CN115447690A

CN115447690A - Mechanical leg and robot

Info

Publication number: CN115447690A
Application number: CN202110642514.7A
Authority: CN
Inventors: 杨思成
Original assignee: Tencent Technology Shenzhen Co Ltd
Current assignee: Tencent Technology Shenzhen Co Ltd
Priority date: 2021-06-09
Filing date: 2021-06-09
Publication date: 2022-12-09

Abstract

The application discloses mechanical leg and robot relates to the robot field. This mechanical leg includes: the device comprises a driving unit, a thigh unit, a shank unit and a traveling wheel; the driving unit 11 is used for driving the traveling wheel 14 to rotate; the joint end of the thigh unit, the joint end of the shank unit and the travelling wheel are coaxially connected; the shank unit and the travelling wheel are switched between unlocking and locking; the thigh unit is provided with a first claw at one side facing the shank unit, the shank unit is provided with a second claw at one side facing the thigh unit, and the first claw is matched with the second claw; in a wheel type motion state of unlocking between the lower leg unit and the travelling wheel, the first claw and the second claw are locked to fix the lower leg unit and the thigh unit, and the driving unit drives the travelling wheel to rotate; and under the foot type motion state of locking between the lower leg unit and the travelling wheel, the first claw and the second claw are unlocked, and the driving unit drives the lower leg unit to rotate relative to the thigh unit through the travelling wheel.

Description

Mechanical leg and robot

Technical Field

The application relates to the field of robots, in particular to a mechanical leg and a robot.

Background

Common robots are classified into a wheeled robot and a legged robot. The wheel type robot is a robot moving by wheels, and the foot type robot is a robot moving by two feet, four feet or six feet and the like.

In the related art, a wheel-foot hybrid robot is provided, in which a travel wheel is mounted on a mechanical leg of the robot, so that the robot has two motion states, namely a wheel type motion state and a foot type motion state. In order to enable the mechanical leg to switch between two motion states, the mechanical leg is arranged on the basis of a magnetic adsorption principle, a wheel-type motion state is realized when magnets attract each other, and a foot-type motion state is realized when magnets repel each other or are disconnected.

Due to the limited adsorption force of the magnetic adsorption, when the robot passes through a rugged road or is impacted by a large external force, the thigh unit and the shank unit in the mechanical leg are easy to separate, so that the mechanical leg cannot be stably in a wheel type motion state.

Disclosure of Invention

The embodiment of the application provides a mechanical leg and a robot, and the posture stability of the mechanical leg under different modes is guaranteed through a first claw and a second claw which are respectively arranged on a thigh unit and a shank unit and by means of locking and unlocking between the first claw and the second claw. The technical scheme at least comprises the following scheme:

according to an aspect of the present application, there is provided a robot leg including: the device comprises a driving unit, a thigh unit, a shank unit and a travelling wheel;

the driving unit is used for driving the travelling wheel to rotate;

the joint end of the thigh unit, the joint end of the shank unit and the travelling wheel are coaxially connected;

the shank unit and the travelling wheel are switched between unlocking and locking;

the thigh unit is provided with a first claw at one side facing the shank unit, the shank unit is provided with a second claw at one side facing the thigh unit, and the first claw is matched with the second claw;

in a wheel type motion state of unlocking between the lower leg unit and the travelling wheel, the first claw and the second claw are locked to fix the lower leg unit and the thigh unit, and the driving unit drives the travelling wheel to rotate;

and under the foot type motion state of locking between the lower leg unit and the travelling wheel, the first claw and the second claw are unlocked, and the driving unit drives the lower leg unit to rotate relative to the thigh unit through the travelling wheel.

According to an aspect of the application, a robot is provided, comprising a robot leg as described above.

The beneficial effects brought by the technical scheme provided by the embodiment of the application at least comprise:

the first claw is arranged at the joint end of the thigh unit, the second claw is arranged at the joint end of the shank unit, and the mechanical leg is switched between a wheel type motion state and a foot type motion state through unlocking and locking of the first claw and the second claw, so that the posture stability of the mechanical leg in different modes is improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the description below are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

FIG. 1 is an overall schematic view of a robotic leg provided in an exemplary embodiment of the present application;

FIG. 2 is a schematic illustration of a mechanical leg provided in an exemplary embodiment of the present application;

FIG. 3 is a schematic view of a first jaw provided in accordance with an exemplary embodiment of the present application;

FIG. 4 is a schematic diagram of a second jaw provided in an exemplary embodiment of the present application;

FIG. 5 is a partial schematic view of a mechanical leg provided in an exemplary embodiment of the present application;

FIG. 6 is a partial schematic view of a mechanical leg provided in an exemplary embodiment of the present application;

FIG. 7 is a schematic structural view of a calf unit provided by an exemplary embodiment of the present application;

FIG. 8 is a schematic structural view of a sliding insert provided in an exemplary embodiment of the present application;

FIG. 9 is an exploded view of a mechanical leg provided in accordance with an exemplary embodiment of the present application;

FIG. 10 is a partial schematic view of a robotic leg provided in accordance with an exemplary embodiment of the present application;

FIG. 11 is a partial schematic view of a mechanical leg provided in accordance with an exemplary embodiment of the present application;

FIG. 12 is a schematic diagram of a drive unit provided in an exemplary embodiment of the present application;

FIG. 13 is a partial schematic view of a mechanical leg provided in accordance with an exemplary embodiment of the present application;

FIG. 14 is a schematic illustration of a mechanical leg in wheeled motion according to an exemplary embodiment of the present application;

FIG. 15 is a schematic illustration of a mechanical leg provided in an exemplary embodiment of the present application in a foot-type motion;

FIG. 16 is a partial schematic view of a mechanical leg provided in accordance with an exemplary embodiment of the present application;

FIG. 17 is a block diagram of a robot in wheeled motion in accordance with an exemplary embodiment of the present application;

fig. 18 is a block diagram of a robot in a foot motion state according to an exemplary embodiment of the present application.

The various reference numbers in the drawings are illustrated below:

10-a mechanical leg;

11-a drive unit:

111-pulley assembly: 1111-a first pulley; 1112-a second pulley; 1113-synchronous belt;

112-joint motor;

113-a tensioning device;

12-thigh unit:

121-a first thigh section;

122-second thigh section;

13-lower leg unit:

131-a first lower leg portion;

132-a second lower leg portion;

14-a travelling wheel:

141-pulley baffle;

142-a wheel;

15-first jaw:

151-a first holding jaw;

152-a second stationary jaw;

16-second jaw:

161-a first moveable jaw;

162-a second moveable jaw;

163-contact surface of second jaw;

17-sliding insert: 171-upper surface of sliding insert;

181-linear motor; 182-motor connection;

19-resetting means:

191-an elastic member;

192-a sleeve;

01-a boss; 02-groove; 03-a chute; 041-first rod; 042-second bar; 043-third bar; 05-card slot;

20-a robot;

21-mechanical body.

Detailed Description

Unless defined otherwise, all technical terms used in the examples of the present application have the same meaning as commonly understood by one of ordinary skill in the art.

In the embodiments of the present application, reference is made to "front" and "rear" as being based on the front and rear as shown in the drawings. "first end" and "second end" are opposite ends.

To make the objects, technical solutions and advantages of the present application more clear, the following detailed description of the embodiments of the present application will be made with reference to the accompanying drawings.

Fig. 1 shows an overall schematic view of a robot leg 10 provided in an exemplary embodiment of the present application. The mechanical leg 10 includes a driving unit 11, a thigh unit 12, a shank unit 13, and a travel wheel 14.

Wherein, the driving unit 11 is used for driving the traveling wheel 14 to rotate, and the driving unit 11 is a power supply device of the mechanical leg 10 and is used for supplying driving power to the mechanical leg 10.

The specific structures of the thigh unit 12 and the shank unit 13 can be set according to actual needs, for example, the thigh unit 12 includes two symmetrical parts, and the two symmetrical parts are buckled to form the overall shape of the thigh unit 12; the lower leg unit 13 includes two symmetrical portions that snap together to form the overall shape of the lower leg unit 13.

When the mechanical leg 10 is in a foot type motion state, the traveling wheel 14 is a power transmission part of the thigh unit 12 and the shank unit 13, and the shank unit 13 is a traveling part of the mechanical leg 10; when the machine leg 10 is in a wheeled motion, the travel wheel 14 is a traveling member of the machine leg 10.

Illustratively, the joint end of the thigh unit 12, the joint end of the calf unit 13 and the travel wheel 14 are coaxially connected. The coaxial connection means that the joint ends of the thigh unit 12, the joint ends of the shank unit 13 and the running wheels 14 have the same axial line. Alternatively, relative motion may be achieved between the joint end of the thigh unit 12, the joint end of the calf unit 13 and the travel wheel 14. For example, the lower leg unit 13 may be rotationally moved with respect to the travel wheel 14, and the travel wheel 14 may also be rotationally moved with respect to the lower leg unit 13.

Optionally, in order to achieve coaxial connection, through holes are provided at the joint end of the thigh unit 12 and the joint end of the shank unit 13, and a matched shaft is used to pass through the joint end of the thigh unit 12, the travel wheel 14 and the joint end of the shank unit 13 in sequence. That is, the joint end of the thigh unit 12, the travel wheel 14, and the joint end of the shank unit 13 are sequentially fitted on the same shaft.

Alternatively, the driving unit 11 is connected to the thigh unit 12, and the traveling wheels 14 are in driving connection with the pulley assembly 111 in the driving unit 11. The pulley assembly 111 is used to transmit the driving force provided by the driving unit 11 to the traveling wheels 14, so that the driving unit 11 can control the traveling wheels 14. Optionally, the traveling wheel 14 is movably sleeved on one pulley of the pulley assembly 11, so that the driving force provided by the driving force 11 is transmitted to the traveling wheel 14 through the pulley. Correspondingly, the joint end of the thigh unit 12 and the joint end of the shank unit 13 are also sleeved on the belt wheel; alternatively, the joint end of the thigh unit 12, the joint end of the calf unit 13, and the pulley are sleeved on the same shaft.

As schematically shown in fig. 2, the thigh unit 12 is provided with a first jaw 15 on the side facing the lower leg unit 13, the lower leg unit 13 is provided with a second jaw 16 on the side facing the thigh unit 12, and the first jaw 15 and the second jaw 16 are adapted. Alternatively, the first jaw 15 is provided on the side of the joint end of the thigh unit 12 facing the lower leg unit 13, and the second jaw 16 is provided on the side of the joint end of the lower leg unit 13 facing the thigh unit 12.

The first claw 15 and the second claw 16 are used for switching the mechanical leg 10 between a wheel type motion state and a foot type motion state. The shape, size, number and specific arrangement position of the first claw 15 and the second claw 16 can be selected according to actual needs.

Illustratively, the first jaw 15 is disposed at the joint end of the thigh unit 12 and near the travel wheel 14, the second jaw 16 is disposed at the joint end of the shank unit 13 and near the travel wheel 14, and the first jaw 15 and the second jaw 16 are spaced apart from the travel wheel 14 by the same distance.

In an alternative embodiment, one of the first jaw 15 and the second jaw 16 is a fixed jaw and one is a moveable jaw.

Taking the first jaw 15 as a fixed jaw and the second jaw 16 as a movable jaw as an example, in the mechanical leg 10 provided in the embodiment of the present application, the first jaw 15 is fixedly connected to the thigh unit 12, and the second jaw 16 is rotatably connected to the shank unit 13; the second jaw 16 is moved toward or away from the first jaw 15 by rotation relative to the lower leg unit 13.

That is, the first jaw 15 cannot move relative to the thigh unit 12, and the second jaw 16 can move relative to the calf unit 13. Meanwhile, when the thigh unit 12 and the shank unit 13 are closed, the first claw 15 and the second claw 16 are located at the same position. Optionally, one end of the second jaw 16 is movably sleeved on the lower leg unit 13, and the other end of the second jaw 16 rotates relative to the lower leg unit 13.

In the following embodiments, the first jaw 15 is a fixed jaw and the second jaw 16 is a movable jaw.

As schematically shown in fig. 2, the switching of the movement state of the robot leg 10 according to the different configurations of the first jaw 15 and the second jaw 16 is explained as follows:

in a wheel type motion state of unlocking between the lower leg unit 13 and the traveling wheel 14, the first claw 15 and the second claw 16 are locked to fix the lower leg unit 13 and the thigh unit 12, and the driving unit 11 drives the traveling wheel 14 to rotate;

in the locked foot-type motion state between the lower leg unit 13 and the travel wheel 14, the first claw 15 and the second claw 16 are unlocked, and the drive unit 11 rotates the lower leg unit 13 relative to the upper leg unit 12 via the travel wheel 14.

Correspondingly, when the mechanical leg 10 is in a wheel type motion state, the lower leg unit 13 and the travelling wheel 14 are unlocked, and the first claw 15 and the second claw 16 are locked; when the mechanical leg 10 is in a foot-type motion state, the lower leg unit 13 is locked with the traveling wheel 14, and the first claw 15 is unlocked with the second claw 16.

The unlocking between the lower leg unit 13 and the travel wheel 14 means that the lower leg unit 13 is movably connected with the travel wheel 14, the locking between the first claw 15 and the second claw 16 means that the first claw 15 and the second claw 16 are fixedly connected, namely the lower leg unit 13 and the travel wheel 14 can move relatively, and the relative position of the first claw 15 and the second claw 16 is fixed.

The locking between the lower leg unit 13 and the travel wheel 14 means that the lower leg unit 13 is fixedly connected with the travel wheel 14, and the unlocking between the first claw 15 and the second claw 16 means that the first claw 15 is movably connected with the second claw 16, that is, the relative positions of the lower leg unit 13 and the travel wheel 14 are fixed, and the first claw 15 and the second claw 16 can move relatively.

Specifically, the relative rotation between the lower leg unit 13 and the travelling wheel 14 can be realized, and the joint end of the lower leg unit 13 is movably connected with the travelling wheel 14 at the moment; the relative positions of the lower leg unit 13 and the travelling wheel 14 are fixed, relative movement between the lower leg unit 13 and the travelling wheel 14 cannot be realized, and the lower leg unit 13 and the travelling wheel 14 are fixedly connected at the moment.

Wherein the locking and unlocking between the lower leg unit 13 and the travel wheel 14 can be achieved in a variety of ways, including but not limited to at least one of the following: buckle structure, bolt structure, clamping structure, elastic structure.

For example, the shank unit 13 and the travelling wheel 14 are of a buckle structure, the shank unit 13 is provided with a hook, the travelling wheel 14 is provided with a clamping groove, the clamping groove can limit the hook, and the shank unit 13 and the travelling wheel 14 are locked; the hook is withdrawn from the clamping groove, the clamping groove cannot limit the hook, and the shank unit 13 and the travelling wheel 14 are unlocked. For another example, a bolt is arranged at the joint end of the lower leg unit 13, and the bolt is separated from the travel wheel 14, so that the lower leg unit 13 and the travel wheel 14 are unlocked; the bolt is inserted on the travelling wheel 14 to realize the locking of the lower leg unit 13 and the travelling wheel 14.

Accordingly, locking and unlocking between the first jaw 15 and the second jaw 16 may be achieved in a variety of ways, including but not limited to at least one of: buckle structure, bolt structure, press from both sides tight structure, elastic construction.

For example, the first claw 15 and the second claw 16 are of a snap structure, for example, the first claw 15 is provided with a clamping groove, the second claw 16 is provided with a hook, the hook is embedded into the clamping groove, the clamping groove can limit the hook, and the first claw 15 and the second claw 16 are locked; the couple withdraws from the draw-in groove, and the draw-in groove will be unable to carry on spacingly to the couple,

first claw

15 and 16 unblocks of second claw. For another example, the first jaw 15 and the second jaw 16 are elastic structures, the first jaw 15 has a spring, the second jaw 16 has a fixing member for example, the spring is fixed by the fixing member, the spring cannot be tightened or loosened, and the first jaw 15 and the second jaw 16 are locked; the spring is not fixed by the fixing member, the spring can be tensioned or loosened, and the first jaw 15 and the second jaw 16 are unlocked.

In the example where the first jaw 15 is a fixed jaw and the second jaw 16 is a movable jaw, the first jaw 15 is fixedly disposed at the joint end of the thigh unit 12 and the second jaw 16 is movably disposed at the joint end of the shank unit 13. At this time, the unlocking and locking of the first and

second pawls

15 and 16 are achieved by the movement of the second pawl 16.

Illustratively, the motion states of the robotic leg 10 include both a foot motion state and a wheel motion state.

In the foot type movement state, the first claw 15 and the second claw 16 are unlocked, the lower leg unit 13 and the traveling wheel 14 are locked, the lower leg unit 13 and the thigh unit 12 extend, the tail end of the lower leg unit 13 is grounded, and the driving unit 11 drives the lower leg unit 13 to walk through the traveling wheel 14, so that the lower leg unit 13 rotates relative to the thigh unit 12; in the wheel-type movement state, the first claw 15 and the second claw 16 are locked, the lower leg unit 13 and the travel wheel 14 are unlocked, the lower leg unit 13 and the upper leg unit 12 are closed, the travel wheel 14 is grounded, and the drive unit 11 drives the travel wheel 14 to rotate.

Accordingly, the switching of the motion state of the robot leg 10 is specifically described as follows:

switching from a foot motion state to a wheel motion state: that is, the first claw 15 and the second claw 16 are changed to the locked state, and the lower leg unit 13 and the travel wheel 14 are changed to the unlocked state.

Specifically, the pulley assembly 111 in the drive unit 11 drives the lower leg unit 13 via the traveling wheel 14 toward the thigh unit 12, and stops when the thigh unit 12 and the lower leg unit 13 reach the mechanical limit. Equivalently, the rotation of the traveling wheels 14 is driven by the pulley assembly 111, so that the lower leg unit 13 approaches the thigh unit 12, and stops when the acute angle formed between the two reaches the minimum angle, thereby folding the lower leg unit 13 with the thigh unit 12.

Subsequently, the second jaw 16 is brought closer to the first jaw 15 until the first jaw 15 and the second jaw 16 are locked to form a fixed connection, so that the relative position of the thigh unit 12 and the calf unit 13 is fixed and relative rotation between the calf unit 13 and the travelling wheel 14 is possible.

That is, the first jaw 15 and the second jaw 16 are locked, and the lower leg unit 13 and the travel wheel 14 are unlocked. At this time, the travel wheel 14 is grounded, the drive unit 11 drives the travel wheel 14 to rotate, and the robot leg 10 is in a wheel motion state.

Switching from a wheeled motion state to a foot motion state: that is, the first claw 15 and the second claw 16 are changed to the unlocked state, and the lower leg unit 13 and the travel wheel 14 are changed to the locked state.

Specifically, the second jaw 16 is moved away from the first jaw 15 until the first jaw 15 and the second jaw 16 are unlocked and the lower leg unit 13 and the travel wheel 14 are locked. That is, the lower leg unit 13 moves to drive the traveling wheel 14 to do the same movement; accordingly, the travel wheels 14 move, which brings the lower leg unit 13 to perform the same movement.

Subsequently, the drive unit 11 drives the lower leg unit 13 away from the thigh unit 12 until the lower leg unit 13 and the thigh unit 12 are extended. Equivalently, the pulley assembly 111 drives the lower leg unit 13 away from the thigh unit 12 by driving the running wheels 14 to rotate, and stops when the lower leg unit 13 stands upright or when the obtuse angle formed between the lower leg unit 13 and the thigh unit 12 reaches a preset angle, so that the lower leg unit 13 and the thigh unit 12 are extended.

At this time, the distal end of the lower leg unit 13 is grounded, the driving unit 11 rotates the lower leg unit 13 relative to the upper leg unit 12 via the traveling wheel 14, and the mechanical leg 10 is in a foot-type motion state.

As described above, the number and shape of the first claws 15 and the second claws 16 can be adjusted as needed, and when there are a plurality of first claws 15 and second claws 16, the position of the first claw 15 on the thigh unit 12 and the position of the second claw 16 on the lower leg unit 13 can be adjusted as needed. For example, the number of the first claws 15 and the second claws 16 is 1 or 2. Alternatively, the first jaw 15 may be shaped as shown in fig. 3 and the second jaw 16 may be shaped as shown in fig. 4.

Illustratively, to achieve the fitting of the first jaw 15 and the second jaw 16, the first jaw 15 and the second jaw 16 have a protrusion 01 and a groove 02, respectively, which are fitted and oriented opposite to each other. That is, the first jaw 15 has a protrusion 01 thereon, and the second jaw 16 has a groove 02 adapted to the protrusion 01 thereon.

The relative positional relationship of the boss 01 and the groove 02 is explained as follows according to different configurations of the first claw 15 and the second claw 16:

with the locking between the first jaw 15 and the second jaw 16, the boss 01 is inserted into the groove 02 so that the angle between the thigh unit 12 and the shank unit 13 remains fixed;

with the first claw 15 and the second claw 16 unlocked, the boss 01 moves away from the groove 02, so that the angular fixation between the thigh unit 12 and the shank unit 13 is released.

The first claw 15 has a through hole or a threaded hole for fixing the first claw 15 to the joint end of the thigh unit 12, and the protruding portion 01 is in a tapered round head shape and forms a certain included angle with the main body of the first claw 15. The second claw 16 is provided with a through hole for movably sleeving the second claw 16 on the joint end of the lower leg unit 13, the shape of the invagination part of the groove 02 is matched with that of the bulge part 01, and the invagination direction corresponds to that of the bulge part 01.

Illustratively, in the case of locking between the first jaw 15 and the second jaw 16, the first jaw 15 and the second jaw 16 are locked within the calf unit 13 or the thigh unit 12.

Referring to fig. 2, the first jaw 15 and the second jaw 16 are locked within the lower leg unit 13.

Specifically, the first claw 15 and the second claw 16 have a protrusion 01 and a groove 02, which are matched with each other and opposite to each other. In the process of changing the first jaw 15 and the second jaw 16 from unlocking to locking, the lower leg unit 13 gradually approaches the thigh unit 12, so that the peripheral side of the joint end of the lower leg unit 13 and the peripheral side of the joint end of the thigh unit 12 are overlapped, and the bulge part 01 on the first jaw 15 can extend into the lower leg unit 13 to realize locking with the groove on the second jaw 16. To sum up, in the mechanical leg 10 provided in the embodiment of the present application, the first claw 15 is fixedly disposed at the joint end of the thigh unit 12, the second claw 16 is movably sleeved at the joint end of the shank unit 13, and the mechanical leg 10 is switched between the wheel-type motion state and the foot-type motion state according to locking and unlocking of the first claw 15 and the second claw 16, so that posture stability of the mechanical leg 10 in different modes is improved.

Specifically, the first claw 15 and the second claw 16 are locked to realize fixed connection of the two claws, the lower leg unit 13 is unlocked from the travelling wheel 14 to realize movable connection of the two claws, and at this time, the driving unit 11 can only drive the travelling wheel 14 to rotate, so that the mechanical leg 10 is in a wheel type motion state; the first claw 15 and the second claw 16 are unlocked to realize separation of the two claws, the lower leg unit 13 is locked with the traveling wheel 14 to realize fixed connection of the two claws, and the driving unit 11 can drive the lower leg unit 13 to walk through the traveling wheel 14, so that the mechanical leg 10 is in a foot type motion state.

During the mode switching process of the mechanical leg 10, the joint end of the lower leg unit 13 is movably and fixedly connected with the travel wheel 14 in various manners. As schematically shown in fig. 5, the present embodiment provides an alternative implementation manner, a sliding insert 17 is provided on the lower leg unit 13, and the lower leg unit 13 and the travel wheel 14 are switched between unlocking and locking through the sliding insert 17; the sliding insert 17 has freedom of movement in a direction away from or towards the travelling wheel 14.

Wherein the sliding insert 17 is slidable relative to the calf unit 13. That is, the sliding insert 17 is freely moved within a preset sliding range so that the sliding insert 17 is far from or close to the travel wheel 14.

Depending on the shape of the slide insert 17, there are various ways of arranging the relative positions of the slide insert 17 and the lower leg unit 13.

Alternatively, taking the example that the number of the second claws 16 is two, as schematically shown in fig. 6, the second claws 16 and the sliding insert 17 can be implemented in one of the following arrangement modes: the second claw 16 abuts a first end of the sliding insert 17. Taking the second jaw 16 as an example of a movable jaw, in a foot type motion state, the first end of the sliding plug-in 17 is clamped with the top of the movable jaw, and when the sliding plug-in 17 moves in a direction away from the traveling wheel 14, the first end of the sliding plug-in 17 abuts against the movable jaw to push the movable jaw to rotate counterclockwise, so that the top of the movable jaw makes an arc motion with the bottom of the movable jaw as a center.

Depending on the shape of the slide insert 17, the manner of engagement between the slide insert 17 and the joint end of the lower leg unit 13 is different. For example, the sliding insert 17 is a plate-like structure and the articular end of the calf unit 13 is provided with a slotted body that fits the sliding insert 17 so that the sliding insert 17 slides within a fixed length in the slotted body.

In light of the foregoing, a sliding insert 17 is provided at the articular end of the lower leg unit, and fig. 7 shows an alternative construction of the lower leg unit 13, with the articular end of the lower leg unit 13 provided with a chute 03. The sliding groove 03 is used for sliding the sliding insert 17 in the groove. The shape, width, depth, number and arrangement position of the sliding groove 03 can be adjusted according to the shape change of the sliding plug-in 17.

Accordingly, fig. 8 shows an alternative construction of the sliding insert 17. Taking the example in which the sliding insert 17 is an H-shaped bolt, the H-shaped bolt comprises a first lever 041 and a second lever 042.

The second claw 16 has an engaging groove, and the first rod 041 and the second rod 042 are slidably disposed in the sliding groove 03 of the lower leg unit 13.

With reference to the specific structure of second jaw 16 shown in fig. 4, and the partial schematic view shown in fig. 6, taking as an example that second jaw 16 comprises a first moveable jaw 161 and a second moveable jaw 162, first moveable jaw 161 and second moveable jaw 162 are symmetrically distributed about the H-shaped latch.

Illustratively, in the state of wheel motion, the first movable claw 161 has an engagement groove at a position abutting against the first lever 041, the engagement groove abutting against the bottom of the first lever 041 to fix the position of the first movable claw 161, so that the first movable claw 161 is locked with the second claw 15; the second movable claw 162 also has an engagement groove in a position abutting against the second rod 042, which abuts against the bottom of the second rod 042 to fix the position of the second movable claw 162, so that the second movable claw 162 is locked with the second claw 15. Optionally, taking the case that the joint end of the lower leg unit 13 is provided with two sliding grooves 03, the top of the first rod 041 and the top of the second rod 042 are slidably clamped in the groove 02.

Optionally, the H-bolt further includes a third rod 043 for supporting the first rod 041 and the second rod 042. Specifically, the first rod 041 and the second rod 042 are parallel to each other, and the third rod 043 is perpendicular to the first rod 041 and the second rod 042.

According to the foregoing, in the case where the articulated end of the lower leg unit 13 is provided with the movable insertion 17, the switching of the motion state of the mechanical leg 10 can be regarded as switching of the locked and unlocked states between the first claw 15 and the second claw 16, which is explained as follows:

when the slide insert 17 is moved in a direction away from the travel wheel 14, the calf unit 13 and the travel wheel 14 are brought into an unlocked state and the second jaw 16 and the first jaw 15 are brought into a locked state;

when the slide insert 17 is moved in a direction to approach the travel wheel 14, the calf unit 13 and the travel wheel 14 are brought into the locked state and the second claw 16 and the first claw 15 are brought into the unlocked state.

Specifically, the unlocking and locking between the lower leg unit 13 and the travel wheel 14 are achieved by: the sliding insert 17 is configured to move away from the travelling wheel 14 such that the second end of the sliding insert 17 disengages from the travelling wheel 14 and the first end of the sliding insert 17 pushes the second jaw 16; the sliding insert 17 is configured to move in a direction closer to the travel wheel 14 such that the second end of the sliding insert 17 engages the travel wheel 14 and the first end of the sliding insert 17 releases the second jaw 16.

Wherein the separation and engagement of the second end of the sliding insert 17 with the travelling wheel 14 can be direct or indirect. For example, the second end of the sliding insert 17 is separated from and clamped with the travel wheel 14 through a clamping piece; for another example, the second end of the sliding plug 17 has a plug portion, the traveling wheel 14 has a groove body, and the plug portion is adapted to the groove body.

The aforementioned contents can be referred to for the related explanation of the locking and unlocking of the first claw 15 and the second claw 16, and are not described in detail. Specifically, the positions of the sliding insert 17 and the second jaw 16 can be adjusted according to actual needs. For example, the sliding insert 17 is formed with an open area from which the second claw 16 protrudes, so that the second claw 16 can follow the movement of the sliding insert 17; as another example, the bottom of the sliding insert 17 abuts the second jaw 16 to provide the pushing force to the jaw 16.

According to the foregoing, the unlocking and locking of the first 15 and second 16 jaws is achieved by the movement of the second jaw 16. Referring to fig. 5, taking as an example that the first direction is a direction in which the sliding insert 17 moves away from the pulley stop 141 in parallel, and the second direction is a direction in which the sliding insert 17 moves closer to the pulley stop 141 in parallel, the switching of the motion state of the mechanical leg 10 is specifically described as follows:

switching from a foot motion state to a wheel motion state: that is, the first claw 15 and the second claw 16 are changed to the locked state.

Specifically, the pulley assembly 111 in the driving unit 11 drives the lower leg unit 13 to approach the thigh unit 12 through the pulley baffle 141, and stops when the thigh unit 12 and the lower leg unit 13 reach the mechanical limit, that is, the thigh unit 12 and the lower leg unit 13 are closed.

Subsequently, the sliding insert 17 is configured to slide in a first direction, i.e. the sliding insert 17 is moved away from the travel wheel 14, such that the sliding insert 17 is gradually distanced from the travel wheel 14. At this time, since the sliding insert 17 is engaged with the second jaw 16, the sliding insert 17 will push the second jaw 16 away from the travel wheel 14, thereby causing the second jaw 16 to approach the first jaw 15 until the first jaw 15 and the second jaw 16 are locked to form a fixed connection, thereby unlocking the lower leg unit 13 from the travel wheel 14.

Equivalently, the first jaw 15 and the second jaw 16 are locked, the relative positions of the thigh unit 12 and the shank unit 13 are fixed, and the relative rotation between the shank unit 13 and the travel wheel 14 can be realized. Specifically, the travelling wheel 14 can rotate relative to the joint end of the lower leg unit 13, so that the travelling wheel 14 lands, the driving unit 11 can drive the travelling wheel 14 to rotate, and the mechanical leg 10 is in a wheel-type motion state.

Switching from a wheeled motion state to a foot motion state: that is, the first claw 15 and the second claw 16 are changed to the unlocked state.

In particular, the sliding insert 17 is configured to slide in a second direction, i.e. the sliding insert 17 moves closer to the travel wheel 14, so that the sliding insert 17 snaps into engagement with the travel wheel 14. At this time, since the pushing of the second claw 16 by the slide plug 17 is released, the second claw 16 moves in a direction to approach the travel wheel 14, and the second claw 16 moves away from the first claw 15 until the first claw 15 and the second claw 16 are unlocked.

Subsequently, the drive unit 11 drives the lower leg unit 13 away from the thigh unit 12 until the lower leg unit 13 and the thigh unit 12 are extended. Equivalently, the pulley assembly 111 drives the lower leg unit 13 away from the thigh unit 12 by driving the running wheels 14 to rotate, and stops when the lower leg unit 13 stands upright or when the obtuse angle formed between the lower leg unit 13 and the thigh unit 12 reaches a preset angle, so that the lower leg unit 13 and the thigh unit 12 are extended. At this time, the distal end of the lower leg unit 13 is grounded, the driving unit 11 drives the lower leg unit 13 to walk via the travel wheel 14, and the mechanical leg 10 is in a foot-type motion state.

Specifically, the pushing and releasing of the second claw 16 by the slide plug-in 17 may be realized as follows:

as shown schematically in fig. 6, the slide insert 17 has an abutment end, which is the end adjacent to the second jaw 16.

Wherein, when the sliding insert 17 moves away from the travelling wheel 14, the abutment end causes the second jaw 16 to approach the first jaw 15 so that the first jaw 15 and the second jaw 16 are locked; when the sliding insert 17 moves in a direction approaching the travelling wheel 14, the abutment end moves the second jaw 16 away from the first jaw 15 so that the first jaw 15 and the second jaw 16 are unlocked.

Correspondingly, the sliding insert 17 is configured to move in a direction away from the traveling wheel 14, the abutting end is used for pushing the second claw 16 to make a rotating motion, the abutting end slides on the abutting surface of the second claw 16 until passing through the engaging groove on the second claw 16, so that the sliding insert 17 is engaged with the second claw 16, and the second claw 16 rotates to a preset position to be locked with the first claw 15; the slide insert 17 is configured to move in a direction approaching the travel wheel 14, and the abutting end pushes the second claw 16 free, so that the second claw 16 moves away from the first claw 15, so that the first claw 15 and the second claw 16 are unlocked.

Referring to fig. 6, the second jaw 16 is a movable jaw, the bottom of the second jaw 16 has an engaging groove, and the slide insert 17 has an abutting end.

The engagement groove is located below the contact surface 163 of the second claw 16. In the foot-type motion state, the abutting end of the sliding insert 17 abuts against the upper side of the clamping groove, that is, the plane where the upper surface 171 of the sliding insert 17 is located is not parallel to the plane where the contact surface 163 is located; in the wheel-type movement state, the abutting end of the sliding insert 17 passes through the engaging groove, and the upper surface 171 of the sliding insert 17 is engaged and fixed with the engaging groove, and at this time, the plane on which the upper surface 171 is located is parallel to the plane on which the contact surface 163 is located.

In the process of changing from the foot type movement state to the wheel type movement state, since the plane where the upper surface 171 is located is not parallel to the plane where the contact surface 163 is located, the sliding insert 17 moves in the direction away from the travel wheel 14, and the abutting end pushes the second claw 16 to rotate counterclockwise until the plane where the upper surface 171 is located is parallel to the plane where the contact surface 163 is located, so that the abutting end passes through the engaging groove to be fixed.

Accordingly, in the case where the abutting end is formed on the sliding insert 17, the other end of the sliding insert 17 may be formed with a plugging end for enabling the clamping and separation of the lower leg unit 13 and the travel wheel 14.

Wherein the insertion end is the end near the travelling wheel 14. Specifically, when the sliding insert 17 is moved in a direction away from the travel wheel 14, the insert end leaves the travel wheel 14 to unlock the lower leg unit 13 and the travel wheel 14; when the sliding insert 17 is moved in a direction to approach the travel wheel 14, the insertion end is used to be inserted on the travel wheel 14 so that the lower leg unit 13 and the travel wheel 14 are locked.

The second claw 16 is a movable claw, the bottom of the second claw 16 has an engaging groove, and both ends of the slide insert 17 have a contact end and a mating end, respectively. Wherein, under the foot type motion state, the abutting end of the sliding plug-in 17 is abutted against the upper part of the clamping groove; in the wheel-type movement state, the abutting end of the slide plug 17 passes through the engagement groove, and the upper surface 171 of the slide plug 17 is engaged and fixed with the engagement groove.

Referring to fig. 6, in the foot-type moving state, the slide insert 17 is configured to move in a direction away from the travel wheel 14, so that the abutment end pushes the second claw 16 due to the abutment end abutting on the upper side of the engagement groove of the second claw 16; since the bottom of the second jaw 16 is fixed, the top of the second jaw 16 rotates counterclockwise around the bottom. Meanwhile, the abutting end slides downwards on the abutting surface of the second claw 16 until the abutting end passes through the clamping groove, so that the second claw 16 rotates to a specified angle, and the first claw 15 and the second claw 16 are conveniently locked. Meanwhile, the insertion end gradually moves away from the traveling wheel 14 until the insertion end moves away from the traveling wheel 14, so that the lower leg unit 13 and the traveling wheel 14 are unlocked, and the switching from the foot type motion state to the wheel type motion state is realized.

Accordingly, in the wheel movement state, the sliding insert 17 is configured to move toward the traveling wheel 14, so that the insertion end approaches the traveling wheel 14 until the insertion end is inserted on the traveling wheel 14, so that the lower leg unit 13 is locked with the traveling wheel 14. Meanwhile, the abutting end is gradually far away from the second claw 16, which is equivalent to that the abutting end gradually releases the pushing of the second claw 16 to respectively unlock the first claw and the second claw, thereby realizing the switching from the wheel type motion state to the foot type motion state.

In addition, in order to enable the sliding insert 17 to move away from or close to the running wheel 14, a corresponding power supply device needs to be provided.

As schematically shown in fig. 9 and 10, the robot leg 10 further includes a linear motor 181. Wherein, the linear motor 181 is fixed in the lower leg unit 13, and the output end of the linear motor 181 is fixedly connected with the sliding plug-in 17.

The linear motor 181 is a transmission device that converts electric energy into mechanical energy for linear motion. The output of the linear motor 181 is fixedly connected to the sliding insert 17, so that the sliding of the sliding insert 17 can follow the movement of the output of the linear motor 181. Optionally, the linear motor 181 is fixed on the inner wall of the lower leg unit 13, and the output end of the linear motor 181 is fixedly connected with the sliding insert 17.

Illustratively, the linear motor 181 is used to move the sliding insert 17 away from or close to the travel wheel 14, as described in detail below:

under the wheel type motion state, the linear motor 181 drives the sliding plug-in unit 17 to be far away from the travelling wheel 14;

in the foot type motion state, the linear motor 181 drives the sliding plug-in unit 17 to approach the traveling wheel 14.

That is, by sending a control command to the linear motor 181, the output shaft of the linear motor 181 is driven to move in the first direction or the second direction, thereby driving the sliding insert 17 to move. Wherein the first direction and the second direction are opposite directions.

Optionally, the mechanical leg 10 further includes a motor connector 182, and the output end of the linear motor 181, the motor connector 182 and the sliding plug-in 17 are sequentially and fixedly connected. As schematically shown in fig. 8, the bottom of the sliding insert 17 is provided with a through hole for fixing the sliding insert 17 with the motor connector 182.

In addition, referring to the exploded view of the mechanical leg 10 shown in fig. 9, the thigh unit 12 and the shank unit 13 have an alternative structure as follows:

illustratively, thigh unit 12 includes first and second detachably

connectable thigh sections

121, 122, and calf unit 13 includes first and second detachably

connectable thigh sections

131, 132.

Wherein first thigh portion 121 and first thigh portion 131 are located on a first side of travel wheel 14 and second thigh portion 122 and second thigh portion 132 are located on a second side of travel wheel 14; the first claw 15 includes a first fixed claw 151 and a second fixed claw 152, the first fixed claw 151 being fixed to the peripheral side of the joint end of the first femoral portion 121, the second fixed claw 152 being fixed to the peripheral side of the joint end of the second femoral portion 122; second jaw 16 includes a first movable jaw 161 and a second movable jaw 162, where first movable jaw 161 is fitted around the joint end of first lower leg portion 131, and second movable jaw 162 is fitted around the joint end of second lower leg portion 132.

Wherein, the detachable connection of the first thigh portion 121 and the second thigh portion 122 has a plurality of implementation manners, including but not limited to at least one of the following manners: snap connection, threaded connection, snap connection, pinned connection, hinged connection, plug-in connection. For example, a plurality of slots are provided on the first thigh portion 121, and the same number of fasteners are provided on the second thigh portion 122 at corresponding positions, so that the first thigh portion 121 and the second thigh portion 122 can be detachably connected through the cooperation of the slots and the fasteners.

Accordingly, reference is made to the above description for the detachable connection of first and second

lower leg portions

131, 132, which will not be described in detail.

Optionally, when the first thigh portion 121 and the second thigh portion 122 are buckled, the first fixing claw 151 and the second fixing claw 152 are parallel; when first and

second leg portions

131, 132 are engaged, first movable jaw 161 and second movable jaw 162 are parallel. Wherein the first fixed jaw 151 and the second fixed jaw 152 are parallel, and the first movable jaw 161 and the second movable jaw 162 are parallel, so that the robot leg 10 can be stably fixed in a wheeled motion state.

According to the foregoing, the separation and engagement of the lower leg unit 13 from the travel wheel 14 is achieved by the separation and engagement of the sliding insert 17 and the travel wheel 14. For example, the running wheel 14 is provided with a slot into which the sliding insert 17 can be inserted or withdrawn.

As schematically shown in fig. 11, in order to realize the separation and clamping of the lower leg unit 13 and the travel wheel 14, in the case that the mechanical leg 10 includes the sliding insert 17, an alternative implementation manner is provided in the embodiment of the present application, one end of the sliding insert 17 is formed with a plug end, the travel wheel 14 is provided with a slot 05 corresponding to the plug end, and the unlocking and locking of the lower leg unit 13 and the travel wheel 14 are realized through the relative position change of the slot 05 and the plug end.

Wherein, the change of unlocking and switching between the lower leg unit 13 and the pulley baffle 141 is explained as follows:

when the sliding plug-in 17 moves away from the traveling wheel 14, the plugging end is separated from the clamping groove 05; when the sliding plug-in 17 moves towards the direction of approaching the travelling wheel 14, the plug-in end is clamped with the clamping groove 05.

Specifically, the engaging groove 05 may be provided on any component of the travel wheel 14.

Optionally, the traveling wheel 14 includes a pulley block 141, and the engaging groove 05 is located on the pulley block 141. Wherein, the joint end of the thigh unit 12 and the joint end of the shank unit 13 are coaxially connected with the belt wheel baffle 141. Specifically, the pulley baffle 141 is used to cooperate with the sliding insert 17 to switch the motion state of the mechanical leg 10.

Optionally, pulley baffle 141 is in driving connection with pulley assembly 111, and pulley baffle 141 is used to fix pulley assembly 111 such that pulley assembly 111 is in a fixed position for transmitting a stable driving force. For example, the pulley guard 141 is fixedly connected to one pulley of the pulley assembly 111, and the driving unit 11 transmits a driving force through the pulley.

As schematically shown in fig. 12, an alternative structure of the driving unit 11 is schematically shown.

Wherein the driving unit 11 further comprises a joint motor 112. The joint motor 112 is fixed at the root end of the thigh unit 12, the first end of the belt wheel component 111 is fixedly connected with the output shaft of the joint motor 112, and the second end of the belt wheel component 111 is in transmission connection with the traveling wheel 14.

That is, the joint motor 112 is a power supply device of the robot leg 10. The pulley assembly 111 may be driven to perform corresponding operations by sending control commands to the joint motor 112, thereby providing driving force for the movement of the robotic leg 10.

Taking the traveling wheel 14 including the pulley baffle 141 as an example, specifically, the pulley assembly 111 is in transmission connection with the pulley baffle 141, and the joint motor 112 drives the pulley assembly 111 to rotate so as to drive the pulley baffle 141 to rotate. When the mechanical leg 10 is in a wheel type motion state, the joint motor 112 drives the pulley baffle 141 to rotate; when the mechanical leg 10 is in a foot type motion state, the joint motor 112 drives the lower leg unit 13 to walk through the pulley baffle 141.

In connection with the exploded view of the mechanical leg 10 shown in fig. 9, the running wheel 14 further comprises a wheel 142. Illustratively, the wheel 142 is drivingly connected to the pulley assembly 111 such that the articulation motor 112 is capable of driving the wheel 142 in rotation. For example, when the robot leg 10 is in a wheeled motion, the joint motor 112 drives the wheel 142 to rotate. As another example, pulley assembly 111 is connected to wheel 142 via a planetary gear set for providing a higher rotational speed to wheel 142.

Alternatively, in the case where the travel wheel 14 includes the pulley baffle 141 and the wheel 142, the pulley baffle 141 and the wheel 142 are fixedly connected or movably connected. That is, the pulley baffle 141 and the wheel 142 are connected or disconnected, that is, the rotation of the pulley baffle 141 may not drive the wheel 142 to rotate, or the rotation speeds of the pulley baffle 141 and the wheel 142 may be different. For example, a planetary gear is provided between the pulley baffle 141 and the wheel 142 such that the rotational speed of the wheel 142 is higher than that of the pulley baffle 141.

As schematically shown in fig. 12, the pulley assembly 111 includes a first pulley 1111, a second pulley 1112, and a timing belt 1113. Wherein, the first pulley 1111 is fixedly connected with the output shaft of the joint motor 112; the second belt wheel 1112 is fixedly connected with the travelling wheel 14, and the joint end of the thigh unit 12, the second belt wheel 1112, the joint end of the shank unit 13 and the travelling wheel 14 are coaxially connected; the synchronous belt 1113 is movably sleeved on the first belt pulley 1111 and the second belt pulley 1112.

That is, the joint motor 112 rotates the first pulley 1111 by the output shaft, transmits the rotational force to the second pulley 1112 through the timing belt 1113, and the traveling wheel 14 rotates following the second pulley 1112 by the fixed connection between the second pulley 1112 and the traveling wheel 14.

Optionally, the second pulley 1112, the joint end of the lower leg unit 13 and the travel wheel 14 are coaxially connected, and the joint end of the lower leg unit 13 and the travel wheel 14 may be sleeved on the second pulley 1112.

In the case where the travel wheel 14 includes the pulley guard 141, the pulley guard 141 is fixed to the second pulley 1112.

In addition, to ensure that the timing belt 1113 does not fall off from the first pulley 1111 and the second pulley 1112, the driving unit 11 further includes a tension device 113; the tension device 113 is fixed to the thigh unit 12, and the tension device 113 is in pressing contact with the timing belt 1113. Optionally, a rotating shaft is arranged on the thigh unit 12, and the tensioning device 113 is fixedly sleeved on the rotating shaft.

In the case of a travel wheel 14 comprising a pulley stop 141 and a machine leg 10 further comprising a sliding insert 17, the switching of the kinematic state of the machine leg 10 is explained as follows:

when the sliding plug-in 17 moves away from the traveling wheel 14, the plugging end is separated from the clamping groove 05; when the sliding insert 17 is moved in the direction of approaching the travelling wheel 14, the sliding insert 17 is brought into engagement with the catch slot 05.

Referring to fig. 11, taking the example that the engaging groove 05 is disposed on the pulley baffle 141, the first direction is a direction in which the sliding insert 17 is parallel to and away from the pulley baffle 141, and the second direction is a direction in which the sliding insert 17 is parallel to and close to the pulley baffle 141, the switching of the motion state of the robot leg 10 is specifically described as follows:

switching from a foot motion state to a wheel motion state: after the thigh unit 12 and the calf unit 13 are brought together, the sliding insert 17 is moved away from the travel wheel 14, so that the sliding insert 17 is gradually moved away from the wheel guard 141. Sliding insert 17 pushes second jaw 16 away from pulley bezel 141, and second jaw 16 approaches first jaw 15 until first jaw 15 and second jaw 16 lock to form a fixed connection; at the same time, the sliding insert 17 is gradually moved away from the wheeled barrier 141 until the calf unit 13 disengages from the catch slot 05 on the wheeled barrier 141.

Equivalently, the first jaw 15 and the second jaw 16 are locked, the relative positions of the thigh unit 12 and the shank unit 13 are fixed, and the shank unit 13 and the travel wheel 14 can be rotated relative to each other. At this time, the travel wheel 14 is grounded, the drive unit 11 can rotate the travel wheel 14, and the leg 10 is in a wheel motion state.

Switching from a wheeled motion state to a foot motion state: the sliding insert 17 is moved in the direction of approaching the travelling wheel 14 until the sliding insert 17 engages with the catch 05 on the travelling wheel 14. At this time, the second claw 16 moves away from the first claw 15 due to the pushing of the second claw 16 by the slide plug 17 being released until the first claw 15 and the second claw 16 are unlocked.

Subsequently, the drive unit 11 drives the calf unit 13 away from the thigh unit 12 until the calf unit 13 and thigh unit 12 are extended. Equivalently, the pulley assembly 111 drives the calf unit 13 away from the thigh unit 12 by the rotation of the driving pulley baffle 141, and stops when the calf unit 13 stands upright or the obtuse angle formed between the calf unit 13 and the thigh unit 12 reaches a preset angle, so that the calf unit 13 and the thigh unit 12 are extended. At this time, the distal end of the lower leg unit 13 is grounded, the drive unit 11 drives the lower leg unit 13 to walk through the pulley guard 141, and the mechanical leg 10 is in a foot-type motion state.

Optionally, disengagement and engagement of lower leg unit 13 from pulley apron 141 is accomplished by disengagement and engagement of sliding insert 17 and slot 05 on pulley apron 141.

As schematically shown in fig. 13, the card slot 05 has a first wedge shape, and the end of the sliding insert 17 near the pulley stop 141 has a second wedge shape, and the first wedge shape and the second wedge shape are adapted to each other.

The clamping groove 05 is used for separating and clamping the sliding plug-in unit 17 and the belt wheel baffle 141, and the shape, size, number and setting position of the clamping groove 05 can be set according to actual needs. Optionally, 8 clamping grooves 05 with the same size and shape are uniformly arranged in the circumferential direction of the belt pulley baffle 141.

Optionally, the number of the card slots 05 is not less than two. As schematically shown in fig. 13, at least two engaging grooves 05 are uniformly distributed in the circumferential direction on the outer side of the pulley guard 141.

Specifically, in a wheel-type motion state, one end of the sliding plug-in unit 17 close to the pulley baffle 141 is withdrawn from the clamping groove 05, so that the calf unit 13 is separated from the pulley baffle 141; in the foot-type exercise state, one end of the sliding plug-in 17 close to the pulley baffle 141 is inserted into the clamping groove 05, so that the joint end of the lower leg unit 13 is clamped with the pulley baffle 141.

Referring to fig. 8, taking the sliding insert 17 as an H-shaped plug as an example, the second end of the sliding insert 17 is the third rod 043, that is, the third rod 043 has a second wedge shape, and a side of the third lever 043 close to the pulley stop 141 is formed with a structure having an inclined slope. At this time, the pulley baffle 141 and the H-shaped pin form a conical surface fitting structure.

In summary, in the mechanical leg 10 provided in the embodiment of the present application, the sliding insert 17 slides between the second jaw 16 and the travel wheel 14 to unlock and lock the lower leg unit 13 and the travel wheel 14, so as to switch the mechanical leg 10 between the wheel type motion state and the foot type motion state. Specifically, the lower leg unit 13 is separated from or engaged with the pulley baffle 141 by the cooperation of the pulley baffle 141 and the sliding insert 17.

Referring to fig. 9, to effect unlocking of the first and second jaws, a reset device 19 may be provided to assist the second jaw 16. Illustratively, the reset device 19 is used to push or pull the second jaw 16 in a direction approaching the travel wheel 14, so that the first jaw 15 and the second jaw 16 are unlocked.

Wherein the resetting means 19 is arranged in the direction of movement of the second jaw 15. For example, taking the second jaw 15 as a movable jaw as an example, the returning device 19 is provided in the counterclockwise direction or the clockwise direction of rotation of the second jaw 15.

As schematically shown in fig. 14 and 15, the return means 19 is arranged in the counterclockwise direction of rotation of the second jaw 15 for urging the second jaw 16 to move closer to the travelling wheel 14.

Specifically, a first end of the resetting device 19 is fixedly connected with the lower leg unit 13, and a second end of the resetting device 19 is movably abutted with the second claw 16. The first end of the resetting device 19 is fixedly connected with the calf unit 13, which means that the relative position of the first end of the resetting device 19 and the calf unit 13 is unchanged, for example, the first end of the resetting device 19 is fixed on the inner wall of the calf unit 13; the second end of the resetting means 19 is in movable abutment with the second jaw 16, so that the second end of the resetting means 19 is adapted to cooperate with the second jaw 16 for movement. The specific description is as follows: the second jaw 16 pushes the return means 19 so that the second end of the return means 19 moves away from the travelling wheel 14; the second end of the resetting device 19 pushes the second jaw 16 in a direction towards the travelling wheel 14, so that the first jaw 15 and the second jaw 16 are unlocked.

Correspondingly, the resetting device 19 is disposed on the clockwise rotation direction of the second claw 15 for pulling the second claw 16 to move toward the direction close to the travel wheel 14, and the specific arrangement manner is similar to that described above, and reference may be made for this, and details are not described again.

Schematically, taking the example in which the mechanical leg 10 comprises the sliding insert 17, the specific process of locking or unlocking the second jaw 16 and the first jaw 15 by the resetting device 19 is described as follows:

when the sliding insert 17 moves away from the travelling wheel 14, the return means 19 bring the second jaw 16 closer to the first jaw 15 so that the first jaw 15 is locked with the second jaw 16;

when the sliding insert 17 moves in a direction approaching the travelling wheel 14, the return means 19 move the second jaw 16 away from the first jaw 15 so as to unlock the first jaw 15 from the second jaw 16.

Optionally, the restoring means 19 comprise an elastic member 191. The elastic member 191 is used for providing the second jaw 16 with pushing force or pulling force pointing to a preset position of the elastic member 191. Specifically, the predetermined position of the elastic member 191 is a position where the second claw 16 abuts against the elastic member 191.

In an alternative embodiment, the return means 19 can be used in combination with an abutment formed on the sliding insert 17, in order to make the locking and unlocking of the first 15 and second 16 jaws smoother. That is, in the case where the sliding insert 17 is formed with an abutment end and the mechanical leg 10 includes the return means 19, the locking and unlocking of the first claw 15 and the second claw 16 are explained as follows:

when the sliding insert 17 moves away from the travelling wheel 14, the abutment end brings the second jaw 16 close to the first jaw 15 so that the first jaw 15 and the second jaw 16 are locked;

when the sliding insert 17 moves in a direction approaching the travelling wheel 14, the return means 19 move the second jaw 16 away from the first jaw 15 so as to unlock the first jaw 15 and the second jaw 16.

Specifically, the sliding insert 17 is configured to move in a direction away from the traveling wheel 14, the abutting end is used for pushing the second claw 16 to make a rotational movement, the abutting end slides on the abutting surface of the second claw 16 until passing through the engaging groove on the second claw 16, so that the sliding insert 17 engages with the second claw 16, and the second claw 16 rotates to a preset position to be locked with the first claw 15; the sliding insert 17 is configured to move in a direction approaching the travelling wheel 14, and the return means 19 pushes the second jaw 16 in a direction approaching the travelling wheel 14, so that the first jaw 15 and the second jaw 16 are unlocked.

Optionally, the resetting device 19 further comprises a sleeve 192, and the sleeve 192 is used for fixing the elastic member 191. Illustratively, the elastic member 191 is fixedly connected to the sleeve 192; the sleeve 192 is fixedly connected to the lower leg unit 13, and the elastic member 191 movably abuts against the second jaw 16. The fixed connection between the elastic member 191 and the sleeve 192 can be realized by sleeving the elastic member 191 on the sleeve 192.

As schematically shown in fig. 14 and 15, taking the reset device 19 disposed in the counterclockwise direction of rotation of the second claw 15 as an example, the reset device 19 performs the unlocking motion in cooperation with the second claw 16, which is specifically described as follows:

the second claw 16 presses the elastic member 191 so that the elastic member 191 is in a compressed state;

the elastic member 191 changes from a compressed state to a relaxed state, and pushes the second jaw 16 to move closer to the traveling wheel 14.

That is, in the wheel motion state, since the first claw 15 and the second claw 16 are in the locked state, the second claw 16 presses the elastic member 191, so that the elastic member 191 is in the compressed state. Subsequently, the mechanical leg 10 changes from the wheel-type movement state to the foot-type movement state, and the elastic element 191 gradually changes from the compressed state to the relaxed state, and under the elastic force of the elastic element, the elastic element 191 pushes the second claw 16 to perform the return movement, that is, the elastic element 191 pushes the second claw 16 to move towards the direction close to the traveling wheel 14 until the second claw 16 separates from the first claw 15 to achieve the unlocking state.

Correspondingly, when the reset means 19 is arranged in the clockwise direction of rotation of the second jaw 15, the reset means 19 cooperates with the unlocking movement of the second jaw 16, as described in detail below:

the second jaw 16 pulls the elastic member 191 so that the elastic member 191 is in a tensioned state; the elastic member 191 changes from the tension state to the release state, and pulls the second jaw 16 to move closer to the traveling wheel 14. The specific process is similar to the above, and can be referred to as reference, and is not repeated.

According to the foregoing, the motion states of the robot leg 10 include both a foot motion state and a wheel motion state. In the foot type movement state, the first claw 15 and the second claw 16 are unlocked, the lower leg unit 13 and the traveling wheel 14 are locked, the lower leg unit 13 and the thigh unit 12 extend, the tail end of the lower leg unit 13 lands on the ground, and the driving unit 11 drives the lower leg unit 13 to travel through the traveling wheel 14; in the wheel type movement state, the first claw 15 and the second claw 16 are locked, the lower leg unit 13 and the traveling wheel 14 are unlocked, the lower leg unit 13 and the thigh unit 12 are folded, the traveling wheel 14 is grounded, and the driving unit 11 drives the traveling wheel 14 to rotate.

Referring to fig. 14 to 16, taking the mechanical leg 10 including the pulley baffle 141, the sliding insert 17 and the elastic element 191, the elastic element 191 is disposed in the counterclockwise direction of the second claw 16, the first direction is a direction in which the sliding insert 17 moves away from the pulley baffle 141 in parallel, and the second direction is a direction in which the sliding insert 17 moves closer to the pulley baffle 141 in parallel, for example, the switching of the motion state of the mechanical leg 10 is specifically described as follows:

Specifically, the pulley assembly 111 in the drive unit 11 drives the lower leg unit 13 toward the thigh unit 12 via the pulley guard 141, and stops when the thigh unit 12 and the lower leg unit 13 reach the mechanical limit. For example, the joint motor 112 receives a control command to drive the pulley assembly 111 to control the rotation of the lower leg unit 13; due to the fixed connection of the pulley assembly 111 and the pulley baffle 141, the lower leg unit 13 approaches the thigh unit 12, and stops when the acute angle formed between the two reaches the minimum angle, so that the lower leg unit 13 and the thigh unit 12 are folded.

Subsequently, sliding insert 17 is configured to slide in a first direction, i.e., sliding insert 17 moves away from pulley bezel 141, thereby gradually disengaging the second end of sliding insert 17 from pulley bezel 141. At this time, since the first end of the sliding insert 17 is connected to the second claw 16, the sliding insert 17 will drive the second claw 16 away from the pulley baffle 141, and the second claw 16 approaches the first claw 15 until the first claw 15 and the second claw 16 are locked to form a fixed connection. Equivalently, the sliding insert 17 presses the second jaw 16, and the second jaw 16 rotates in the counterclockwise direction.

Meanwhile, due to the abutment of the second claw 16 with the elastic member 191, during the counterclockwise rotation of the second claw 16, the second claw 16 presses the elastic member 191 so that the elastic member 191 is in a compressed state.

The second claw 16 is a movable claw, the bottom of the second claw 16 is provided with an engaging groove, the first end of the sliding plug-in 17 is a contact end, and the second end of the sliding plug-in 17 is a plug-in end. In the foot-type movement state, the abutting end of the slide insert 17 abuts against the upper side of the engagement groove. Subsequently, the slide plug 17 is configured to move in a direction away from the pulley shutter 141, causing the abutment end to push the second claw 16 due to the abutment end abutting above the engagement groove of the second claw 16; because the bottom of the second claw 16 is fixed, the top of the second claw 16 rotates counterclockwise around the bottom. Meanwhile, the abutting end slides downwards on the abutting surface of the second claw 16 until the abutting end passes through the clamping groove, so that the second claw 16 rotates to a specified angle, and the first claw 15 and the second claw 16 are conveniently locked. At the same time, the plug end gradually moves away from the pulley apron 141 until it leaves the pulley apron 141, so that the lower leg unit 13 and the travel wheel 14 are unlocked.

Under the pressing action of the sliding insert 17, the second claw 16 rotates counterclockwise and presses the elastic member 191, after rotating to a preset angle, the elastic member 191 is gradually changed into a compressed state, and the second claw 16 gradually approaches the first claw 15 until the two are locked to form a stable fixed connection structure.

In an optional implementation scenario, when the second jaw 16 rotates to a mechanical limit, that is, when the second jaw 16 rotates to a preset angle, because the moving direction of the sliding insert 11 and the moving direction of the second jaw 16 have a certain included angle, the sliding insert 17 still slides towards the first direction, and finally the sliding insert 17 slides into the sliding groove 03 provided on the lower leg unit 13, so that the sliding insert 17 is prevented from colliding with other components to cause loss. In particular, a certain safety distance can be maintained between the second end of the sliding insert 17 and the travel wheel 14, so as to prevent certain rotating parts (such as gears and the like) in the travel wheel 14 from colliding with the sliding insert 17, thereby causing a malfunction. Taking the length of the sliding insert 17 as 8mm as an example, after the sliding insert 17 slides 4mm in the first direction during the movement of the sliding insert 17, the second claw 16 is locked with the first claw 15, and at this time, the elastic member 191 is in a compressed state; subsequently, the second jaw 16 is no longer rotated and the sliding insert 17 continues to slide 4mm in the first direction, so that the entire length of the sliding insert 17 slides into the sliding groove 03.

That is, the first jaw 15 and the second jaw 16 are locked, the relative positions of the thigh unit 12 and the shank unit 13 are fixed, and relative rotation between the shank unit 13 and the travel wheel 14 is enabled. Specifically, the travelling wheel 14 can rotate relative to the joint end of the lower leg unit 13, at this time, the travelling wheel 14 is made to touch the ground, the driving unit 11 can drive the travelling wheel 14 to rotate, and the mechanical leg 10 is in a wheel type motion state.

Switching from a wheeled motion state to a foot motion state: that is, the first jaw 15 and the second jaw 16 are changed to the unlocked state, and the lower leg unit 13 and the travel wheel 14 are changed to the locked state.

In particular, the sliding insert 17 is configured to slide in a second direction, i.e. the sliding insert 17 is moved in a direction towards the travelling wheel 14, such that the second end of the sliding insert 17 is in engagement with the travelling wheel 14.

At this time, the first end of the slide insert 17 releases the pushing of the second claw 16. Meanwhile, since the elastic member 191 has a certain elastic force, the elastic member 191 gradually changes from the compressed state to the relaxed state during the movement of the second claw 16 in the direction approaching the pulley guard 141. Based on the elastic force, the elastic member 191 pushes the second claw 16 to move in a direction approaching the pulley stopper 141, so that the second claw 16 moves away from the first claw 15 until the two are separated to reach the unlocking state. At the same time, the second jaw 16 also pushes the sliding insert 17 toward the pulley stop 141, thereby bringing the second end of the lower leg unit 13 into engagement with the pulley stop 141.

The second claw 16 is a movable claw, the bottom of the second claw 16 is provided with an engaging groove, the first end of the sliding plug-in 17 is a contact end, and the second end of the sliding plug-in 17 is a plug-in end. The abutting end of the sliding plug 17 passes through the engaging groove, and the upper surface 171 of the sliding plug 17 is engaged and fixed with the engaging groove. Subsequently, the sliding insert 17 is configured to move toward the pulley baffle 141, so that the insertion end approaches the pulley baffle 141 until the insertion end is inserted into the slot 05 on the pulley baffle 141, so that the lower leg unit 13 is locked with the traveling wheel 14. Meanwhile, the abutting end gradually moves away from the second jaw 16, which corresponds to that the abutting end gradually releases the pushing of the second jaw 16 to unlock the first jaw and the second jaw respectively.

When the slide insert 17 is slid in the second direction, the pressing force applied to the second claw 16 disappears; meanwhile, the elastic member 191 pushes the second jaw 16 to move, so that the sliding insert 17 continues to slide in the second direction until the insertion end of the sliding insert 17 is engaged with the pulley baffle 141.

Subsequently, the drive unit 11 drives the calf unit 13 away from the thigh unit 12 until the calf unit 13 and thigh unit 12 are extended. Equivalently, the pulley assembly 111 drives the lower leg unit 13 away from the thigh unit 12 by the rotation of the driving pulley baffle 141, and stops when the lower leg unit 13 stands upright or when the obtuse angle formed between the lower leg unit 13 and the thigh unit 12 reaches a preset angle, so that the lower leg unit 13 and the thigh unit 12 are extended.

That is, the first jaw 15 and the second jaw 16 are unlocked, the lower leg unit 13 and the upper leg unit 12 are extended, and the driving unit 11 drives the lower leg unit 13 to walk through the traveling wheel 14. At this time, the distal end of the lower leg unit 13 is grounded, the driving unit 11 drives the lower leg unit 13 to walk via the travel wheel 14, and the mechanical leg 10 is in a foot-type motion state.

Illustratively, the above embodiments can be combined for use, and are not described in detail.

To sum up, in the mechanical leg 10 provided in the embodiment of the present application, the pulley baffle 141, the sliding insert 17, and the elastic member 191 cooperate to realize the separation or the clamping of the lower leg unit 13 and the pulley baffle 141, so as to realize the switching of the mechanical leg 10 between the wheel-type motion state and the foot-type motion state.

Fig. 17 and 18 show schematic diagrams of the robot 20 in two motion states, namely a wheeled motion state and a foot motion state, according to an exemplary embodiment of the present disclosure.

Schematically, robot 20 includes a robotic leg 10 as provided in the above embodiments. For the description of the mechanical leg 10, reference is made to the related contents, and the description is not repeated.

The robot 20 may be a biped, quadruped or hexapod robot.

Optionally, the robot 20 includes a mechanical body 21 and four mechanical legs 10, and the four mechanical legs 10 are all the mechanical legs provided in the above embodiment.

In the wheel mode shown in fig. 17, the robot 20 performs wheel travel by driving the travel wheels 14 with the drive unit 11. In the foot mode shown in fig. 18, the robot 20 performs foot travel by the drive unit 11 driving the lower leg unit 13.

In the present application, it is to be understood that the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated.

All the above optional technical solutions may be combined arbitrarily to form optional embodiments of the present application, and are not described herein again.

The above description is only exemplary of the present application and should not be taken as limiting, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A robot leg (10), characterized in that said robot leg (10) comprises: a drive unit (11), a thigh unit (12), a shank unit (13) and a travel wheel (14);

the driving unit (11) is used for driving the travelling wheel (14) to rotate;

the joint end of the thigh unit (12), the joint end of the shank unit (13) and the travelling wheel (14) are coaxially connected;

the lower leg unit (13) and the travel wheel (14) are switched between unlocked and locked;

the thigh unit (12) is provided with a first claw (15) on the side facing the shank unit (13), the shank unit (13) is provided with a second claw (16) on the side facing the thigh unit (12), and the first claw (15) and the second claw (16) are matched;

in a wheel type motion state of unlocking between the lower leg unit (13) and the travelling wheel (14), the first claw (15) and the second claw (16) are locked to fix the lower leg unit (13) and the thigh unit (12), and the driving unit (11) drives the travelling wheel (14) to rotate;

in a foot type motion state of locking between the lower leg unit (13) and the travelling wheel (14), the first claw (15) and the second claw (16) are unlocked, and the driving unit (11) drives the lower leg unit (13) to rotate relative to the thigh unit (12) through the travelling wheel (14).

2. Mechanical leg (10) according to claim 1, characterized in that a sliding insert (17) is provided on the lower leg unit (13), the lower leg unit (13) and the travelling wheel (14) being switched between unlocked and locked by means of the sliding insert (17);

the sliding insert (17) having a freedom of movement in a direction away from or towards the travelling wheel (14);

when the sliding insert (17) moves away from the travelling wheel (14), the lower leg unit (13) and the travelling wheel (14) are in an unlocked state, and the second claw (16) and the first claw (15) are in a locked state;

when the sliding insert (17) moves in a direction approaching the running wheel (14), the lower leg unit (13) and the running wheel (14) are in a locked state and the second jaw (16) and the first jaw (15) are in an unlocked state.

3. The mechanical leg (10) of claim 2, wherein the mechanical leg (10) further comprises a linear motor (181);

the linear motor (181) is fixed in the shank unit (13), and the output end of the linear motor (181) is fixedly connected with the sliding plug-in (17);

the linear motor (181) is used for driving the sliding plug-in unit (17) to be far away from or close to the travelling wheel (14).

4. A robot leg (10) according to claim 2, characterized in that said sliding insert (17) is formed with a plugging end at one end, said travelling wheel (14) being provided with a catch (05) corresponding to said plugging end;

when the sliding plug-in piece (17) moves to the direction far away from the traveling wheel (14), the plug-in end is separated from the clamping groove (05);

when the sliding plug-in piece (17) moves towards the direction close to the travelling wheel (14), the plug-in end is clamped with the clamping groove (05).

5. The mechanical leg (10) according to claim 2, wherein the first jaw (15) and the second jaw (16) are locked within the calf unit (13) or thigh unit (12) in a locked condition between the first jaw (15) and the second jaw (16).

6. A mechanical leg (10) according to claim 2, characterized in that said sliding insert (17) has an abutment end formed thereon;

when the sliding insert (17) moves away from the travelling wheel (14), the abutment end causes the second jaw (16) to approach the first jaw (15) so that the first jaw (15) is locked with the second jaw (16);

when the sliding insert (17) moves in a direction approaching the travelling wheel (14), the abutment end moves the second jaw (16) away from the first jaw (15) so that the first jaw (15) is unlocked from the second jaw (16).

7. A mechanical leg (10) according to claim 2, characterized in that said mechanical leg (10) further comprises a return device (19);

when the sliding insert (17) moves away from the travelling wheel (14), the return means (19) bring the second jaw (16) close to the first jaw (15) so that the first jaw (15) is locked with the second jaw (16);

when the sliding insert (17) moves in a direction approaching the travelling wheel (14), the return means (19) move the second jaw (16) away from the first jaw (15) so as to unlock the first jaw (15) from the second jaw (16).

8. A mechanical leg (10) according to claim 7, characterized in that said return means (19) comprise an elastic element (191);

the elastic part (191) is used for providing pushing force or pulling force pointing to the preset position of the elastic part (191) for the second claw (16).

9. Mechanical leg (10) according to any of claims 1 to 6, wherein the first jaw (15) is fixedly connected to the thigh unit (12) and the second jaw (16) is rotatably connected to the shank unit (13);

the second jaw (16) is moved toward or away from the first jaw (15) by rotating relative to the lower leg unit (13).

10. A robot (20), characterized in that it comprises a robot leg (10) according to any of claims 1 to 9.