CN115476943A - Robot and mechanical leg thereof - Google Patents

Abstract

The utility model relates to a robot and mechanical leg thereof, mechanical leg includes the thigh subassembly, drive assembly, transmission assembly, shank subassembly and adjusting part, transmission assembly includes the action wheel, follow driving wheel and drive belt, drive assembly is located the one end of thigh subassembly, and be connected with the action wheel, it keeps away from drive assembly's the other end to be located thigh subassembly from the driving wheel, and set to can rotate for the thigh subassembly, the drive belt is around establishing at the action wheel and from the driving wheel, the one end of shank subassembly with follow driving wheel fixed connection, in order to swing for thigh subassembly under drive assembly's drive effect, adjusting part is located the other end that drive assembly was kept away from to the thigh subassembly, and include support and cam, support on the support from the driving wheel. The application provides a mechanical leg can push the support through the rotation of cam and move for thigh subassembly, and then promotes from the driving wheel towards the direction motion that deviates from the action wheel to increase adjusts the interval between action wheel and the driven wheel, and makes the drive belt tensioning.

Description

Robot and mechanical leg thereof

Technical Field

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

Background

With the continuous development of robot technology, robots are an important trend of current development and are also hot spots for research of various manufacturers. Taking a quadruped robot as an example, the quadruped robot is commonly called a mechanical dog due to the appearance form similar to that of a real animal 'dog', and mainly comprises structural components such as a trunk, legs, a joint motor, a head and the like, wherein the legs specifically comprise structural components such as thighs, shanks, knee joints and the like. Based on the above, the joint motor can drive the leg to realize various motion forms and gaits of the mechanical dog, so that the leg design is one of key points of the mechanical dog design.

Disclosure of Invention

The embodiment of the application provides a mechanical leg, mechanical leg includes the thigh subassembly, drive assembly, transmission assembly, shank subassembly and adjusting part, drive assembly is located the one end of thigh subassembly, transmission assembly includes the action wheel, from driving wheel and drive belt, the action wheel is connected with drive assembly, it keeps away from drive assembly's the other end to be located thigh subassembly from the driving wheel, and set to rotate for the thigh subassembly, the drive belt is around establishing at the action wheel and from the driving wheel, the one end of shank subassembly with from driving wheel fixed connection, in order to swing for thigh subassembly under drive assembly's drive effect, adjusting part is located the other end that drive assembly was kept away from to the thigh subassembly, and include support and cam, support on the support from the driving wheel, the cam sets to can adjust the relative position between support and the thigh subassembly, and then adjust the interval between follow driving wheel and the action wheel.

The embodiment of the application further provides a robot, the robot comprises a mechanical body and the mechanical legs, and the mechanical legs are connected with the mechanical body.

The beneficial effect of this application is: the application provides a mechanical leg sets up adjusting part through the other end of keeping away from drive assembly at the thigh subassembly to the rotation through its cam promotes its support and moves for the thigh subassembly, and then promotes from the driving wheel towards the direction motion that deviates from the action wheel, with the increase adjust the action wheel and follow interval between the driving wheel, and make the drive belt tensioning, simple, convenient.

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 a schematic side view of an embodiment of a robot provided herein;

FIG. 2 is a schematic diagram of an embodiment of the robotic leg of FIG. 1;

FIG. 3 is an exploded view of one embodiment of the robot leg of FIG. 2;

FIG. 4 is a schematic structural view of an embodiment of the bracket of FIG. 3;

FIG. 5 is a schematic diagram of a portion of one embodiment of the robotic leg of FIG. 2 at a second articulated end;

FIG. 6 is a schematic cross-sectional view of the mechanical leg of FIG. 5 in the axial direction of the driven wheel;

FIG. 7 is a schematic view of an embodiment of the adjustment assembly of FIG. 5 as viewed in the axial direction of the driven wheel;

FIG. 8 is a schematic diagram of the construction of one embodiment of the camshaft of FIG. 3.

Detailed Description

The present application will be described in further detail with reference to the following drawings and examples. It is to be noted that the following examples are only illustrative of the present application, and do not limit the scope of the present application. Likewise, the following examples are only some examples and not all examples of the present application, and all other examples obtained by a person of ordinary skill in the art without any inventive work are within the scope of the present application.

Reference in the specification to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the specification. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.

Referring to fig. 1, fig. 1 is a schematic side view of a robot according to an embodiment of the present disclosure.

Referring to fig. 1, a robot 10 may include a machine body 11 and a machine leg 12 connected to the machine body 11, the machine leg 12 being provided to be movable with respect to the machine body 11. The number of the mechanical legs 12 may be four, and the four mechanical legs 12 may be respectively disposed at four corners of the mechanical body 11 and located at the same side of the mechanical body 11, so as to structurally resemble the basic shape of a real animal "dog". In other embodiments, the number of the mechanical legs 12 may also be two, and two mechanical legs 12 may be respectively disposed at two corners of one end of the mechanical body 11 to structurally resemble a human to stand. Of course, the number of the mechanical legs 12 and the relative position relationship between the mechanical legs and the mechanical body 11 can be reasonably designed according to the shape of the object, which is not listed here. Further, the robot 10 may further include a battery, a main board, and other components, which may be respectively coupled to the mechanical legs 12, so that the robot 10 can execute corresponding instructions to implement corresponding actions.

Referring to fig. 2 and 3 together, fig. 2 is a schematic structural diagram of an embodiment of the mechanical leg in fig. 1, and fig. 3 is an exploded schematic structural diagram of an embodiment of the mechanical leg in fig. 2.

Referring to fig. 2 and 3, the robotic leg 12 may include a thigh assembly 121, a shank assembly 122, a drive assembly 123, and a transmission assembly 124. Wherein thigh assembly 121 may have a first joint end and a second joint end along its length, the first joint end and associated structural components may be used for a biomimetic hip joint such that mechanical leg 12 is capable of moving in its entirety relative to mechanical body 11; the second joint end and associated structural components may be used to simulate a knee joint, such that the lower leg assembly 122 connected thereto may also partially move relative to the upper leg assembly 121, thereby enabling the robot 10 to perform corresponding movements. In this regard, drive assembly 123 can be located at one end (e.g., a first joint end) of thigh assembly 12 for providing a driving force for movement of lower leg assembly 122 relative to thigh assembly 121; the lower leg assembly 122 can be located at an opposite end (e.g., a second joint end) of the upper leg assembly 12 from the drive assembly 123 and can be coupled to the drive assembly 123 via a transmission assembly 124 to effect the transfer of the driving force.

Illustratively, the thigh assembly 121 may include a thigh inner shell 1211 and a thigh outer shell 1212 engaged with the thigh inner shell 1211, and the thigh outer shell 1212 and the thigh inner shell 1211 may form a receiving cavity for receiving the transmission assembly 124 and other components. Specifically, the inner thigh shell 1211 may include an inner thigh shell bottom wall and an inner thigh shell side wall that are integrally connected, the inner thigh shell side wall being bent with respect to the inner thigh shell bottom wall; similarly, the thigh housing 1212 can include integrally connected thigh housing bottom wall and thigh housing side walls that are bent with respect to the thigh housing bottom wall. As such, when the thigh outer housing 1212 is snapped onto the thigh inner housing 1211, the end of the thigh outer housing sidewall facing away from the thigh outer housing bottom wall can abut against the end of the thigh inner housing sidewall facing away from the thigh inner housing bottom wall and can be aligned with each other. The thigh inner shell side wall and the thigh outer shell side wall may be respectively provided with a gap at the second joint end to form a passage for the shank assembly 122 to extend into the receiving cavity when the thigh outer shell 1212 is fastened with the thigh inner shell 1211. Of course, in other embodiments, the thigh outer housing 1212 may only include the thigh outer housing bottom wall, that is, the thigh outer housing 1212 is configured as a cover plate type structural component and may cover an end of the thigh inner housing side wall facing away from the thigh inner housing bottom wall, and the aforementioned receiving cavity may also be formed. Accordingly, the aforementioned indentations may also be provided only on the thigh inner shell side walls.

Further, a side of the thigh inner housing 1211 facing the thigh outer housing 1212 and/or a side of the thigh outer housing 1212 facing the thigh inner housing 1211 may be provided with a guide structure 1213, which will be exemplarily described later. In the present embodiment, the guiding structures are disposed on both the bottom wall of the inner thigh shell and the bottom wall of the outer thigh shell for exemplary illustration, so as to increase the guiding reliability. The thigh inner shell bottom wall may also be provided with a channel for connecting the transmission assembly 124 with the driving assembly 123, which will be described in an exemplary manner later.

Illustratively, the lower leg assembly 122 can be provided in a fork-like configuration for stable connection with the transmission assembly 124. Specifically, the end of lower leg assembly 122 proximate thigh assembly 121 may be bifurcated into an inner prong and an outer prong, and drive assembly 124 may be interposed between the inner prong and the outer prong to increase the stability of the connection of lower leg assembly 122 to drive assembly 124. Of course, in other embodiments, the lower leg assembly 122 can include an inner lower leg shell and an outer lower leg shell that snap fits over the inner lower leg shell and can form the aforementioned bifurcated inner and outer prongs when the two are snapped together. Further, lower leg assembly 122 can also include a roller mounted to the other end of lower leg assembly 122 remote from thigh assembly 121.

Illustratively, the driving assembly 123 may include a motor 1231 and a flange 1232, and the flange 1232 is connected to the motor 1231 to output a driving force. The motor 1231 may be located on a side of the inner thigh shell 1211 facing away from the outer thigh shell 1212, and is fixedly connected to the inner thigh shell 1211, for example, the outer shell of the motor 1231 is fixedly connected to the bottom wall of the inner thigh shell. Further, a flange 1232 may be located on the side of the inner thigh shell 1211 facing the outer thigh shell 1212, and may be connected to the output of the motor 1231 through a passage in the bottom wall of the inner thigh shell. Specifically, the flange 1232 may include a plate 12321 and an output shaft 12322 integrally connected, the plate 12321 may be fixedly connected to the output end of the motor 1231, and the output shaft 12322 is fixedly connected to the transmission assembly 124 as the output end of the driving assembly 123. Of course, in other embodiments, the driving assembly 123 may only include the motor 1231, and the output end of the motor 1231 is directly and fixedly connected to the transmission assembly 124.

By way of example, the transmission assembly 124 may include a driving wheel 1241, a driven wheel 1242 and a transmission belt 1243, and the transmission belt 1243 may be wound around the driving wheel 1241 and the driven wheel 1242. The driving wheel 1241 may be located at an end (e.g., a first joint end) of the thigh assembly 121 close to the driving assembly 123, and may be connected to the driving assembly 123, for example, the driving wheel 1241 is sleeved and fixed on the output shaft 12322. Further, driven wheel 1242 may be located at an opposite end (e.g., a second joint end) of thigh assembly 12 from drive assembly 123 and configured to rotate relative to thigh assembly 121. In this way, the driving component 123 can drive the driving wheel 1241 to rotate relative to the thigh component 121, and the driving wheel 1241 can drive the driven wheel 1242 to rotate relative to the thigh component 121 through the transmission belt 1243. Based on this, one end of the lower leg assembly 122 can be fixedly connected to the driven wheel 1242, for example, the inner fork arm and the outer fork arm of the lower leg assembly 122 are respectively and fixedly connected to two opposite sides of the driven wheel 1242 in the axial direction of the driven wheel 1242, that is, in the axial direction of the driven wheel 1242, the driven wheel 1242 can be interposed between the inner fork arm and the outer fork arm, so as to increase the stability of the connection between the lower leg assembly 122 and the transmission assembly 124. In this manner, during rotation of driven wheel 1242 relative to thigh assembly 121, lower leg assembly 122 can also oscillate relative to thigh assembly 121.

Furthermore, tooth grooves may be respectively formed on the circumferential surfaces of the driving wheel 1241 and the driven wheel 1242, which are matched with the driving belt 1243, and the driving belt 1243 may be correspondingly provided with teeth engaged with the tooth grooves, so as to be engaged with the driving wheel 1241 and the driven wheel 1242. Thus, not only can the "slipping" of the driving belt 1243 be avoided, but also the synchronism between the driving wheel 1241 and the driven wheel 1242 can be increased. Of course, in some other embodiments, the driving wheel 1241 and the driven wheel 1242 may not be provided with tooth sockets, the transmission belt 1243 may not be provided with teeth, and the transmission belt 1243 may form static friction with the driving wheel 1241 and the driven wheel 1242 respectively under the action of the tension force, and may also transmit the driving force of the driving assembly 123 and have certain synchronicity.

It should be noted that: in addition to the driving belt 1243, the driving wheel 1241 can transmit the driving force of the driving assembly 123 to the driven wheel 1242 through a crank and rocker mechanism, which will not be described in detail herein.

In this way, the driving force of the driving assembly 123 is transmitted from the first joint end to the second joint end via the transmission assembly 124, so that the lower leg assembly 122 swings relative to the upper leg assembly 121 under the driving action of the driving assembly 123.

However, the inventors of the present application found in long-term development work that: after the transmission assembly 124 works for a long time, a certain degree of abrasion occurs, and the rigidity is also reduced, so that the engagement between the transmission belt 1243 and the driving wheel 1241 and the driven wheel 1242 is not tight any more, the transmission is not stable enough, and the transmission belt 1243 is loose and is difficult to tension. To this end, an inventive concept of the present application may be: an adjusting component 125 is provided for adjusting the distance between the driving wheel 1241 and the driven wheel 1242, and further adjusting the tension of the transmission belt 1243, so that the transmission belt 1243 can be tensioned again after being loosened, and the transmission stability of the transmission component 124 is ensured. The distance between the driving wheel 1241 and the driven wheel 1242 may be a distance between an axis of the driving wheel 1241 and an axis of the driving wheel 1241 (referred to as "axial distance"). Obviously, the adjustment assembly 125 may not contact the drive belt 1243 in this application, as compared to the tensioning wheel of the related art, thereby helping to extend the service life of the drive belt 1243.

Illustratively, the adjustment assembly 125 may be located at the other end (e.g., the second articulation end) of the thigh assembly 12 from the drive assembly 123 and may include a bracket 1251 and a cam 1252. The driven wheel 1242 may be supported on the bracket 1251, and the cam 1252 is configured to adjust a relative position between the bracket 1251 and the thigh assembly 121, so as to adjust a distance between the driven wheel 1242 and the driving wheel 1241. In this way, when the transmission belt 1243 is loosened, the cam 1252 may be rotated relative to the thigh assembly 121, and the bracket 1251 may be moved relative to the thigh assembly 121 to push the driven wheel 1242 away from the driving wheel 1241 through the bracket 1251, thereby increasing the distance between the driving wheel 1241 and the driven wheel 1242, and tensioning the transmission belt 1243; when the transmission belt 1243 is too tight, the cam 1252 can be rotated relative to the thigh assembly 121, and the bracket 1251 can be moved relative to the thigh assembly 121, so as to allow the driven wheel 1242 to approach the driving wheel 1241, thereby reducing the distance between the driving wheel 1241 and the driven wheel 1242, and allowing the transmission belt 1243 to relax a bit.

It should be noted that: the movement track of the holder 1251 relative to the thigh assembly 121 may be a straight line or a curved line, as long as the relative position between the two can be changed to adjust the distance between the driven wheel 1242 and the driving wheel 1241. In this embodiment, the movement locus of the rack 1251 relative to the thigh assembly 121 may be a straight line. Further, adjustment assembly 125 may form a lock with thigh assembly 121 to maintain the spacing between driving wheel 1241 and driven wheel 1242 after adjustment assembly 125 completes the above-mentioned adjustment.

Referring to fig. 4 to 6 together, fig. 4 is a schematic structural view of an embodiment of the bracket in fig. 3, fig. 5 is a partial structural view of an embodiment of the mechanical leg in fig. 2 at a second joint end, and fig. 6 is a schematic structural sectional view of the mechanical leg in fig. 5 along an axial direction of the driven wheel. It should be noted that: for convenience of description, fig. 5 and 6 are shown with parts of the structural components hidden, compared to fig. 3.

Referring to fig. 4, the bracket 1251 may include a beam portion 12511 and two fork arm portions 12512, and the two fork arm portions 12512 may be respectively connected to two ends of the beam portion 12511 in a bending manner and extend in the same direction to the lateral direction of the beam portion 12511. Here, in conjunction with fig. 5 and fig. 6, the two fork arm portions 12512 may be respectively located on opposite sides of the driven wheel 1242 in the axial direction of the driven wheel 1242 and rotatably support the driven wheel 1242. In other words, follower 1242 may rotate relative to thigh assembly 121 under the support of brace 1251. Further, the cam 1252 can abut against a side of the cross beam portion 12511 facing away from the fork arm portion 12512 to apply a force to the stand 1251 to adjust the relative position between the stand 1251 and the thigh assembly 121.

Further, a free end of the yoke portion 12512 facing away from the beam portion 12511 may be provided with a rotation shaft hole 12513 to facilitate sandwiching of the driven wheel 1242, which will be described as an example. As for the yoke portion 12512, the width of the free end of the yoke portion 12512 for opening the rotation shaft hole 12513 may be larger, so as to be matched with the guiding structure, and further consider guiding and limiting, which will be exemplarily described later.

Illustratively, the adjusting assembly 125 may further include a joint shaft 1253 and a bearing 1254, and the bearing 1254 may be sleeved and fixed on the joint shaft 1253. Therein, the joint shaft 1253 can pass through the driven wheel 1242 in the axial direction of the driven wheel 1242 and bridge between the two yoke arm portions 12512. At this time, both ends of the joint shaft 1253 may respectively extend into the corresponding rotation shaft holes 12513, and the two may be in interference fit. Accordingly, the outer race of the bearing 1254 may be fixedly connected to the driven wheel 1242 and the inner race of the bearing 1254 may be fixedly connected to the joint shaft 1253. In this way, the bracket 1251 can be rotated to support the driven wheel 1242, and the two can be moved relatively in a rolling friction manner, so as to reduce the wear and increase the reliability of the mechanical leg 12. Of course, in other embodiments, the joint shaft 1253 and the driven wheel 1242 may be an integral structural member, and protrude from the driven wheel 1242 in the axial direction of the driven wheel 1242 so as to extend into the corresponding rotating shaft hole 12513. Accordingly, a bearing 1254 may then be disposed between the articulation shaft 1253 and the yoke portion 12512.

Further, the number of the bearings 1254 may be two, and two bearings 1254 may be disposed at an interval in the axial direction of the driven wheel 1242 to be close to the two yoke portions 12512, respectively, so as to increase the smoothness of the support 1251 rotatably supporting the driven wheel 1242. In this case, a portion (for example, defined as a "spacer") of the joint shaft 1253 between the two bearings 1254 may have a larger diameter so as to space the two bearings 1254 apart from each other in the axial direction of the driven wheel 1242. Of course, in other embodiments, the number of the bearings 1254 may be only one or more than two, or no bearings 1254 may be provided, which is not limited herein.

Based on the above-described discussion, and in conjunction with fig. 3, yoke portion 12512 may cooperate with guide structure 1213 to guide brace 1251 as cam 1252 adjusts the relative position between brace 1251 and thigh assembly 121. Wherein each fork arm portion 12512 may be associated with a respective guide structure 1213 to increase the reliability of the guidance. Further, since the width of the free end of the yoke arm portion 12512 for opening the rotation shaft hole 12513 can be larger, the guide structure 1213 can be configured to accommodate and guide the slide groove of the yoke arm portion 12512 to achieve the requirement of guiding. Furthermore, the free end of yoke portion 12512 and beam portion 12511 may also come into abutment with guide structure 1213 to further act as a stop. Of course, in other embodiments, the guiding structure 1213 may also be a guiding post protruding from the thigh inner casing 1211 and/or the thigh outer casing 1212, and the fork arm 12512 may have a guiding groove for matching with the guiding post, so as to achieve guiding and limiting.

Illustratively, guide structure 1213 is configured to guide brace 1251 along a length of thigh assembly 121. In other words, the movement track of the support 1251 relative to the thigh assembly 121 can be collinear with the connecting line between the driving wheel 1241 and the axis of the driving wheel 1241, so that the adjustment requirement of the transmission assembly can be met by the minimum displacement of the adjustment assembly 125.

Referring to fig. 7 and 8 together, fig. 7 is a structural schematic view of an embodiment of the adjusting assembly in fig. 5 viewed along an axial direction of the driven wheel, and fig. 8 is a structural schematic view of an embodiment of the camshaft in fig. 3.

Illustratively, the adjustment assembly 125 may further include a cam shaft 1255, and the cam 1252 may be fixed to the cam shaft 1255 and rotatably supported on the inner thigh shell 1211 and/or the outer thigh shell 1212. Here, the camshaft 1255 and the joint shaft 1253 may be disposed in parallel. Accordingly, the outer peripheral surface of the cam 1252 may be eccentrically disposed with respect to the camshaft 1255 and may abut against the cross member 12511 in the joint 7. In this way, during rotation of cam shaft 1255 relative to thigh assembly 121, bracket 1251 is pushed by the outer peripheral surface of cam 1252 to move relative to thigh assembly 121.

Further, one end of cam shaft 1255 may be exposed to thigh assembly 121 to allow a user to apply a torque force through cam shaft 1255 that rotates cam 1252 relative to thigh assembly 121. So, the user can adjust the interval between follow driving wheel 1242 and the action wheel 1241 through adjusting part 125 under the condition of not disassembling thigh subassembly 121, and is simple, convenient. Based on this, the cam shaft 1255 is further configured to lock the cam 1252 with the thigh assembly 121 to maintain the spacing between the driving wheel 1241 and the driven wheel 1242 after the adjustment assembly 125 completes the above-mentioned adjustment.

As an example, referring to fig. 8, the camshaft 1255 may include a main body portion 12551, an operating portion 12552, and a threaded portion 12553 that are integrally connected, and the operating portion 12552 and the threaded portion 12553 may be located at both ends of the main body portion 12551, respectively. The cam 1252 may be fixed on the main body 12551 and may be locked by a screw. Further, the operating portion 12552 may be exposed to the thigh assembly 121 so as to receive the torque force applied by the user; camshaft 1255 may be threadably engaged with thigh assembly 121 (specifically, nut 1256 on one side thereof) via threaded portion 12553 to achieve a lock. In short, cam shaft 1255 may bridge thigh assembly 121 to allow cam 1252 to rotate relative to thigh assembly 121 and may cooperate with nut 1256 to effect a lock.

Further, the operating portion 12552 may be bent relative to the main body portion 12551, for example, both of which are L-shaped, to increase the moment arm, thereby facilitating the user to apply a torque force to the cam shaft 1255 by hand.

The adjustment of the mechanical leg 12 in the case of the slack or other undesirable conditions is briefly described below:

1) Loosening nut 1256 to unlock cam 1252 from thigh assembly 121;

2) Applying a torque force to cam shaft 1255 to rotate cam 1252 relative to thigh assembly 121, thereby pushing bracket 1251 to move relative to thigh assembly 121, and thereby pushing driven wheel 1242 to move away from driving wheel 1241 to increase the spacing between driving wheel 1241 and driven wheel 1242, and to tension drive belt 1243;

3) The nut 1256 is screwed to press the inner thigh shell 1211 and the outer thigh shell 1212, respectively, with the cam shaft 1255, thereby achieving locking between the cam 1252 and the thigh assembly 121.

Through the above mode, the user need not to disassemble thigh subassembly 121, can adjust fast the interval between follow driving wheel 1242 and the action wheel 1241, and is simple, convenient.

The above description is only a part of the embodiments of the present application, and not intended to limit the scope of the present application, and all equivalent devices or equivalent processes performed by the content of the present application and the attached drawings, or directly or indirectly applied to other related technical fields, are also included in the scope of the present application.

Claims (10)

1. A robot leg, characterized in that it comprises:

a thigh assembly;

a drive assembly located at one end of the thigh assembly;

the driving wheel is connected with the driving assembly, the driven wheel is positioned at the other end, far away from the driving assembly, of the thigh assembly and can rotate relative to the thigh assembly, and the transmission belt is wound on the driving wheel and the driven wheel;

one end of the shank component is fixedly connected with the driven wheel so as to swing relative to the thigh component under the driving action of the driving component; and

the adjusting assembly is located at the other end, far away from the driving assembly, of the thigh assembly and comprises a support and a cam, the driven wheel is supported on the support, and the cam is arranged to be capable of adjusting the relative position between the support and the thigh assembly and further adjusting the distance between the driven wheel and the driving wheel.

2. The mechanical leg as claimed in claim 1, wherein the support includes a beam portion and two fork arm portions, the two fork arm portions are respectively connected to two ends of the beam portion in a bent manner and extend in the same direction to the lateral direction of the beam portion, the cam abuts against a side of the beam portion facing away from the fork arm portions, and the two fork arm portions are respectively located on two opposite sides of the driven wheel in the axial direction of the driven wheel and rotatably support the driven wheel.

3. The mechanical leg according to claim 2, wherein the transmission assembly further includes a joint shaft passing through the driven wheel in an axial direction thereof and bridging between the two fork arm portions, and a bearing having an outer race fixedly connected to the driven wheel and an inner race fixedly connected to the joint shaft.

4. The mechanical leg according to claim 2, wherein said thigh assembly comprises an inner thigh shell and an outer thigh shell fastened to said inner thigh shell, a side of said inner thigh shell facing said outer thigh shell and/or a side of said outer thigh shell facing said inner thigh shell being provided with a guiding structure, said fork arm portion cooperating with said guiding structure for guiding said carrier when said cam adjusts the relative position between said carrier and said thigh assembly.

5. The mechanical leg according to claim 4, wherein the guiding structure is configured to guide the support along a length of the thigh assembly.

6. The mechanical leg according to claim 4, wherein the driving assembly includes a motor and a flange, the motor is located on a side of the inner thigh shell facing away from the inner thigh shell and fixedly connected to the inner thigh shell, the flange is located on a side of the inner thigh shell facing toward the outer thigh shell and includes an integrally connected disk body and an output shaft, the disk body is fixedly connected to an output end of the motor, and the driving wheel is sleeved and fixed on the output shaft.

7. The mechanical leg of claim 2, wherein the adjustment assembly includes a cam shaft, the cam is fixed to the cam shaft, and an outer peripheral surface of the cam is eccentrically disposed with respect to the cam shaft and abuts the cross member portion, whereby the bracket is pushed by the outer peripheral surface of the cam to move with respect to the thigh assembly during rotation of the cam shaft with respect to the thigh assembly.

8. The mechanical leg of claim 7, wherein one end of the cam shaft is exposed to the thigh assembly to allow a user to apply a torque force through the cam shaft to rotate the cam relative to the thigh assembly, the cam shaft further configured to lock the cam with the thigh assembly.

9. The mechanical leg as claimed in claim 8, wherein the cam shaft includes a main body portion, an operating portion and a threaded portion, the operating portion and the threaded portion are respectively located at two ends of the main body portion, the operating portion is exposed out of the thigh assembly, the cam sleeve is fixed on the main body portion, and the cam shaft is in threaded engagement with the thigh assembly through the threaded portion to achieve locking.

10. A robot, characterized in that the robot comprises a machine body and a machine leg according to any of claims 1-9, which is connected to the machine body.

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