Leg assembly and foot robot

Abstract

The utility model discloses a kind of leg assembly and foot formula robot.Leg assembly includes first component, second component, first joint and first receiving part.Second component is formed with second wire harness chamber inside;First joint connects first component and second component, to enable the relative rotation between first component and second component;The first receiving part is set in the end of first component and / or second component, first receiving cavity is formed in first receiving part, first receiving cavity is communicated with the opening of second wire harness chamber, first receiving cavity and second wire harness chamber jointly form the receiving pass for receiving wire harnessThe utility model can make that wire harness is built-in at joint, reduce wire harness abrasion and structure is simple.

Description

Technical Field

[0001] This utility model belongs to the field of robotics technology, specifically relating to a leg component and a legged robot. Background Technology

[0002] Multi-jointed serial robots, such as legged or wheeled robots, typically have legs consisting of multiple drive joints connected by links. These joints require power and signal transmission via wiring harnesses, and ensuring the reliable protection of these harnesses during repeated joint movements is a key design challenge.

[0003] In the existing technology, there are usually two ways to handle the wiring harness of the leg joint: one is to directly expose the wiring harness, but this will make the wiring harness easy to wear, have a short lifespan and affect the appearance; the other is to use a complex hollow joint module to build the wiring harness inside, but this will result in a complex structure, high cost and inconvenient maintenance.

[0004] Therefore, in order to address the aforementioned technical problems, it is necessary to provide a leg component and a legged robot. Utility Model Content

[0005] The purpose of this invention is to provide a leg assembly and a footed robot that allows the wiring harness to be built into the joints, reducing wiring harness wear and simplifying the structure.

[0006] To achieve the above objectives, the technical solution provided by a specific embodiment of this utility model is as follows:

[0007] A leg assembly, the leg assembly comprising:

[0008] First component;

[0009] The second component has a second wire harness chamber formed inside it;

[0010] The first joint connects the first component and the second component, allowing relative rotation between the first component and the second component.

[0011] A first receiving portion is disposed at the end of the first component and / or the second component. A first receiving cavity is formed in the first receiving portion, and the first receiving cavity communicates with the opening of the second wire harness chamber. The first receiving cavity and the second wire harness chamber together form a receiving channel for receiving the wire harness. This design places the wire harness within a continuous receiving channel, effectively preventing interference and damage to the wire harness with the outside during joint movement. This protects the wire harness, keeps the leg assembly clean in appearance, and ensures high reliability.

[0012] In one or more embodiments of this utility model, at least one of the first component and the second component includes a first cantilever and a second cantilever spaced apart at its end. The first cantilever is used to connect with the first joint, and the second cantilever forms the first receiving cavity. This structure isolates the load-bearing component from the wire harness receiving space, optimizing the layout of the force transmission path and the wire harness protection space.

[0013] In one or more embodiments of this utility model, the first receiving portion includes a first enclosure wall and a first cover covering the first enclosure wall, the first enclosure wall and the first cover forming the first receiving cavity. This split structure facilitates the threading, installation and subsequent inspection and maintenance of the wire harness, effectively reducing assembly difficulty and operation and maintenance costs.

[0014] In one or more embodiments of this utility model, at least one of the first component and the second component has a double cantilever structure at its end; and / or,

[0015] At least one of the first and second components is Y-shaped. These shapes provide ample and protected bending space for the wire harness to bend during joint rotation, effectively preventing the wire harness from being squeezed or excessively bent.

[0016] In one or more embodiments of this utility model, the first cantilever and the second cantilever are formed on the second member, the first member is disposed in the gap between the first cantilever and the second cantilever, and the first joint is at least partially disposed in the gap between the first cantilever and the second cantilever. This arrangement makes the overall structure more compact and stable.

[0017] In one or more embodiments of this utility model, the first joint includes a fixed part and a rotating part rotatably mounted in the fixed part. The rotating part of the first joint is connected to the first cantilever, and the fixed part of the first joint is connected to the first component. This design facilitates relative rotation between the first component and the second component via the first joint.

[0018] In one or more embodiments of this utility model, the leg assembly further includes a second joint, which is disposed on the end of the second member away from the first joint. The end of the second member away from the first member has a second receiving cavity communicating with the opening of the second wire harness chamber. The receiving channel and the second receiving cavity together form a first receiving channel for receiving the first wire harness. The first wire harness passes through the first receiving channel and is electrically connected to the first joint and the second joint. This design achieves built-in protection of the wire harness from the first joint to the end second joint, ensuring the reliability and neatness of wire harness management.

[0019] In one or more embodiments of this utility model, the second component is directly connected to the first joint and the second joint, respectively; and / or,

[0020] The two ends of the second component are connected to the first joint and the second joint, respectively. This design ensures effective linkage between the first and second joints, resulting in a stable structure and efficient transmission.

[0021] In one or more embodiments of this utility model, the second joint is a hub joint; and / or,

[0022] The second joint is connected to a foot pad. This design, while keeping the wiring harness internal, allows the leg components to flexibly adapt to different application scenarios such as wheeled sports or foot walking.

[0023] In one or more embodiments of this utility model, a wire-fixing portion for fixing the first wire harness is provided inside the first receiving channel; and / or,

[0024] The first wire harness includes a fixed section and a movable section. The fixed section is disposed in the first wire harness chamber and / or the second wire harness chamber, and the movable section is disposed in the first receiving cavity. By fixing the wire harness, bending fatigue stress can be guided to the spacious receiving cavity, avoiding stress concentration at the opening, thereby significantly extending the service life of the wire harness.

[0025] In one or more embodiments of this utility model, the leg assembly further includes a third joint, which is mounted on the end of the first member away from the second member. A first wiring harness chamber is formed within the first member, and a third receiving cavity communicating with the opening of the first wiring harness chamber is provided at the end of the first member away from the second member. The receiving cavity and the third receiving cavity together form a second receiving channel for receiving a second wiring harness. The second wiring harness passes through the second receiving channel and is electrically connected to the third joint and the first joint. This design achieves internal wiring harness integration from the robot body to the inside of the leg assembly, ensuring reliable wiring harness management and a clean appearance.

[0026] The technical solution provided by another specific embodiment of this utility model is as follows:

[0027] A legged robot includes at least one leg assembly as described above, wherein the legged robot is a bipedal robot, a quadrupedal robot, or a wheeled robot. Applying this leg assembly can significantly improve the reliability of internal wiring harness management and the overall modularity of the legged robot.

[0028] Compared with the prior art, the leg assembly and legged robot of this utility model have the following technical advantages: by always confining the wire harness inside the receiving channel, the wire harness is effectively protected from external damage, while keeping the appearance of the leg assembly clean; the volume of the receiving cavity is reasonably designed to accommodate the bent and folded parts of the wire harness when the first component and the second component rotate relative to each other, thereby avoiding wire harness wear or jamming problems caused by insufficient space, and ensuring the reliability of movement while having the advantages of simple structure and convenient maintenance. Attached Figure Description

[0029] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 This is a three-dimensional structural diagram of the leg component in Embodiment 1 of this utility model;

[0031] Figure 2 , 3 This is an exploded view of the leg assembly in Embodiment 1 of this utility model;

[0032] Figure 4 This is a partial exploded structural diagram of the second component in Embodiment 1 of this utility model;

[0033] Figure 5 This is a three-dimensional structural diagram of the second joint in Embodiment 1 of this utility model;

[0034] Figure 6 This is an exploded structural diagram of the second joint in Embodiment 1 of this utility model;

[0035] Figures 7-9 This is a schematic diagram of the movement process of the leg component in Embodiment 1 of this utility model;

[0036] Figure 10 , 11 This is a schematic diagram of the leg assembly in Embodiment 2 of this utility model;

[0037] Figure 12 This is a three-dimensional structural diagram of the legged robot in Embodiment 4 of this utility model.

[0038] Explanation of key figure labels:

[0039] 11 First Component

[0040] 101 First Wire Harness Chamber

[0041] 111 Third Containment Department

[0042] 1111 Third Containment Chamber

[0043] 112 Second cover

[0044] 12 Second component

[0045] 121 First Cantilever

[0046] 122 Second Cantilever

[0047] 1201 Second Wire Harness Chamber

[0048] 123 Second Containment Department

[0049] 1231 Second containment chamber

[0050] 13 First Containment Department

[0051] 131 First Containment Chamber

[0052] 132 First Enclosure

[0053] 133 First Cover

[0054] 21 First Joint

[0055] 211 Fixing part

[0056] 212 Rotating part

[0057] 22 Second joint

[0058] 23 Third joint

[0059] 24 Foot pads

[0060] 31 First harness

[0061] 311 Activity Segment

[0062] 32 Second harness

[0063] 41 Motor

[0064] 42 Reducer

[0065] 43 Driver Board

[0066] 5. Fixed wire section

[0067] 61 Robot Body

[0068] 62. Leg components. Detailed Implementation

[0069] To enable those skilled in the art to better understand the technical solutions in this disclosure, the technical solutions in the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. Based on the embodiments in this disclosure, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this disclosure.

[0070] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0071] It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0072] The technical solution of this utility model will now be described with reference to the accompanying drawings.

[0073] Example 1:

[0074] Reference Figures 1-4 As shown, one embodiment of this utility model provides a leg assembly, which mainly includes a first component 11, a second component 12, a first joint 21 connecting the two, and a first receiving portion 13. In this embodiment, the first component 11 plays a supporting and transmission role similar to that of a thigh, and the second component 12 plays a supporting and transmission role similar to that of a calf.

[0075] The first component 11 has a first wire harness chamber 101 formed inside, through which a wire harness can pass. The first end of the first component 11 is used to connect to the robot body or other joints. The first wire harness chamber 101 extends along the axial direction of the first component 11, with openings at both ends. One end is used to introduce an external wire harness, and the other end is connected to the first joint 21.

[0076] The second component 12 has a second wire harness chamber 1201 formed inside, through which the wire harness can pass. The second wire harness chamber 1201 extends along the axial direction of the second component 12, with one end connected to the first joint 21 and the other end available for connecting to the foot of a legged robot or other components.

[0077] See Figure 5 , 6 As shown, the first joint 21 is a rotary joint, which includes a fixed part 211 and a rotating part 212. The fixed part 211 and the rotating part 212 of the first joint 21 are respectively fixedly installed on the first component 11 and the second component 12. The first joint 21 integrates a motor 41, a reducer 42 and a drive plate 43, which are used to drive the relative rotation between the first component 11 and the second component 12.

[0078] The first receiving portion 13 is disposed at the end of the first receiving cavity 131. The first receiving portion 13 forms the first receiving cavity 131. The first receiving cavity 131 is connected to the opening of the second wire harness chamber 1201, so that the first receiving cavity 131 and the second wire harness chamber 1201 together form a continuous receiving channel for receiving the wire harness.

[0079] In practical applications, the wiring harness arrangement path can be flexibly set according to needs. For example, the wiring harness can be introduced from the first component 11, sequentially through the first receiving cavity 131 and the second wiring harness chamber 1201, and finally led out from the end of the second component 12 away from the first component 11; or, the wiring harness can also be introduced from the first joint 21, passing through the first receiving cavity 131 and the second wiring harness chamber 1201. When the first component 11 and the second component 12 rotate relative to each other through the first joint 21, the portion of the wiring harness within the first receiving cavity 131 moves accordingly.

[0080] This design ensures that the wiring harness remains confined within the receiving channel during joint movement, protecting it from external damage and maintaining the neat appearance of the leg components. Simultaneously, the volume of the receiving cavity is rationally designed to accommodate bent and folded portions of the wiring harness during relative rotation between the first component 11 and the second component 12, effectively preventing wear or jamming due to insufficient space.

[0081] It is worth noting that, in another embodiment, the first receiving portion 13 may also be disposed at the end of the first component 11, or simultaneously at the ends of the first component 11 and the second component 12. Its connection relationship and channel formation principle are similar to those in Embodiment 1, thus achieving the same internal containment and protection of the wire harness. Whether the first receiving portion 13 in this application is disposed on the first component 11 or the second component 12, as long as it achieves a structural layout that connects the two wire harness chambers through the receiving cavity at the end of the component to form a continuous channel, regardless of the specific threading path of the wire harness, it falls within the protection scope of this utility model.

[0082] See Figure 2 , 3 As shown, to facilitate the protection of the wire harness, the end of the second component 12 in this embodiment is constructed as a double cantilever structure. The second component 12 is Y-shaped, meaning its end is approximately V-shaped. Of course, in other embodiments, the end structure of the second component is not limited to a V-shape; it can also be U-shaped, fork-shaped, or other forms that enable functional separation at the end. These shapes all provide protected bending space for the wire harness. This application is not limited to this; in other embodiments, the end of the second component 12 is a multi-cantilever structure, such as a three-cantilever structure or a four-cantilever structure. The shape includes reasonable structural deformations and is not limited to strict geometric definitions.

[0083] Specifically, in this embodiment, the second component 12 includes a first cantilever 121 and a second cantilever 122 spaced apart. Both the first cantilever 121 and the second cantilever 122 extend from the end body of the second component 12.

[0084] The first cantilever 121 has a first mounting hole for fixed installation with the first joint 21, and the first joint 21 has a first mating hole that mates with the first mounting hole. The first joint 21 can be fixedly installed on the first cantilever 121 by screws or bolts passing through the first mounting hole and the first mating hole. The first cantilever 121 is the main load-bearing structure, responsible for transmitting motion and load between the second component 12 and the joint, so it can usually be provided with a thick-walled or reinforced structure with added stiffeners.

[0085] The second cantilever 122 is generally parallel to or at an angle to the first cantilever 121. The end of the second cantilever 122 may form a bottom surface and a guide ring surface (or a ring surface with an opening) surrounding the outer periphery of the bottom surface.

[0086] The first receiving part 13 is disposed at the end of the second cantilever 122. The first receiving cavity 131 inside the first receiving part 13 can serve as a bridging space. One end of the cavity is disposed toward the first joint 21 to receive the wire harness connected to the first joint 21, and the other end is connected to the second wire harness chamber 1201 inside the second component 12.

[0087] The first receiving part 13 isolates the bent portion of the wire harness from the end of the first cantilever 121, ensuring that the wire harness can bend smoothly during the relative rotation of the first component 11 and the second component 12 without interfering with, rubbing against, squeezing or bending with the moving load-bearing components (i.e., at least one of the first joint 21, the first component 11 and the second component 12), thereby effectively improving the life of the wire harness and the reliability of the leg assembly.

[0088] For ease of forming the first receiving cavity and for easy installation of the wiring harness, see [link / reference]. Figure 2 , 3As shown, the second cantilever 122 in this embodiment includes a first enclosure 132 and a first cover 133. The first cover 133 is attached to the first enclosure 132 by means of screws, bolts, clips, etc. When the first cover 133 is installed, it and the first enclosure 132 together form a protected space—the first receiving cavity 131. This receiving cavity defines the main boundary of the bending path of the wire harness. One end of the cavity opens towards the first joint 21 to receive the wire harness; the other end opens to connect with the entrance of the second wire harness chamber 1201 of the second component 12. By using the separate first enclosure 132 and first cover 133, it is easier for operators to place the wire harness, solving the problem of difficulty in threading wires in a closed receiving channel, reducing assembly difficulty and the cost of subsequent wire harness replacement and maintenance. It should be understood that the formation of the first receiving cavity 131 is not limited to this; it can also be a one-piece hollow cavity or other structural forms that can form the first receiving cavity 131.

[0089] To connect the first component 11, the second component 12, and the first joint 21, in this embodiment, a first cantilever 121 and a second cantilever 122 are formed on the second component 12. The end of the first component 11 extends into and is received in the gap between the first cantilever 121 and the second cantilever 122. The first joint 21 is at least partially disposed in the gap between the first cantilever 121 and the second cantilever 122. This design optimizes space utilization and facilitates a compact and stable structure. Of course, in other embodiments, the first joint 21 can also be mounted on the side of the first cantilever 121 away from the second cantilever 122, which is understandable and acceptable to those skilled in the art.

[0090] In this embodiment, the first joint 21 specifically includes a fixed part 211 and a rotating part 212 rotatably mounted within the fixed part 211. The fixed part 211 of the first joint 21 is fixedly connected to the end of the first component 11; while the rotating part 212 of the first joint 21 is drivenly connected to the end of the first cantilever 121, thereby directly transmitting the rotational motion of the rotating part 212 to the first cantilever 121. This design separates the load-bearing point from the wire harness receiving channel and embeds the first component 11 between the two cantilever arms, optimizing space utilization and making the leg assembly more stable and compact. This design facilitates relative rotation between the first component 11 and the second component 12 via the first joint 21.

[0091] See Figure 2 , 3As shown, to facilitate the movement of the leg assembly, a second joint 22 and a second receiving portion 123 are added to the end of the second component 12 away from the first joint 21. The second joint 22 can be any type of drive unit, such as a rotary joint or a swing joint. Specifically, in this embodiment, the second joint 22 is a hub joint. This hub joint integrates a hub motor, a reduction gear structure, and a driver into one unit. Its stator is connected to the end of the second component 12 away from the first component 11, while its rotor output directly drives the rotation of a hub or tire.

[0092] To provide full-range built-in protection for the wiring harness (the first wiring harness 31) connecting the first joint 21 and the second joint 22, a second receiving cavity 1231 is formed within the second receiving portion 123. One end of the second receiving cavity 1231 is directly connected to the opening of the second wiring harness chamber 1201. Thus, the first receiving cavity 131, the second wiring harness chamber 1201, and the second receiving cavity 1231 are sequentially connected, forming a continuous first receiving channel. The first wiring harness 31 passes through this first receiving channel. One end of the first wiring harness 31 is electrically connected to the first joint 21 (such as its drive plate), and the other end of the first wiring harness 31 extends into the second receiving cavity 1231 to be electrically connected to the second joint 22, thereby achieving reliable transmission of energy and signals between the first joint 21 and the second joint 22. It should be noted that the second receiving cavity 1231 can be a structure similar to the first receiving cavity 131, or it can be an arc-shaped bend, a guide groove, or an internal channel disposed in the housing of the second joint 22. As long as the structure provides a protected space for accommodating the first wire harness 31 between the outlet of the second wire harness chamber 1201 and the second joint 22, it falls within the scope of the second receiving cavity 1231. In addition, the second receiving cavity 1231 can be integrally formed with the end of the second member 12, or it can be a separate part that is fixed to the second member 12.

[0093] See Figure 2 , 3 As shown, to facilitate the connection between the leg assembly and the robot body, a third joint 23 and a third receiving portion 111 are added to the end of the first component 11 away from the second component 12 in this embodiment. The third joint 23 is typically a root joint connecting the leg to the robot body, such as a hip joint or a shoulder joint.

[0094] To provide end-to-end built-in protection for the wiring harness (defined as "second wiring harness 32") connecting the third joint 23 and the first joint 21, a third receiving cavity 1111 is formed within the third receiving portion 111. A first wiring harness chamber 101 is formed inside the first component 11, and one end of the third receiving cavity 1111 is directly connected to the opening of the first wiring harness chamber 101. Thus, the third receiving cavity 1111, the first wiring harness chamber 101, the first receiving cavity 131, and the second wiring harness chamber 1201 are sequentially connected, forming a complete and continuous second receiving channel that begins at the third joint 23, passes through the first component 11 and the second component 12, and ends at the first joint 21. The second wiring harness 32 passes through this second receiving channel. One end of the second wiring harness 32 is electrically connected to the third joint 23 (such as its drive plate), and the other end is electrically connected to the first joint 21, thereby achieving reliable transmission of energy and signals between the third joint 23 and the first joint 21. Similarly, the third receiving cavity 1111 can also be a structure similar to the first receiving cavity 131 (the third receiving cavity 1111 is formed by the enclosure structure on the end of the first member 11 and the second cover 112 installed thereon), or it can be an arc-shaped bend, a U-shaped guide groove, or an internal channel formed in the housing of the third joint 23. As long as the structure provides a protected space for receiving the wire harness between the entrance of the first wire harness chamber 101 and the third joint 23, it falls within the scope of the third receiving cavity 1111. The third receiving cavity 1111 can be integrally formed with the end of the first member 11, or it can be a separate part fixed to the first member 11.

[0095] It should be noted that the third joint 23 is often the main entry point for energy and signals to enter the entire leg assembly. The third containment cavity 1111 is set up and connected to the first wiring harness cavity 101, which means that all wiring harnesses coming out of the robot body are contained in the containment channel from the moment they enter the leg assembly. This achieves that all wiring harnesses from the robot body to the end of the leg assembly are completely built into a continuous and protected channel, achieving extremely high reliability, neatness and modularity.

[0096] The scope of protection of this utility model not only covers the basic leg assembly with a central joint (i.e., the first joint 21), but also, through the extension of the second joint 22 and the third joint 23, covers all possible structures for extending the joint from the first joint 21 to the end of the first member 11 away from the second member 12, and to the end of the second member 12 away from the first member 11. As long as the core design concept of connecting the joint harness chambers through the receiving cavity to form a continuous receiving channel is adopted, regardless of the number of leg joints, its overall structural layout falls within the scope of protection of this utility model.

[0097] Preferably, in this embodiment, a wire-fixing part 5 for fixing the wire harness is provided on the inner wall or at a specific location of the receiving channel (which includes a receiving channel jointly formed by the first receiving cavity 131 and the second wire harness chamber 1201, and further includes the first receiving channel formed by the second receiving cavity 1231 and the second receiving channel formed by the third receiving cavity 1111). Figure 3 The main function of the wire securing part 5 is to limit the unintended movement of the wire harness within the channel, preventing it from sliding within the receiving channel due to gravity or inertia, or from excessively rubbing against the inner wall of the receiving channel, thereby effectively reducing wear and suppressing movement noise. Specifically, the wire securing part 5 can be a wire clamp, slot, or cable tie fixing seat directly formed on the inner wall of the receiving channel, or it can be a buckle installed later by means of adhesive bonding or screws. Any functional structure installed inside the receiving channel for constraining, positioning, or fixing the wire harness, regardless of whether it is located in the receiving channel, the first receiving channel, or the second receiving channel, falls within the protection scope of this "wire securing part 5".

[0098] Specifically, refer to Figures 7-9 As shown, the wire harness in this embodiment includes a fixed end and a movable section. The fixed end is constrained inside the second wire harness chamber 1201 (first wire harness chamber 101) by the wire fixing part 5, so that it maintains essentially no relative movement with the second component 12 (first component 11). The movable section 311 is disposed in the first receiving cavity 131 and is designed with a certain redundant length to be arranged in the first receiving cavity 131, so that it can freely and smoothly complete bending deformation when the components rotate relative to each other. According to this design, bending fatigue stress can be concentrated in the spacious first receiving cavity 131, effectively avoiding stress concentration at the opening of the second wire harness chamber 1201 (the opening of the first wire harness chamber 101) and other locations, so as to effectively improve the fatigue life of the wire harness.

[0099] Example 2:

[0100] Reference Figure 10 , 11 As shown, in this embodiment, a foot pad 24 is connected to the second joint at the end of the second component. This leg assembly can serve as the lower limb of a legged robot, enabling walking. Its internal receiving channel also effectively protects the wiring harness leading to the foot pad 24.

[0101] Example 3:

[0102] In this embodiment, the first component 11 is the robot body, and the second component 12 is directly connected to the first component 11, which is the robot body. The first joint 21 connects the first component 11 and the second component 12 so that the first component 11 and the second component 12 can rotate relative to each other. The first receiving part 13 is provided at the end of the second component 12 so that the second wire harness chamber 1201 in the second component 12 is connected to the first receiving cavity 101 in the first receiving part 13, thereby facilitating the wire harness to be built in, reducing wire harness wear and simplifying the structure.

[0103] Example 4:

[0104] Reference Figure 12 As shown, this embodiment provides a legged robot, the body 61 of which integrates any of the aforementioned leg components 62, achieving high mobility and reliable internal wiring harness management. It is worth noting that as long as the legged robot integrates at least one leg component 62 with wiring harness management features, regardless of whether it is bipedal, quadrupedal, hexapedal, wheeled, or other multi-legged configuration, it falls within the protection scope of this claim.

[0105] In the description of the embodiments of this utility model, it should be understood that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship commonly used when the product is in use, or the orientation or positional relationship commonly understood by those skilled in the art. They are only used to facilitate the description of this utility model and simplify the description, and are not intended to indicate or imply that the device or component referred to 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.

[0106] In the description of the embodiments of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" 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 direct connection or an indirect connection through an intermediate medium; and they can 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 based on the specific circumstances.

[0107] In the description of the embodiments of this utility model, it should also be noted that the terms "first" and "second" used herein do not specifically refer to any order or sequence, nor are they intended to limit this case; they are merely used to distinguish components or operations described using the same technical terms.

[0108] It will be apparent to those skilled in the art that this disclosure is not limited to the details of the exemplary embodiments described above, and that this disclosure can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of this disclosure is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within this disclosure. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0109] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A leg assembly, characterized in that, The leg assembly (62) includes: First component (11); The second component (12) has a second wire harness chamber (1201) formed inside. The first joint (21) connects the first component (11) and the second component (12) so that the first component (11) and the second component (12) can rotate relative to each other; A first receiving portion (13) is disposed at the end of the first member (11) and / or the second member (12). A first receiving cavity (131) is formed in the first receiving portion (13). The first receiving cavity (131) is connected to the opening of the second wire harness chamber (1201). The first receiving cavity (131) and the second wire harness chamber (1201) together form a receiving channel for receiving the wire harness.

2. The leg assembly according to claim 1, characterized in that, At least one of the first component (11) and the second component (12) has a first cantilever (121) and a second cantilever (122) spaced apart at its end. The first cantilever (121) is used to connect with the first joint (21), and the second cantilever (122) forms the first receiving cavity (131).

3. The leg assembly according to claim 2, characterized in that, The first receiving part (13) includes a first enclosure (132) and a first cover (133) covering the first enclosure (132), the first enclosure (132) and the first cover (133) enclosing to form the first receiving cavity (131).

4. The leg assembly according to claim 2, characterized in that, At least one of the first component (11) and the second component (12) has a double cantilever structure at its end; and / or, At least one of the first component (11) and the second component (12) is Y-shaped.

5. The leg assembly according to claim 2, characterized in that, The first cantilever (121) and the second cantilever (122) are formed on the second member (12), the end of the first member (11) is disposed in the gap between the first cantilever (121) and the second cantilever (122), and the first joint (21) is at least partially disposed in the gap between the first cantilever (121) and the second cantilever (122).

6. The leg assembly according to claim 5, characterized in that, The first joint (21) includes a fixed part (211) and a rotating part (212) rotatably mounted in the fixed part (211). The rotating part (212) of the first joint (21) is connected to the first cantilever (121), and the fixed part (211) of the first joint (21) is connected to the first component (11).

7. The leg assembly according to claim 1, characterized in that, The leg assembly (62) further includes a second joint (22) and a second receiving portion (123). The second joint (22) and the second receiving portion (123) are both disposed on the end of the second member (12) away from the first joint (21). The second receiving portion (123) has a second receiving cavity (1231) that communicates with the opening of the second wire harness chamber (1201). The receiving channel and the second receiving cavity (1231) together form a first receiving channel for receiving the first wire harness (31). The first wire harness (31) passes through the first receiving channel and is electrically connected to the first joint (21) and the second joint (22).

8. The leg assembly according to claim 7, characterized in that, The second component (12) is directly connected to the first joint (21) and the second joint (22), respectively; and / or, The two ends of the second component (12) are connected to the first joint (21) and the second joint (22) respectively.

9. The leg assembly according to claim 7, characterized in that, The second joint (22) is a hub joint; and / or, The second joint (22) is connected to a foot pad (24).

10. The leg assembly according to claim 1, characterized in that, The leg assembly (62) further includes a third joint (23) and a third receiving portion (111), both of which are mounted on the end of the first member (11) away from the second member (12). A first wire harness chamber (101) is formed in the first member (11), and a third receiving cavity (1111) is formed in the third receiving portion (111) that communicates with the opening of the first wire harness chamber (101). The receiving channel and the third receiving cavity (1111) together form a second receiving channel for receiving a second wire harness (32), which passes through the second receiving channel and is electrically connected to the third joint (23) and the first joint (21).

11. The leg assembly according to claim 10, characterized in that, The wire harness includes a fixed section and a movable section (311). The fixed section is disposed in the first wire harness chamber (101) and / or the second wire harness chamber (1201), and the movable section (311) is disposed in the first receiving cavity (131).

12. The leg assembly according to claim 1, characterized in that, The receiving channel is provided with a wire fixing part (5) for fixing the wire harness.

13. A legged robot, characterized in that, Includes at least one leg component (62) as claimed in any one of claims 1 to 12, wherein the legged robot is a bipedal robot, a quadrupedal robot, or a wheel-legged robot.

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