Leg link structure, closed-chain leg assembly, and robot

Abstract

The utility model belongs to the field of robot technology provides a kind of leg bar structure, closed chain leg assembly and robot.It aims to solve the stability and maintainability of the connection of leg bar and foot of existing robot to ensure high stiffness and high load are poor, thereby reducing the dynamic motion performance and service life of robot problem.Through the thickness size of leg bar body gradually increases by first articulation, second articulation to the direction of connecting portion, and support platform structure is formed in connecting portion, support platform structure is used to adapt with foot, to meet the requirement of leg bar support when robot carries heavy object, while realizing lightweight by gradually changing thickness design to ensure leg bar structure strength, reduce the overall weight of robot, so that robot jumps / climbs more easily.And support platform structure is formed in connecting portion can be adapted with wider foot, to be more stably contacted with ground, to further improve the dynamic motion performance of weight-bearing robot.

Description

Technical Field

[0001] This utility model belongs to the field of robot technology, and specifically provides a leg structure, a closed-loop leg assembly, and a robot. Background Technology

[0002] In the field of robotics, closed-chain leg mechanisms are widely adopted as the mainstream leg configuration for multi-legged robots due to their high rigidity, high load capacity, and precise motion control. This mechanism, by forming a closed kinetic chain, effectively distributes load and reduces motion errors, making it particularly suitable for tasks requiring heavy-duty operations or high-precision gait. As the core component of the closed-chain leg that directly interacts with the ground, the design performance of the leg is crucial—its connection stability determines the efficiency of power transmission and the accuracy of body control; its cushioning and shock absorption performance affects the smoothness of movement and the impact of ground shocks on the body; and its durability directly relates to the robot's maintenance costs and overall lifespan. These factors collectively form the foundation for the robot's long-term stable operation; any deficiency in any of these aspects can significantly reduce the robot's operational efficiency and reliability.

[0003] There are two main design approaches to the connection structure between the leg rods and feet of existing multi-legged robots, each facing different engineering challenges. One design prioritizes the robot's mobility and lightweight construction, using a simple, lightweight linkage as the leg rod, and employing an integrated solution with a fixed connection to the foot. While this design reduces leg weight and inertia, facilitating agile movement, it also introduces significant drawbacks: the foot, being a vulnerable component, is subject to constant direct friction and collision with the ground, making it highly susceptible to wear and damage. Furthermore, due to the fixed connection, individual replacement or repair is difficult after damage, often requiring complete leg rod replacement or complex disassembly, significantly increasing maintenance costs and ultimately reducing the robot's actual lifespan. Simultaneously, this simple linkage structure, limited by its cross-section and material strength, suffers from insufficient overall rigidity and stability, restricting the robot's adaptability to heavy loads or complex terrain, and making it prone to deformation that affects motion accuracy.

[0004] Another design focuses on improving the load-bearing capacity and structural strength of the legs by employing more complex configurations (such as reinforcing ribs, thicker cross-sections, or composite structures) and forming a detachable connection with the feet. This approach does indeed enhance the rigidity and load-bearing capacity of the legs, allowing the robot to carry greater weight. However, the complex structure inevitably increases the weight of the legs themselves, which not only increases the robot's overall weight and motion inertia, making dynamic movements such as jumping and climbing more energy-intensive and difficult, but also generates greater compressive torque on the feet during heavy-duty operations. In particular, the concentration of weight and load causes a sharp increase in stress at the connection interface between the legs and the feet, making them highly susceptible to fatigue cracks, loose fasteners, or wear on the connection surfaces, ultimately leading to structural damage and decreased reliability. Therefore, this design, intended to improve performance, may actually create new weak points at critical connection points due to weight and stress issues, thus limiting the overall performance of the system.

[0005] In view of this, this utility model is proposed. Utility Model Content

[0006] One objective of this invention is to provide a leg structure that is high-strength, lightweight, highly stable, and highly adaptable to the foot, so as to improve the dynamic motion performance of a load-bearing robot.

[0007] To achieve the above objectives, this utility model provides a leg rod structure, which is connected to the robot's thigh.

[0008] The leg structure includes a leg body and a foot. The leg body is provided with a first hinge part, a second hinge part, and a connecting part connected to the thigh.

[0009] The thickness of the leg body gradually increases from the first hinge portion and the second hinge portion toward the connecting portion, and a support platform structure is formed at the connecting portion, the support platform structure being adapted to the foot.

[0010] Furthermore, the leg body forms an arc-shaped gradient structure from the first hinge portion and the second hinge portion toward the connecting portion; and / or, the leg body is configured as a hollow structure.

[0011] Furthermore, the foot is detachably connected to the leg body; and / or, the connecting portion extends outward from the leg body, the foot is provided with a receiving groove for accommodating the support platform structure; the connecting portion has a connecting hole; the foot is also provided with a slot perpendicular to the opening direction of the receiving groove, the slot at least partially penetrating in the thickness direction of the foot; the slot has a threaded structure; the leg structure further includes a fastener, the fastener being able to pass sequentially through the slot and the connecting hole from the slot opening and be securely connected to the threaded structure in the slot to connect the leg body to the foot.

[0012] Furthermore, the first hinge portion is provided with a first hole, and the leg rod structure further includes a first bearing, which is installed in the first hole and hinged to the front side of the thigh; a first bearing sleeve is provided in the first hole, and the first bearing sleeve is fitted on the outside of the first bearing; and / or, the second hinge portion is provided with a second hole, and the leg rod structure further includes a second bearing, which is installed in the second hole and hinged to the back side of the thigh; and a second bearing sleeve is provided in the second hole, and the second bearing sleeve is fitted on the outside of the second bearing.

[0013] Furthermore, the leg rod body is integrally formed from carbon fiber composite material using a carbon fiber molding process; the first bearing sleeve and the second bearing sleeve are both integrally formed from the leg rod body using a carbon fiber molding process; and / or, at least one or both of the first bearing and the second bearing are made of graphite copper.

[0014] Furthermore, both the first bearing and the second bearing include a bearing base and a flange. Both the bearing base and the flange are made of copper. Graphite is inlaid on the inner axial surface and outer circumferential surface of the bearing base and on both sides of the flange.

[0015] Furthermore, the leg rod body is integrally formed from carbon fiber composite material using a carbon fiber molding process; and / or, the first bearing sleeve and the second bearing sleeve are both integrally formed from the leg rod body using a carbon fiber molding process.

[0016] Furthermore, the line connecting the center point (A) of the first hinge, the center point (B) of the second hinge, and the point (C) where the foot is tangent to the ground forms a triangle (ABC), and the triangle ∠ABC is an obtuse angle.

[0017] Furthermore, the angle of triangle ∠ABC is set to 107°; and / or, the angle of triangle ∠BAC is set to 39°.

[0018] In other embodiments, a closed-chain leg assembly is provided, including a thigh rod, a second auxiliary rod, a third auxiliary rod, and the leg rod structure described in any of the above; a first end of the thigh rod is connected to the first hinge portion, and a second end of the thigh rod is connected to the robot torso; a first end of the third auxiliary rod is connected to any position between the first end and the second end of the thigh rod; a first end of the second auxiliary rod is connected to the second hinge portion, and a second end of the second auxiliary rod is connected to the second end of the third auxiliary rod; a third end of the third auxiliary rod is connected to the robot torso.

[0019] In other embodiments, a robot is provided that includes the closed-chain leg assembly described above.

[0020] Based on the foregoing description, those skilled in the art will understand that in the aforementioned technical solution of this utility model, by providing a first hinge portion, a second hinge portion, and a connecting portion for the leg structure, and by gradually increasing the thickness of the leg body from the first hinge portion and the second hinge portion towards the connecting portion, and forming a support platform structure at the connecting portion, the support platform structure is adapted to fit the foot, thereby meeting the leg support requirements when the robot is carrying heavy objects. Simultaneously, the gradual thickness design ensures the strength of the leg structure while achieving lightweighting, reducing the overall weight of the robot and making jumping / climbing easier. Furthermore, the support platform structure at the connecting portion can adapt to a wider foot, thus providing more stable contact with the ground.

[0021] Furthermore, the use of carbon fiber materials and the hollow structure of the leg levers significantly reduces weight, effectively decreasing moment of inertia and greatly enhancing the robot's speed, step frequency, and agility, enabling it to perform faster and more complex movements. Simultaneously, the extremely high specific strength and specific stiffness of the carbon fiber composite material ensures high stiffness and precision of the leg levers under complex loads; its designable anisotropy and excellent fatigue resistance further optimize structural efficiency and durability, thereby comprehensively improving the robot's dynamic response, movement speed, and energy efficiency.

[0022] Furthermore, by designing the leg structure with a specific triangular geometric layout, it is possible to achieve efficient load transfer. Specifically, the line connecting the center point (A) of the first hinge, the center point (B) of the second hinge, and the point (C) where the foot is tangent to the ground forms a triangle (ABC), and the triangle ∠ABC is an obtuse angle. The obtuse / right angle design can effectively disperse the pressure load and withstand the impact force generated during robot movement. At the same time, the combination of acute angles can efficiently transfer tensile force, effectively improve the fatigue fracture resistance, and thus improve the structural stability and motion stability of the robot. Attached Figure Description

[0023] To more clearly illustrate the technical solution of this utility model, some embodiments of this utility model will be described below with reference to the accompanying drawings. Those skilled in the art should understand that the same reference numerals may indicate the same or similar components or parts in different drawings; the drawings of this utility model are not necessarily drawn to scale. In the drawings:

[0024] Figure 1 This is a schematic diagram of the leg structure in some embodiments of this utility model;

[0025] Figure 2 yes Figure 1 Side view of the middle leg structure;

[0026] Figure 3 yes Figure 1 Schematic diagram of the structure of the middle leg bar body;

[0027] Figure 4 yes Figure 3 A schematic diagram of the geometric principle of the middle leg bar body;

[0028] Figure 5 yes Figure 2 A cross-sectional view of the middle leg bar body along the AA direction;

[0029] Figure 6 yes Figure 1 Front view of the midfoot;

[0030] Figure 7 yes Figure 6 A cross-sectional view of the midfoot along the BB direction;

[0031] Figure 8 yes Figure 6 Top view of the midfoot;

[0032] Figure 9 yes Figure 2 Schematic diagram of the structure of the medium fastener;

[0033] Figure 10 This is a structural schematic diagram of the closed-chain leg assembly in some other embodiments of this utility model.

[0034] Explanation of reference numerals in the attached figures:

[0035] 100. Leg components;

[0036] 1. Leg structure; 11. Leg body; 111. First hinge; 1111. First hole; A. Center point of the first hinge; 112. Second hinge; 1121. Second hole; B. Center point of the second hinge; 113. Connecting part; 1131. Connecting hole; C. Center point of the connecting part; 1132. First left horizontal plane; 1133. First right horizontal plane; 1134. First left vertical plane; 1135. First right vertical plane; 114. First bearing; 115. Second bearing; 116. First bearing sleeve; 117. Second bearing sleeve; 12. Foot; 121. Second horizontal plane; 122. Second left vertical plane; 123. Second right vertical plane; 124. Hole slot opening; 125. Fastener; 126. Fastening nut; 127. Foot pad; 128. Washer;

[0037] 2. Thigh bar; 21. First hinge hole; 22. Second hinge hole; 23. Third hinge hole;

[0038] 3. Second auxiliary rod; 31. Fourth hinge hole; 32. Fifth hinge hole;

[0039] 4. Third rod; 41. Sixth hinge hole; 42. Seventh hinge hole; 43. Eighth hinge hole. Detailed Implementation

[0040] Those skilled in the art should understand that the embodiments described below are merely some embodiments of the present invention, and not all embodiments of the present invention. These embodiments are intended to explain the technical principles of the present invention and are not intended to limit the scope of protection of the present invention. Based on the embodiments provided by the present invention, all other embodiments obtained by those skilled in the art without creative effort should still fall within the scope of protection of the present invention.

[0041] It should be noted that in the description of this utility model, terms such as "center," "upper," "lower," "top," "bottom," "left," "right," "vertical," "horizontal," "inner," and "outer," which indicate direction or positional relationships, are based on the direction or positional relationships shown in the accompanying drawings. These are used merely for ease of description and do not indicate or imply that the device or element must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0042] Furthermore, it should be noted that, in the description of this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can also refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0043] The following reference Figures 1 to 10 This section will provide a detailed description of the leg structure and closed-chain leg assembly in some embodiments of the present invention. Figure 1 This is a schematic diagram of the leg structure in some embodiments of this utility model; Figure 2 yes Figure 1 Side view of the middle leg structure; Figure 3 yes Figure 1 Schematic diagram of the structure of the middle leg bar body; Figure 4 yes Figure 3 A schematic diagram of the geometric principle of the middle leg bar body; Figure 5 yes Figure 2 A cross-sectional view of the middle leg bar body along the AA direction; Figure 6 yes Figure 1 Front view of the midfoot;

[0044] Figure 7 yes Figure 6 A cross-sectional view of the midfoot along the BB direction; Figure 8 yes Figure 6 Top view of the midfoot; Figure 9 yes Figure 2 Schematic diagram of the structure of the medium fastener; Figure 10 This is a structural schematic diagram of the closed-chain leg assembly in some other embodiments of this utility model.

[0045] It should be noted beforehand that, for ease of description and to enable those skilled in the art to quickly understand the technical solution of this utility model, the following description only focuses on technical features that are strongly related (directly or indirectly related) to the technical problem and / or concept to be solved by this utility model. Technical features that are less related to the technical problem and / or concept to be solved by this utility model will not be described in detail. Since such less related technical features are common knowledge in the field, the omission of such less related features will not result in insufficient disclosure of this utility model.

[0046] like Figure 1As shown, in some embodiments of this utility model, a leg rod structure 1 is provided. The leg rod structure 1 is connected to the thigh of the robot. The leg rod structure 1 includes a leg rod body 11 and a foot 12. The leg rod body 11 is provided with a first hinge part 111, a second hinge part 112 and a connecting part 113. The first hinge part 111 and the second hinge part 112 are respectively connected to different components of the thigh, and the connecting part 113 is connected to the foot 12.

[0047] Preferably, the thickness of the leg body 11 gradually increases from the first hinge portion 111 and the second hinge portion 112 towards the connecting portion 113, and a support platform structure is formed at the connecting portion 113. This support platform structure is adapted to fit the foot 12. The structure of the leg body 11 meets the leg support requirements of the robot 100 when carrying heavy objects, while the gradual thickness design ensures the strength of the leg structure 1 and achieves lightweighting, reducing the overall weight of the robot and making jumping / climbing easier. Furthermore, the support platform structure formed at the connecting portion 113 can adapt to the wider foot 12, thereby achieving more stable contact with the ground.

[0048] Specifically, the leg body 11 forms an arc-shaped gradual transition structure from the first hinge portion 111 and the second hinge portion 112 to the connecting portion 113. The arc-shaped gradual transition structure provides a smooth transition path for the leg body 11, allowing stress to be redistributed and dispersed along the curve, avoiding a sudden increase in stress, thereby significantly improving the fatigue life and overall strength of the leg body 11.

[0049] like Figure 4 As shown, the leg structure 1 of this utility model achieves efficient load transmission through a specific triangular geometric layout. Specifically, the line connecting the center point (A) of the first hinge part 111, the center point (B) of the second hinge part 112, and the point (C) where the foot is tangent to the ground forms a triangle (ABC), and the triangle ∠ABC is an obtuse angle. This design optimizes the force transmission path through geometric principles: the obtuse / right angle design can effectively disperse pressure loads and withstand the impact force generated during robot movement. Furthermore, the acute angle combination can efficiently transmit tensile force. For example, when the quadruped robot lands after running, this structure can disperse and transmit the ground reaction force through the three sides of the triangle, avoiding stress concentration as in traditional straight-line legs and reducing local stress peaks.

[0050] In some embodiments, the angle range of the triangle ∠ABC formed by the leg structure 1 is set to 90° to 150°, and the remaining two interior angles of the triangle are acute angles, with an angle range of 30° to 50°. Preferably, the angle range of the triangle ∠ABC is set to 100° to 120°, and the angle range of the remaining two interior angles of the triangle is set to 30° to 45°. By using two smaller acute angles and one significantly larger obtuse angle, the leg structure 1 has a distinctly asymmetrical joint angle to mimic efficient biological gait (such as the "pendulum effect" in human walking), reducing motor power consumption; at the same time, the asymmetrical design of the leg angles also enables better obstacle crossing or stair climbing, avoiding the mechanical repetitive movements of symmetrical gait.

[0051] Preferably, the angle of triangle ∠ABC is set to 107°, and the angle of triangle ∠BAC is set to 39°.

[0052] Understandably, in order to avoid the outer peripheral edge of the leg body 11 restricting the movement of the robot's legs, the outer peripheral edge of the leg body 11 can be set to be recessed towards the center of the leg body 11 by the edges between the end edges of the first hinge portion 111 and the end edges of the second hinge portion 112, the end edges of the first hinge portion 111 and the end edges of the connecting portion 113, and the end edges of the second hinge portion 112 and the connecting portion 113, respectively. This will prevent the leg body 11 from restricting the degree of freedom of the robot's legs, reduce the weight of the leg structure 1, and improve the appearance of the leg structure 1.

[0053] like Figure 5 As shown, the leg body is designed with a hollow structure, which greatly achieves lightweight design.

[0054] Furthermore, the leg body is made of carbon fiber composite material, which has an extremely low density of approximately 1.6 g / cm³. 3 With a weight of only 60% that of aluminum and 20% that of steel, the leg structure can effectively achieve a lightweight design. Simultaneously, as a moving component, the use of carbon fiber in the leg significantly reduces moment of inertia, greatly improving the robot's speed, step frequency, and flexibility, enabling it to perform faster and more complex movements. Furthermore, the extremely high specific strength and specific stiffness of carbon fiber composite materials ensure high stiffness and precision of the leg under complex loads; its designable anisotropy and excellent fatigue resistance further optimize structural efficiency and durability, thereby comprehensively improving the robot's dynamic response, movement speed, and energy efficiency. Specifically, the leg body is made of carbon fiber composite material through a one-piece molding process.

[0055] like Figures 1 to 3As shown, the first hinge portion 111 is provided with a first hole 1111, and the leg structure 1 also includes a first bearing 114, which is installed in the first hole 1111 and hinged to the front of the thigh. A first bearing sleeve 116 is provided in the first hole 1111, which is sleeved on the outside of the first bearing 114 to protect the first bearing 114 and reduce the rotational friction between the bearing and the first hole 1111, so as to achieve smooth rotation without jamming and ensure the smooth rotation of the robot's leg joint.

[0056] The second hinge portion 112 is provided with a second hole 1121. The leg structure 1 also includes a second bearing 115, which is installed in the second hole 1121 and hinged to the back of the thigh. A second bearing sleeve 117 is provided in the second hole 1121. The second bearing sleeve 117 is fitted on the outside of the second bearing 115 to protect the second bearing 115 and reduce rotational friction between the bearing and the second hole 1121, so as to achieve smooth rotation without jamming and ensure smooth rotation of the robot's leg joint.

[0057] The material of any one or both of the first bearing sleeve 116 and the second bearing sleeve 117 is set to metal or alloy. Preferably, the material of any one or both of the first bearing sleeve 116 and the second bearing sleeve 117 is alloy steel.

[0058] In this design, one or both of the first bearing 114 and the second bearing 115 are made of metal or alloy. Preferably, both the first bearing 114 and the second bearing 115 include a bearing base and a flange, both of which are made of copper. Due to copper's high strength, the bearing base and flange can withstand large loads and impacts. Furthermore, graphite is inlaid on the inner and outer circumferential surfaces of the bearing base and on both sides of the flange to reduce friction between the bearing base / flange and other components during rotation, thus providing lubrication, increasing the service life of the leg structure 1, and reducing the overall maintenance cost of the robot.

[0059] Optionally, the inner walls of the first bearing sleeve 116 and the second bearing sleeve 117 are provided with a wear-resistant coating to improve the bearing service life.

[0060] Optionally, the first bearing sleeve 116 and the second bearing sleeve 117 are both integrally formed with the leg rod body 11 using a pre-embedded process. Alternatively, preferably, the first bearing sleeve 116 and the second bearing sleeve 117 are both integrally formed with the leg rod body 11 using a carbon fiber molding process, so that the first bearing sleeve 116 and the first hole 1111, and the second bearing sleeve 117 and the second hole 1121 form a gapless fixed connection.

[0061] The step of connecting the bearing sleeve and the leg body 11 using carbon fiber molding technology includes: laying carbon fiber prepreg on the inner walls of the first hole 1111 and the second hole 1121; placing the first bearing sleeve 116 and the second bearing sleeve 117 respectively in the first hole 1111 and the second hole 1121 for molding; curing and molding under high temperature and high pressure; and after demolding, forming a bearing sleeve structure integrated with the leg body 11. This process enables the directional arrangement of fibers and forms a reinforcing structure around the bearing sleeve, improving the tensile strength of the leg body 11 and enabling the leg structure 1 to resist fracture under tensile load.

[0062] like Figures 6 to 9 As shown, the foot 12 is detachably connected to the leg body 11. The foot 12 is in contact with the ground. The detachable connection makes it easy to remove / replace the foot 12 during long-term use.

[0063] In some specific embodiments of this utility model, the support platform structure of the connecting part 113 is formed by extending outward from the leg body 11, and the foot 12 is provided with a receiving groove for accommodating the connecting part 113. The connecting part 113 has a connecting hole 1131, and the foot 12 is also provided with a slot perpendicular to the opening direction of the receiving groove. The slot is at least partially through in the thickness direction of the foot 12, and has a threaded structure inside. The leg structure 1 also includes a fastener 125, which can pass through the slot and the connecting hole 1131 sequentially from the slot opening 124 and be fastened to the threaded structure inside the slot to connect the leg body 11 and the foot 12.

[0064] Specifically, the support platform structure of the connecting part 113 forms a convex structure, which includes a first left horizontal plane 1132, a first right horizontal plane 1133, a first left vertical plane 1134, and a first right vertical plane 1135. The foot part 12 includes a foot end connecting block, in which a receiving groove and a hole are formed. The receiving groove and the hole combine to form a concave structure, which includes a second horizontal plane 121, a second left vertical plane 122, and a second right vertical plane 123. The threaded structure in the hole is configured such that a fastening nut 126 is pre-embedded at the bottom of the hole.

[0065] During installation, first, the support platform structure of the connecting portion 113 on the leg body 11 is inserted into the receiving groove, that is, the convex structure of the support platform structure of the connecting portion 113 mates with the concave structure of the foot 12 to achieve initial positioning. At this time, the second transverse plane 121 of the foot end connecting block mates with the first left transverse plane 1132 and the first right transverse plane 1133 of the connecting portion 113 to limit the movement of the foot 12 in the vertical direction of the leg body 11. The second left vertical plane 122 of the foot end connecting block mates with the first left vertical plane 1134 of the connecting portion 113, and the second right vertical plane 123 of the foot end connecting block mates with the right vertical plane of the connecting portion 113 to limit the movement of the foot 12 in the horizontal direction of the leg body 11. Finally, the fastener 125 is passed through the slot and the connecting hole 1131 and fastened to the fastening nut 126 in the slot to connect the leg body 11 and the foot 12. The fastener 125 achieves final fixation through the engagement of the vertical slot and the threaded structure.

[0066] The foot 12 also includes a washer 128, which is disposed between the fastener 125 and the end face of the slot opening 124 to prevent the fastener 125 from loosening. The fastener 125 can be a screw or a bolt. Preferably, the fastener 125 is a bolt.

[0067] The foot 12 also includes a fastening end cap, which is disposed at the opening 124 of the slot to conceal the fastener 125 and ensure the aesthetic appearance of the leg structure 1. The fastening end cap can be made of rubber or metal. Preferably, the fastening end cap is made of rubber.

[0068] The foot 12 also includes a foot pad 127, which covers the end of the foot 12 closest to the ground. The foot pad 127 increases the friction at the end of the foot 12 in contact with the ground. During robot operation, the foot 12's contact with the ground provides cushioning and shock absorption, enabling walking on unpaved surfaces. Specifically, the foot pad 127 can be attached to the foot 12 via vulcanization or adhesive bonding. The foot pad 127 is made of rubber.

[0069] To increase the friction of the foot 12, textures can be added to the surface of the foot pad 127. Specifically, the surface of the foot pad 127 can be set with micro-protrusion textures, suction cup textures, deep serrated textures, and multi-level fractal textures, etc.

[0070] like Figure 10 As shown, in other embodiments of this utility model, a closed-chain leg assembly 100 is provided, including a thigh bar 2, a second auxiliary bar 3, a third auxiliary bar 4, and the leg bar structure 1 described above.

[0071] The first end of the thigh rod 2 is connected to the first hinge portion 111 via a revolute joint, and the second end of the thigh rod 2 is connected to the robot torso, thus forming the main drive chain by connecting the thigh rod 2 and the first hinge portion 111. Specifically, the thigh rod 2 has a first hinge hole 21 and a second hinge hole 22. The first hinge hole 21 is located at the first end of the thigh rod 2 and is connected to the first hole 1111 via a first bearing 114. The second hinge hole 22 is located at the second end of the thigh rod 2 and is used to connect to the robot torso.

[0072] The first end of the second auxiliary rod 3 forms a revolute joint connection with the second hinge portion 112. The first end of the third auxiliary rod 4 forms a revolute joint connection with any position between the first and second ends of the thigh rod 2. Preferably, the first end of the third auxiliary rod 4 forms a revolute joint connection with the middle part of the thigh rod 2. The second end of the second auxiliary rod 3 forms a revolute joint connection with the second end of the third auxiliary rod 4, so that the second auxiliary rod 3 and the second hinge portion 112 are connected to form an auxiliary stabilizing branch. The third end of the third auxiliary rod 4 is connected to the robot torso. The thigh rod 2 and the second auxiliary rod 3 are both linear linkage structures. The third auxiliary rod 4 is configured such that the lines connecting its first, second, and third ends form a triangle, with the angle corresponding to the second end being an obtuse angle. Through the above closed-chain structure, the robot's legs have higher rigidity and motion accuracy, enabling the robot to perform high-precision tasks.

[0073] Specifically, the three auxiliary rods 4 have a sixth hinge hole 41, a seventh hinge hole 42, and an eighth hinge hole 43. The sixth hinge hole 41 is located at the first end of the three auxiliary rods 4 and is used to connect with the thigh rod 2. The seventh hinge hole 42 is located at the second end of the three auxiliary rods 4 and is used to connect with the second auxiliary rod 3. The eighth hinge hole 43 is located at the third end of the three auxiliary rods 4 and is used to connect with the robot torso. The thigh rod 2 also includes a third hinge hole 23, which is located between the first hinge hole 21 and the second hinge hole 22. The closed-loop leg assembly 100 also includes a third bearing, which connects the third hinge hole 23 to the sixth hinge hole 41. The second auxiliary rod 3 includes a fourth hinge hole 31 and a fifth hinge hole 32. The fourth hinge hole 31 is located at the first end of the second auxiliary rod 3 and is connected to the second hole 1121 via a second bearing 115. The fifth hinge hole 32 is located at the second end of the second auxiliary rod 3. The closed chain leg assembly 100 also includes a fourth bearing. The fifth hinge hole 32 and the seventh hinge hole 42 are connected through the fourth bearing.

[0074] Preferably, the lines connecting the first hinge hole 21, the second hinge hole 22, and the third hinge hole 23 in the thigh bar 2 form a triangle to construct a triangular geometric configuration and improve the structural stability of the thigh bar 2.

[0075] To reduce the robot's weight and improve its mobility, the main strut 2, secondary strut 3, and tertiary strut 4 can be made with varying thicknesses or have a hollowed-out center. Specifically, the center of the main strut 2 and secondary strut 3 can be hollowed out, and the thickness of the tertiary strut 4 can be gradually reduced from the third end towards the first and second ends.

[0076] In other embodiments of this invention, a robot is provided, including the closed-loop leg assembly 100 described above. This robot, by optimizing its leg structure, possesses higher rigidity and motion precision, enabling it to be applied in high-mobility applications such as inspection robots and disaster relief robots.

[0077] Those skilled in the art will understand that this invention, by providing a first hinge portion 111, a second hinge portion 112, and a connecting portion 113 for the leg structure 1, gradually increases in thickness from the first hinge portion 111 and the second hinge portion 112 towards the connecting portion 113, and forms a support platform structure at the connecting portion 113. This support platform structure is adapted to fit the foot 12, thus meeting the leg support requirements of the robot 100 when carrying heavy objects. Simultaneously, the gradual thickness design ensures the strength of the leg structure 1 while achieving lightweighting, reducing the overall weight of the robot and making jumping / climbing easier. Furthermore, the support platform structure at the connecting portion 113 can adapt to a wider foot 12, thereby providing more stable contact with the ground.

[0078] Furthermore, the leg structure is designed with a specific triangular geometric layout, enabling efficient load transfer. Specifically, the lines connecting the center point (A) of the first hinge 111, the center point (B) of the second hinge 112, and the point (C) where the foot 12 is tangent to the ground form a triangle (ABC), with triangle ∠ABC being an obtuse angle. This obtuse / right angle design effectively disperses pressure loads and can withstand the impact force generated during robot movement. At the same time, the combination of acute angles can efficiently transfer tensile force, effectively improving fatigue fracture resistance and thus enhancing the robot's structural and motion stability.

[0079] The technical solution of this utility model has been described in conjunction with several embodiments above. However, it will be readily understood by those skilled in the art that the protection scope of this utility model is not limited to these specific embodiments. Without departing from the technical principles of this utility model, those skilled in the art can disassemble and combine the technical solutions in the above embodiments, and can also make equivalent changes or substitutions to the relevant technical features. Any changes, equivalent substitutions, improvements, etc., made within the technical concept and / or technical principles of this utility model will fall within the protection scope of this utility model.

Claims

1. A leg structure, said leg structure being connected to the thigh of a robot, characterized in that, The leg structure includes a leg body and a foot. The leg body is provided with a first hinge part, a second hinge part, and a connecting part connected to the thigh. The thickness of the leg body gradually increases from the first hinge portion and the second hinge portion toward the connecting portion, and a support platform structure is formed at the connecting portion, the support platform structure being adapted to the foot.

2. The leg structure according to claim 1, characterized in that, The leg body forms an arc-shaped gradient structure from the first hinge portion and the second hinge portion toward the connecting portion; and / or, the leg body is configured as a hollow structure.

3. The leg structure according to claim 1, characterized in that, The foot is detachably connected to the leg body; and / or The connecting part extends outward from the leg body, and the foot is provided with a receiving groove to accommodate the support platform structure; the connecting part has a connecting hole; the foot is also provided with a slot perpendicular to the opening direction of the receiving groove, and the slot is at least partially through in the thickness direction of the foot; the slot has a threaded structure. The leg structure also includes fasteners that can pass sequentially through the slot and the connecting hole from the slot opening and be securely connected to the threaded structure in the slot to connect the leg body to the foot.

4. The leg structure according to claim 3, characterized in that, The first hinge portion is provided with a first hole, and the leg structure further includes a first bearing, which is installed in the first hole and hinged to the thigh portion; and... A first bearing sleeve is provided inside the first hole, and the first bearing sleeve is fitted on the outside of the first bearing.

5. The leg structure according to claim 4, characterized in that, The second hinge portion is provided with a second hole, and the leg structure further includes a second bearing, which is installed in the second hole and hinged to the thigh portion; and... A second bearing sleeve is provided inside the second hole, and the second bearing sleeve is fitted on the outside of the second bearing.

6. The leg structure according to claim 5, characterized in that, The leg body is made of carbon fiber composite material and integrally molded using a carbon fiber molding process; and / or Both the first bearing sleeve and the second bearing sleeve are integrally formed with the leg body using carbon fiber molding technology.

7. The leg structure according to claim 1, characterized in that, The line connecting the center point (A) of the first hinge, the center point (B) of the second hinge, and the point (C) where the foot is tangent to the ground forms a triangle (ABC), and the triangle ∠ABC is an obtuse angle.

8. The leg structure according to claim 7, characterized in that, The angle of triangle ∠ABC is set to 107°; and / or, The angle of triangle ∠BAC is set to 39°.

9. A closed-loop leg assembly, characterized in that, Includes a thigh bar, a second auxiliary bar, a third auxiliary bar, and a leg bar structure as described in any one of claims 1 to 8; The first end of the thigh rod is connected to the first hinge, and the second end of the thigh rod is connected to the robot torso; the first end of the third auxiliary rod is connected to any position between the first end and the second end of the thigh rod; the first end of the second auxiliary rod is connected to the second hinge, and the second end of the second auxiliary rod is connected to the second end of the third auxiliary rod; the third end of the third auxiliary rod is connected to the robot torso.

10. A robot, characterized in that, Includes the closed-chain leg assembly as described in claim 9.

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