transmission member rotate in opposite directions and the first motor and the second motor have the same output torque, the first flexible transmission member and the second flexible transmission member transmit torques to the first driven wheel in opposite directions and have the same magnitude, and the first flexible transmission member and the second flexible transmission member exert upward pulling forces on the first driven wheel or the first flexible transmission member exerts downward pulling forces on the second transmission wheel and the second flexible transmission member exerts downward pulling forces on the fourth transmission wheel, the second leg mechanism moves linearly along the up-down direction relative to the first leg mechanism, and the foot assembly does not rotate; The first flexible transmission member and the second flexible transmission member rotate in opposite directions and the first motor and the second motor have different output torques. The first flexible transmission member and the second flexible transmission member act on the first driven wheel with torques in opposite directions but different in magnitude. The first flexible transmission member and the second flexible transmission member act on the first driven wheel with an upward pulling force or the first flexible transmission member acts on the second transmission wheel with a downward pulling force and the second flexible transmission member acts on the fourth transmission wheel with a downward pulling force. When the second leg mechanism moves linearly along the up-down direction relative to the first leg mechanism, the foot assembly rotates. The first flexible transmission member and the second flexible transmission member have the same rotation direction and the first motor and the second motor have different output torques, the first flexible transmission member and the second flexible transmission member have the same torque direction on the first driven wheel, and the upward pulling force of the first flexible transmission member on the first driven wheel and the downward pulling force of the second flexible transmission member on the fourth transmission wheel are different in magnitude, or the upward pulling force of the second flexible transmission member on the first driven wheel and the downward pulling force of the first flexible transmission member on the second transmission wheel are different in magnitude, and the second leg mechanism moves linearly along the up and down directions relative to the first leg mechanism, while the foot assembly rotates.

11. The mechanical leg according to claim 7, characterized in that: The mechanical leg has a left-right direction, which is perpendicular to the up-down direction; The first motor and the second motor are symmetrically arranged in the left-right direction and rotate coaxially; The first flexible transmission member and the second flexible transmission member are arranged in mirror image; The first transmission wheel and the third transmission wheel are symmetrically arranged; The second transmission wheel and the fourth transmission wheel are symmetrically arranged.

12. The mechanical leg according to claim 7, characterized in that: The first driving wheel, the second transmission wheel, the fourth transmission wheel, the second driving wheel, and the first driven wheel are synchronous pulleys, the first flexible transmission member and the second flexible transmission member are synchronous belts, the first flexible transmission member meshes with the first driving wheel, the first driven wheel, and the second transmission wheel for transmission, and the second flexible transmission member meshes with the second driving wheel, the first driven wheel, and the fourth transmission wheel for transmission; The first transmission wheel and the third transmission wheel are non-toothed rotating wheels, the non-toothed surface of the first flexible transmission member is wound and connected with the first transmission wheel, and the non-toothed surface of the second flexible transmission member is wound and connected with the third transmission wheel.

13. The mechanical leg according to claim 7, characterized in that: The radius of the first driving wheel is consistent with that of the second driving wheel, and the radius of the first driven wheel is larger than that of the first driving wheel and the second driving wheel.

14. The mechanical leg according to claim 13, characterized in that: The first transmission assembly includes a first limiting member, the first limiting member rotates on the second leg mechanism, the first limiting member is arranged between the first driving wheel and the first driven wheel and arranged on the outside of the first flexible transmission member, the first limiting member is used to make the first flexible transmission member between the first limiting member and the first driving wheel remain parallel to the up-down direction, so that when the first flexible transmission member between the first driving wheel and the first driven wheel increases or decreases, the first flexible transmission member between the first transmission wheel and the second transmission wheel can be correspondingly reduced or increased synchronously; The second transmission assembly includes a second limiting member, which is rotatably arranged on the second leg mechanism, and the second limiting member is arranged between the second driving wheel and the first driven wheel and on the outside of the second flexible transmission member. The second limiting member is used to make the second flexible transmission member between the second limiting member and the second driving wheel remain parallel to the up and down directions, so that when the second flexible transmission member between the second driving wheel and the first driven wheel increases or decreases, the second flexible transmission member between the third transmission wheel and the fourth transmission wheel can be correspondingly reduced or increased synchronously.

15. The mechanical leg according to claim 14, characterized in that: The first limiting member and the second limiting member are both non-toothed rollers; The first limiting member is rotatably connected to the first flexible transmission member; The second limiting member is rotatably connected to the second flexible transmission member.

16. The mechanical leg according to claim 7, characterized in that: The first transmission assembly includes a first pre-tensioning wheel, and the first pre-tensioning wheel is rotatably disposed on the second leg mechanism; The first preload wheel is arranged outside the first flexible transmission member between the second transmission wheel and the first driven wheel and is rotatably connected to the first flexible transmission member; The second transmission assembly includes a second pre-tensioning wheel, which is rotatably arranged on the second leg mechanism, and the second pre-tensioning wheel is arranged outside the second flexible transmission member between the fourth transmission wheel and the first driven wheel and is rotatably connected to the second flexible transmission member.

17. The mechanical leg according to claim 7, characterized in that: The first leg mechanism includes a guide assembly, and the second leg mechanism includes a slide seat, which is slidably connected to the guide assembly; The guide assembly comprises a guide rod, which extends in the up-down direction and passes through a slide seat and is slidably connected with the slide seat.

18. The mechanical leg according to claim 2, characterized in that: The first driving mechanism includes a first driving member and a second driving member, the first driving member is used to drive the foot assembly to rotate relative to the second leg assembly, and the second driving member is also used to drive the second leg assembly to move linearly along the up and down direction relative to the first leg assembly.

19. The mechanical leg according to claim 18, characterized in that: The first driving member includes a first motor and a first transmission assembly, wherein the first motor is used to be connected to the upper end of the first leg mechanism, the first transmission assembly is connected to the output shaft of the first motor and is connected to the foot assembly, the first motor is used to drive the first transmission assembly to move, and the first transmission assembly is configured to drive the foot assembly to rotate relative to the second leg mechanism; The second driving member includes a second motor and a second transmission assembly, the second motor is used to be connected to the upper end of the first leg mechanism, the second transmission assembly is connected to the output shaft of the second motor and is connected to the second leg mechanism, the second motor is used to drive the second transmission assembly to move, and the second transmission assembly is configured to drive the second leg mechanism to move linearly along the up and down directions relative to the first leg mechanism.

20. The mechanical leg according to claim 19, characterized in that: The first transmission assembly and / or the second transmission assembly is configured to drive the second leg mechanism to move linearly along the up and down direction relative to the first leg mechanism through belt transmission, chain transmission, rope transmission or screw nut transmission.

21. The mechanical leg according to claim 1, characterized in that: The leg mechanism comprises a first leg mechanism, a second leg mechanism and up to the nth leg mechanism, and when the leg length of the leg mechanism is at the longest, the first leg mechanism to the nth leg mechanism are arranged from top to bottom; The first leg mechanism is used to be rotatably connected to the frame; The second leg mechanism is used for sliding connection with the first leg mechanism; By analogy, the nth leg mechanism is slidably connected to the n-1th leg mechanism, where n>2; The foot assembly is connected to the lower end of the nth leg mechanism and is rotationally connected to the nth leg mechanism; The first driving mechanism is connected to the first leg mechanism to the nth leg mechanism and is used to drive the second leg mechanism to move linearly along the up and down direction relative to the first leg mechanism, and so on. The first driving mechanism is also used to drive the nth leg mechanism to move linearly along the up and down direction relative to the n-1th leg mechanism, and the up and down direction is the extension direction of the first leg mechanism.

22. The mechanical leg according to claim 21, characterized in that: The first driving mechanism includes a first driving member and a second driving member, the power sources of the first driving member and the second driving member are connected to the upper end of the first leg mechanism, and the first driving member is connected to the foot assembly and the first leg mechanism to the nth leg mechanism; A second driving member is connected to the first to nth leg mechanisms; The first driving member and the second driving member are used to work together to drive the foot assembly to rotate relative to the nth leg mechanism; 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 up-down direction relative to the first leg mechanism; And by analogy, the first driving member and the second driving member are also used to work together to drive the nth leg mechanism to move linearly along the up-down direction relative to the (n-1)th leg mechanism, and the up-down direction is the extension direction of the first leg mechanism.

23. The mechanical leg according to claim 22, characterized in that: The mechanical leg has a first motion state, a second motion state and a third motion state, and the mechanical leg can freely switch between the first motion state, the second motion state and the third motion state; In the first motion state, the first driving mechanism is used to drive the foot assembly to rotate, the second leg mechanism is stationary relative to the first leg mechanism, and so on, the nth leg mechanism is stationary relative to the n-1th leg mechanism; In the second motion state, the first driving mechanism is used to drive the second leg mechanism to move linearly along the up-down direction relative to the first leg mechanism, and similarly, the first driving mechanism is also used to drive the nth leg mechanism to move linearly along the up-down direction relative to the n-1th leg mechanism, and the foot assembly does not rotate; In the third motion state, the first driving mechanism is used to drive the foot component to rotate while driving the second leg mechanism to move linearly along the up and down direction relative to the first leg mechanism, and so on. The first driving mechanism is also used to drive the nth leg mechanism to move linearly along the up and down direction relative to the n-1th leg mechanism.

24. The mechanical leg according to claim 23, characterized in that: The first driving member includes a first motor and a first transmission assembly, wherein the first motor is connected to the upper end of the first leg mechanism; The first transmission assembly is connected to the output shaft of the first motor and is connected to the foot assembly, the first leg mechanism, and the second to nth leg mechanisms; The second driving member includes a second motor and a second transmission assembly, and the second motor is connected to the upper end of the first leg mechanism; The second transmission assembly is connected to the output shaft of the second motor and is connected to the first leg mechanism and the second leg mechanism to the nth leg mechanism; The first motor and the second motor are used to respectively drive the first transmission assembly and the second transmission assembly to cooperate with each other to drive the foot assembly to rotate relative to the nth leg mechanism and drive the nth leg mechanism to move linearly along the up and down direction relative to the n-1th leg mechanism.

25. The mechanical leg according to claim 24, characterized in that: The first transmission assembly includes a first driving wheel, at least one first transmission wheel, at least one second transmission wheel, a first flexible transmission member and at least one first driven wheel; The second transmission assembly includes a second driving wheel, at least one third transmission wheel, at least one fourth transmission wheel and a second flexible transmission member; The first driving wheel is connected to the output shaft of the first motor, the first driven wheel is rotatably connected to the nth leg mechanism and connected to the foot assembly, and the first driven wheel can drive the foot assembly to rotate when rotating; The second driving wheel is connected to the output shaft of the second motor; The first transmission wheel is rotatably disposed on the first leg mechanism to the n-1th leg mechanism; The second transmission wheel is rotatably disposed on the second leg mechanism to the nth leg mechanism; The third transmission wheel is rotatably disposed on the first leg mechanism to the n-1th leg mechanism; The fourth transmission wheel is rotatably disposed on the second leg mechanism to the nth leg mechanism; The first transmission wheel on the first leg mechanism is arranged between the first driving wheel and the first driven wheel; The first transmission wheel of the second leg mechanism is arranged between the second transmission wheel rotatably arranged on the second leg mechanism and the first driven wheel; By analogy, the first transmission wheel on the n-1th leg mechanism is arranged between the second transmission wheel rotatably arranged on the n-1th leg mechanism and the first driven wheel; The third transmission wheel on the first leg mechanism is arranged between the second driving wheel and the first driven wheel; The third transmission wheel of the second leg mechanism is arranged between the fourth transmission wheel rotatably arranged on the second leg mechanism and the first driven wheel; Similarly, the third transmission wheel on the n-1th leg mechanism is arranged between the fourth transmission wheel rotatably arranged on the n-1th leg mechanism and the first driven wheel; When the leg mechanism is extended to a long extent, the height of the highest point of the second transmission wheel on the second leg mechanism is not lower than the height of the lowest point of the first transmission wheel on the first leg mechanism; By analogy, the height of the highest point of the second transmission wheel on the nth leg mechanism is not lower than the height of the lowest point of the first transmission wheel on the n-1th leg mechanism; and the height of the highest point of the fourth transmission wheel of the second leg mechanism is not lower than the height of the lowest point of the third transmission wheel on the first leg mechanism, and so on, the height of the highest point of the fourth transmission wheel of the nth leg mechanism is not lower than the height of the lowest point of the third transmission wheel on the n-1th leg mechanism; The first flexible transmission member is connected to the first driving wheel, the first transmission wheel on the first leg mechanism to the n-1th leg mechanism, the second transmission wheel on the second leg mechanism to the nth leg mechanism, and the first driven wheel to form a closed transmission loop; The second flexible transmission member is connected to the second driving wheel, the third transmission wheel on the first leg mechanism to the n-1th leg mechanism, the fourth transmission wheel on the second leg mechanism to the nth leg mechanism, and the first driven wheel to form a closed transmission loop; The flexible transmission member between the first driving wheel and the first driven wheel is at least partially configured to be parallel to the up-down direction; The flexible transmission member between the second driving wheel and the first driven wheel is at least partially configured to be parallel to the up-down direction; The flexible transmission member between the first transmission wheel on the first leg mechanism and the second transmission wheel on the second leg mechanism is at least partially configured to be parallel to the up-down direction; And so on; the flexible transmission member between the first transmission wheel on the n-1th leg mechanism and the second transmission wheel on the nth leg mechanism is at least partially configured to be parallel to the up-down direction; The flexible transmission member between the third transmission wheel on the first leg mechanism and the fourth transmission wheel on the second leg mechanism is at least partially configured to be parallel to the up-down direction; By analogy, at least a portion of the flexible transmission member between the third transmission wheel on the (n-1)th leg mechanism and the fourth transmission wheel on the (n)th leg mechanism is configured to be parallel to the up-down direction.

26. The mechanical leg according to claim 25, characterized in that: When the first motor and the second motor rotate in the same direction and the output torques of the first motor and the second motor are the same, the foot assembly rotates, the second leg mechanism remains stationary relative to the first leg mechanism, and so on, the nth leg mechanism remains stationary relative to the n-1th leg mechanism; When the first motor and the second motor rotate in opposite directions and the output torques of the first motor and the second motor are the same, the foot assembly does not rotate, and the second leg mechanism moves linearly along the up-down direction relative to the first leg mechanism, and so on, the nth leg mechanism moves linearly along the up-down direction relative to the n-1th leg mechanism; When the first motor and the second motor rotate in the same or opposite directions but the output torques of the first motor and the second motor are different, the second leg mechanism moves linearly along the up and down direction relative to the first leg mechanism while the foot assembly rotates, and similarly the nth leg mechanism moves linearly along the up and down direction relative to the n-1th leg mechanism.

27. The mechanical leg according to any one of claims 1 to 26, characterized in that: The mechanical leg further comprises a second driving mechanism, a power source of which is connected to the frame; The second drive mechanism includes a third drive member and a fourth drive member; The third driving member and the fourth driving member are used to work together to drive the leg mechanism as a whole to rotate around the first axis, and are also used to work together to drive the leg mechanism as a whole to rotate around the second axis; The first axis and the second axis are non-parallel.

28. The mechanical leg according to claim 27, characterized in that: The third driving member includes a third motor and a third transmission assembly, and the fourth driving member includes a fourth motor and a fourth transmission assembly; The third motor and the fourth motor are used to be connected to the frame; The third motor and the fourth motor rotate coaxially and the third motor and the fourth motor rotate around the first axis or the second axis; The third transmission assembly is connected to the output shaft of the third motor and is connected to the leg mechanism; A fourth transmission assembly is connected to the output shaft of the fourth motor and is connected to the leg mechanism; The third motor and the fourth motor respectively drive the third transmission assembly and the fourth transmission assembly to jointly drive the leg mechanism to rotate around the first axis as a whole, and are also used to work together to drive the leg mechanism to rotate around the second axis as a whole.

29. The mechanical leg according to claim 28, characterized in that: The mechanical leg has a front-to-back direction and a left-to-right direction, the front-to-back direction is perpendicular to the left-to-right direction, the first axis is parallel to the front-to-back direction, and the second axis is parallel to the left-to-right direction; The mechanical leg has a fourth motion state, a fifth motion state and a sixth motion state, and the mechanical leg can freely switch between the fourth motion state, the fifth motion state and the sixth motion state; In the fourth motion state, the second driving mechanism is only used to drive the leg mechanism as a whole to rotate around the first axis, and the leg mechanism is stationary in the front-rear direction; In the fifth motion state, the second driving mechanism is only used to drive the leg mechanism as a whole to rotate around the second axis, and the leg mechanism is stationary in the left and right directions; In the sixth movement state, the second driving mechanism is used to drive the leg mechanism as a whole to rotate around the first axis while driving the leg mechanism as a whole to rotate around the second axis.

30. The mechanical leg according to claim 28, characterized in that: The third transmission assembly includes a third driving wheel, at least one second driven wheel, and a third flexible transmission member; The third motor and the fourth motor are arranged opposite to each other; The third driving wheel is connected to the output shaft of the third motor, and the second driven wheel is fixedly connected to the leg mechanism; The third flexible transmission member is connected to the third driving wheel and the second driven wheel; The fourth transmission assembly includes a fourth driving wheel and a fourth flexible transmission member; The fourth driving wheel is connected to the output shaft of the fourth motor, and the fourth flexible transmission member is connected to the fourth driving wheel and the second driven wheel; The fourth transmission assembly is connected to the leg mechanism through the second driven wheel; The rotation axes of the third driving wheel and the fourth driving wheel are coaxial; The third driving wheel and the fourth driving wheel rotate around the first axis, and the second driven wheel rotates around the second axis; The first axis and the second axis are perpendicular to each other; When the second driven wheel rotates around the second axis, the leg mechanism rotates along with the rotation of the second driven wheel.

31. The mechanical leg according to claim 30, characterized in that: When the third flexible transmission member and the fourth flexible transmission member rotate in the same direction and the output torques of the third motor and the fourth motor are the same, the leg mechanism rotates around the first axis and the leg mechanism remains stationary in the front-rear direction; When the third flexible transmission member and the fourth flexible transmission member rotate in opposite directions and the output torques of the third motor and the fourth motor are the same, the leg mechanism rotates around the second axis, and the leg mechanism remains stationary in the left and right directions; When the third flexible transmission member and the fourth flexible transmission member rotate in opposite or same directions and the output torques of the third motor and the fourth motor are different in magnitude, the leg mechanism rotates around the first axis and the second axis at the same time.

32. The mechanical leg according to claim 30, characterized in that: The radius of the third driving wheel is consistent with that of the fourth driving wheel, and the radius of the second driven wheel is larger than that of the third driving wheel and the fourth driving wheel.

33. The mechanical leg according to claim 32, characterized in that: The mechanical leg comprises a support frame, and the support frame is rotatably connected to the leg mechanism; When the leg mechanism rotates around the first axis, the support frame and the leg mechanism rotate around the first axis as a whole; When the leg mechanism rotates around the second axis, the support frame remains stationary; The third transmission assembly includes at least one fifth transmission wheel and at least one sixth transmission wheel, and the fifth transmission wheel and the sixth transmission wheel are rotatably arranged on the upper and lower sides of the support frame; The fourth transmission assembly includes at least one seventh transmission wheel and at least one eighth transmission wheel, wherein the seventh transmission wheel and the eighth transmission wheel are rotatably disposed on the upper and lower sides of the support frame; The fifth transmission wheel and the sixth transmission wheel are transmission-connected with the third flexible transmission member; The seventh transmission wheel and the eighth transmission wheel are transmission-connected to the fourth flexible transmission member.

34. The mechanical leg according to claim 33, characterized in that: The third driving wheel, the second driven wheel and the fourth driving wheel are synchronous pulleys, and the third flexible transmission member and the fourth flexible transmission member are synchronous belts; After the third flexible transmission member is turned over, the non-toothed surface of the third flexible transmission member is in transmission connection with the fifth transmission wheel and the sixth transmission wheel; After the fourth flexible transmission member is turned over, the non-toothed surface of the fourth flexible transmission member is transmission-connected with the seventh transmission wheel and the eighth transmission wheel.

35. The mechanical leg according to claim 33, characterized in that: The support frame includes a first connecting frame, a second connecting frame and a third connecting frame, the first connecting frame, the second connecting frame and the third connecting frame are connected; the third connecting frame is rotatably connected to the leg mechanism; the third motor and the fourth motor are symmetrically arranged; the first connecting frame is arranged on the side of the third driving wheel away from the third motor; the second connecting frame is arranged on the side of the fourth driving wheel away from the fourth motor; the first driving mechanism includes a first motor, and the first motor is used to drive the foot component to rotate; the first motor is arranged between the third motor and the fourth motor and is located in the space enclosed by the first connecting frame, the second connecting frame and the third connecting frame.

36. The mechanical leg according to claim 35, characterized in that: The motor frame of the first motor is fixedly connected to the second driven wheel, the motor frame rotates with the rotation of the second driven wheel, and the motor frame is used to fix the motor; The support frame also includes a fourth connecting frame, which is connected to the first connecting frame and the second connecting frame. The first motor is located in a space enclosed by the first connecting frame, the second connecting frame, the third connecting frame, and the fourth connecting frame. The fourth connecting frame is rotatably connected to the motor frame.

37. The mechanical leg according to claim 36, characterized in that: The leg mechanism includes a first seat frame, the first seat frame is provided with a through hole, the output shaft of the first motor passes through the through hole and is rotatably connected to the first seat frame, the first seat frame is fixedly connected to the second driven wheel and is rotatably connected to the third connecting frame.

38. A robot, characterized in that: It comprises a frame, a body and the mechanical leg according to any one of claims 1 to 26, wherein the frame is mounted to the body, and the leg mechanism is rotatably connected to the frame.

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