Mechanical leg and robot thereof

Abstract

The embodiment of the utility model provides a mechanical leg, which is applied to a robot and comprises a leg mechanism, a driving mechanism and a driving mechanism, a power source of the first driving component is connected to a machine body of the robot; a power source of the second driving component is connected to a machine body of the robot; the first driving component and the second driving component are connected with the leg mechanism, are used for jointly working and cooperatively driving the leg mechanism to rotate around a first axis, and are also used for jointly working and cooperatively driving the leg mechanism to rotate around a second axis; the first axis and the second axis are not parallel.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, 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 usually need to move with multiple degrees of freedom, making the robots more flexible and able to adapt to different terrains and environments.

[0003] However, existing robotic legs typically use multiple drive mechanisms to independently control the movement of the robotic legs, which is prone to errors and affects the operating speed and cost of the automated equipment. Utility Model Content

[0004] The embodiment of the utility model provides a mechanical leg and a robot thereof.

[0005] In a first aspect, an embodiment of the present invention provides a robotic leg, comprising:

[0006] a leg mechanism, the leg mechanism being rotatably connected to the robot body;

[0007] a first driving member, wherein a power source of the first driving member is connected to the body of the robot;

[0008] a second driving member, wherein a power source of the second driving member is connected to the body of the robot;

[0009] The first driving member and the second driving member are connected to the leg mechanism and are used to work together to drive the leg mechanism to rotate around the first axis, and are also used to work together to drive the leg mechanism to rotate around the second axis;

[0010] The first axis and the second axis are non-parallel.

[0011] In a second aspect, an embodiment of the present invention provides a robot, comprising a body and a mechanical leg as described in the first aspect above, wherein the mechanical leg is rotatably connected to the body.

[0012] The proposed robotic leg reduces its moment of inertia and improves its flexibility by connecting the power sources of its first and second drive components to the robot's body. The first and second drive components work together to drive the leg's two degrees of freedom, allowing the power sources of the first and second drive components to be connected in parallel. This reduces the parameters required for power source drive, minimizing errors, increasing the robot's operating speed, and lowering its operating costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0014] Figure 1 A schematic structural diagram of a mechanical leg provided in an embodiment of the present utility model.

[0015] Figure 2 An exploded view of a partial structure of a mechanical leg provided in an embodiment of the present utility model.

[0016] Figure 3 A cross-sectional view of a mechanical leg provided in an embodiment of the present utility model.

[0017] Figure 4 for Figure 3 An enlarged schematic diagram of location A;

[0018] Description of main reference numerals:

[0019] 100. Mechanical leg; 10. Leg mechanism; 11. Seat; 111. Through hole; 20. First driving mechanism; 21. First motor; 22. First transmission assembly; 221. First driving wheel; 222. First driven wheel; 223. First flexible transmission member; 224. First transmission wheel; 225. Second transmission wheel; 23. Second motor; 24. Second transmission assembly; 241. Second driving wheel; 242. Second flexible transmission member; 243. Third transmission wheel; 244. Fourth transmission wheel; 30. Support frame; 31. First connecting frame; 32. Second connecting frame; 33. Third connecting frame; 34. Fourth connecting frame; 40. Third motor; 41. Motor frame; a. First axis; b. Second axis. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0021] 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.

[0022] It should also be understood that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or there may be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element through an intervening element.

[0023] The terms used in this specification are for the purpose of describing specific embodiments only and are not intended to limit this application. For example, the terms "first," "second," and so on are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, the term "first" or "second" may explicitly or implicitly include at least one of the features.

[0024] It should be further understood that the term "and / or" used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0025] An embodiment of the present invention provides a robotic leg 100. In some embodiments, the robotic leg 100 includes a leg mechanism 10, a first drive member and a second drive member; the leg mechanism 10 is rotatably connected to the robot body; the power sources of the first drive member and the second drive member are connected to the robot body; the first drive member and the second drive member are connected to the leg mechanism 10 and are used to work together to drive the leg mechanism 10 to rotate around a first axis a, and are also used to work together to drive the leg mechanism 10 to rotate around a second axis b; the first axis a and the second axis b are not parallel.

[0026] By connecting the power sources of the first and second drive components to the robot body, the rotational inertia of the robotic leg 100 can be reduced, thereby improving its flexibility. The first and second drive components work together to drive the rotation of the robotic leg 100 in two degrees of freedom, allowing the power sources of the first and second drive components to be connected in parallel. This reduces the parameters required for power source drive, reduces errors, increases the robot's operating speed, and reduces operating costs.

[0027] As shown in Figures 1 to 2, in some embodiments, the first driving member includes a first motor 21 and a first transmission assembly 22, and the second driving member includes a second motor 23 and a second transmission assembly 24; the first motor 21 and the second motor 23 are used to be connected to the fuselage; the first motor 21 and the second motor 23 rotate coaxially and the first motor 21 and the second motor 23 rotate around the first axis a or the second axis b; the first transmission assembly 22 is connected to the output shaft of the first motor 21 and is connected to the leg mechanism 10; the second transmission assembly 24 is connected to the output shaft of the second motor 23 and is connected to the leg mechanism 10; the first motor 21 and the second motor 23 respectively drive the first transmission assembly 22 and the second transmission assembly 24 to jointly drive the leg mechanism 10 to rotate around the first axis a, and are also used to work together to drive the leg mechanism 10 to rotate around the second axis b.

[0028] By connecting the first motor 21 and the second motor 23 to the body, the center of gravity of the robotic leg 100 is raised, and the moment of inertia of the robotic leg 100 when rotating relative to the body is reduced, thereby helping to control the robot's energy consumption and improve the robot's response speed. In this embodiment, the first motor 21 and the second motor 23 rotate about the first axis a. Of course, in other embodiments, the first motor 21 and the second motor 23 can also rotate about the second axis b.

[0029] In some embodiments, the robotic leg 100 has a front-to-back direction and a left-to-right direction, the front-to-back direction being perpendicular to the left-to-right direction, the first axis a being parallel to the front-to-back direction, and the second axis b being parallel to the left-to-right direction; the robotic leg 100 has a first motion state, a second motion state, and a third motion state, and the robotic leg 100 can freely switch between the first motion state, the second motion state, and the third motion state; in the first motion state, the first drive mechanism 20 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 first direction; in the second motion state, the first drive mechanism 20 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 third motion state, the first drive mechanism 20 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 has multiple motion states, so that the robot can adapt to different environments according to different gaits.

[0030] In this embodiment, the first direction is the front-to-back direction, and the second direction is the left-to-right direction. It should be noted that all directional indications in the embodiments of this application, such as up, down, left, right, front, and back, are only used to explain the relative positional relationships and movement conditions between various components in a specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0031] In some embodiments, the first transmission assembly 22 includes a first driving wheel 221, at least one first driven wheel 222, and a first flexible transmission member 223; the first motor and the second motor are arranged opposite to each other; the first driving wheel 221 is connected to the output shaft of the first motor 21, and the first driven wheel 222 is fixedly connected to the leg mechanism 10; the first flexible transmission member 223 is connected to the first driving wheel 221 and the first driven wheel 222; the second transmission assembly 24 includes a second driving wheel 241 and a second flexible transmission member 242; the second driving wheel 241 is connected to the output shaft of the second motor 23, The second flexible transmission member 242 is connected to the second driving wheel 241 and the first driven wheel 222; the second transmission assembly 24 is connected to the leg mechanism 10 through the first driven wheel 222; the rotation axes of the first driving wheel 221 and the second driving wheel 241 are coaxial; the first driving wheel 221 and the second driving wheel 241 rotate around the first axis a, and the first driven wheel 222 rotates around the second axis b; the first axis a and the second axis b are perpendicular to each other; when the first driven wheel 222 rotates around the second axis b, the leg mechanism 10 rotates with the rotation of the first driven wheel 222.

[0032] In this embodiment, the first transmission assembly 22 includes at least one first driven wheel 222. In other embodiments, the first transmission assembly 22 may include two first driven wheels 222. The first flexible transmission member 223 and the second flexible transmission member 242 are respectively connected to the first driven wheels 222. In this embodiment, by providing a single first driven wheel 222, the robotic leg 100 can achieve two degrees of freedom of rotation.

[0033] In this embodiment, two degrees of freedom of rotation, i.e., rotation about the first axis a and the second axis b, can be achieved through a flexible transmission member, resulting in a simple, compact structure and low cost. Of course, in other embodiments, multiple gear transmissions can also be used, without the need for a flexible transmission member to drive the two degrees of freedom of rotation of the leg mechanism 10.

[0034] In this embodiment, the first driving wheel 221 and the second driving wheel 241 rotate around the first axis a, and the first driven wheel 222 rotates around the second axis b.

[0035] Of course, in other embodiments, the first driving wheel 221 and the second driving wheel 241 may also rotate around the second axis b, and in this case, the first driven wheel 222 rotates around the first axis a.

[0036] In some embodiments, when the first flexible transmission member 223 and the second flexible transmission member 242 rotate in the same direction and the output torques of the first motor 21 and the second motor 23 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 directions; when the first flexible transmission member 223 and the second flexible transmission member 242 rotate in opposite directions and the output torques of the first motor 21 and the second motor 23 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 directions; when the first flexible transmission member 223 and the second flexible transmission member 242 rotate in opposite or same directions and the output torques of the first motor 21 and the second motor 23 are different, the leg mechanism 10 rotates around the first axis a and the second axis b at the same time.

[0037] In this embodiment, the first motor and the second motor are arranged opposite to each other. When the first motor 21 and the second motor 23 rotate in the same direction and the torque of the first motor 21 and the second motor 23 is the same, the leg mechanism 10 rotates around the first axis a, and the leg mechanism 10 is stationary in the first direction; when the first motor 21 and the second motor 23 rotate in opposite directions and the torque of the first motor 21 and the second motor 23 is the same, the leg mechanism 10 rotates around the second axis b, and the leg mechanism 10 is stationary in the second direction; when the first motor 21 and the second motor 23 rotate in opposite or same directions and the torque of the first motor 21 and the second motor 23 is different, the leg mechanism 10 rotates around the first axis a and the second axis b at the same time.

[0038] It should be noted that the rotation directions of the two motors here are referenced to the earth. The following describes several scenarios for the two motors: When the two motors are set opposite each other (i.e., mirrored), with the earth as the reference, when one motor rotates counterclockwise, the other also rotates counterclockwise. However, if the motors are used as the reference, if one motor rotates counterclockwise, the other also rotates clockwise. When the two motors are set apart but not mirrored, with the earth as the reference, if one motor rotates counterclockwise, the other also rotates counterclockwise. If the motors are used as the reference, if one motor rotates counterclockwise, the other also rotates counterclockwise.

[0039] In some embodiments, the radius of the first driving wheel 221 and the second driving wheel 241 are the same, and the radius of the first driven wheel 222 is larger than the radius of the first driving wheel 221 and the second driving wheel 241. This helps to increase the transmission ratio between the driving wheel and the transmission wheel, increase the torque of the first driven wheel 222, enable the robotic leg 100 to adapt to harsh environments such as rugged or muddy terrain, and improve the robot's obstacle-crossing ability.

[0040] As shown in Figure 1 to Figure 2, the mechanical leg 100 includes a support frame 30, which is rotatably connected to the leg mechanism 10; when the leg mechanism 10 rotates around the first axis a, the support frame 30 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 30 remains stationary; the first transmission assembly 22 includes at least one first transmission wheel 224 and at least one second transmission wheel 225, and the first transmission wheel 224 and the second transmission wheel 225 are rotatably arranged on the upper and lower sides of the support frame 30; the second transmission assembly 24 includes at least a third transmission wheel 243 and at least a fourth transmission wheel 244, and the third transmission wheel 243 and the fourth transmission wheel 244 are rotatably arranged on the upper and lower sides of the support frame 30; the first transmission wheel 224 and the second transmission wheel 225 are transmission-connected to the first flexible transmission member 223; the third transmission wheel 243 and the fourth transmission wheel 244 are transmission-connected to the second flexible transmission member 242.

[0041] By setting up a support frame 30, a first transmission wheel 224, a second transmission wheel 225, a third transmission wheel 243, and a fourth transmission wheel 244 are provided on the support frame 30. By setting these transmission wheels, when the motor drives the leg mechanism 10 to rotate around the second axis b, the flexible transmission member can transmit force to the support frame 30 through the first transmission wheel 224, the second transmission wheel 225, the third transmission wheel 243, and the fourth transmission wheel 244, and the support frame 30 drives the leg mechanism 10 to rotate around the second axis b. In this way, there is no need to drive the leg mechanism 10 to rotate only through the first driven wheel 222, so that the structural stability of the robot is improved.

[0042] In some embodiments, the first driving wheel 221, the first driven wheel 222, and the second driving wheel 241 are synchronous pulleys, and the first flexible transmission member 223 and the second flexible transmission member 242 are synchronous belts; after the first flexible transmission member 223 is flipped, the non-toothed surface of the first flexible transmission member 223 is transmission-connected with the first transmission wheel 224 and the second transmission wheel 225; after the second flexible transmission member 242 is flipped, the non-toothed surface of the second flexible transmission member 242 is transmission-connected with the third transmission wheel 243 and the fourth transmission wheel 244.

[0043] Optionally, the first flexible transmission member 223 and the second flexible transmission member 242 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.

[0044] It should be noted that the synchronous belt can be a synchronous belt doped with steel wire, which can increase the hardness of the synchronous belt.

[0045] In some embodiments, the support frame 30 includes a first connecting frame 31, a second connecting frame 32 and a third connecting frame 33, and the first connecting frame 31, the second connecting frame 32 and the third connecting frame 33 are connected; the third connecting frame 33 is rotatably connected to the leg mechanism 10; the first motor 21 and the second motor 23 are symmetrically arranged; the first connecting frame 31 is arranged on the side of the first driving wheel 221 away from the first motor 21; the second connecting frame 32 is arranged on the side of the second driving wheel 241 away from the second motor 23; the mechanical leg 100 also includes a third motor 40, and the third motor 40 is connected to the upper end of the leg mechanism 10, for driving the extension and retraction movement of the leg mechanism 10; the third motor 40 is arranged between the first motor 21 and the second motor 23 and is located in the space enclosed by the first connecting frame 31, the second connecting frame 32 and the third connecting frame 33.

[0046] By setting the support frame 30 into a first connecting frame 31, a second connecting frame 32 and a third connecting frame 33, the first connecting frame 31 and the second connecting frame 32 are respectively set on the sides of the first motor 21 and the second motor 23, which can limit the first motor 21 and the second motor 23 and improve the stability of the motor.

[0047] At the same time, the third motor 40 is arranged in the space enclosed by the first connecting frame 31, the second connecting frame 32 and the third connecting frame 33, which can improve space utilization and make the robot look more compact.

[0048] In some embodiments, the motor frame 41 of the third motor 40 is fixedly connected to the first driven wheel 222. The motor frame 41 rotates with the rotation of the first driven wheel 222 and is used to secure the motor. The support frame 30 also includes a fourth connecting frame 34, which is connected to the first connecting frame 31 and the second connecting frame 32. The third motor 40 is located in the space enclosed by the first connecting frame 31, the second connecting frame 32, the third connecting frame 33, and the fourth connecting frame 34. The fourth connecting frame 34 is rotatably connected to the motor frame 41. By connecting the motor frame 41 to the support frame 30, the support frame 30 supports the third motor 40, thereby improving the stability of the structure.

[0049] In some embodiments, the leg mechanism 10 includes a seat frame 11, which is provided with a through hole 111; the output shaft of the third motor 40 passes through the through hole 111 and is rotatably connected to the seat frame 11; the seat frame 11 is fixedly connected to the first driven wheel 222 and is rotatably connected to the third connecting frame 33.

[0050] In a second aspect, this embodiment provides a robot comprising a body and the robotic leg 100 of the first aspect, wherein the robotic leg 100 is rotatably connected to the body. The robotic leg 100 in the embodiment of the present application can have the same structure as any of the robotic legs 100 in the above embodiments and can provide the same or similar beneficial effects. For details, please refer to the description in the above embodiments and will not be repeated in this embodiment. Furthermore, the number of robotic legs 100 provided on the body can be one or more, and those skilled in the art can configure them accordingly based on actual needs.

[0051] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and such modifications or substitutions are intended to be within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be subject to the scope of protection of the claims.

Claims

1. A mechanical leg, applied to a robot, characterized in that: include: a leg mechanism, the leg mechanism being rotatably connected to the robot body; a first driving member, wherein a power source of the first driving member is connected to the body of the robot; a second driving member, wherein a power source of the second driving member is connected to the body of the robot; The first driving member and the second driving member are connected to the leg mechanism and are used to work together to drive the leg mechanism to rotate around the first axis, and are also used to work together to drive the leg mechanism to rotate around the second axis; The first axis and the second axis are non-parallel.

2. The mechanical leg according to claim 1, wherein: The first drive member includes a first motor and a first transmission assembly, and the second drive member includes a second motor and a second transmission assembly; The first motor and the second motor are adapted to be connected to the fuselage; The first motor and the second motor rotate coaxially and the first motor and the second motor rotate about the first axis or the second axis; The first transmission assembly is connected to the output shaft of the first motor and is connected to the leg mechanism; The second transmission assembly is connected to the output shaft of the second motor and is connected to the leg mechanism; The first motor and the second motor respectively drive the first transmission assembly and the second transmission assembly to jointly drive the leg mechanism to rotate around the first axis, and are also used to work together to drive the leg mechanism to rotate around the second axis.

3. The mechanical leg according to claim 2, wherein: The robotic leg has a first motion state, a second motion state, and a third motion state, and the robotic leg can freely switch between the first motion state, the second motion state, and the third motion state; In the first motion state, the first driving mechanism is only used to drive the leg mechanism to rotate around the first axis, and the leg mechanism is stationary in the first direction; In the second motion state, the first driving mechanism is only used to drive the leg mechanism to rotate around the second axis, and the leg mechanism is stationary in the second direction; In the third motion state, the first driving mechanism is used to drive the leg mechanism to rotate around the first axis and simultaneously drive the leg mechanism to rotate around the second axis.

4. The mechanical leg according to claim 2, wherein: The first transmission assembly includes a first driving wheel, at least one first driven wheel, and a first flexible transmission member; The first motor and the second motor are arranged opposite to each other; The first driving wheel is connected to the output shaft of the first motor, and the first driven wheel is fixedly connected to the leg mechanism; The first flexible transmission member is in transmission connection with the first driving wheel and the first driven wheel; The second transmission assembly includes a second driving wheel and a second flexible transmission member; The second driving wheel is connected to the output shaft of the second motor, and the second flexible transmission member is in driving connection with the second driving wheel and the first driven wheel; The second transmission assembly is connected to the leg mechanism via the first driven wheel; The rotation axes of the first driving wheel and the second driving wheel are coaxial; The first driving wheel and the second driving wheel rotate around a first axis, and the first driven wheel rotates around a second axis; The first axis and the second axis are perpendicular to each other; When the first driven wheel rotates around the second axis, the leg mechanism rotates along with the rotation of the first driven wheel.

5. The mechanical leg according to claim 4, wherein: When the first flexible transmission member and the second flexible transmission member rotate in the same direction and the output torques of the first motor and the second motor are the same, the leg mechanism rotates around the first axis and the leg mechanism remains stationary in the first direction; When the first flexible transmission member and the second flexible transmission member rotate in opposite directions and the output torques of the first motor and the second motor are equal, the leg mechanism rotates around the second axis and the leg mechanism remains stationary in the second direction; When the first flexible transmission member and the second flexible transmission member rotate in opposite or same directions and the output torques of the first motor and the second motor are different, the leg mechanism rotates around the first axis and the second axis at the same time.

6. The mechanical leg according to claim 4, wherein: 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.

7. The mechanical leg according to claim 4, wherein: The mechanical leg includes a support frame, which 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 first transmission assembly includes at least one first transmission wheel and at least one second transmission wheel, and the first transmission wheel and the second transmission wheel are rotatably arranged on the upper and lower sides of the support frame; The second transmission assembly includes at least one third transmission wheel and at least one fourth transmission wheel, and the third transmission wheel and the fourth transmission wheel are rotatably arranged on the upper and lower sides of the support frame; The first transmission wheel and the second transmission wheel are in transmission connection with the first flexible transmission member; The third transmission wheel and the fourth transmission wheel are in transmission connection with the second flexible transmission member.

8. The mechanical leg according to claim 7, wherein: The first driving wheel, the first driven wheel and the second driving wheel are synchronous pulleys, and the first flexible transmission member and the second flexible transmission member are synchronous belts; After the first flexible transmission member is turned over, the non-toothed surface of the first flexible transmission member is in transmission connection with the first transmission wheel and the second transmission wheel; After the second flexible transmission member is turned over, the non-toothed surface of the second flexible transmission member is in transmission connection with the third transmission wheel and the fourth transmission wheel.

9. The mechanical leg according to claim 7, wherein: 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 first motor and the second motor are symmetrically arranged; the first connecting frame is arranged on the side of the first driving wheel away from the first motor; the second connecting frame is arranged on the side of the second driving wheel away from the second motor; the mechanical leg also includes a third motor, the third motor is connected to the upper end of the leg mechanism, and is used to drive the leg mechanism to extend and retract; The third motor is arranged between the first motor and the second motor and is located in a space enclosed by the first connecting frame, the second connecting frame and the third connecting frame.

10. The mechanical leg according to claim 9, wherein: The motor frame of the third motor is fixedly connected to the first driven wheel, and the motor frame rotates as the first driven wheel rotates. 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 third motor is located in the 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.

11. The mechanical leg according to claim 10, wherein: The leg mechanism includes a seat frame, which is provided with a through hole. The output shaft of the third motor passes through the through hole and is rotatably connected to the seat frame. The seat frame is fixedly connected to the first driven wheel and is rotatably connected to the third connecting frame.

12. A robot, characterized in that: It comprises a fuselage and the mechanical leg according to any one of claims 1 to 11, wherein the mechanical leg is rotatably connected to the fuselage.

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