Foot and leg assembly and foot type robot

Abstract

The utility model discloses a foot and leg assembly and a foot type robot, and relates to the technical field of robots. The foot and leg assembly comprises a thigh motor module, a flange plate, a first bearing and a leg body. The thigh motor module comprises a shell, a thigh motor and a speed reducer, the thigh motor is installed in the shell and connected with the speed reducer, the speed reducer is connected with the leg body through the flange plate, the first bearing is arranged between the shell and the flange plate, and the shell is in rotatable supporting fit with the flange plate through the first bearing. Compared with the prior art, due to the fact that the flange plate connected between the speed reducer and the leg body and the first bearing arranged between the shell and the flange plate are adopted in the foot and leg assembly, supporting reaction force borne by the speed reducer can be effectively reduced, abrasion and deformation of the speed reducer are reduced, reliability is improved, and the service life is prolonged.

Description

Technical Field

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

[0002] At present, legged robots on the market generally directly connect the thigh motor module and the leg body, and use the thigh motor and reducer of the thigh motor module to drive the entire leg body to rotate. However, in this way, the overturning torque of the leg body is completely borne by the output shaft of the reducer. The output shaft must not only provide corresponding torque to the leg body, but also provide support force for the leg body, causing the output shaft of the reducer to be prone to wear and deformation, which directly affects the service life of the thigh motor module.

[0003] In view of this, it is particularly important to design and manufacture a reliable foot-leg assembly and a foot-type robot, especially in robot production. Utility Model Content

[0004] The purpose of the utility model is to provide a foot-leg assembly that can reduce the support reaction force on the reducer, which is beneficial to reducing the wear and deformation of the reducer, improving reliability and extending service life.

[0005] Another object of the present utility model is to provide a legged robot that can effectively reduce the support reaction force on the reducer, which is beneficial to reducing the wear and deformation of the reducer, improving reliability and extending service life.

[0006] The present invention is achieved by adopting the following technical solutions.

[0007] A foot-leg assembly includes a thigh motor module, a flange, a first bearing and a leg body. The thigh motor module includes a housing, a thigh motor and a reducer. The thigh motor is installed in the housing and connected to the reducer. The reducer is connected to the leg body through the flange. The first bearing is arranged between the housing and the flange. The housing is rotatably supported and matched with the flange through the first bearing.

[0008] Optionally, a limiting ring is extended from the flange, the first bearing is installed in the limiting ring and sleeved outside the outer shell; or, an annular ring is protruding from the outer shell, a boss portion is protruding from the flange, the first bearing is installed in the annular ring and sleeved outside the boss portion.

[0009] Optionally, the leg body includes: a calf motor; a thigh, fixedly connected to the calf motor, the thigh and / or calf motor being fixedly connected to the flange; a calf, hinged to the thigh, the calf motor being transmission-connected to the calf, and the calf motor being used to drive the calf to swing relative to the thigh.

[0010] Optionally, the calf motor includes a calf motor housing, one end of the calf motor housing is provided with an opening, a flange is connected to the calf motor housing, and the flange covers the outside of the opening.

[0011] Optionally, the reducer is a planetary reducer, and the thigh motor includes: a motor stator, fixed in the outer shell; a motor rotor, rotatably mounted on the outer shell, and the motor rotor is transmission-connected to the planetary carrier of the reducer; wherein, the thigh motor also includes a second bearing and / or a third bearing, the second bearing is arranged between the motor rotor and the planetary carrier of the reducer so that the motor rotor and the planetary carrier can be rotatably supported and matched; the third bearing is arranged in the outer shell and is sleeved on the outside of the planetary carrier so that the planetary carrier and the outer shell can be rotatably supported and matched.

[0012] Optionally, the number of the third bearings is two, and the two third bearings are spaced apart along the axial direction of the motor rotor.

[0013] Optionally, the motor rotor includes a rotor magnetic ring, a connecting frame, a transmission sleeve and a rotating shaft. The rotor magnetic ring is fixedly connected to the transmission sleeve through the connecting frame. The rotor magnetic ring surrounds the outside of the motor stator in a non-contact manner. The rotating shaft is non-rotatably connected to the transmission sleeve, and the rotating shaft is non-rotatably connected to the sun gear of the reducer. The rotating shaft and the sun gear are separately arranged or integrally formed.

[0014] Optionally, the rotating shaft is a hollow tubular structure, and the thigh motor module also includes a central wire threading tube, which is passed through the rotating shaft and the transmission sleeve; wherein the flange is provided with a step through hole, the step through hole has a step surface, and one end of the central wire threading tube is provided with a flange, which extends into the step through hole and is clamped between the reducer and the step surface.

[0015] Optionally, the thigh motor module also includes a fourth bearing, and the motor rotor also includes a positioning sleeve, the positioning sleeve is fixedly connected to the connecting frame, the positioning sleeve and the transmission sleeve are coaxially connected, the positioning sleeve is rotatably engaged with the outer shell, the fourth bearing is arranged in the positioning sleeve, and the center wire tube is rotatably engaged with the positioning sleeve through the fourth bearing.

[0016] A legged robot includes the above-mentioned foot-leg assembly, which includes a thigh motor module, a flange, a first bearing and a leg body. The thigh motor module includes a housing, a thigh motor and a reducer. The thigh motor is installed in the housing and connected to the reducer. The reducer is connected to the leg body through the flange. The first bearing is arranged between the housing and the flange. The housing is rotatably supported and matched with the flange through the first bearing.

[0017] The foot-leg assembly and the foot-type robot provided by the utility model have the following beneficial effects:

[0018] The foot-leg assembly provided by the present invention comprises a thigh motor module comprising a housing, a thigh motor, and a reducer. The thigh motor is mounted within the housing and connected to the reducer. The reducer is connected to the leg body via a flange. A first bearing is disposed between the housing and the flange, and the housing is rotatably supported and engaged with the flange via the first bearing. Compared to the prior art, the foot-leg assembly provided by the present invention, due to the use of a flange connected between the reducer and the leg body and a first bearing disposed between the housing and the flange, can effectively reduce the support reaction force on the reducer, thereby reducing wear and deformation of the reducer, improving reliability, and extending service life.

[0019] The foot-type robot provided by the utility model includes the above-mentioned foot-leg assembly, which can effectively reduce the support reaction force exerted on the reducer, thereby reducing the wear and deformation of the reducer, improving reliability and extending service life. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0021] Figure 1 A schematic structural diagram of a legged robot provided in an embodiment of the present utility model;

[0022] Figure 2 A schematic structural diagram of a foot-leg assembly provided in an embodiment of the present utility model;

[0023] Figure 3 A cross-sectional view of a foot-leg assembly provided by an embodiment of the present utility model;

[0024] Figure 4 A cross-sectional view of a thigh motor module in a foot-leg assembly provided by an embodiment of the present invention;

[0025] Figure 5 for Figure 3 Cross-sectional view of the reducer;

[0026] Figure 6 for Figure 3 Schematic diagram of the structure of the medium reducer;

[0027] Figure 7 for Figure 4 Cross-sectional view of the motor rotor;

[0028] Figure 8 for Figure 4 Schematic diagram of the structure of the motor rotor.

[0029] Icons: 10-legged robot; 100-leg assembly; 110-thigh motor module; 111-housing; 112-thigh motor; 1121-motor stator; 1122-motor rotor; 1123-rotor magnetic ring; 1124-connecting frame; 1125-transmission sleeve; 1126-first semicircular groove; 1127-positioning sleeve; 1128-rotating shaft; 113-reducer; 114-positioning ring; 1141-annular rack; 115-planetary carrier assembly; 1151-planetary carrier; 1152-output frame ;1153-drive shaft;116-reduction gear;117-sun gear;1171-second semicircular groove;1181-second bearing;1182-fourth bearing;1183-third bearing;1184-fifth bearing;119-center threading tube;1191-flanged edge;120-flange;121-limiting ring;122-step through hole;130-first bearing;140-leg body;141-calf motor;142-thigh;143-calf;144-calf motor housing;200-fuselage. DETAILED DESCRIPTION

[0030] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0031] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but rather merely represents selected embodiments of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort are also within the scope of protection of the present invention.

[0032] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0033] In the description of this utility model, it should be noted that the terms "inner," "outer," "upper," "lower," and "horizontal" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or the orientations or positional relationships in which the utility model product is typically placed when in use. These terms are intended solely to facilitate the description of this utility model and simplify the description, and are not intended to indicate or imply that the device or component referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first," "second," and "third," etc., are used solely for distinction and description and should not be construed as indicating or implying relative importance.

[0034] It should also be noted that, in the description of this utility model, unless otherwise expressly specified or limited, the terms "disposed," "connected," "installed," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on the specific circumstances.

[0035] The following describes some embodiments of the present invention in detail with reference to the accompanying drawings. In the absence of conflict, the features of the following embodiments can be combined with each other.

[0036] Please refer to Figures 1 to 3 Some embodiments of the present invention provide a foot-leg assembly 100 and a foot-type robot 10 with the foot-leg assembly 100, which can effectively reduce the support reaction force on the reducer 113, reduce the wear and deformation of the reducer 113, improve reliability, and extend service life.

[0037] The legged robot 10 includes a body 200 and a leg assembly 100. The leg assembly 100 is mounted on the body 200, the body 200 is used to position the leg assembly 100, and the leg assembly 100 is used to drive the body 200 to move, thereby realizing the walking function of the legged robot 10.

[0038] refer to Figures 1 to 3Some embodiments of the present invention provide a leg-foot assembly 100, which includes a thigh motor module 110, a flange 120, a first bearing 130, and a leg body 140. The thigh motor module 110 is mounted on the body 200 and connected to the leg body 140 via the flange 120. The thigh motor module 110 is used to synchronously drive the flange 120 and the leg body 140 to rotate, thereby enabling the leg-footed robot 10 to walk. The first bearing 130 is disposed between the thigh motor module 110 and the flange 120 to enable the flange 120 to rotate stably and reliably relative to the thigh motor module 110.

[0039] refer to Figures 2 to 5 The thigh motor module 110 includes a housing 111, a thigh motor 112, and a reducer 113. The thigh motor 112 is mounted within the housing 111 and connected to the reducer 113. The thigh motor 112 is configured to output torque, while the reducer 113 is configured to reduce the rotational speed and increase the torque. The reducer 113 is connected to the leg body 140 via a flange 120. The torque output by the reducer 113 is transmitted to the leg body 140 via the flange 120, driving the leg body 140 to rotate. Specifically, the first bearing 130 is arranged between the outer shell 111 and the flange 120. The outer shell 111 is rotatably supported and cooperated with the flange 120 through the first bearing 130. The outer shell 111 is used to support the flange 120 through the first bearing 130 when the thigh motor 112 drives the flange 120 to rotate, so as to support the entire leg body 140, thereby reducing the supporting force of the reducer 113 on the leg body 140, and then reducing the support reaction force received by the reducer 113, reducing the wear and deformation of the reducer 113, improving reliability, and extending service life.

[0040] It should be noted that during the movement of the thigh motor 112, the thigh motor 112 outputs torque to the reducer 113, and the reducer 113 drives the leg body 140 to rotate through the flange 120. Since a first bearing 130 is provided between the flange 120 and the outer shell 111, the outer shell 111 will not generate excessive friction resistance to the rotation of the flange 120. During this process, most of the overturning moment of the flange 120 and the leg body 140 is borne on the outer shell 111 through the first bearing 130, and a small part is borne on the reducer 113, which effectively reduces the support reaction force on the reducer 113 and reduces the wear and deformation of the reducer 113.

[0041] In some embodiments, reference Figures 3 and 4The flange 120 is provided with a limit ring 121 extending therefrom, the first bearing 130 is installed in the limit ring 121 and sleeved outside the housing 111, and the first bearing 130 is arranged between the housing 111 and the limit ring 121. The housing 111 can support the limit ring 121 from the inside to the outside, thereby supporting the entire flange 120, and further bearing most of the overturning moment of the flange 120 and the leg 140. However, the present invention is not limited to this. In other embodiments, the housing 111 is provided with a protruding annular ring, the flange 120 is provided with a protruding boss portion, the first bearing 130 is installed in the annular ring and sleeved outside the boss portion. In this case, the housing 111 can support the flange 120 from the outside to the inside, and the arrangement position of the first bearing 130 is not specifically limited.

[0042] refer to Figures 2 to 4 In some embodiments, the leg body 140 includes a calf motor 141, a thigh 142 and a calf 143. The thigh 142 is fixedly connected to the calf motor 141, and the thigh 142 and / or the calf motor 141 are fixedly connected to the flange 120. The flange 120 can synchronously drive the thigh 142 and the calf motor 141 to rotate. The calf 143 is hinged to the thigh 142, and the calf motor 141 is transmission-connected to the calf 143. The calf motor 141 is used to drive the calf 143 to swing relative to the thigh 142 to achieve the walking function. Explanatoryally, the transmission connection between the calf motor 141 and the calf 143 can be a connecting rod transmission or a sprocket chain transmission, which is not specifically limited.

[0043] In some embodiments, reference Figures 2 to 4 The calf motor 141 includes a calf motor housing 144 , one end of which is provided with an opening. The flange 120 is connected to the calf motor housing 144 , and the flange 120 covers the opening to shield and protect the internal structure of the calf motor 141 .

[0044] refer to Figures 2 to 4In some embodiments, the reducer 113 includes a positioning ring 114, a planetary carrier assembly 115, a reduction gear 116, and a sun gear 117. The positioning ring 114 is connected to the housing 111 and is rotatably coupled to the planetary carrier assembly 115. The reduction gear 116 and the sun gear 117 are both rotatably mounted on the planetary carrier assembly 115. Both the reduction gear 116 and the sun gear 117 can rotate relative to the planetary carrier assembly 115, and the planetary carrier assembly 115 can limit the position of the reduction gear 116 and the sun gear 117. The inner wall of the positioning ring 114 is provided with an annular rack 1141. The input end of the reduction gear 116 meshes with the sun gear 117, and the output end of the reduction gear 116 meshes with the annular rack 1141. The thigh motor 112 is mounted in the housing 111 and is in transmission connection with the sun gear 117. The planetary carrier assembly 115 is connected to the leg body 140 via the flange 120, and is used to drive the leg body 140 to rotate via the flange 120. Specifically, the thigh motor 112 is used to drive the reduction gear 116 to rotate relative to the annular rack 1141 via the sun gear 117. During this process, since the positioning ring 114 is connected to the housing 111, and the housing 111 is stationary, the reduction gear 116 will drive the planetary carrier assembly 115 to rotate relative to the positioning ring 114 under the reaction force of the annular rack 1141, thereby driving the leg body 140 to rotate relative to the housing 111 via the flange 120.

[0045] refer to Figures 2 to 6 In some embodiments, the planetary carrier assembly 115 includes a planetary carrier 1151, an output carrier 1152, and a transmission shaft 1153. The planetary carrier 1151 and the output carrier 1152 are fixedly connected, and the reduction gear 116 is disposed between the planetary carrier 1151 and the output carrier 1152. The output carrier 1152 is connected to the leg body 140. The planetary carrier 1151 and the output carrier 1152 work together to limit the reduction gear 116. Specifically, the transmission shaft 1153 is sequentially disposed through the planetary carrier 1151, the reduction gear 116, the output carrier 1152, and the flange 120. The reduction gear 116 is configured to synchronously drive the planetary carrier 1151, the output carrier 1152, and the flange 120 to rotate via the transmission shaft 1153 when rotating relative to the annular rack 1141, thereby driving the leg body 140 to rotate stably and reliably.

[0046] refer to Figures 3 to 5In some embodiments, the thigh motor 112 includes a motor stator 1121, a motor rotor 1122, a second bearing 1181, and a third bearing 1183. The motor stator 1121 is fixed within the housing 111, and the motor rotor 1122 is rotatably mounted within the housing 111 and sleeved around the motor stator 1121. The motor rotor 1122 is drivingly connected to the planetary carrier 1151 of the reducer 113. When the motor rotor 1122 rotates relative to the motor stator 1121, it synchronously drives the planetary carrier 1151 to rotate, thereby achieving the torque output function of the thigh motor 112.

[0047] refer to Figures 3 to 5 In some embodiments, the second bearing 1181 is disposed between the motor rotor 1122 and the planetary carrier 1151 of the reducer 113 so that the motor rotor 1122 and the planetary carrier 1151 can be rotatably supported and matched.

[0048] refer to Figures 3 to 5 In some embodiments, the third bearing 1183 is disposed in the housing 111 and is sleeved on the outside of the planet carrier 1151. The third bearing 1183 is disposed between the positioning ring 114 and the planet carrier 1151 so that the planet carrier 1151 and the housing 111 can be rotatably supported and matched.

[0049] In some embodiments, there are two third bearings 1183 , the two third bearings 1183 are arranged at intervals along the axial direction of the motor rotor 1122 , the annular rack 1141 is arranged between the two third bearings 1183 , and the two third bearings 1183 work together to further improve the transmission effect.

[0050] refer to Figures 3 to 7 In some embodiments, the motor rotor 1122 includes a rotor magnet 1123, a connecting frame 1124, a transmission sleeve 1125, and a rotating shaft 1128. The rotor magnet 1123 is fixedly connected to the transmission sleeve 1125 via the connecting frame 1124. The rotor magnet 1123 surrounds the motor stator 1121 in a non-contact manner. A second bearing 1181 is disposed between the transmission sleeve 1125 and the planetary carrier 1151 of the reducer 113, allowing the transmission sleeve 1125 and the planetary carrier 1151 to rotate independently of each other. The rotating shaft 1128 is non-rotatably connected to the transmission sleeve 1125, which is in turn non-rotatably connected to the sun gear 117 of the reducer 113. This means that the transmission sleeve 1125 can drive the sun gear 117 to rotate via the rotating shaft 1128, thereby achieving the torque output function of the thigh motor 112. In this embodiment, the rotating shaft 1128 and the sun gear 117 are integrally formed, but the present invention is not limited thereto. In other embodiments, the rotating shaft 1128 and the sun gear 117 may also be provided separately.

[0051] refer to Figures 3 to 8In some embodiments, the inner wall of the transmission sleeve 1125 is provided with a first semicircular groove 1126, and the circumference of the rotating shaft 1128 is provided with a second semicircular groove 1171. The first semicircular groove 1126 and the second semicircular groove 1171 are aligned and together form a positioning groove. Specifically, a positioning pin is provided in the positioning groove. The axial direction of the positioning pin is aligned with the axial direction of the rotating shaft 1128. The positioning pin is used to fix the relative position of the first semicircular groove 1126 and the second semicircular groove 1171, thereby fixing the relative position of the transmission sleeve 1125 and the rotating shaft 1128, ensuring that the transmission sleeve 1125 can stably drive the rotating shaft 1128 to rotate and preventing the rotating shaft 1128 from slipping relative to the transmission sleeve 1125. However, this is not limited to this. In other embodiments, the rotating shaft 1128 and the transmission sleeve 1125 can also be non-rotatably connected by a spline fit. The connection method of the rotating shaft 1128 and the transmission sleeve 1125 is not specifically limited.

[0052] refer to Figures 3 to 8 In some embodiments, the number of the first semicircular groove 1126, the second semicircular groove 1171 and the positioning pin shaft is two, the two first semicircular grooves 1126 are relatively arranged on both sides of the radial direction of the transmission sleeve 1125, and the two second semicircular grooves 1171 are relatively arranged on both sides of the radial direction of the rotating shaft 1128. The two first semicircular grooves 1126 and the two second semicircular grooves 1171 together form two positioning grooves, and each positioning pin shaft is arranged in a positioning groove to further fix the relative position of the transmission sleeve 1125 and the rotating shaft 1128, thereby improving the positioning effect.

[0053] In some embodiments, reference Figures 3 to 5 Thigh motor module 110 also includes a fifth bearing 1184. Fifth bearing 1184 is positioned between shaft 1128 and output frame 1152 of reducer 113, rotatably supporting and cooperating shaft 1128 and output frame 1152, further ensuring transmission efficiency. Second bearing 1181, fifth bearing 1184, and two third bearings 1183 work together to enable independent rotation of planetary carrier assembly 115 and motor rotor 1122, preventing interference between them and ensuring transmission stability.

[0054] In some embodiments, reference Figures 3 to 5 The rotating shaft 1128 is a hollow tubular structure. The thigh motor module 110 also includes a central wire tube 119. The central wire tube 119 passes through the rotating shaft 1128 and is connected to the flange 120. The flange 120 is used to drive the central wire tube 119 to rotate. The central wire tube 119 is used to allow the power line and signal line of the leg body 140 to pass through to shield and protect the power line and signal line.

[0055] In some embodiments, a limiting structure for limiting the leg body 140 is provided on the outer shell 111. When the flange 120 drives the center wire tube 119 to rotate, since the maximum rotation angle of the leg body 140 can be limited to a certain range by the limiting structure on the outer shell 111, the rotation angle of the flange 120 and the center wire tube 119 will also be limited to prevent the power cord and signal line from excessive rotation and causing sprains.

[0056] In some embodiments, reference Figures 3 to 5 The flange 120 is provided with a stepped through hole 122 having a stepped surface. One end of the center threading tube 119 is provided with a flange 1191. The flange 1191 extends into the stepped through hole 122 and is clamped between the output frame 1152 of the reducer 113 and the stepped surface. The output frame 1152 can stably hold the flange 1191 against the stepped surface to fix the relative position of the flange 1191 and the stepped through hole 122, ensuring that the output frame 1152, the center threading tube 119, and the flange 120 can rotate synchronously, stably and reliably, and with a good limiting effect. However, this is not limited to this embodiment. In other embodiments, the stepped through hole 122 can also be provided on the output frame 1152 to achieve the same limiting function.

[0057] In some embodiments, reference Figures 3 to 8 The thigh motor module 110 further includes a fourth bearing 1182, and the motor rotor 1122 further includes a positioning sleeve 1127. The positioning sleeve 1127 is fixedly connected to the connecting frame 1124, coaxially connected to the transmission sleeve 1125, and rotatably engaged with the housing 111. The fourth bearing 1182 is disposed within the positioning sleeve 1127. Specifically, the positioning sleeve 1127 is connected to the connecting frame 1124, coaxially disposed with the transmission sleeve 1125, and disposed on opposite sides of the connecting frame 1124. The inner diameters of the positioning sleeve 1127 and the transmission sleeve 1125 are the same. The center threading tube 119 is arranged through the positioning sleeve 1127, and the fourth bearing 1182 is sleeved on the outside of the center threading tube 119 and is arranged between the center threading tube 119 and the positioning sleeve 1127, so that the center threading tube 119 and the positioning sleeve 1127 can rotate independently of each other, preventing the center threading tube 119 and the positioning sleeve 1127 from interfering with each other, ensuring the stability of the transmission process, and the positioning sleeve 1127 can limit the end of the center threading tube 119 away from the flange 120 through the fourth bearing 1182 to ensure the rotation accuracy of the center threading tube 119.

[0058] refer to Figures 2 to 8In some embodiments, the first bearing 130, the second bearing 1181, the third bearing 1183, the fourth bearing 1182, and the fifth bearing 1184 may be cross-roller bearings. However, this is not limiting. In other embodiments, the first bearing 130, the second bearing 1181, the third bearing 1183, the fourth bearing 1182, and the fifth bearing 1184 may be other types of bearings, and the types of the first bearing 130, the second bearing 1181, the fourth bearing 1182, the third bearing 1183, and the fifth bearing 1184 are not specifically limited.

[0059] The embodiment of the present invention provides a leg-foot assembly 100, wherein the thigh motor module 110 includes a housing 111, a thigh motor 112, and a reducer 113. The thigh motor 112 is installed in the housing 111 and connected to the reducer 113. The reducer 113 is connected to the leg body 140 via a flange 120. The first bearing 130 is disposed between the housing 111 and the flange 120. The housing 111 is rotatably supported and matched with the flange 120 via the first bearing 130. Compared with the prior art, the leg-foot assembly 100 provided in the embodiment of the present invention can effectively reduce the support reaction force on the reducer 113 due to the use of the flange 120 connected between the reducer 113 and the leg body 140 and the first bearing 130 disposed between the housing 111 and the flange 120, thereby reducing wear and deformation of the reducer 113, improving reliability, and extending service life. This makes the leg-footed robot 10 safe, reliable, and has a long service life.

[0060] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Those skilled in the art will readily appreciate that the present invention is susceptible to various modifications and variations. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A foot-leg assembly, characterized in that: It includes a thigh motor module, a flange, a first bearing and a leg body. The thigh motor module includes a shell, a thigh motor and a reducer. The thigh motor is installed in the shell and connected to the reducer. The reducer is connected to the leg body through the flange. The first bearing is arranged between the shell and the flange. The shell is rotatably supported and matched with the flange through the first bearing.

2. The foot-leg assembly according to claim 1, wherein: The flange is extended to provide a limiting ring, the first bearing is installed in the limiting ring and sleeved outside the outer shell; or, the outer shell is protruding with an annular ring, the flange is protruding with a boss portion, the first bearing is installed in the annular ring and sleeved outside the boss portion.

3. The foot-leg assembly according to claim 1, wherein: The leg body comprises: calf motor; The thigh is fixedly connected to the calf motor, and the thigh and / or calf motor is fixedly connected to the flange; The calf is hinged to the thigh, and the calf motor is in transmission connection with the calf. The calf motor is used to drive the calf to swing relative to the thigh.

4. The foot-leg assembly according to claim 3, wherein: The calf motor includes a calf motor housing, one end of the calf motor housing is provided with an opening, the flange is connected to the calf motor housing, and the flange covers the opening.

5. The foot-leg assembly according to any one of claims 1 to 4, characterized in that: The reducer is a planetary reducer, and the thigh motor includes: a motor stator, fixed in the housing; A motor rotor is rotatably mounted on the housing, and the motor rotor is drivingly connected to the planetary carrier of the reducer; In which, the thigh motor also includes a second bearing and / or a third bearing, the second bearing is arranged between the motor rotor and the planetary carrier of the reducer, so that the motor rotor and the planetary carrier can be rotatably supported and matched; the third bearing is arranged in the outer shell and is sleeved on the outside of the planetary carrier, so that the planetary carrier and the outer shell can be rotatably supported and matched.

6. The foot-leg assembly according to claim 5, characterized in that: The number of the third bearings is two, and the two third bearings are spaced apart along the axial direction of the motor rotor.

7. The foot-leg assembly according to claim 5, characterized in that: The motor rotor includes a rotor magnetic ring, a connecting frame, a transmission sleeve and a rotating shaft. The rotor magnetic ring is fixedly connected to the transmission sleeve through the connecting frame. The rotor magnetic ring surrounds the outside of the motor stator in a non-contact manner. The rotating shaft is non-rotatably connected to the transmission sleeve. The rotating shaft is non-rotatably connected to the sun gear of the reducer, wherein the rotating shaft and the sun gear are separately arranged or integrally formed.

8. The foot-leg assembly according to claim 7, wherein: The rotating shaft is a hollow tubular structure, and the thigh motor module also includes a central wire threading tube, which is passed through the rotating shaft and the transmission sleeve; wherein the flange is provided with a stepped through hole, and the stepped through hole has a stepped surface, and one end of the central wire threading tube is provided with a flange, and the flange extends into the stepped through hole and is clamped between the reducer and the stepped surface.

9. The foot-leg assembly according to claim 8, wherein: The thigh motor module also includes a fourth bearing, and the motor rotor also includes a positioning sleeve, which is fixedly connected to the connecting frame, the positioning sleeve and the transmission sleeve are coaxially connected, and the positioning sleeve is rotatably engaged with the outer shell. The fourth bearing is arranged in the positioning sleeve, and the center wire tube is rotatably engaged with the positioning sleeve through the fourth bearing.

10. A legged robot, characterized in that: Comprising the foot-leg assembly according to any one of claims 1-9.

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