Robotic leg mechanism

Abstract

This utility model relates to the field of humanoid robot technology, specifically disclosing a robot leg mechanism. The robot leg mechanism includes a thigh, a lower leg, a foot, an adjustment drive component, and a transmission component. The lower leg is rotatably connected to the thigh, and a transmission channel is provided inside the lower leg. The foot is rotatably connected to the end of the lower leg away from the thigh. The adjustment drive component is located within the transmission channel. The transmission component passes through the transmission channel and extends in the same direction as the lower leg. One end of the transmission component is rotatably connected to the output end of the adjustment drive component, and the other end is rotatably connected to the foot. The adjustment drive component moves the transmission component, thereby driving the foot and lower leg to rotate relative to each other. This design greatly simplifies the number of parts, saves assembly steps, and improves assembly efficiency. Furthermore, because it needs to serve as a support structure, it requires high structural strength. By placing the transmission component within the transmission channel, even if the robot falls, the lower leg will not deform, effectively reducing the possibility of bending of the internal transmission component.

Description

Technical Field

[0001] This utility model relates to the field of humanoid robot technology, and in particular to a robot leg mechanism. Background Technology

[0002] Humanoid robots have two legs, each consisting of a thigh, a calf, and a foot. To enable the legs to move, they are connected by several structural components. To facilitate manufacturing, these components are usually machined directly from profiles, resulting in poor aesthetics. To improve the appearance, exterior components are typically installed on the outside of the structural components, which increases the number of parts and reduces assembly efficiency.

[0003] In addition, force is transmitted between the feet and lower legs via a transmission rod. The transmission rod and structural components are arranged side by side, which is not aesthetically pleasing. Furthermore, debris can easily get into the gaps between the transmission rod and the structural components. Some products cover the transmission components with exterior parts, but these exterior parts are generally made of plastic and have low strength. Once there is a collision or the robot falls, the exterior parts are easily damaged, which can lead to problems such as bending and deformation of the transmission rod.

[0004] Therefore, it is urgent to study a robot leg structure to solve the above problems. Utility Model Content

[0005] The purpose of this invention is to provide a robot leg mechanism to solve the problems of low assembly efficiency and easy deformation of transmission rods in the prior art.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] The robot's leg mechanism includes:

[0008] thigh;

[0009] The lower leg is rotatably connected to the thigh, and a transmission channel is provided inside the lower leg;

[0010] The foot is rotatably connected to the end of the lower leg away from the thigh.

[0011] An adjustment drive component is located in the transmission channel;

[0012] A transmission component is inserted into the transmission channel and extends in the same direction as the lower leg. One end of the transmission component is connected to the output end of the adjustment drive component, and the other end is rotatably connected to the foot. The adjustment drive component drives the transmission component to move, thereby driving the foot to rotate relative to the lower leg.

[0013] As an optional technical solution for a robot leg mechanism, there are two transmission components and two adjustment drive components, which correspond one-to-one with the two transmission components. Both transmission components are located within the transmission channel. One adjustment drive component cooperates with one of the transmission components to adjust the foot and the lower leg to rotate around a first axis. The other adjustment drive component cooperates with the other transmission component to adjust the foot and the lower leg to rotate around a second axis, which is perpendicular to the first axis.

[0014] As an optional technical solution for a robot leg mechanism, the robot leg mechanism further includes an adjustment seat, which is detachably installed in the transmission channel, and the adjustment drive is installed on the adjustment seat.

[0015] As an optional technical solution for a robot leg mechanism, the adjustment base is provided with a mounting channel, the output end of the adjustment drive component passes through the mounting channel, and the transmission component and the adjustment drive component are respectively located on the front and rear sides of the adjustment base; and / or,

[0016] The adjusting seat and the adjusting drive are screwed together.

[0017] As an optional technical solution for a robot leg mechanism, the lower leg includes a first shell and a second shell. The first shell has a first groove, and the second shell has a second groove. The first shell is connected to the second shell, and the first groove and the second groove form the transmission channel.

[0018] As an optional technical solution for a robot leg mechanism, the robot leg mechanism further includes a knee motor, which is fixed to the first housing and the second housing. The end of the thigh facing the lower leg has a first fixing part and a second fixing part arranged at intervals along the axial direction of the knee motor. The output end of the knee motor is fixedly connected to the first fixing part, and the knee motor is rotatably connected to the second fixing part.

[0019] As an optional technical solution for a robot leg mechanism, the knee motor includes a stator and a rotor, a first bearing is provided between the stator and the rotor, the rotor forms the output end, and the stator and the second fixed part are rotatably connected by a second bearing. The first bearing and the second bearing are respectively located at both ends of the stator.

[0020] And / or,

[0021] The first sub-shell has a first sub-channel, and the second sub-shell has a second sub-channel. The knee motor includes a stator and a rotor that are rotatably coupled. The stator has an annular boss on its outer periphery. The diameter of the annular boss is larger than the diameter of the first sub-channel and the diameter of the second sub-channel. The stator passes through the first sub-channel and the second sub-channel, and the annular boss is sandwiched between the first sub-shell and the second sub-shell.

[0022] As an optional technical solution for a robot leg mechanism, the thigh includes an upper leg and a lower leg, the lower leg is rotatably disposed on the upper leg, and the first fixing part and the second fixing part are disposed on the lower leg;

[0023] And / or,

[0024] Both the first and second sub-shells are screwed onto the annular boss.

[0025] As an optional technical solution for a robot leg mechanism, the upper leg has a mounting cylinder, and the thigh further includes an inversion drive component, which is disposed in the mounting cylinder and whose output end is connected to the lower leg; and / or,

[0026] The lower leg includes a third shell and a fourth shell, which are connected. The first fixing part is located in the third shell, and the second fixing part is located in the fourth shell.

[0027] As an optional technical solution for a robot leg mechanism, the robot leg mechanism further includes a waist support and a hip support, the hip support being rotatably mounted on the waist support, the thigh being rotatably mounted on the hip support, and the rotation axis of the hip support being perpendicular to the rotation axis of the thigh.

[0028] This utility model has at least the following beneficial effects:

[0029] This invention provides a robot leg mechanism, comprising a thigh, a lower leg, a foot, an adjustment drive, and a transmission component. The lower leg is rotatably connected to the thigh, and a transmission channel is provided inside the lower leg. The foot is rotatably connected to the end of the lower leg furthest from the thigh. The adjustment drive is located within the transmission channel. The transmission component passes through the transmission channel and extends in the same direction as the lower leg. One end of the transmission component is rotatably connected to the output end of the adjustment drive, and the other end is rotatably connected to the foot. The adjustment drive moves the transmission component, thereby driving the foot to rotate relative to the lower leg. By providing a transmission channel inside the lower leg, the lower leg forms a cylindrical structure with high bending resistance. It serves as a support structure, an aesthetic structure, and a protective structure for the transmission component. This design greatly simplifies the number of parts, saves assembly steps, and improves assembly efficiency. Simultaneously, because it needs to function as a support structure with high structural strength, placing the transmission component within the transmission channel effectively prevents it from being impacted by external forces. Even if the robot falls, the lower leg will not deform, effectively reducing the possibility of bending of the internal transmission component. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments of this utility model will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the content of the embodiments of this utility model and these drawings without creative effort.

[0031] Figure 1 This is a schematic diagram of the robot leg mechanism in an embodiment of the present invention;

[0032] Figure 2 This is a partial exploded view of the robot leg mechanism in an embodiment of this utility model;

[0033] Figure 3 This is an exploded view of the thigh, calf, and foot in an embodiment of this utility model;

[0034] Figure 4 This is an exploded view of a portion of the thigh, lower leg, and foot in an embodiment of this utility model.

[0035] In the picture:

[0036] 100. Thigh; 110. Upper leg; 120. Lower leg; 121. Third shell; 1211. First fixing part; 122. Fourth shell; 1221. Second fixing part; 130. Inward turning drive; 140. Transfer part; 150. Semi-ring;

[0037] 200. Lower leg; 210. First shell; 211. First transverse flip hole; 212. First protrusion; 213. First sub-channel; 214. First hole; 220. Second shell; 221. Second transverse flip hole; 222. Second protrusion; 223. Second sub-channel;

[0038] 300, Foot; 310, Script body; 320, Connecting seat; 321, First connecting arm; 3211, Actuating channel; 322, Second connecting arm; 330, Actuating shaft;

[0039] 400. Adjustment drive component; 410. Adjustment seat; 411. Mounting channel; 412. Adjustment hole;

[0040] 500. Transmission components; 510. Cross shaft;

[0041] 600. Knee motor; 610. Stator; 611. Annular boss; 620. Separating screw; 630. Locating pin; 640. Second bearing;

[0042] 710. Lumbar support; 711. Lumbar motor; 720. Hip support; 721. Hip motor; 730. Leg extension motor. Detailed Implementation

[0043] Before explaining any implementation of this application in detail, it should be understood that this application is not limited to its application to the structural details and component arrangements set forth in the following description or shown in the above drawings.

[0044] In this application, the terms "comprising," "including," "having," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0045] In this application, the term "and / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent three cases: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this application generally indicates that the preceding and following related objects have an "and / or" relationship.

[0046] In this application, the terms "connection," "combination," "coupling," and "installation" can refer to direct connection, combination, coupling, or installation, or indirect connection, combination, coupling, or installation. For example, a direct connection refers to two parts or components being connected together without the need for an intermediary, while an indirect connection refers to two parts or components each being connected to at least one intermediary, with the connection achieved through the intermediary. Furthermore, "connection" and "coupling" are not limited to physical or mechanical connections or couplings, but can also include electrical connections or couplings.

[0047] In this application, those skilled in the art will understand that relative terms (e.g., “about,” “approximately,” “basically,” etc.) used in conjunction with quantities or conditions are to include the values ​​and have the meaning indicated by the context. For example, such relative terms include at least the degree of error associated with the measurement of a particular value, tolerances associated with the particular value due to manufacturing, assembly, use, etc. Such terms should also be considered as disclosing a range defined by the absolute values ​​of the two endpoints. Relative terms may refer to a certain percentage (e.g., 1%, 5%, 10% or more) of the indicated value. Numerical values ​​not using relative terms should also be disclosed as specific values ​​with tolerances. Furthermore, “basically” when expressing relative angular relationships (e.g., substantially parallel, substantially perpendicular) may refer to a certain degree (e.g., 1 degree, 5 degrees, 10 degrees or more) added to or subtracted from the indicated angle.

[0048] In this application, those skilled in the art will understand that the function performed by a component can be performed by one component, multiple components, one part, or multiple parts. Similarly, the function performed by a part can also be performed by one part, one component, or a combination of multiple parts.

[0049] In this application, the directional terms "upper," "lower," "left," "right," "front," and "rear" are used to describe the orientation and positional relationships shown in the accompanying drawings and should not be construed as limiting the embodiments of this application. Furthermore, in the context, it should be understood that when an element is mentioned as being connected "upper" or "lower" to another element, it can be directly connected to the other element "upper" or "lower," or indirectly connected through an intermediate element. It should also be understood that directional terms such as upper side, lower side, left side, right side, front side, and rear side not only represent positive orientation but can also be understood as lateral orientation. For example, "below" can include directly below, lower left, lower right, lower front, and lower rear.

[0050] like Figures 1 to 4As shown, this embodiment provides a robot leg mechanism, which includes a thigh 100, a lower leg 200, a foot 300, an adjustment drive component 400, and a transmission component 500. The lower leg 200 is rotatably connected to the thigh 100, and a transmission channel is provided inside the lower leg 200. The foot 300 is rotatably connected to the end of the lower leg 200 away from the thigh 100. The adjustment drive component 400 is disposed in the transmission channel. The transmission component 500 passes through the transmission channel and extends in the same direction as the lower leg 200. One end of the transmission component 500 is rotatably connected to the output end of the adjustment drive component 400, and the other end is rotatably connected to the foot 300. The adjustment drive component 400 drives the transmission component 500 to move, thereby driving the foot 300 to rotate relative to the lower leg 200.

[0051] By setting a transmission channel inside the lower leg 200, the lower leg 200 forms a cylindrical structure with high bending resistance. It can serve as a support structure, an appearance structure, and a protective structure for the transmission component 500. The above configuration greatly simplifies the number of parts, saves assembly steps, and improves assembly efficiency. At the same time, since it needs to serve as a support structure, the structure has high strength. Setting the transmission component 500 inside the transmission channel can effectively prevent the transmission component 500 from being hit by external collisions. Even if the robot falls, the lower leg 200 will not deform, effectively reducing the possibility of the internal transmission component 500 bending.

[0052] There are two transmission components 500 and two adjustment drive components 400, which correspond one-to-one with the two transmission components 500. Both transmission components 500 are located in the transmission channel. One adjustment drive component 400 cooperates with one of the transmission components 500 to adjust the foot 300 and lower leg 200 to rotate around the first axis. The other adjustment drive component 400 cooperates with the other transmission component 500 to adjust the foot 300 and lower leg 200 to rotate around the second axis, which is perpendicular to the first axis.

[0053] In this embodiment, the robot leg mechanism further includes a cross shaft 510. The foot 300 includes a script body 310 and a connecting seat 320 connected to the script body 310. The connecting seat 320 includes a first connecting arm 321 and a second connecting arm 322. The cross shaft 510 is rotatably disposed between the first connecting arm 321 and the second connecting arm 322 about a first axis. The lower leg 200 is hinged to the cross shaft 510, and the hinge axis is the second axis.

[0054] The first connecting arm 321 is provided with a toggle channel 3211. The toggle shaft 330 passes through the toggle channel 3211, with both ends located on the outside of the toggle channel 3211. One of the two transmission members 500 is hinged to one end of the toggle shaft 330, and the other transmission member 500 is hinged to the other end of the toggle shaft 330. The axis of the toggle shaft 330 is parallel to the second axis, and the toggle shaft 330 is located in front of the second axis. When the two transmission members 500 move downwards simultaneously, they can drive the foot 300 and the lower leg 200 to rotate relative to the second axis, so that the toes of the foot 300 are raised or lowered. When one transmission member 500 moves upwards and the other transmission member 500 moves downwards, the foot 300 and the lower leg 200 rotate relative to the first axis, so that the foot 300 is turned outwards or inwards.

[0055] The first connecting arm 321 has a first longitudinal flip hole, and the second connecting arm 322 has a second longitudinal flip hole. A first longitudinal screw passes through the first longitudinal flip hole and is screwed to the cross shaft 510, and rotates relative to the first connecting arm 321; a second longitudinal screw passes through the second longitudinal flip hole and is screwed to the cross shaft 510, and rotates relative to the second connecting arm 322. The first and second longitudinal screws are arranged coaxially. The cross shaft 510 is located within the transmission channel.

[0056] The lower end of the lower leg 200 is provided with a first transverse flip hole 211 and a second transverse flip hole 221 that are coaxially arranged and connect to the transmission channel. A first transverse screw passes through the first transverse flip hole 211 and is screwed to the cross shaft 510, and rotates with the lower leg 200; a second transverse screw passes through the second transverse flip hole 221 and is screwed to the cross shaft 510, and rotates with the lower leg 200. The first transverse screw and the second transverse screw are coaxial, and the first transverse screw is located above the first longitudinal screw. The lower leg 200 and the cross shaft 510 can also be connected in other ways, with a transverse shaft passing through the first transverse flip hole 211 and the second transverse flip hole 221, and passing through the transverse hole of the cross shaft 510, and being able to rotate relative to the cross shaft 510.

[0057] Two transmission components 500 are arranged vertically at intervals within the transmission channel, which helps to reduce the diameter of the lower leg 200. Both transmission components 500 are connected to the actuating shaft 330; one component is longer than the other. The vertical direction is the arrangement direction of the lower leg 200 and the thigh 100.

[0058] The adjustment drive 400 is located at the end of the lower leg 200 near the thigh 100. Because the adjustment drive 400 is positioned high, it helps to raise the center of gravity, reduce the power required for the lower leg 200 to swing, and reduce energy consumption.

[0059] Regarding the installation method of the adjustment drive component 400, in some embodiments, the robot leg mechanism further includes an adjustment seat 410, which is detachably installed in the transmission channel, and the adjustment drive component 400 is installed on the adjustment seat 410. This arrangement simplifies the structure of the lower leg 200, allows for the adaptation of different adjustment drive components 400 through the structure of the adjustment seat 410, and facilitates the disassembly, assembly, and maintenance of the adjustment drive component 400.

[0060] Specifically, the adjusting base 410 is provided with an installation channel 411, through which the output end of the adjusting drive 400 passes. The transmission component 500 and the adjusting drive 400 are respectively located on the front and rear sides of the adjusting base 410, improving the structural stability between the adjusting base 410 and the adjusting drive 400. (Refer to...) Figure 1 The toes of the foot 300 point forward, the heel points backward, and the lower leg 200 and thigh 100 are slightly bent forward. The adjustment seat 410 has two mounting channels 411, which are arranged vertically at intervals. The adjustment seat 410 and the adjustment drive 400 are screwed together. The adjustment seat 410 has adjustment holes 412 on the outer periphery of the adjustment channels, and screws pass through the adjustment holes 412 and are screwed to the end of the adjustment drive 400. The adjustment drive 400 is a servo motor. The output end of the adjustment drive 400 is fixedly connected to the central shaft of the eccentric wheel, and one end of the transmission component 500 is hinged to the eccentric shaft of the eccentric wheel. When the adjustment drive 400 drives the eccentric wheel to rotate, it drives the transmission component 500 to rise and fall.

[0061] To facilitate mold opening, the lower leg 200 includes a first shell 210 and a second shell 220. The first shell 210 has a first groove, and the second shell 220 has a second groove. The first shell 210 and the second shell 220 are connected, and the first groove and the second groove form a transmission channel. The first shell 210 and the second shell 220 have uniform thickness throughout, which facilitates mass production and helps improve production quality.

[0062] The first housing 210 has a first protrusion 212 at its lower end, and the second housing 220 has a second protrusion 222 at its lower end. A first transverse flip hole 211 is located on the first protrusion 212, and a second transverse flip hole 221 is located on the second protrusion 222. The arrangement of the first protrusion 212 and the second protrusion 222 creates a gap between the lower leg 200 and the foot 300, thus preventing interference when the foot 300 and the lower leg 200 rotate relative to the first transverse screw. It also ensures the shielding of the cross shaft 510, improving aesthetics and protection.

[0063] The robot's leg mechanism also includes a knee motor 600, which is fixed to the first housing 210 and the second housing 220. The end of the thigh 100 facing the lower leg 200 has a first fixing part 1211 and a second fixing part 1221 spaced apart along the axis of the knee motor 600. The output end of the knee motor 600 is fixedly connected to the first fixing part 1211, and the knee motor 600 is rotatably connected to the second fixing part 1221. The connection between the knee motor 600 and the first housing 210 and the second housing 220 improves connection stability and force balance, enhancing impact resistance. Simultaneously, the connection method between the knee motor 600 and the first fixing part 1211 and the second fixing part 1221 results in two connection points between the knee motor 600 and the thigh 100, avoiding a cantilever structure, reducing the strength requirements on the output end of the knee motor 600, and lowering costs.

[0064] Specifically, the knee motor 600 includes a stator 610 and a rotor. A first bearing is provided between the stator 610 and the rotor. The rotor forms the output end of the knee motor 600. The stator 610 and the second fixed part 1221 are rotatably connected by a second bearing 640. The first bearing and the second bearing 640 are located at opposite ends of the stator 610. The arrangement of the two bearings makes the rotation between the thigh 100 and the calf 200 smoother and minimizes wear. The diameter of the stator 610 is larger than the diameter of the rotor. Both the first bearing and the second bearing 640 are deep groove ball bearings or tapered roller bearings, and the diameter of the second bearing 640 is larger than the diameter of the first bearing. The second bearing 640 is fitted around the outer circumference of the stator 610. When both the first bearing and the second bearing 640 are tapered ball bearings, the tapered rollers in the two bearings are tilted in opposite directions.

[0065] The first housing 210 has a first sub-channel 213, and the second housing 220 has a second sub-channel 223. The knee motor 600 includes a stator 610 and a rotor that are rotatably coupled. The stator 610 has an annular boss 611 on its outer periphery. The diameter of the annular boss 611 is larger than the diameter of the first sub-channel 213 and the diameter of the second sub-channel 223. The stator 610 passes through the first sub-channel 213 and the second sub-channel 223, and the annular boss 611 is sandwiched between the first housing 210 and the second housing 220. The annular boss 611 can effectively constrain the displacement of the knee motor 600 relative to the lower leg 200 along its own axis, ensuring the stability of the connection.

[0066] The first housing 210 and the second housing 220 are both screwed onto the annular boss 611. The annular boss 611 has several connecting holes spaced apart. The first housing 210 has several first holes 214, and the second housing 220 has several second holes. Housing screws 620 pass through the first holes 214 and the connecting holes and are screwed into the second holes. The annular boss 611 has boss positioning holes. The first housing 210 has a first positioning hole, and the second housing 220 has a second positioning hole. Positioning pins 630 pass through the boss positioning holes, with both ends located outside the positioning holes. One end of the positioning pin 630 is inserted into the first positioning hole, and the other end is inserted into the second positioning hole.

[0067] In other embodiments, the knee motor 600 is fixedly connected to the thigh 100, and the output end of the knee motor 600 is rotatably connected to the lower leg 200.

[0068] To achieve greater freedom of movement, the thigh 100 includes an upper leg 110 and a lower leg 120. The lower leg 120 is rotatably mounted on the upper leg 110, allowing the two feet 300 to rotate inward to form an inward-pointing toe or outward to form an outward-pointing toe, thus adapting to more diverse road conditions. A first fixing part 1211 and a second fixing part 1221 are provided on the lower leg 120.

[0069] The upper leg 110 has a mounting cylinder, and the thigh 100 also includes an inward turning drive 130, which is housed in the mounting cylinder and whose output end is connected to the lower leg 120. The inward turning drive 130 is a servo motor. Installing the inward turning drive 130 in the mounting cylinder improves protection against scratches and enhances operational reliability; it also strengthens the connection between the inward turning drive 130 and the upper leg 110. The upper leg 110 has several mounting holes communicating with the mounting cylinder, and several mounting screws are spaced around the axis of the mounting cylinder. The mounting screws pass through the mounting holes and are screwed onto the inward turning drive 130. Because the inward turning drive 130 is housed in the mounting cylinder inside the upper leg 110, no external trim is needed on the outside of the upper leg 110. This allows the upper leg 110 to function as both a support structure and an external trim, providing sufficient strength to effectively protect the inward turning drive 130 and improving assembly efficiency.

[0070] The lower leg portion 120 includes a third housing 121 and a fourth housing 122, which are connected. A first fixing part 1211 is provided in the third housing 121, and a second fixing part 1221 is provided in the fourth housing 122. The split design of the lower leg portion 120 facilitates mold making and mass production; at the same time, it facilitates assembly with the knee motor 600.

[0071] The first fixing part 1211 includes a first fixing channel disposed in the third housing 121, and the second fixing part 1221 includes a second fixing channel disposed in the fourth housing 122. The rotor of the knee motor 600 passes through the first fixing channel and is fixedly connected to the third housing 121, and the stator 610 passes through the second fixing channel and is fixedly connected to the third housing 121.

[0072] To facilitate the connection between the lower leg 120 and the inward turning drive 130, in some embodiments, a transfer member 140 is connected to the output end of the inward turning drive 130, and a retaining ring is fitted around the outer periphery of the transfer member 140 and connected to the third housing 121 and the fourth housing 122. The retaining ring includes two semi-rings 150, which are connected relative to each other to form a retaining ring, thereby improving the convenience of connection. The end of the transfer member 140 is provided with a positioning groove, and the output end of the inward turning drive 130 is provided with a positioning block, which is inserted into the positioning groove. An annular protrusion is provided on the inner side of the retaining ring, and an annular groove is provided on the outer periphery of the transfer member 140, with the annular protrusion inserted into the annular groove. The thickness of the annular protrusion gradually decreases along the axial direction towards the retaining ring, and the maximum thickness of the annular protrusion is greater than the width of the annular groove, thereby improving the connection strength between the transfer member 140 and the retaining ring. The thickness of the annular protrusion is the dimension of the annular protrusion along the axial direction of the retaining ring.

[0073] In some embodiments, the first housing 210 and the second housing 220 are both located between the third housing 121 and the fourth housing 122 to improve the ease of installation and to improve the balance of force on the knee motor 600.

[0074] The robot's leg mechanism also includes a lumbar support 710 and a hip support 720. The hip support 720 is rotatably mounted on the lumbar support 710, and the thigh 100 is rotatably mounted on the hip support 720. The rotation axis of the hip support 720 is perpendicular to the rotation axis of the thigh 100. The output end of the lumbar motor 711 is connected to the lumbar support 710. The lumbar motor 711 is connected to the torso (not shown in the figure). The leg-stepping motor 730 is mounted on the lumbar support 710, and its output end is connected to the hip support 720. The hip motor 721 is mounted on the hip support 720, and its output end is connected to the thigh 100. The axis of the lumbar motor 711 extends vertically, the axis of the leg-stepping motor 730 extends horizontally, and the axis of the hip motor 721 extends forward-backward.

[0075] In the robot's leg mechanism, one waist support 710 corresponds to two hip supports 720, two thighs 100, two lower legs 200, and two feet 300, thus mimicking a human walking posture. The waist support 710 is equipped with two leg-walking motors 730, which are connected to the two hip supports 720 respectively. Each hip support 720 is equipped with one hip motor 721, which is connected to the corresponding thigh 100.

[0076] The waist support 710 is equipped with heat dissipation fins, and a fan is installed on the waist support 710 and blows air onto the heat dissipation fins to transfer the heat from the two leg motors 730 and the waist motor 711.

[0077] The waist motor 711 is screwed to the waist bracket 710. In other embodiments, the waist motor 711 is fixed to the waist bracket 710 by a motor retainer. The motor retainer has anti-rotation bosses and V-shaped bosses that mate with the grooves on the waist motor 711, allowing for convenient and quick installation of the waist motor 711. The end face of the leg-stepping motor 730 has a groove that engages with the protrusions of the hip bracket 720.

[0078] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make various obvious changes, readjustments, and substitutions without departing from the protection scope of this utility model. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A robotic leg mechanism, characterized by, include: Thigh (100); Lower leg (200), the lower leg (200) is rotatably connected to the thigh (100), and the lower leg (200) is provided with a transmission channel inside; The foot (300) is rotatably connected to the end of the lower leg (200) away from the thigh (100); An adjustment drive element (400) is provided in the transmission channel; A transmission component (500) is inserted into the transmission channel and extends in the same direction as the lower leg (200). One end of the transmission component (500) is connected to the output end of the adjustment drive component (400), and the other end is rotatably connected to the foot (300). The adjustment drive component (400) drives the transmission component (500) to move, thereby driving the foot (300) and the lower leg (200) to rotate relative to each other.

2. The robotic leg mechanism of claim 1, wherein, There are two transmission components (500) and two adjustment drive components (400), which correspond one-to-one with the two transmission components (500). Both transmission components (500) are located in the transmission channel. One of the adjustment drive components (400) cooperates with one of the transmission components (500) to adjust the foot (300) and the lower leg (200) to rotate around the first axis. The other adjustment drive component (400) cooperates with the other transmission component (500) to adjust the foot (300) and the lower leg (200) to rotate around the second axis, which is perpendicular to the first axis.

3. The robotic leg mechanism of claim 2, wherein, The robot leg mechanism also includes an adjustment seat (410), which is detachably installed in the transmission channel, and the adjustment drive (400) is installed on the adjustment seat (410).

4. The robotic leg mechanism of claim 3, wherein, The adjusting seat (410) is provided with an installation channel (411), the output end of the adjusting drive (400) passes through the installation channel (411), and the transmission member (500) and the adjusting drive (400) are respectively disposed on the front and rear sides of the adjusting seat (410); and / or, The adjusting seat (410) and the adjusting drive (400) are screwed together.

5. The robotic leg mechanism of claim 1, wherein, The lower leg (200) includes a first sub-shell (210) and a second sub-shell (220). The first sub-shell (210) has a first groove, and the second sub-shell (220) has a second groove. The first sub-shell (210) and the second sub-shell (220) are connected, and the first groove and the second groove form the transmission channel.

6. The robot leg mechanism according to claim 5, characterized in that, The robot leg mechanism also includes a knee motor (600), which is fixed to the first housing (210) and the second housing (220). The thigh (100) has a first fixing part (1211) and a second fixing part (1221) arranged at intervals along the axial direction of the knee motor (600) at one end facing the lower leg (200). The output end of the knee motor (600) is fixedly connected to the first fixing part (1211), and the knee motor (600) is rotatably connected to the second fixing part (1221).

7. The robotic leg mechanism of claim 6, wherein, The knee motor (600) includes a stator (610) and a rotor. A first bearing is provided between the stator (610) and the rotor. The rotor forms the output end. The stator (610) and the second fixing part (1221) are rotatably connected by a second bearing (640). The first bearing and the second bearing (640) are respectively located at both ends of the stator (610). And / or, The first sub-shell (210) has a first sub-channel (213), and the second sub-shell (220) has a second sub-channel (223). The knee motor (600) includes a stator (610) and a rotor that are rotatably coupled. The stator (610) has an annular boss (611) on its outer periphery. The diameter of the annular boss (611) is larger than the diameter of the first sub-channel (213) and the diameter of the second sub-channel (223). The stator (610) passes through the first sub-channel (213) and the second sub-channel (223), and the annular boss (611) is sandwiched between the first sub-shell (210) and the second sub-shell (220).

8. The robotic leg mechanism of claim 7, wherein, The thigh (100) includes an upper leg (110) and a lower leg (120), the lower leg (120) being rotatably disposed on the upper leg (110), and the first fixing part (1211) and the second fixing part (1221) being disposed on the lower leg (120); And / or, Both the first sub-shell (210) and the second sub-shell (220) are screwed to the annular boss (611).

9. The robotic leg mechanism of claim 8, wherein, The upper leg (110) has a mounting sleeve, and the thigh (100) further includes an inversion drive (130), the inversion drive (130) being disposed in the mounting sleeve and having its output end connected to the lower leg (120); and / or, The lower leg (120) includes a third shell (121) and a fourth shell (122), the third shell (121) and the fourth shell (122) are connected, the first fixing part (1211) is provided on the third shell (121), and the second fixing part (1221) is provided on the fourth shell (122).

10. The robotic leg mechanism of any of claims 1-9, wherein, The robot leg mechanism also includes a waist support (710) and a hip support (720). The hip support (720) is rotatably mounted on the waist support (710), and the thigh (100) is rotatably mounted on the hip support (720). The rotation axis of the hip support (720) is perpendicular to the rotation axis of the thigh (100).

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