Robot leg assembly and robot

Abstract

The utility model relates to the technical field of robots, in particular to a robot leg component and a robot, which comprise a first leg, a second leg, a first driving piece, a second driving piece, a transmission piece, a connecting rod and a connecting component, one end of the second leg part is hinged with the first leg part; the first driving piece comprises a first shell and a first output shaft, and the first shell is in transmission connection with the side face of the other end of the second leg; the second driving part and the first driving part are coaxially arranged, the second driving part comprises a second shell and a second output shaft, and the second output shaft is in transmission connection with the first shell; the transmission part is fixedly connected with the first output shaft; one end of the connecting rod is hinged to the first leg part, the other end of the connecting rod is hinged to the transmission part, and the end of the connecting rod and the first output shaft are eccentrically arranged; the connecting assembly is arranged on the second shell, and the connecting assembly is configured to be capable of being connected with a robot body. The robot leg assembly is simple in structure, light, flexible, easy to assemble and convenient to control.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field, concretely relates to a robot leg assembly and robot. BACKGROUND

[0002] Quadruped robot imitates the limb structure and walking mode of animals (such as dog, cat, horse etc.), has very strong environmental adaptability, can walk stably and execute task in various complex terrains. Compared with biped robot, quadruped robot has better load capacity and high stability, and compared with multi-legged robot, quadruped robot has greater leg movement space, less mechanism redundancy and smaller complexity.

[0003] Generally, quadruped robot adopts multi-degree-of-freedom parallel mechanism as leg structure, and this structure enhances the rigidity and carrying capacity of robot to some extent, but also brings the problems of complex structure, clumsiness and control difficulty. UTILITARY MODEL

[0004] In view of the above prior art defects, the utility model aims at providing a robot leg assembly and robot which are simple in structure, light and flexible, easy to assemble and convenient to control.

[0005] To achieve the above object and other related objects, the utility model provides a robot leg assembly, which comprises:

[0006] First leg;

[0007] Second leg, one end of which is hingedly connected with the first leg;

[0008] First driving part, comprising first shell and first output shaft, and the first shell is in transmission connection with the other end side of the second leg;

[0009] Second driving part, which is coaxially arranged with the first driving part, and the second driving part comprises second shell and second output shaft, and the second output shaft is in transmission connection with the first shell;

[0010] Transmission part, which is fixedly connected with the first output shaft;

[0011] Connecting rod, one end of which is hingedly connected with the first leg, and the other end of the connecting rod is hingedly connected with the transmission part, and the end of the connecting rod is eccentrically arranged with the first output shaft;

[0012] Connecting assembly, which is arranged on the second shell, and the connecting assembly is configured to be connectable with the robot body.

[0013] In an embodiment of the utility model, the connecting assembly includes a third driving part arranged at an angle with the second driving part, the third driving part includes a third housing and a third output shaft;

[0014] The third output shaft is in transmission connection with the second housing, and the third housing is configured to be connectable with the robot body.

[0015] In an embodiment of the utility model, the connecting assembly further includes a connecting assembly, the connecting assembly is arranged to rotate around the axis of the third output shaft, one end of the connecting assembly is connected with the second housing, and the other end of the connecting assembly is configured to be rotatably connected with the robot body and / or the third housing.

[0016] In an embodiment of the utility model, the first housing is rotatably connected with the second housing and / or the connecting assembly.

[0017] In an embodiment of the utility model, the second leg part is arranged perpendicularly to the first driving part and the second driving part, and / or the transmission part is arranged perpendicularly to the first output shaft, and / or the second driving part is arranged perpendicularly to the third driving part.

[0018] In an embodiment of the utility model, a limiting structure for limiting the swing range of the connecting rod is arranged on the side of the first housing close to the transmission part.

[0019] In an embodiment of the utility model, the second leg part includes a first connecting plate and a second connecting plate.

[0020] The first connecting plate and the second connecting plate are arranged in a gap and are fastened by a connecting part, and the transmission part and the connecting rod are arranged in the gap between the first connecting plate and the second connecting plate.

[0021] In an embodiment of the utility model, weight-reducing grooves are symmetrically arranged on both sides of the first leg part, and the weight-reducing grooves are arranged along at least part of the profile of the two side surfaces of the first leg part.

[0022] In an embodiment of the utility model, an elastic friction pad is arranged on the end of the first leg part away from the second leg part.

[0023] To achieve the above object and other related objects, the utility model provides a robot, which includes a robot body and the robot leg part assembly, and the end of the robot leg part assembly away from the first leg part is connected with the robot body.

[0024] In summary, the robot leg assembly provided by the utility model has simple and light structure, is easy to assemble, has wide movement range, flexible structure, stable connection, is convenient to control and has high practicality, has good obstacle crossing performance in complex terrain, effectively solves the problems of complex, heavy and inconvenient control of the existing four-legged robot leg structure and low obstacle crossing performance caused by interference in the movement process, the first driving part and the second driving part are coaxially arranged, the first driving part, the second leg part and the first leg part are directly driven by the second driving part, the internal structure of the robot leg is simplified, the number of parts is reduced, the manufacturing cost and maintenance difficulty are reduced, the overall weight of the robot leg assembly is light, the energy consumption of the robot is reduced, the connecting assembly is arranged on the second shell, the robot leg assembly can be conveniently connected with the robot body, and the assembly process is simplified, the connecting rod and the first output shaft are eccentrically arranged, the robot can be more flexibly controlled by adjusting the angle of the connecting rod when walking, running and other actions, the torque output, speed output and rotation direction of the first driving part, the second driving part and / or the third driving part are controlled, the control convenience is improved, the robot leg assembly is suitable for various types of four-legged robots, whether it is a small pet robot or a large industrial robot, different requirements can be met by adjusting the size and parameters. BRIEF DESCRIPTION OF DRAWINGS

[0025] In order to more clearly illustrate the technical scheme in the embodiments of the utility model or the prior art, the drawings needed to be used in the embodiment or the prior art description will be briefly introduced below, and obviously, the drawings in the following description are only some embodiments of the utility model, and those skilled in the art can also obtain other drawings according to these drawings without creating creative labor.

[0026] Figure 1 It is a robot top view of one embodiment of the utility model;

[0027] Figure 2 It is a structure side view of Figure 1 ;

[0028] Figure 3 It is a three-dimensional structure schematic view of the robot leg assembly in one embodiment of the utility model;

[0029] Figure 4 It is a structure schematic view of the robot leg assembly in another embodiment of the utility model;

[0030] Figure 5 It is one side structure explosion view of the robot leg assembly of Figure 4 ;

[0031] Figure 6 is a robot leg assembly second side structure exploded view of the utility model; Figure 4

[0032] Figure 7 is a robot leg assembly third side structure exploded view of the utility model; Figure 4

[0033] Figure 8 is a structure schematic view of the limiting structure in one of the optional embodiments of the utility model;

[0034] Element number explanation: first leg 1, weight reduction groove 11, elastic friction pad 12, second leg 2, first connecting plate 21, second connecting plate 22, avoiding notch 221, first driving member 3, first shell 31, limiting structure 32, limiting groove 321, second driving member 4, second shell 41, transmission member 5, connecting rod 51, bolt 511, connecting assembly 6, third driving member 61, third shell 611, connecting component 612, plate component 6121, sleeve 6122, reinforcing plate 613, robot body 100. DETAILED DESCRIPTION

[0035] The following will illustrate the embodiments of the utility model through specific examples, and the person skilled in the art can easily understand other advantages and effects of the utility model from the content disclosed in the specification. The utility model can also be implemented or applied through other different specific embodiments, and each detail in the specification can be modified or changed based on different viewpoints and applications without departing from the spirit of the utility model. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict. It should also be understood that the terms used in the embodiments of the utility model are for describing specific specific embodiments, and are not intended to limit the protection scope of the utility model. The test method not specified in the following embodiments is usually carried out according to conventional conditions or according to the conditions recommended by each manufacturer.

[0036] Please refer to Figures 1 to 8 ​​It should be understood that the structure, proportion, size and the like shown in the drawings of the present application are only used to cooperate with the disclosed content, to be understood and read by those skilled in the art, and are not used to limit the implementation of the present application, so they do not have technical significance. Any modification of the structure, change of the proportion relationship or adjustment of the size, without affecting the effect and purpose of the present application, should still fall within the scope of the disclosed technology.

[0037] When the embodiment gives a numerical range, it should be understood that, unless otherwise stated by the present application, each numerical range and any numerical value between the two endpoints can be selected. Unless otherwise defined, all technical and scientific terms used in the present application are used by those skilled in the art and the present application, and any method, equipment and material of the prior art similar or equivalent to the method, equipment and material described in the embodiment of the present application can be used to realize the present application.

[0038] The following relates to the direction of the height direction of the robot as the Z axis direction, the front and back direction of the robot as the Y axis direction, and the left and right direction of the robot as the X axis direction, as shown in Figure 2 .

[0039] As shown in Figures 1-3 or Figures 4-8 The present application provides a robot leg assembly, which comprises a first leg 1, a second leg 2, a first driving member 3, a second driving member 4, a transmission member 5, a connecting rod 51 and a connecting assembly 6.

[0040] One end of the second leg 2 is hingedly connected to the first leg 1; the first driving member 3 comprises a first housing 31 and a first output shaft, the first housing 31 is in transmission connection with the other end side of the second leg 2; the second driving member 4 is coaxially arranged with the first driving member 3, the second driving member 4 comprises a second housing 41 and a second output shaft, the second output shaft is in transmission connection with the first housing 31; the transmission member 5 is connected with the first output shaft; one end of the connecting rod 51 is hingedly connected with the first leg 1, the other end of the connecting rod 51 is hingedly connected with the transmission member 5, and the end of the connecting rod 51 is eccentrically arranged with the first output shaft; the connecting assembly 6 is arranged on the second housing 41, and the connecting assembly 6 is configured to be connected with the robot body 100.

[0041] It should be noted that the first leg 1 and the second leg 2 have a certain length, the first leg 1 is the lower leg of the robot, and the second leg 2 is the upper leg of the robot. The first driving member 3 and the second driving member 4 are devices such as motors or pneumatic motors or hydraulic motors that meet the basic use requirements, and the first output shaft and the second output shaft generally output power in the form of rotation; the transmission member 5 is a rod or a plate, such as a round plate or a straight rod. The connecting rod 51 is arranged at an angle with the first output shaft, for example, perpendicular to the first output shaft, and the connecting rod 51 is eccentrically arranged with the first output shaft through the transmission member 5, that is, the end of the connecting rod 51 is not concentrically arranged with the first output shaft, and the end of the connecting rod 51 and the axis of the first output shaft have a spacing in the radial direction of the first output shaft; the hinge position of the connecting rod 51 and the first leg 1 is not at the same position as the hinge position of the second leg 2 and the first leg 1, so as to facilitate the connecting rod 51 to swing to drive the first leg 1 to swing around the hinge point of the first leg 1 and the second leg 2. One end of the connecting assembly 6 is connected with the second housing 41, for example, welded or bolted or screwed; the other end of the connecting assembly 6 is used for adaptively connecting with the robot body 100, for example, through fasteners for detachable connection or welding, and the axial direction of the first driving member 3 and the second driving member 4 is generally perpendicular to the robot body 100, and it should be understood that it can also be non-perpendicular with a small angle, which is set according to actual needs. When the robot leg assembly is used, the robot leg assembly is installed on the robot body 100 through the connecting assembly 6, and the second driving member 4 is installed on the connecting assembly 6, and the second driving member 4 drives the first driving member 3, the first leg 1 and the second leg 2 to rotate or swing as a whole through the second output shaft; the first driving member 3 is arranged on the second driving member 4, and the first output shaft of the first driving member 3 drives the first leg 1 to swing relative to the second leg 2 through the transmission member 5 and the connecting rod 51, so that the first leg 1 and the second leg 2 can be independently controlled to move, so that the robot leg assembly can perform the walking function.

[0042] The robot leg assembly provided by the application has the advantages of simple structure, convenient use, easy assembly, and effective solution to the problems of complex structure, bulkiness and difficulty in control of the existing four-legged robot leg. The coaxial arrangement of the first driving member 3 and the second driving member 4 and the direct driving of the first driving member 3, the second leg 2 and the first leg 1 by the second driving member 4 can simplify the internal structure of the robot leg assembly, reduce the number of parts, and reduce the manufacturing cost and maintenance difficulty. The robot leg assembly of the application adopts lightweight materials and compact structure design, so that the overall weight of the robot leg assembly is relatively light, and the volume is relatively small, which helps to improve the motion efficiency of the robot and reduce the energy consumption. The connecting assembly 6 is arranged on the second housing 41, so that the entire robot leg assembly can be conveniently connected with the robot body 100, simplifying the assembly process and improving the production efficiency. The connecting rod 51 is arranged eccentrically with the first output shaft, so that the robot can be more flexibly controlled by adjusting the swing angle of the connecting rod 51 when walking, running and other actions. The transmission member 5 is fixedly connected with the first output shaft, for example, welded or fastener connection. The robot leg assembly of the application is suitable for various types of four-legged robots, whether it is a small pet robot or a large industrial robot, and different requirements can be met by adjusting the size and parameters.

[0043] As shown in Figures 4-7 As shown in

[0044] The third output shaft is in transmission connection with the second housing 41, and the third housing 611 is configured to be connectable with the robot body 100.

[0045] It should be noted that the third driving member 61 is a device that meets the basic use requirements, such as a motor, a pneumatic motor or a hydraulic motor, and the third output shaft generally outputs power in the form of rotation. The third driving member 61 is arranged at an angle with the second driving member 4, and the angle is between 0° and 180°, and in general cases, the angle is between 70° and 110°, for example, 90°. The third driving member 61 drives the entire second driving member 4, the first driving member 3, the first leg 1 and the second leg 2 to rotate or swing through the third output shaft. The third driving member 61 is fixedly connected with the robot body 100 through fasteners and / or flanges, for example, welded connection or fastener detachable connection.

[0046] As shown in Figures 4-7As shown, in one optional embodiment of the present invention, the connecting component 6 further includes a connecting part 612, which is rotatably arranged about the axis of the third output shaft, and one end of the connecting part 612 is connected to the second housing 41, and the other end is configured to be rotatably connected to the robot body 100 and / or the third housing 611.

[0047] It should be noted that the rotatable connection between the second outer shell 41 and the robot body 100 and / or the third outer shell 611 via the connecting component 612 improves connection stability and enhances mechanical distribution, reducing stress concentration at the third output shaft and thus improving structural stability. Connecting the second outer shell 41 and the robot body 100 and / or the third outer shell 611 via the connecting component 612 can absorb impact forces and sudden force changes on the third output shaft to a certain extent, thereby extending the service life of the third output shaft or rotor of the third drive component 61, and consequently extending the service life of the robot leg assembly. Simultaneously, the connecting component 612, being rotatable around the axis of the third output shaft, improves structural compactness and facilitates structural simplification of the robot. It should be understood that the third drive shaft of the third drive component 61 is rotatably connected to its own third outer shell 611 via a flange, and then fixedly connected to the second outer shell 41 via the same flange; this can be considered as a rotatable connection between the third outer shell 611 and the second outer shell 41.

[0048] like Figures 4-7 As shown, in one optional embodiment of this utility model, the first outer shell 31 is rotatably connected to the second outer shell 41 and / or the connecting assembly 6, which optimizes the stress distribution between the first driving member 3 and the second driving member 4 and reduces stress concentration at the joint. The connection between the first outer shell 31 and the second outer shell 41, and / or the rotatable connection between the first outer shell 31 and the connecting assembly 6, allows the first outer shell 31 and the second outer shell 41 to absorb impact forces and sudden force changes to a certain extent, preventing the stress on the first driving member 3, the first leg 1, and the second leg 2 from being directly and completely borne by the second output bearing, thus avoiding damage to the second driving member 4 and extending the service life of the robot's leg assembly. It should be understood that the second drive shaft of the second driving member 4 is rotatably connected to its own second shell 41 via a flange, and then fixedly connected to the first outer shell 31 via the same flange; this can be considered as a rotatable connection between the first outer shell 31 and the second outer shell 41.

[0049] like Figures 4-7As shown, in one optional embodiment of this utility model, the second leg 2 is perpendicular to both the first driving member 3 and the second driving member 4, and / or the transmission member 5 is perpendicular to the first output shaft, and / or the second driving member 4 is perpendicular to the third driving member 61. The first driving member 3 and the second driving member 4 are both arranged along the X-axis, the third driving member 61 is arranged along the Y-axis, and the second leg 2 is generally arranged along the Z-axis. It should be understood that while perpendicular arrangement is generally used, a certain angular deviation is possible. For example, the angle between the second leg 2 and the first driving member 3 and the second driving member 4 is between 75° and 105°, the angle between the transmission member 5 and the first output shaft is between 75° and 105°, and the angle between the second driving member 4 and the third driving member 61 is between 75° and 105°. The specific angle can be selected according to actual needs.

[0050] like Figures 4-7 and Figure 8 As shown, in one optional embodiment of the present invention, the first outer shell 31 is provided with a limiting structure 32 on the side near the transmission member 5 to limit the swing range of the connecting rod 51.

[0051] It should be noted that the limiting structure 32 can be provided with a limiting track or a limiting groove 321 to ensure that the movement trajectory of the connecting rod 51 is clear, preventing the connecting rod 51 from swaying relative to the transmission member 5 in the X direction, and also preventing it from rotating around the first output shaft beyond a preset angle. The limiting structure 32 can directly limit the connecting rod 51 or the transmission member 5. For example, a pin 511 can be provided to cooperate with the limiting groove 321 to achieve the limiting effect. The pin 511 is integrally connected to the connecting rod 51 or the transmission member 5. By limiting the swing range of the connecting rod 51, the movement of the robot's leg components can be made more precise, avoiding motion errors caused by excessive swinging. This is especially important for performing delicate operations or moving in complex environments. By setting the limiting structure 32, unnecessary swaying of the link 51 during movement can be effectively prevented, thereby enhancing the stability of the robot. This is crucial for maintaining the robot's balance during walking, running, or other dynamic activities. The limiting structure 32 can also serve as a protective measure to prevent the link 51 from colliding or interfering with other mechanical components, which helps reduce wear or damage, extend the robot's service life, and reduce maintenance costs.

[0052] like Figures 4-7 As shown, in one optional embodiment of the present invention, the second leg 2 includes a first connecting plate 21 and a second connecting plate 22;

[0053] The first connecting plate 21 and the second connecting plate 22 are spaced apart and fastened together by a connector; the transmission component 5 and the connecting rod 51 are both disposed in the gap between the first connecting plate 21 and the second connecting plate 22.

[0054] It should be noted that the first connecting plate 21 and the second connecting plate 22 are generally arranged in parallel, and of course, a small angle is also within the allowable range, and the width of the first connecting plate 21 and the second connecting plate 22 is generally based on the movement track of the transmission member 5 and the connecting rod 51. The first connecting plate 21 and the second connecting plate 22 are abutted by the connecting column and fixed by fasteners such as bolts. It should be understood that the first connecting plate 21 and the second connecting plate 22 can also be arranged as an integral structure, and a cavity for mounting the transmission member 5 and the connecting rod 51 is left between the first connecting plate 21 and the second connecting plate 22. By arranging the transmission member 5 and the connecting rod 51 in the gap between the first connecting plate 21 and the second connecting plate 22, the transmission member 5 and the connecting rod 51 can be protected by the first connecting plate 21 and the second connecting plate 22 when moving, avoiding or reducing damage when the transmission member 5 and the second connecting rod 51 move and contact external components, or affecting the precision of the robot leg assembly when performing actions, and also avoiding or reducing the winding of the rotating transmission member 5 and the swinging connecting rod 51 to external objects and unable to act. At the same time, the movement of the transmission member 5 and the connecting rod 51 is also beneficial to the overall appearance of the robot leg assembly due to the shielding of the first connecting plate 21 and the second connecting plate 22. The connecting rod 51 is arranged between the first connecting plate 21 and the second connecting plate 22 and is hinged with the first plate member 6121 and the second plate member 6121, which is beneficial to improve the uniformity of stress, reduce stress concentration, improve the durability and reliability of the overall structure, and ensure stable operation in various complex environments. By reasonably arranging the transmission member 5 and the connecting rod 51 in the gap between the first connecting plate 21 and the second connecting plate 22, the space utilization can be significantly improved. This compact design not only saves space, but also makes the robot leg assembly more lightweight, which is beneficial to improve the overall mobility and flexibility of the robot.

[0055] As shown in Figures 4-7 As an optional embodiment of the present application, the first leg 1 is provided with a weight-reducing groove 11 on both sides, and the weight-reducing groove 11 is arranged along at least part of the profile of the two side surfaces of the first leg 1.

[0056] It should be noted that the setting of the weight reduction groove 11 makes the force on both sides of the first leg part 1 more uniform, thereby improving the stability of the overall structure and helping the robot to maintain balance in complex terrain, reducing the risk of imbalance and falling caused by uneven force. By symmetrically setting the weight reduction groove 11 on both sides of the first leg part 1, the overall weight and moment of inertia of the robot leg assembly can be effectively reduced, which not only improves the maneuverability of the robot, but also reduces the load of the drive motor, prolonging the battery life. The design of the weight reduction groove 11 can disperse impact force, reduce the situation of single-point force concentration, improve the impact resistance of the robot leg assembly, make the robot more durable when subjected to external impact, and reduce the possibility of damage; at the same time, the setting of the weight reduction groove 11 makes the material distribution more reasonable, avoiding unnecessary material waste. Under the premise of ensuring strength, by optimizing the use of materials, the manufacturing cost is reduced, and the production efficiency is improved.

[0057] As shown in Figures 4-7 , as one of the optional embodiments of the present application, the first leg part 1 is provided with an elastic friction pad 12 at one end away from the second leg part 2.

[0058] It should be noted that the elastic friction pad 12 can increase the friction between the first leg part 1 and the ground, thereby improving the stability of the robot on various complex terrains, especially on wet or uneven ground, which can significantly reduce the risk of slipping. The elastic friction pad 12 increases the contact area and grip between the foot and the ground through its material and structural properties, making the robot more stable when walking, running or jumping, less likely to slip, and improving the overall motion performance. The elastic friction pad 12 has good shock absorption performance, which can effectively absorb the impact and vibration from the ground, thereby prolonging the service life of the robot leg assembly and reducing maintenance costs. The design of the elastic friction pad 12 enables it to adapt to various ground conditions, including grass, sand, gravel, etc., enabling the robot to be applied in more scenarios, improving its practicality and flexibility.

[0059] As shown in Figures 4-7 , as one of the optional embodiments of the present application, the connecting component 612 includes a plate 6121 and a sleeve 6122, one end of the plate 6121 is fixedly connected with the second housing 41, the other end of the plate 6121 is fixedly connected with one end or the circumferential surface of the sleeve 6122, the other end of the sleeve 6122 is configured to be rotatably connected with the robot body 100, and the sleeve 6122 is coaxially arranged with the third drive shaft, thereby improving the structural flexibility of the connecting component 612 when connected, and facilitating installation and disassembly.

[0060] Further, the sleeve 6122 can be fixed to the robot body 100 through a reinforcing plate 613 to improve the reinforcing effect.

[0061] As Figures 4-7 shown, as one of the optional embodiments of the utility model, the third driving member 61 is arranged in parallel in the robot body 100.

[0062] As Figures 4-7 shown, as one of the optional embodiments of the utility model, the first leg 1 is arranged in arc shape, and the profile of both ends of the first leg 1 is greater than or equal to the profile of the middle part of the first leg 1 along the length direction of the first leg 1. It should be noted that the arc-shaped design makes the stress of the first leg 1 more uniform, thereby improving the stability of the overall structure and effectively reducing deformation or damage caused by uneven stress. The arc-shaped first leg 1 can better disperse impact force, reduce the situation of single-point stress concentration, improve the overall durability of the robot when subjected to external impact, and reduce the possibility of damage. The arc-shaped design can also significantly improve the appearance aesthetics of the robot. The profile of both ends of the first leg 1 is greater than or equal to the profile of the middle part of the first leg 1, thereby facilitating the installation of the elastic friction pad 12 at one end of the first leg 1 and the hinging of the other end with the second leg 2 and the connecting rod 51.

[0063] As Figures 4-7 shown, as one of the optional embodiments of the utility model, the second connecting plate 22 is arranged on the outside of the robot leg assembly, and the end of the second connecting plate 22 connected with the first shell 31 is provided with a plurality of avoiding notches 221, and the second leg 2 and the first shell 31 have a plurality of connection points, which can increase the connection stability between the second leg 2 and the first shell 31. By arranging a plurality of connection points, the force applied on the second leg 2 can be effectively dispersed, avoiding excessive stress on a single connection point, which helps to prolong the service life of the components and improve the durability of the overall structure. By arranging a plurality of avoiding notches 221, the installation of the transmission member 5 and / or the limiting structure 32 is facilitated, improving the convenience of installation and disassembly.

[0064] As Figures 4-7 shown, as one of the optional embodiments of the utility model, the end of the first leg 1 away from the second leg 2 is in arc shape. The arc-shaped end makes the first leg 1 more flexible during movement, and can better adapt to various complex terrains, whether turning, obstacle avoidance or crossing obstacles, the arc-shaped design can provide better movement performance.

[0065] As Figures 1-3 shown, the utility model provides a kind of robot, including robot body 100 and the robot leg assembly described, the end of the robot leg assembly away from the first leg 1 is connected with the robot body.

[0066] As Figures 1-2As shown, the robot leg assembly of the robot is provided with at least four.

[0067] In summary, the utility model effectively overcomes some practical problems in the prior art and has high utilization value and use significance.

[0068] The above embodiments only exemplarily illustrate the principles and effects of the utility model, and are not used to limit the utility model. Any person skilled in the art can modify or change the above embodiments without departing from the spirit and category of the utility model. Therefore, all equivalent modifications or changes completed by those skilled in the art without departing from the spirit and technical thought disclosed by the utility model should be covered by the claims of the utility model.

Claims

1. A robotic leg assembly, comprising: The robot leg assembly comprises: a first leg; a second leg, one end of which is hingedly connected to the first leg; a first driving member, comprising a first housing and a first output shaft, the first housing being in transmission connection with the other end side of the second leg; a second driving member, coaxially arranged with the first driving member, the second driving member comprising a second housing and a second output shaft, the second output shaft being in transmission connection with the first housing; a transmission member, connected with the first output shaft; a connecting rod, one end of which is hingedly connected to the first leg, the other end of the connecting rod being hingedly connected to the transmission member, and the end of the connecting rod being eccentrically arranged with the first output shaft; a connecting assembly, arranged on the second housing, the connecting assembly being configured to be connectable with a robot body.

2. The robotic leg assembly of claim 1, wherein, The connecting assembly comprises a third driving member, arranged at an angle with the second driving member, the third driving member comprising a third housing and a third output shaft; the third output shaft being in transmission connection with the second housing, and the third housing being configured to be connectable with the robot body.

3. The robotic leg assembly of claim 2, wherein, The connecting assembly further comprises a connecting component, rotatably arranged around the axis of the third output shaft, one end of the connecting component being connected to the second housing, and the other end of the connecting component being configured to be rotatably connected with the robot body and / or the third housing.

4. The robotic leg assembly of claim 3, wherein, The first housing is in rotational connection with the second housing and / or the connecting assembly.

5. The robotic leg assembly of claim 2, wherein, The second leg is vertically arranged with the first driving member and the second driving member, and / or the transmission member is vertically arranged with the first output shaft, and / or the second driving member is vertically arranged with the third driving member.

6. The robotic leg assembly of claim 1, wherein, The first housing is provided with a limiting structure on the side close to the transmission member, the limiting structure limiting the swing range of the connecting rod.

7. The robotic leg assembly of claim 1, wherein, The second leg comprises a first connecting plate and a second connecting plate; the first connecting plate and the second connecting plate are gap arranged and fastened by a connecting member; the transmission member and the connecting rod are arranged in the gap between the first connecting plate and the second connecting plate.

8. The robotic leg assembly of claim 1, wherein, The first leg is provided with a weight-reducing groove on both sides thereof, and the weight-reducing groove is arranged along at least part of the profile of the side surface of the first leg.

9. The robotic leg assembly of claim 1, wherein, The first leg is provided with an elastic friction pad on the end away from the second leg.

10. A robot, characterized in that The robot leg assembly is connected with the robot body on the end away from the first leg.

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