A leg assembly and robot

Abstract

The application provides a leg assembly and a robot. The leg assembly comprises a piston rod, a piston tube, an elastic member and an adjusting assembly. One end of the piston rod is slidably inserted into the piston tube. The elastic member is arranged along the axial direction of the piston tube, and one end of the elastic member abuts against the piston tube, and the other end of the elastic member abuts against the piston rod. The end of the piston tube away from the piston rod is provided with a through hole, and the adjusting assembly is connected to the through hole. The adjusting assembly adjusts the flow state of the medium in the piston tube by closing or opening the through hole. In this way, the closing or opening of the through hole is controlled by the adjusting assembly to adjust the flow state of the medium in the piston tube, so as to realize the conversion of the elastic support and the rigid support of the leg assembly, thereby meeting the application scenarios of the elastic support and the rigid support.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a leg assembly and a robot. Background Technology

[0002] In the field of robotics, especially in the design of legged robots such as bipedal, quadrupedal, or multi-legged robots, the leg components are usually designed as rigid support structures. While this design can provide strong rigid support for the robot as a whole, it has obvious drawbacks in practical applications. When the robot is running, the rigid leg components will accelerate the wear of their contact points with the ground, and the faster the running speed, the greater the impact force on the leg components, and the more severe the wear will be. In addition, the large impact force generated during running will also be transmitted to the joint modules on the leg components, leading to overall damage to the leg components.

[0003] To address the aforementioned issues, related technologies employ the addition of elastic elements to the leg components to improve cushioning performance and achieve elastic buffering. However, the design of these elastic elements only meets the requirements of the leg components in applications requiring elastic support, and cannot meet the requirements of applications requiring rigid support. For example, in low-speed, stable, and high-load applications, the leg components need to be adjusted to rigid support, while in high-speed running or rough terrain applications, the leg components need to be adjusted to elastic support to reduce the impact on the leg components.

[0004] Therefore, there is an urgent need to develop a leg component that can meet both elastic support and rigid support application scenarios to satisfy market demand. Utility Model Content

[0005] This application provides a leg assembly and a robot to at least solve the aforementioned problems in the related art.

[0006] To achieve the above objectives, this application provides the following technical solution: a leg assembly, including a piston rod, a piston tube, an elastic element, and an adjustment assembly;

[0007] One end of the piston rod can be slidably inserted into the piston tube, the elastic element is arranged along the axial direction of the piston tube, and one end of the elastic element abuts against the piston tube, while the other end of the elastic element abuts against the piston rod;

[0008] The piston tube has a through hole at the end away from the piston rod. The adjustment component is connected to the through hole. The adjustment component adjusts the flow state of the medium inside the piston tube by closing or opening the through hole.

[0009] In some embodiments, the leg assembly also includes a lower leg support and a lower leg housing;

[0010] One end of the calf support is provided with a receiving groove, and the other end of the piston rod is inserted into the receiving groove and connected to the bottom wall of the receiving groove;

[0011] The lower leg housing is fitted onto the piston tube, forming an annular cavity between them. One end of the lower leg bracket, which has a receiving groove, can be movably inserted into the annular cavity.

[0012] In some embodiments, the leg assembly further includes a thigh assembly rotatably connected to the lower leg housing, the thigh assembly having a receiving cavity inside which the adjustment assembly is installed.

[0013] In some implementations, the regulating assembly includes a switching valve, a connecting pipe, and a helical elastic element;

[0014] The connecting tube is wound around the spiral elastic element, and one end of the connecting tube is connected to the through hole, while the other end of the connecting tube is connected to the switch valve, which is installed in the receiving cavity.

[0015] One end of the spiral elastic element is connected to the piston tube, and the other end of the spiral elastic element is connected to the thigh assembly. The spiral elastic element is used to drive the connecting tube to retract and tighten.

[0016] In some embodiments, the outer surface of the connecting tube is provided with a groove that extends along the length of the connecting tube, and the helical elastic element is engaged with the connecting tube through the groove.

[0017] In some embodiments, there are multiple through holes, which are connected to an adjustment assembly. The adjustment assembly adjusts the flow rate of the medium inside the piston tube by closing or opening some or all of the through holes; or...

[0018] The number of through holes is the same as the number of regulating components, and there are multiple regulating components. These multiple regulating components adjust the flow rate of the medium inside the piston tube by closing or opening all or part of the through holes.

[0019] In some embodiments, the elastic element is sleeved on the piston rod, with one end of the elastic element abutting against the piston tube and the other end of the elastic element abutting against the other end of the piston rod; or,

[0020] The elastic element is located inside the piston tube, with one end of the elastic element abutting against the bottom wall of the piston tube and the other end of the elastic element abutting against one end of the piston rod.

[0021] In some embodiments, the adjusting component is a plug that is detachably connected to the through-hole of the piston tube, which can be used to close the through-hole by plugging it or to open the through-hole by removing the plug.

[0022] In some embodiments, a first stop ring is provided on the outside of the piston tube, a second stop ring is provided at the end of the lower leg housing facing the lower leg support, and a limiting protrusion is provided at the end of the lower leg support facing the piston tube.

[0023] When the lower leg support and piston rod move to the initial position, the limiting protrusion abuts against the second stop ring. When the lower leg support and piston rod move to the end position, the limiting protrusion abuts against the first stop ring.

[0024] In some embodiments, this application also provides a robot that includes the leg components described above.

[0025] In the aforementioned leg assembly, when the adjusting component opens the through hole, the piston rod only needs to overcome the elastic force of the elastic element to achieve movement, thus providing elastic support for the leg assembly. When the adjusting component closes the through hole, the piston rod needs to overcome both the elastic force of the elastic element and the pressure inside the piston tube to achieve movement, thereby limiting the stroke of the piston rod and providing rigid support for the leg assembly. In this way, by controlling the opening and closing of the through hole through the adjusting component, the flow state of the medium inside the piston tube can be adjusted, so as to realize the conversion between elastic support and rigid support for the leg assembly. This allows the leg assembly to meet both elastic support and rigid support application scenarios.

[0026] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of this application, nor is it intended to limit the scope of this application. Other features of this application will become readily apparent from the following description. Attached Figure Description

[0027] The above and other objects, features, and advantages of exemplary embodiments of this application will become readily apparent from the following detailed description taken in conjunction with the accompanying drawings. Several embodiments of this application are illustrated in the drawings by way of example and not limitation, wherein:

[0028] In the accompanying drawings, the same or corresponding reference numerals indicate the same or corresponding parts.

[0029] Figure 1 A schematic diagram of the leg assembly in an embodiment of this application is shown;

[0030] Figure 2 It shows Figure 1 A cross-sectional view of the piston rod, piston tube, elastic element, lower leg support, lower leg shell, and foot along the II-II direction;

[0031] Figure 3 It shows Figure 1 A schematic diagram of the structure of the adjustment component;

[0032] Figure 4 It shows Figure 3 Exploded structural diagram of the connecting pipe and spiral elastic element;

[0033] Figure 5 It shows Figure 1 A schematic diagram of the piston rod, piston tube, and elastic element.

[0034] Figure 6 A schematic diagram of the robot's structure is shown in an embodiment of this application.

[0035] The following are the labeling instructions in the diagram: 10. Leg assembly; 11. Piston rod; 12. Piston tube; 121. First stop ring; 122. Through hole; 13. Elastic element; 14. Adjustment assembly; 141. Switch valve; 142. Connecting pipe; 1421. Slot; 143. Helical elastic element; 144. Outer shell; 15. Lower leg support; 151. Limiting protrusion; 16. Lower leg shell; 161. Second stop ring; 17. Thigh assembly; 18. Foot; 20. Body. Detailed Implementation

[0036] To make the objectives, features, and advantages of this application more apparent and understandable, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0037] It should be understood that the various forms of processes shown above can be used to rearrange, add, or delete steps. For example, the steps described in this application can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this application can be achieved, and this is not limited herein.

[0038] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0039] In traditional designs, robot leg components provide stable support through rigid structures, but these cannot absorb the impact of movement, leading to accelerated joint wear. Furthermore, related technologies often employ a single elastic buffer design for robot leg components. While this buffer can alleviate impact, it struggles to meet the rigidity requirements of high-load scenarios. When robots require both rigid support for stability and elastic buffering to absorb vibrations in different applications, traditional designs and technologies cannot simultaneously address both needs.

[0040] To address the aforementioned technical challenges, researchers discovered that the key lies in dynamically adjusting the support characteristics. By analyzing the principles of pneumatic or hydraulic systems, they found that gaseous or liquid media can form rigid support in a closed state, while allowing the media to flow out in an open state allows for elastic buffering using elastic elements. Based on this, pneumatic or hydraulic systems can be technically combined with elastic elements to create a solution that combines both rigid and flexible support.

[0041] Therefore, combining Figure 1 and Figure 2 This application proposes a leg assembly 10 including a piston rod 11, a piston tube 12, an elastic element 13, and an adjusting assembly 14. One end of the piston rod 11 is slidably inserted into the piston tube 12. The elastic element 13 is arranged axially along the piston tube 12, with one end of the elastic element 13 abutting against the piston tube 12 and the other end abutting against the piston rod 11. A through hole 122 is provided at the end of the piston tube 12 away from the piston rod 11. The adjusting assembly 14 is connected to the through hole 122, and the adjusting assembly 14 adjusts the flow state of the medium inside the piston tube 12 by closing or opening the through hole 122. Exemplarily, the elastic element 13 can be a spring. Figure 1 This is a structural diagram of the leg assembly; Figure 2 This is a cross-sectional view of the piston rod, piston tube, elastic element, lower leg support, lower leg shell, and foot along the II-II direction.

[0042] In the aforementioned leg assembly 10, when the adjusting component 14 opens the through hole 122, the piston rod 11 only needs to overcome the elastic force of the elastic element 13 to achieve movement, thus providing elastic support for the leg assembly 10. When the adjusting component 14 closes the through hole 122, the piston rod 11 needs to overcome both the elastic force of the elastic element 13 and the pressure inside the piston tube 12 to achieve movement, thereby limiting the stroke of the piston rod 11 and providing rigid support for the leg assembly 10. Thus, by controlling the opening or closing of the through hole 122 through the adjusting component 14, the flow state of the medium inside the piston tube 12 can be adjusted, so as to realize the conversion between elastic support and rigid support for the leg assembly 10. This allows the leg assembly 10 to meet both the application scenarios of elastic support and rigid support.

[0043] In some alternative embodiments, the piston rod 11 includes a rod body and a piston head, the piston head being fixedly connected to the rod body and slidably and sealingly connected to the piston tube 12. Specifically, the piston head can achieve a slidably and sealingly connected to the piston tube 12 by providing a sealing ring around its outer periphery.

[0044] In some alternative embodiments, the piston tube 12 may have an internally hollow cylindrical structure; specifically, the piston tube 12 may be a metal tube.

[0045] In some alternative embodiments, the medium inside the piston tube 12 can be a liquid medium, such as water. When a liquid medium is used, the regulating component 14 includes a conduit, a water reservoir, and a solenoid valve. The solenoid valve is installed in the middle of the connecting pipe 142. One end of the conduit is connected to the through hole 122 on the piston tube 12, and the other end of the conduit is connected to the water reservoir. During operation, the solenoid valve controls the opening or closing of the through hole 122 by controlling the opening or closing of the conduit. It should be noted that since the liquid medium is almost incompressible, when the through hole 122 is closed, the leg component 10 can directly change from an elastic support state to a rigid support state. Because the liquid medium needs to be stored independently, the weight of the leg component 10 increases, which will increase the robot's energy consumption.

[0046] In some preferred embodiments, the medium inside the piston tube 12 can be a gaseous medium, such as air. Air is lightweight, which helps to reduce energy consumption; moreover, when the through hole 122 is closed, the air inside the piston tube 12 can be further compressed by the piston rod 11, so that when the leg assembly 10 changes from elastic support to rigid support, it can still have a certain buffering effect, thereby protecting the leg assembly 10.

[0047] Furthermore, the flow state of the medium includes whether the medium flow is closed or open, as well as the flow rate of the medium.

[0048] Combination Figure 2 In some embodiments, the leg assembly 10 further includes a lower leg support 15 and a lower leg housing 16; one end of the lower leg support 15 has a receiving groove, and the other end of the piston rod 11 is inserted into the receiving groove and connected to the bottom wall of the receiving groove; the lower leg housing 16 is sleeved on the piston tube 12, and an annular cavity is formed between the lower leg support 15 and the piston tube 12, and the end of the lower leg support 15 with the receiving groove is movably inserted into the annular cavity. Specifically, the lower leg support 15 is slidably connected to the annular cavity.

[0049] Thus, the piston rod 11 is protected by the lower leg support 15, and the piston tube 12 is protected by the lower leg housing 16, preventing the piston rod 11 and piston tube 12 from being exposed. This improves the safety of the piston rod 11 and piston tube 12 while also enhancing the aesthetics of the leg assembly 10. Simultaneously, the annular cavity guides the lower leg support 15 to move axially within the cavity, preventing the lower leg support 15 from rotating or tilting, thereby improving the straightness of the lower leg support 15's movement and preventing wear at the joints of the leg assembly 10 due to misalignment. Furthermore, it guides the piston rod 11 along the piston tube 12, overcoming wear caused by the piston rod 11 tilting and pressing against the sidewalls of the piston tube 12 due to uneven road surfaces, thus improving the service life of the piston rod 11 and piston tube 12.

[0050] Combination Figure 1In some embodiments, the leg assembly 10 further includes a foot 18 connected to the other end of the leg support; exemplaryly, the foot 18 may be a spherical structure, and the foot 18 may be made of an elastic material, such as rubber.

[0051] In some alternative implementations, the calf support 15 may be made of aluminum alloy or carbon fiber composite material.

[0052] In some alternative embodiments, after the other end of the piston rod 11 is inserted into the receiving groove, it is fixed to the bottom wall of the receiving groove by welding or threaded connection to form a rigid connection point.

[0053] In some alternative embodiments, the end of the lower leg housing 16 away from the lower leg support 15 is fixedly connected to the piston tube 12, and the lower leg housing 16 may adopt a contour-following design to make the leg assembly 10 aesthetically pleasing.

[0054] Combination Figure 1 In some embodiments, the leg assembly 10 further includes a thigh assembly 17, which is rotatably connected to the lower leg housing 16. The thigh assembly 17 has a receiving cavity inside, and the adjustment assembly 14 is installed in the receiving cavity. Exemplarily, the thigh assembly 17 and the lower leg housing 16 can be rotatably connected by a pivot shaft or by a joint bearing.

[0055] Thus, since the lower leg assembly formed by the lower leg shell 16 and the lower leg support 15 also has a piston rod 11 and a piston tube 12, the installation space of the lower leg assembly is limited. In the early stage of development, the adjustment component 14 was directly fixed to the surface of the lower leg shell 16, which caused the adjustment mechanism to be exposed when the joint moves, affecting the aesthetics and the spatial layout of the leg assembly 10. Therefore, in this solution, the layout of the adjustment component 14 is further optimized. By integrating the adjustment component 14 into the thigh assembly 17, the external connecting pipe 142 line and the safety risks caused by the external placement of the adjustment component 14 are eliminated. Thus, the adjustment component 14 is stored and protected through the receiving cavity, and the leg assembly 10 is also aesthetically pleasing.

[0056] In some alternative embodiments, the adjusting component 14 is a plug that is detachably connected to the through hole 122 of the piston tube 12, thereby closing the through hole 122 by plugging it or opening the through hole 122 by removing the plug.

[0057] Thus, when the leg assembly 10 requires rigid support, the sealing element is installed at the through hole 122, completely blocking the flow path of the medium inside the piston tube 12. At this time, the compression deformation of the elastic element 13 is limited, and the piston rod 11 and the piston tube 12 form a rigid linkage. When elastic support is needed, the sealing element is removed, opening the through hole 122 and allowing the medium to flow inside and outside the piston tube 12. The elastic element 13 can freely expand and contract to buffer external impacts. This solution directly changes the medium flow state by manually installing and removing the sealing element, without relying on sensors or electronic control systems. It has a simple mechanical structure and low maintenance costs.

[0058] Furthermore, the sealing element is an independent component that physically seals the through hole 122, and its outer diameter is adapted to the inner diameter of the through hole 122 to achieve a sealing contact; for example, the sealing element can be a threaded plug, a snap-on plug or a magnetic plug.

[0059] Combination Figure 3 In some alternative embodiments, the regulating assembly 14 includes a switching valve 141, a connecting pipe 142, and a helical elastic element 143. The connecting pipe 142 is wound around the helical elastic element 143, with one end connected to the through hole 122 and the other end connected to the switching valve 141, which is installed within the receiving cavity. One end of the helical elastic element 143 is connected to the piston pipe 12, and the other end is connected to the thigh assembly 17. The helical elastic element 143 is used to retract and tension the connecting pipe 142. Exemplarily, the switching valve 141 can be a solenoid valve. Figure 3 This is a schematic diagram of the adjustment component.

[0060] Thus, during leg movement, the spiral elastic element 143 undergoes elastic deformation due to the relative displacement between the thigh assembly 17 and the piston tube 12, causing the connecting tube 142 wrapped around its outer periphery to retract synchronously. This prevents the connecting tube 142 from becoming loose, bent, or entangled due to external loads, vibrations, or the bending movement of the lower leg assembly relative to the thigh assembly 17 formed by the lower leg housing 16 and the lower leg support 15. This achieves the automatic cable management function. In particular, when the connecting tube 142 is bent or entangled, it may fail to achieve normal conduction, making it prone to bursting and causing the through hole 122 to fail to open, thus reducing the reliability of the adjustment component 14.

[0061] Preferably, the helical elastic element 143 is an elastic element with helical deformation capability. For example, the helical elastic element 143 can be a coil spring or a clock spring.

[0062] It should be noted that the structure of the adjustment component 14 disclosed above is merely an example, and this application does not limit the specific structure of the adjustment component 14.

[0063] Combination Figure 3In some optional embodiments, the adjustment assembly 14 further includes a housing 144, which has a disc-shaped structure. The connecting tube 142 is wound around the helical elastic element 143 and installed inside the housing 144 so as to house and protect the connecting tube 142 and the helical elastic element 143 through the housing 144. The connecting tube 142 and the helical elastic element 143 are constrained when entering and exiting the housing 144 by opening a guide hole 122 on the side wall of the housing 144.

[0064] Combination Figure 4 In some embodiments, the regulating assembly 14 includes a switching valve 141, a connecting pipe 142, and a helical elastic element 143. The outer surface of the connecting pipe 142 is provided with a groove 1421, which extends along the length of the connecting pipe 142. The helical elastic element 143 is engaged with the connecting pipe 142 through the groove 1421. Figure 4 This is an exploded structural diagram of the connecting pipe and the spiral elastic element.

[0065] Thus, the slot 1421 extends continuously along the length of the connecting tube 142, allowing the spiral coil of the spiral elastic element 143 to be quickly embedded in the slot 1421, improving the assembly efficiency between the connecting tube 142 and the spiral elastic element 143. In addition, when the leg assembly 10 moves, the spiral elastic element 143 is stretched or compressed, thereby realizing the automatic cable management function of the connecting tube 142 and avoiding cable tangling such as loosening, bending or winding of the connecting tube 142.

[0066] In some optional embodiments, the regulating assembly 14 includes a switching valve 141, a connecting pipe 142, and a helical elastic element 143. There are multiple through holes 122 connected to the regulating assembly 14. The regulating assembly 14 regulates the flow rate of the medium inside the piston tube 12 by closing or opening some or all of the through holes 122. Alternatively, the number of through holes 122 is the same as the number of regulating assemblies 14, and each is multiple. The multiple regulating assemblies 14 regulate the flow rate of the medium inside the piston tube 12 by closing or opening all or some of the through holes 122.

[0067] Thus, when rigid support is required, all through holes 122 are closed to prevent media flow, forming a closed cavity inside the piston tube 12; when elastic support is required, all through holes 122 are opened to allow free media flow, at which point the elastic element 13 and the media flow together provide a buffering effect. When the number of through holes 122 and the regulating components 14 are the same, each through hole 122 is equipped with an independent micro solenoid valve. By controlling the combination of the opening and closing states of each solenoid valve, a step-wise adjustment of the flow rate can be achieved. For example, in a medium-load scenario, the media flow rate can be kept at an intermediate value by opening 50% of the through holes 122, balancing the requirements for support rigidity and buffering.

[0068] Combination Figure 5 In some optional embodiments, the elastic element 13 is sleeved on the piston rod 11, with one end of the elastic element 13 abutting against the open end of the piston tube 12, and the other end of the elastic element 13 abutting against the other end of the piston rod 11. Figure 5 This is a schematic diagram of the piston rod, piston tube, and elastic element.

[0069] Thus, when the elastic element 13 is fitted onto the piston rod 11, the axial movement of the piston rod 11 directly compresses the elastic element 13, and the elastic deformation is evenly distributed along the axis of the piston rod 11, forming a linear buffer path. At this time, the elastic element 13 is exposed between the piston tube 12 and the piston rod 11, which facilitates the maintenance or replacement of the elastic element 13 by disassembling the piston rod 11.

[0070] In some alternative embodiments, the elastic member 13 is disposed inside the piston tube 12, and one end of the elastic member 13 abuts against the bottom wall of the piston tube 12, and the other end of the elastic member 13 abuts against one end of the piston rod 11.

[0071] Thus, when the elastic element 13 is located inside the piston tube 12, the compression stroke of the elastic element 13 is completely confined inside the piston tube 12, reducing the axial dimension of the overall structure and thereby optimizing space utilization.

[0072] It should be noted that the two arrangements of the elastic element 13 disclosed in this application are differentiated implementation schemes provided under the same technical principle, and one can be selected for use in different application scenarios. Alternatively, the two arrangements can be used simultaneously to enable the elastic element 13 to have greater elasticity within a limited space, thereby achieving buffering against greater impact forces. It should be pointed out that the simultaneous use of the two arrangements should also be included within the scope of protection of this application.

[0073] Combination Figure 2 In some embodiments, the piston tube 12 is provided with a first stop ring 121 on its outside, the lower leg housing 16 is provided with a second stop ring 161 at one end facing the lower leg support 15, and the lower leg support 15 is provided with a limiting protrusion 151 at one end facing the piston tube 12. When the lower leg support 15 and the piston rod 11 move to the initial position, the limiting protrusion 151 abuts against the second stop ring 161. When the lower leg support 15 and the piston rod 11 move to the end position, the limiting protrusion 151 abuts against the first stop ring 121.

[0074] Thus, the first stop ring 121 and the second stop ring 161 limit the maximum movement distance of the lower leg support 15 and the piston rod 11. When the leg assembly 10 is in an elastic support state, the piston rod 11 slides into the piston tube 12 under the action of external force, and the elastic element 13 is compressed to store energy. When the piston rod 11 moves the lower leg support 15 to the initial position, the limiting protrusion 151 contacts the second stop ring 161, preventing the lower leg support 15 from continuing to move outward, thus avoiding its separation from the annular cavity and causing structural failure. When the leg assembly 10 switches to a rigid support state, the adjusting component 14 closes the through hole 122 to make the medium inside the piston tube 12 incompressible. At this time, the load borne by the piston rod 11 is transmitted to the piston tube 12 through the elastic element 13. When the load exceeds a preset threshold, the piston rod 11 moves the lower leg support 15 to the end position, and the limiting protrusion 151 contacts the first stop ring 121, preventing the piston rod 11 from over-compressing the elastic element 13, thus preventing plastic deformation or breakage.

[0075] Combination Figure 6 In some embodiments, this application also provides a robot, which includes the aforementioned leg assembly 10 and body 20; the leg assembly 10 is arranged on the lower side of the body 20, and includes a piston rod 11, a piston tube 12, an elastic element 13, and an adjustment assembly 14; one end of the piston rod 11 is slidably inserted into the piston tube 12, the elastic element 13 is arranged along the axial direction of the piston tube 12, and one end of the elastic element 13 abuts against the piston tube 12, and the other end of the elastic element 13 abuts against the piston rod 11; a through hole 122 is provided at the end of the piston tube 12 away from the piston rod 11, and the adjustment assembly 14 is connected to the through hole 122. The adjustment assembly 14 adjusts the flow state of the medium inside the piston tube 12 by closing or opening the through hole 122.

[0076] Thus, when the robot is in a low-speed, high-load scenario, the adjustment component 14 closes the through hole 122, preventing the flow of the medium inside the piston tube 12. At this time, the elastic element 13 forms a rigid locked state with the piston rod 11 and the piston tube 12, providing stable support. When the robot is in high-speed motion or complex road conditions, the adjustment component 14 opens the through hole 122, allowing the medium to flow. The elastic element 13 absorbs impact energy through deformation, achieving a buffering effect. Through the operation of the adjustment component 14, the leg assembly 10 can switch between rigid support and elastic support to adapt to different working conditions.

[0077] Furthermore, the robot can be a bipedal robot, a quadrupedal robot, or a multi-legged robot. When the robot is a bipedal robot, there are two sets of leg components 10. When the robot is a quadrupedal robot, there are four sets of leg components 10. When the robot is a multi-legged robot, there are multiple sets of leg components 10.

[0078] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A leg assembly, characterized in that, The leg assembly includes a piston rod, a piston tube, an elastic element, and an adjustment assembly; One end of the piston rod is slidably inserted into the piston tube, the elastic element is arranged along the axial direction of the piston tube, and one end of the elastic element abuts against the piston tube, while the other end of the elastic element abuts against the piston rod; The piston tube has a through hole at one end away from the piston rod. The adjustment component is connected to the through hole. The adjustment component adjusts the flow state of the medium inside the piston tube by closing or opening the through hole.

2. The leg assembly according to claim 1, characterized in that, The leg assembly also includes a lower leg support and a lower leg shell; One end of the lower leg support is provided with a receiving groove, and the other end of the piston rod is inserted into the receiving groove and connected to the bottom wall of the receiving groove; The lower leg housing is fitted onto the piston tube, forming an annular cavity between them. The end of the lower leg bracket with the receiving groove can be movably inserted into the annular cavity.

3. The leg assembly according to claim 2, characterized in that, The leg assembly also includes a thigh assembly, which is rotatably connected to the lower leg housing. The thigh assembly has a receiving cavity inside, and the adjustment assembly is installed in the receiving cavity.

4. The leg assembly according to claim 3, characterized in that, The regulating assembly includes a switching valve, a connecting pipe, and a spiral elastic element; The connecting tube is wound around the helical elastic element, and one end of the connecting tube is connected to the through hole, while the other end of the connecting tube is connected to the switch valve, which is installed in the receiving cavity. One end of the spiral elastic element is connected to the piston tube, and the other end of the spiral elastic element is connected to the thigh assembly. The spiral elastic element is used to drive the connecting tube to retract and tighten.

5. The leg assembly according to claim 4, characterized in that, The outer surface of the connecting tube is provided with a groove, which extends along the length of the connecting tube, and the spiral elastic element is engaged with the connecting tube through the groove.

6. The leg assembly according to claim 1, characterized in that, The number of through holes is multiple, and these through holes are connected to the adjusting component. The adjusting component adjusts the flow rate of the medium inside the piston tube by closing or opening some or all of the through holes; or... The number of through holes is the same as the number of adjustment components, and there are multiple adjustment components. The multiple adjustment components adjust the flow rate of the medium inside the piston tube by closing or opening all or part of the through holes.

7. The leg assembly according to claim 1, characterized in that, The elastic element is sleeved on the piston rod, one end of the elastic element abuts against the piston tube, and the other end of the elastic element abuts against the other end of the piston rod; or... The elastic element is disposed inside the piston tube, with one end of the elastic element abutting against the bottom wall of the piston tube and the other end of the elastic element abutting against one end of the piston rod.

8. The leg assembly according to claim 1, characterized in that, The adjusting component is a sealing element, which is detachably connected to the through hole of the piston tube. The through hole is closed by sealing it, or the through hole is opened by removing the sealing element.

9. The leg assembly according to claim 2, characterized in that, The piston tube is provided with a first stop ring on its outside, the lower leg housing is provided with a second stop ring at one end facing the lower leg bracket, and the lower leg bracket is provided with a limiting protrusion at one end facing the piston tube; When the lower leg support and piston rod move to the initial position, the limiting protrusion abuts against the second stop ring; when the lower leg support and piston rod move to the end position, the limiting protrusion abuts against the first stop ring.

10. A robot, characterized in that, The robot includes a leg assembly as described in any one of claims 1-9.

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