Mechanical leg and robot

Abstract

The embodiment of the utility model provides a mechanical leg and a robot. The mechanical leg comprises a connecting part, a sliding part, a foot part and a driving mechanism, the connecting part is used for being rotationally connected to a robot body of the robot. The sliding part is connected to the connecting part in a sliding mode, the sliding part can linearly slide relative to the connecting part in the first direction so that the mechanical leg can stretch out and draw back, and the first direction is the stretching-out and drawing-back direction of the mechanical leg. The foot portion is rotatably connected to the sliding portion, and the foot portion is used for supporting the bearing surface. One part of the driving mechanism is connected to the foot part, the other part of the driving mechanism is connected to the sliding part and arranged on the side, facing the robot body, of the foot part at intervals, and the driving mechanism is used for driving the foot part to rotate relative to the sliding part so that the foot part can move on the bearing face, and advancing or retreating of the robot can be achieved. According to the technical scheme, the rotational inertia of the mechanical leg is reduced, the energy consumption of the robot is controlled, and the response speed of the robot is guaranteed.

Description

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on February 6, 2024, with application number 2024202884491 and invention name “Robotic Leg and Robot”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The utility model relates to the technical field of robots, in particular to a mechanical leg and a robot. Background Art

[0003] With the continuous advancement of technology, robots are widely used in various fields. Conventional robots typically have mechanical legs that can rotate and retract relative to the body, making the robot more flexible and adaptable to various terrains and environments. However, due to the mechanical structure of the mechanical legs, the rotational inertia of the legs relative to the body is relatively large, which in turn requires the robot to expend more energy to overcome the inertia of the legs and affects the robot's response time. Utility Model Content

[0004] The embodiments of the present utility model provide a mechanical leg and a robot, aiming to reduce the rotational inertia of the mechanical leg, control the energy consumption of the robot, and ensure the response speed of the robot.

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

[0006] A connecting portion, used for rotatably connecting to the body of the robot;

[0007] a sliding portion, slidably connected to the connecting portion, the sliding portion being capable of linearly sliding relative to the connecting portion along a first direction so that the mechanical leg can be extended or retracted, the first direction being a direction in which the mechanical leg can be extended or retracted;

[0008] a foot portion, the foot portion being rotatably connected to the sliding portion, the foot portion being configured to be supported on a bearing surface; and

[0009] A driving mechanism, wherein one part of the driving mechanism is connected to the foot, and the other part is connected to the sliding part and is arranged at intervals on the side of the foot facing the fuselage, and the driving mechanism is used to drive the foot to rotate relative to the sliding part so that the foot moves on the supporting surface to realize the forward or backward movement of the robot.

[0010] In the mechanical leg of the present invention, the foot and another part of the driving mechanism are respectively connected to opposite ends of the sliding portion along the first direction.

[0011] In the mechanical leg of the present invention, the driving mechanism includes a motor and a transmission assembly. The motor is connected to the sliding part and is spaced apart on the side of the foot facing the fuselage. The transmission assembly is connected to the output shaft of the motor and the foot.

[0012] In the mechanical leg of the present invention, the foot includes a roller, which is used to be supported on the bearing surface and roll on the bearing surface, and the transmission assembly includes:

[0013] a first transmission wheel connected to the output shaft of the motor;

[0014] a second transmission wheel connected to the roller; and

[0015] The transmission belt is wound around the outer circumference of the first transmission wheel and the second transmission wheel.

[0016] In the mechanical leg of the present invention, the number of teeth of the first transmission wheel is smaller than the number of teeth of the second transmission wheel.

[0017] In the mechanical leg of the present invention, the foot is provided with a first mounting hole, the second transmission wheel is provided with a second mounting hole, and a fastener is passed through the first mounting hole and the second mounting hole to achieve the connection between the foot and the second transmission wheel;

[0018] The foot is further provided with a first clamping portion, and the second transmission wheel is further provided with a second clamping portion, and the first clamping portion and the second clamping portion are clamped.

[0019] In the mechanical leg of the present invention, the sliding portion is located on one side of the connecting portion along the second direction, and the foot and the driving mechanism are located on a side of the sliding portion away from the connecting portion along the second direction;

[0020] The second direction is different from the first direction.

[0021] In the mechanical leg of the present invention, the first transmission wheel is located between the motor and the sliding part, and the second transmission wheel is located between the foot and the sliding part.

[0022] In the mechanical leg of the present invention, the driving mechanism also includes a motor mounting seat, which includes a base and a connecting piece. The base is provided with a slot, and the side of the motor facing away from the sliding part is clamped in the slot and connected to the base through a fastener. The connecting piece connects the base and the sliding part.

[0023] 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, wherein a connecting portion of the mechanical leg is rotatably connected to the body.

[0024] The mechanical leg and robot provided by the embodiments of the present invention connect a part of the driving mechanism to the foot, and the other part is connected to the sliding part and is arranged at intervals on the side of the foot facing the fuselage, that is, the position of the other part of the driving mechanism on the sliding part is moved toward the fuselage, which is beneficial to raising the center of gravity of the mechanical leg and reducing the moment of inertia of the mechanical leg when rotating relative to the fuselage, and thus is beneficial to controlling the energy consumption of the robot and improving the response speed of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] 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.

[0026] Figure 1 A schematic structural diagram of a mechanical leg provided by an embodiment of the present utility model;

[0027] Figure 2 A front view of a mechanical leg provided by an embodiment of the present utility model;

[0028] Figure 3 An exploded schematic diagram of a mechanical leg provided by an embodiment of the present utility model;

[0029] Figure 4 A schematic structural diagram of a foot provided by an embodiment of the present utility model;

[0030] Figure 5 The present invention provides a schematic structural diagram of a robot according to an embodiment of the present invention.

[0031] Description of main reference numerals:

[0032] 100. Robot leg; 10. Connecting part; 20. Sliding part; 30. Foot; 31. First mounting hole; 32. First clamping part; 40. Driving mechanism; 41. Motor; 42. Transmission assembly; 421. First transmission wheel; 422. Second transmission wheel; 4221. Second mounting hole; 4222. Second clamping part; 423. Transmission belt; 43. Motor mounting seat; 431. Base; 432. Connector; 200. Robot; 201. Body. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0034] See also Figures 1 to 4 In the first aspect, a mechanical leg 100 provided by an embodiment of the present invention can be applied to a robot. Specifically, the mechanical leg 100 includes a connecting portion 10, a sliding portion 20, a foot 30 and a driving mechanism 40. Among them, the connecting portion 10 is used to be rotatably connected to the body of the robot. The sliding portion 20 is slidably connected to the connecting portion 10, and the sliding portion 20 can slide linearly along a first direction relative to the connecting portion 10 so that the mechanical leg 100 can be extended and retracted. The first direction is the extension and retraction direction of the mechanical leg 100. The foot 30 is rotatably connected to the sliding portion 20, and the foot 30 is used to support the bearing surface. A part of the driving mechanism 40 is connected to the foot 30, and the other part is connected to the sliding portion 20 and is spaced apart on the side of the foot 30 facing the body. The driving mechanism 40 is used to drive the foot 30 to rotate relative to the sliding portion 20, so that the foot 30 moves on the bearing surface to realize the forward or backward movement of the robot.

[0035] It can be understood that the connecting portion 10 can drive the sliding portion 20 and the foot 30 connected to the sliding portion 20 and the driving mechanism 40 to rotate relative to the body, thereby realizing the rotation of the mechanical leg 100. For example, the rotation direction of the mechanical leg 100 can be as follows: Figure 1 The sliding portion 20 can slide relative to the connecting portion 10 along the first direction to achieve the extension and retraction of the mechanical leg 100. For example, the first direction can be as shown in FIG. Figure 1 As shown in the Z direction, the first direction is the extension direction of the robot leg 100. The foot 30 can be supported on a supporting surface such as the ground, a table or a track, and the driving mechanism 40 can drive the foot 30 to rotate relative to the sliding part 20 to enable the robot to move on the supporting surface.

[0036] By enabling the connecting portion 10 to rotate relative to the body, the sliding portion 20 to slide relative to the connecting portion 10, and the foot 30 to rotate relative to the sliding portion 20, the three interact to achieve self-balancing when the robot is moving or standing. The foot 30 and the drive mechanism 40 are both connected to the sliding portion 20. The relative position between the drive mechanism 40 and the foot 30 is relatively stable, facilitating the connection between the drive mechanism 40 and the foot 30, allowing the drive mechanism 40 to drive the foot 30 to rotate relative to the sliding portion 20, thereby achieving movement of the robot. In addition, a portion of the driving mechanism 40 is connected to the foot 30, and the other portion is connected to the sliding portion 20, so that the other portion of the driving mechanism 40 is located on the side of the foot 30 facing the fuselage, and is spaced apart from the foot 30. In other words, the position of the other portion of the driving mechanism 40 on the sliding portion 20 is moved toward the fuselage to increase the center of gravity of the robotic leg 100, so that the center of gravity of the robotic leg 100 is close to the rotation axis of the robotic leg 100 relative to the fuselage, which is beneficial to reducing the moment of inertia of the robotic leg 100 when rotating relative to the fuselage, controlling the energy consumption of the robot, and improving the response speed of the robot.

[0037] Furthermore, the foot 30 and another portion of the drive mechanism 40 are respectively connected to opposite ends of the sliding portion 20 along the first direction. In this way, the center of gravity of the robotic leg 100 can be brought as close as possible to its rotation axis, minimizing the rotational inertia of the robotic leg 100.

[0038] Of course, in other embodiments, another portion of the driving mechanism 40 may also be located in the middle of the sliding portion 20 along the first direction, and the specific adjustment can be made according to actual needs.

[0039] In some embodiments, the drive mechanism 40 includes a motor 41 and a transmission assembly 42. The motor 41 is connected to the sliding portion 20 and spaced apart on the side of the foot 30 facing the body. The transmission assembly 42 is connected to the output shaft of the motor 41 and the foot 30. As will be appreciated, the motor 41 is relatively large in mass. Therefore, making the motor 41 another part of the drive mechanism 40, positioning it on the side of the foot 30 facing the body, and spacing it apart from the foot 30, helps to improve the center of gravity of the robotic leg 100. Furthermore, the robot's control mechanism is typically located on the body. Positioning the motor 41 on the side of the foot 30 facing the body facilitates electrical connection between the motor 41 and the control mechanism, enabling the motor 41 to drive the transmission assembly 42 under the control of the control mechanism, and the transmission assembly 42 drives the foot 30 to rotate relative to the sliding portion 20.

[0040] Furthermore, if Figure 3As shown, the foot 30 includes a roller that is supported on and rolls on a load-bearing surface. The transmission assembly 42 includes a first transmission wheel 421, a second transmission wheel 422, and a transmission belt 423. The first transmission wheel 421 is connected to the output shaft of the motor 41. The second transmission wheel 422 is connected to the roller. The transmission belt 423 is wound around the outer circumference of the first transmission wheel 421 and the second transmission wheel 422.

[0041] It is understood that the motor 41 can be a rotary motor 41, and the transmission assembly 42 includes a first transmission wheel 421, a second transmission wheel 422, and a transmission belt 423. In other words, the transmission assembly 42 is a belt transmission assembly 42, which uses a belt drive method for transmission. Specifically, the motor 41 can drive the first transmission wheel 421 to rotate, and the transmission belt 423 transmits force to the second transmission wheel 422, so that the second transmission wheel 422 drives the foot 30 to rotate relative to the sliding portion 20.

[0042] The transmission between the first transmission wheel 421 and the transmission belt 423, and between the transmission belt 423 and the second transmission wheel 422 can be toothed or toothless, and can be adjusted according to actual needs. Figure 3 As shown, the first transmission wheel 421 and the second transmission wheel 422 can be gears with gear teeth on their outer periphery, and the transmission belt 423 can be a gear belt with gear teeth on its inner ring. The gear teeth of the transmission belt 423 are respectively engaged with the gear teeth of the first transmission wheel 421 and the second transmission wheel 422 to realize transmission between the first transmission wheel 421 and the transmission belt 423, and between the transmission belt 423 and the second transmission wheel 422.

[0043] The robot's movement is facilitated by the rollers rolling on the supporting surface, making it suitable for use in rugged or muddy environments and improving its obstacle-crossing capabilities. The transmission assembly 42 utilizes a belt drive, which facilitates smoother transmission, improves the transmission efficiency of the transmission assembly 42, and simplifies its structure.

[0044] For example, the roller may include a support member and a buffer member, wherein the support member is connected to a portion of the driving mechanism 40 and is rotatably connected to the sliding portion 20 , and the buffer member is connected to the support member, and the buffer member is used to be supported on the bearing surface.

[0045] In addition to the above-mentioned belt drive method, in other embodiments, the transmission assembly 42 can also be driven by gears or chains. For example, when the transmission assembly 42 is a gear transmission assembly 42, the transmission assembly 42 may include an input gear and an output gear, wherein the input gear is rotatably connected to the sliding portion 20 and connected to the output shaft of the motor 41 to achieve transmission between the transmission assembly 42 and the motor 41, and the output gear can be connected to one side of the roller along the axis of its rotation axis via a fastener, and the rotation axis of the output gear is collinear with the rotation axis of the roller to achieve transmission between the transmission assembly 42 and the foot 30.

[0046] Of course, in other embodiments, the foot 30 may also include a flat plate, which is rotatably connected to the sliding part 20 and is used to support the load-bearing surface. The contact surface between the flat plate and the load-bearing surface is a plane. The driving mechanism 40 can drive the flat plate to rotate relative to the sliding part 20, and cooperate with the rotation of the mechanical leg 100 relative to the fuselage, and the extension and retraction of the mechanical leg 100, so as to realize the movement of the robot.

[0047] Furthermore, the number of teeth on the first transmission wheel 421 is smaller than the number of teeth on the second transmission wheel 422. As will be appreciated, the smaller number of teeth on the first transmission wheel 421 than on the second transmission wheel 422, in other words, the smaller radius of the first transmission wheel 421 than on the second transmission wheel 422, facilitates increasing the transmission ratio between the first transmission wheel 421 and the second transmission wheel 422, and thus increases the torque of the second transmission wheel 422, enabling the robotic leg 100 to adapt to harsh environments such as rugged or muddy terrain, and improving the robot's obstacle-crossing capabilities.

[0048] In some embodiments, such as Figure 3 and Figure 4 As shown, the foot 30 has a first mounting hole 31, and the second transmission wheel 422 has a second mounting hole 4221. Fasteners are inserted through the first mounting hole 31 and the second mounting hole 4221 to connect the foot 30 and the second transmission wheel 422. The foot 30 also has a first clamping portion 32, and the second transmission wheel 422 also has a second clamping portion 4222. The first clamping portion 32 and the second clamping portion 4222 are clamped together. It will be understood that the connection between the foot 30 and the second transmission wheel 422 via fasteners such as screws or bolts also allows the foot 30 and the second transmission wheel 422 to be clamped together. This helps ensure stability between the foot 30 and the second transmission wheel 422. When the second transmission wheel 422 rotates repeatedly at high frequency or when the foot 30 is subjected to impact or vibration, the second transmission wheel 422 can stably transmit the transmission force to the foot 30. This allows the robotic leg 100 to adapt to harsh environments such as rugged terrain or muddy terrain, improving the robot's obstacle-crossing capabilities.

[0049] For example, the second transmission wheel 422 can be connected to one side of the roller along its own rotation axis, and the rotation axis of the second transmission wheel 422 is colinear with the rotation axis of the roller, so that the second transmission wheel 422 can transmit force to the roller, driving the roller to rotate smoothly relative to the leg. The second transmission wheel 422 and the roller can be connected by a fastener. In addition, the second transmission wheel 422 can be connected to the roller by the fastener, and a prismatic groove can be provided on the side of the second transmission wheel 422 facing the roller. The roller can be provided with a prismatic protrusion, and the prismatic protrusion can be engaged with the prismatic groove to achieve the engagement between the second transmission wheel 422 and the roller, thereby improving the connection stability between the second transmission wheel 422 and the roller.

[0050] Of course, in other embodiments, the second transmission wheel 422 and the foot 30 may be connected only by fasteners, or the second transmission wheel 422 and the foot 30 may be connected by transmission gears.

[0051] In some embodiments, the sliding portion 20 is located on one side of the connecting portion 10 along the second direction, and the foot portion 30 and the drive mechanism 40 are located on the side of the sliding portion 20 away from the connecting portion 10 along the second direction. The second direction is different from the first direction. This helps to appropriately increase the sliding range of the sliding portion 20 relative to the connecting portion 10, thereby improving the flexibility of the robot.

[0052] For example, the second direction may be Figure 1 As shown in the Y direction. Figure 1 and Figure 2 As shown, the sliding portion 20 is located on one side of the connecting portion 10 along the Y direction, and the foot portion 30 and the driving mechanism 40 are located on a side of the sliding portion 20 away from the connecting portion 10 along the Y direction.

[0053] Specifically, when the robotic leg 100 is applied to a robot, the robot may include two robotic legs 100. In this case, the second direction may be the direction from one connecting portion 10 to the other connecting portion 10. The sliding portion 20 may be located on the side of the connecting portion 10 facing away from the other connecting portion 10, and the foot 30 and the drive mechanism 40 may be located on the side of the sliding portion 20 facing away from the connecting portion 10. This not only facilitates the placement of the foot 30 and the drive mechanism 40, but also facilitates the movement of the robot.

[0054] Furthermore, the first transmission wheel 421 is located between the motor 41 and the sliding portion 20, and the second transmission wheel 422 is located between the foot 30 and the sliding portion 20. It is understandable that the dimensions of the foot 30 and the motor 41 in the second direction may be different. In order to facilitate the transmission connection between the motor 41 and the foot 30 by the transmission assembly 42, the first transmission wheel 421 is arranged between the motor 41 and the sliding portion 20, and the second transmission wheel 422 is arranged between the sliding portion 20 and the foot 30. Such that the first transmission wheel 421 and the second transmission wheel 422 can be located in the same plane, facilitating the synchronous belt to be wound around the outer circumferences of the first transmission wheel 421 and the second transmission wheel 422 to achieve transmission.

[0055] In other embodiments, the motor 41 can also be connected to the sliding part 20, the foot 30 can be rotatably connected to the sliding part 20, and the motor 41 and the foot 30 can be located on the same side of the sliding part 20. The first transmission wheel 421 is connected to the side of the motor 41 away from the sliding part 20, and the second transmission wheel 422 is connected to the side of the foot 30 away from the sliding part 20. The transmission belt 423 is wrapped around the outer periphery of the first transmission wheel 421 and the second transmission wheel 422 to realize transmission.

[0056] In some embodiments, such as Figure 1 and Figure 2 As shown, the drive mechanism 40 further includes a motor mounting seat 43, which includes a base 431 and a connector 432. The base 431 is provided with a slot, and the side of the motor 41 facing away from the sliding portion 20 is engaged with the slot and connected to the base 431 via a fastener. The connector 432 connects the base 431 and the sliding portion 20. It can be understood that by connecting the motor 41 to the motor mounting seat 43 via fasteners and engaging the motor 41 with the slot of the base 431, it is beneficial to ensure the connection stability between the motor 41 and the motor mounting seat 43. The base 431 of the motor mounting seat 43 is connected to the sliding portion 20 via the connector 432, thereby realizing the connection between the motor 41 and the sliding portion 20.

[0057] Furthermore, the output shaft of motor 41 may be positioned toward and spaced from sliding portion 20, and transmission assembly 42 may be positioned between motor 41 and sliding portion 20, simplifying the connection structure between transmission assembly 42 and sliding portion 20. When transmission assembly 42 utilizes a belt drive, first transmission wheel 421 may be directly rotatably connected to sliding portion 20 and to the output shaft of motor 41, facilitating rotation of first transmission wheel 421 by motor 41. When transmission assembly 42 utilizes a gear drive, the input and output gears may be directly rotatably connected to sliding portion 20, with the input gear connected to the output shaft of motor 41.

[0058] Specifically, the shape and size of the slot can be adjusted according to the structure and size of the motor 41 and are not limited here.

[0059] See also Figure 5 In a second aspect, an embodiment of the present invention provides a robot 200 comprising a body 201 and the robotic leg 100 of the first aspect, wherein the connecting portion 10 of the robotic leg 100 is rotatably connected to the body 201. The robotic leg 100 in the embodiment of the present application may have the same structure as any of the robotic legs 100 in the above embodiments and may provide the same or similar beneficial effects. For details, reference may be made to the description in the above embodiments, which will not be repeated in this embodiment. Furthermore, the number of robotic legs 100 provided on the body 201 may be one or more, and those skilled in the art may configure the corresponding leg 100 according to actual needs.

[0060] In specific applications, the robot 200 may be provided with one or more of the aforementioned mechanical legs 100. Since the robot 200 includes the mechanical legs 100 of the aforementioned embodiment, the rotational inertia of the mechanical legs 100 relative to the body 201 is small, thereby reducing the energy consumption of the robot 200 and improving the response speed of the robot 200.

[0061] 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 connecting portion, configured to be rotatably connected to the body of the robot; a sliding portion, slidably connected to the connecting portion, the sliding portion being capable of linearly sliding relative to the connecting portion along a first direction so that the mechanical leg can be extended or retracted, the first direction being a direction in which the mechanical leg can be extended or retracted; a foot portion, the foot portion being rotatably connected to the sliding portion and configured to be supported on a bearing surface; as well as A driving mechanism, wherein one part of the driving mechanism is connected to the foot, and the other part is connected to the sliding part and is arranged at intervals on the side of the foot facing the fuselage, and the driving mechanism is used to drive the foot to rotate relative to the sliding part so that the foot moves on the supporting surface to realize the forward or backward movement of the robot.

2. The mechanical leg according to claim 1, characterized in that: The foot and another part of the driving mechanism are respectively connected to opposite ends of the sliding portion along the first direction.

3. The mechanical leg according to claim 1, characterized in that: The driving mechanism includes a motor and a transmission assembly. The motor is connected to the sliding part and is spaced apart on a side of the foot facing the body. The transmission assembly is connected to an output shaft of the motor and the foot.

4. The mechanical leg according to claim 3, characterized in that: The foot includes a roller, which is used to be supported on the bearing surface and roll on the bearing surface. The transmission assembly includes: a first transmission wheel connected to the output shaft of the motor; a second transmission wheel connected to the roller; and The transmission belt is wound around the outer circumference of the first transmission wheel and the second transmission wheel.

5. The mechanical leg according to claim 4, characterized in that: The number of teeth of the first transmission wheel is smaller than the number of teeth of the second transmission wheel.

6. The mechanical leg according to claim 4, characterized in that: The foot is provided with a first mounting hole, the second transmission wheel is provided with a second mounting hole, and a fastener is passed through the first mounting hole and the second mounting hole to achieve connection between the foot and the second transmission wheel; The foot is further provided with a first clamping portion, and the second transmission wheel is further provided with a second clamping portion, and the first clamping portion and the second clamping portion are clamped.

7. The mechanical leg according to claim 4, characterized in that: The sliding portion is located on one side of the connecting portion along the second direction, and the foot and the driving mechanism are located on a side of the sliding portion away from the connecting portion along the second direction; The second direction is different from the first direction.

8. The mechanical leg according to claim 7, characterized in that: The first transmission wheel is located between the motor and the sliding portion, and the second transmission wheel is located between the foot and the sliding portion.

9. The mechanical leg according to claim 3, characterized in that: The driving mechanism also includes a motor mounting seat, which includes a base and a connecting piece. The base is provided with a slot. The side of the motor facing away from the sliding part is engaged with the slot and connected to the base via a fastener. The connecting piece connects the base and the sliding part.

10. A robot, characterized in that: The robot includes a body and a mechanical leg according to any one of claims 1 to 9, wherein the connecting portion of the mechanical leg is rotatably connected to the body.

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