CN216401578U

CN216401578U - Robot running gear and have its robot

Info

Publication number: CN216401578U
Application number: CN202122838571.0U
Authority: CN
Inventors: 陈天祥; 张锐
Original assignee: Beijing Ironman Technology Co ltd
Current assignee: Beijing Ironman Technology Co ltd
Priority date: 2021-11-18
Filing date: 2021-11-18
Publication date: 2022-04-29
Anticipated expiration: 2031-11-18

Abstract

The utility model provides a robot walking mechanism and a robot with the same, comprising: a thigh portion having a first end and a second end disposed opposite; the lower leg part is provided with a first end and a second end which are oppositely arranged, the first end of the lower leg part is rotatably connected with the second end of the thigh part through a first rotating shaft, and the lower leg part has a retracting state and a supporting state relative to the thigh part; the output end of the driving piece is in driving connection with the first end of the shank, and the driving piece drives the shank to rotate around the first rotating shaft so as to enable the shank to be switched between a withdrawing state and a supporting state; and the spring is provided with a first end and a second end which are oppositely arranged, the first end of the spring is connected with the thigh part, the second end of the spring is connected with the lower leg part, and the spring is used for providing elastic force for the lower leg part so as to keep the lower leg part at a supporting state. By adopting the technical scheme, the problem that the requirement on the load of the driving part of the robot crus is high in the prior art is solved.

Description

Robot running gear and have its robot

Technical Field

The utility model relates to the technical field of robots, in particular to a robot walking mechanism and a robot with the same.

Background

With the rapid development of scientific technology, more and more mobile robots are used in dangerous and complex environmental work. In the prior art, a lower leg of a robot is rotatably connected with a thigh, the lower leg has a retraction state or a support state relative to the thigh, and a driving part drives the lower leg to rotate. Because the robot is heavy, when the shank is switched from the retraction state to the support state, the shank needs to overcome the gravity of the robot, so that the state switching of the shank can be completed by a large driving force, the load requirement on the driving part is high, and the driving part is heavy and high in cost.

SUMMERY OF THE UTILITY MODEL

The utility model provides a robot walking mechanism and a robot with the same, and aims to solve the problem that the requirement on the load of a driving piece of a robot shank is high in the prior art.

According to an aspect of the present invention, there is provided a robot traveling mechanism including: a thigh portion having a first end and a second end disposed opposite; the lower leg part is provided with a first end and a second end which are oppositely arranged, the first end of the lower leg part is rotatably connected with the second end of the thigh part through a first rotating shaft, and the lower leg part has a retracting state and a supporting state relative to the thigh part; the output end of the driving piece is in driving connection with the first end of the shank, and the driving piece drives the shank to rotate around the first rotating shaft so as to enable the shank to be switched between a withdrawing state and a supporting state; and the spring is provided with a first end and a second end which are oppositely arranged, the first end of the spring is connected with the thigh part, the second end of the spring is connected with the lower leg part, and the spring is used for providing elastic force for the lower leg part so as to keep the lower leg part at a supporting state.

Furthermore, a bulge is arranged at the first end of the shank part; the driving piece is a telescopic rod, the telescopic rod is provided with a first end and a second end which are arranged oppositely, the first end of the telescopic rod is hinged to the side wall of the thigh, the second end of the telescopic rod is rotatably connected with the boss through a second rotating shaft, the first rotating shaft and the second rotating shaft are arranged in parallel, the telescopic rod drives the shank to rotate around the first rotating shaft, and when the telescopic rod extends, the shank is in a withdrawing state; when the telescopic rod is contracted, the lower leg part is in a supporting state.

Further, the spring and the telescopic rod are arranged on the outer side of the thigh portion side by side, and the second end of the spring and the second end of the telescopic rod are arranged on two sides of the protruding portion respectively.

Further, the robot traveling mechanism further includes: a first drive motor; the walking wheel is rotatably arranged at the second end of the thigh part, the driving motor is in driving connection with the walking wheel, and the driving motor can drive the walking wheel to rotate under the condition that the shank part is in a withdrawing state, so that the robot walking mechanism can walk through the walking wheel.

Further, the robot walking mechanism further comprises a transmission assembly, the transmission assembly comprises a first belt wheel, a second belt wheel and a synchronous belt, the first belt wheel is rotatably connected to the first end of the thigh portion, the second belt wheel is rotatably connected to the second end of the thigh portion, the synchronous belt is sleeved on the first belt wheel and the second belt wheel, the first belt wheel is in driving connection with a first driving motor, and the second belt wheel is fixedly connected with the walking wheel.

Furthermore, the first rotating shaft is rotatably connected to the second end of the thigh portion, the first end of the shank portion is rotatably connected with the first rotating shaft, the second belt wheel and the travelling wheels are arranged on the first rotating shaft at intervals, and the first rotating shaft is fixedly connected with the second belt wheel and the travelling wheels respectively.

Further, the robot walking mechanism further comprises a crotch component, the crotch component comprises a cross shaft, the cross shaft is provided with a first connecting shaft and a second connecting shaft which are perpendicular to each other, two ends of the first connecting shaft are connected with a first bevel gear and a second bevel gear, one end of the second connecting shaft is connected with a third bevel gear, the third bevel gear is meshed with the first bevel gear and the second bevel gear respectively, the third bevel gear rotates around the first connecting shaft when the first bevel gear and the second bevel gear rotate around the same direction, the third bevel gear rotates around the second connecting shaft when the first bevel gear and the second bevel gear rotate around the opposite direction, and the first end of the thigh part is fixedly connected with the third bevel gear.

Further, the crotch component also comprises two second driving motors which are respectively in driving connection with the first bevel gear and the third bevel gear.

According to another aspect of the present invention, there is provided a robot including a robot body and the robot running gear provided above.

By applying the technical scheme of the utility model, the first end of the shank part is rotatably connected with the second end of the thigh part through the first rotating shaft, the shank part has a retraction state and a support state relative to the thigh part, the output end of the driving part is in driving connection with the first end of the shank part to drive the shank part to rotate around the first rotating shaft, the first end of the spring is connected with the thigh part, the second end of the spring is connected with the shank part, and the spring is used for providing elastic force for the shank part to keep the shank part at the support state. In the technical scheme, when the lower leg part is switched from the supporting state to the withdrawing state, the self weight of the robot downwards presses the lower leg part, so that the state switching of the lower leg part can be completed by small driving force; when the lower leg part is switched from a retraction state to a support state, the lower leg part needs to overcome the self gravity of the robot, so that the state switching of the lower leg part can be completed by a larger driving force; set up the spring between thigh portion and shank portion, utilize the elasticity auxiliary drive spare of spring to drive shank and switch from retrieving the state to the support state, so can reduce the load requirement to the driving piece to reduce the weight and the cost of driving piece, and then reduced the holistic weight of robot and manufacturing cost. In addition, through above-mentioned structure can also the energy saving, improve the duration of the robot.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the utility model and, together with the description, serve to explain the utility model and not to limit the utility model. In the drawings:

FIG. 1 illustrates a schematic structural view of a robot leg assembly provided by the present invention;

FIG. 2 shows a schematic structural view of portion A of FIG. 1;

FIG. 3 illustrates another schematic structural view of a robot leg assembly provided by the present invention;

FIG. 4 shows a schematic of the construction of the crotch member provided by the present invention;

FIG. 5 shows a schematic structural diagram of a robot provided by the present invention;

fig. 6 is a schematic structural diagram showing another aspect of the robot according to the present invention.

Wherein the figures include the following reference numerals:

10. a thigh section; 11. a first end of a thigh; 12. a second end of the thigh; 20. a lower leg portion; 21. a first end of a lower leg portion; 22. a second end of the lower leg portion; 23. a boss portion; 30. a first rotating shaft; 40. a telescopic rod; 41. a first end of a telescoping rod; 42. a second end of the telescoping rod; 50. a spring; 51. a first end of a spring; 52. a second end of the spring; 60. a second rotating shaft; 70. a first drive motor; 80. a traveling wheel; 91. a second pulley; 92. a synchronous belt; 100. a crotch component; 101. a cross shaft; 1011. a first connecting shaft; 1012. a second connecting shaft; 1013. a first bevel gear; 1014. a second bevel gear; 1015. a third bevel gear; 1016. a second drive motor; 200. the robot body.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the utility model, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1 to 3, an embodiment of the present invention provides a robot walking mechanism including a thigh portion 10, a shank portion 20, a driving member, and a spring 50. Thigh section 10 has first and second oppositely disposed ends; the lower leg part 20 has a first end and a second end which are oppositely arranged, the first end 21 of the lower leg part is rotatably connected with the second end 12 of the thigh part through a first rotating shaft 30, the lower leg part 20 has a retracting state and a supporting state relative to the thigh part 10, and the second end 22 of the lower leg part can support the whole device. The output end of the driving member is in driving connection with the first end 21 of the calf portion, and the driving member drives the calf portion 20 to rotate around the first rotating shaft 30 so as to switch the calf portion 20 between the retracted state and the supporting state. Alternatively, the drive may be a linear drive or a rotary drive such as an electric motor. The spring 50 has a first end 51 connected to the thigh portion 10 and a second end 52 connected to the lower leg portion 20, the spring 50 serving to provide an elastic force to the lower leg portion 20 to maintain the lower leg portion 20 in a supported state. The spring 50 is provided to assist the driver in driving the lower leg portion 20 to the supporting state, and the spring 50 can reduce the pressure of the robot's own weight on the lower leg portion 20, thereby reducing the load of the driver. Optionally, when the lower leg portion 20 is in the supporting state, the spring 50 still has an elastic force to better counteract the pressure of the robot's own weight on the lower leg portion 20, thereby greatly reducing the load of the driving member. Alternatively, the spring 50 may be a coil spring, a torsion spring, or the like.

According to the technical scheme of the utility model, the first end 21 of the lower leg part is rotatably connected with the second end 12 of the upper leg part through the first rotating shaft 30, the lower leg part 20 has a retracting state and a supporting state relative to the upper leg part 10, the output end of the driving part is in driving connection with the first end 21 of the lower leg part to drive the lower leg part 20 to rotate around the first rotating shaft 30, the first end 51 of the spring is connected with the upper leg part 10, the second end 52 of the spring is connected with the lower leg part 20, and the spring 50 is used for providing elastic force to the lower leg part 20 to keep the lower leg part 20 in the supporting state. In the present embodiment, when the lower leg portion 20 is switched from the supporting state to the retracting state, the weight of the robot presses the lower leg portion 20 downward, so that the state switching of the lower leg portion 20 can be completed with a small driving force; when the lower leg part 20 is switched from the retracted state to the support state, the lower leg part 20 needs to overcome the self gravity of the robot, so that the state switching of the lower leg part 20 can be completed by a larger driving force; the spring 50 is arranged between the thigh part 10 and the shank part 20, and the elasticity of the spring 50 is utilized to assist the driving part to drive the shank part 20 to switch from the retraction state to the support state, so that the load requirement on the driving part can be reduced, the weight and the cost of the driving part are reduced, and the whole weight and the manufacturing cost of the robot are reduced. In addition, through above-mentioned structure can also the energy saving, improve the duration of the robot.

In the present embodiment, the first end 21 of the lower leg portion is provided with a boss 23; the driving member is a telescopic rod 40, the telescopic rod 40 has a first end and a second end which are oppositely arranged, the first end 41 of the telescopic rod is hinged on the side wall of the thigh portion 10, the second end 42 of the telescopic rod is rotatably connected with the protruding portion 23 through a second rotating shaft 60, the first rotating shaft 30 and the second rotating shaft 60 are arranged in parallel, the telescopic rod 40 drives the shank portion 20 to rotate around the first rotating shaft 30, and when the telescopic rod 40 extends, the shank portion 20 is in a retracted state; when the telescopic bar 40 is contracted, the lower leg portion 20 is in a supporting state. The second end 42 of the telescopic rod can move linearly along the axis of the telescopic rod 40, and the second end 42 of the telescopic rod drives the protruding part 23 to rotate around the first rotating shaft 30 during the movement process, so that the lower leg part 20 rotates around the first rotating shaft 30. Alternatively, the telescopic rod 40 may be a linear driving member such as a pneumatic cylinder, a hydraulic cylinder, or an electric telescopic rod.

Specifically, in the present embodiment, the spring 50 is disposed on the outer side of the thigh 10 along with the telescopic rod 40, and the second end 52 of the spring and the second end 42 of the telescopic rod are disposed on the two sides of the protrusion 23. Thus, the elastic force of the spring 50 is parallel to the driving force of the telescopic rod 40, and the driving force of the spring 50 largely assists the telescopic rod 40 to drive the lower leg portion 20 in the supporting state. In other embodiments, the spring 50 may be disposed inside the thigh 10, the extendable rod 40 may be disposed inside the thigh 10 and the lower leg 20, the lower leg 20 may be retracted when the extendable rod 40 is retracted, and the lower leg 20 may be supported when the extendable rod 40 is extended.

In this embodiment, the robot traveling mechanism further includes a first driving motor 70 and traveling wheels 80. The walking wheels 80 are rotatably arranged at the second end 12 of the thigh, the first driving motor 70 is in driving connection with the walking wheels 80, and under the condition that the shank 20 is in the retraction state, the first driving motor 70 can drive the walking wheels 80 to rotate, so that the robot walking mechanism can walk through the walking wheels 80. When the robot traveling mechanism travels on a flat road surface, the traveling wheels 80 are used for traveling, so that the traveling speed of the robot traveling mechanism is high and the energy utilization rate is high. When the road surface is rough, the shank part 20 and the thigh part 10 are matched to walk, so that the robot walking mechanism has strong obstacle-crossing capability. The walking wheels 80 are arranged at the second ends 12 of the thigh parts, so that the shank parts 20 are not stressed when the walking wheels 80 walk, the abrasion of the shank parts 20 is reduced, and the service life of the robot walking mechanism can be prolonged.

In this embodiment, the robot walking mechanism further includes a transmission assembly, the transmission assembly includes a first belt wheel, a second belt wheel 91 and a synchronous belt 92, the first belt wheel is rotatably connected to the first end 11 of the thigh portion, the second belt wheel 91 is rotatably connected to the second end 12 of the thigh portion, the synchronous belt 92 is sleeved on the first belt wheel and the second belt wheel 91, the first belt wheel is drivingly connected to the first driving motor 70, and the second belt wheel 91 is fixedly connected to the walking wheel 80. The first belt wheel is in driving connection with the first driving motor 70, and the first belt wheel is in rotating connection with the first end 11 of the thigh, namely the first driving motor 70 is arranged at the first end 11 of the thigh, so that most of heavy objects are concentrated at the first end 11 of the thigh, the movement inertia of the lower part of the robot walking mechanism is reduced, and the action sensitivity of the robot walking mechanism is improved.

Specifically, the first rotating shaft 30 is rotatably connected to the second end 12 of the thigh, the first end 21 of the lower leg is rotatably connected to the first rotating shaft 30, the second belt pulley 91 and the travelling wheels 80 are arranged on the first rotating shaft 30 at intervals, and the first rotating shaft 30 is fixedly connected to the second belt pulley 91 and the travelling wheels 80 respectively. By the arrangement, the structure at the second end 12 of the thigh part is compact, and the size of the robot walking mechanism is reduced.

In this embodiment, the robot walking mechanism further comprises a crotch assembly 100, the crotch assembly 100 comprises a cross 101, the cross 101 has a first connecting shaft 1011 and a second connecting shaft 1012 perpendicular to each other, a first bevel gear 1013 and a second bevel gear 1014 are connected to both ends of the first connecting shaft 1011, a third bevel gear 1015 is connected to one end of the second connecting shaft 1012, the third bevel gear 1015 is engaged with the first bevel gear 1013 and the second bevel gear 1014, the third bevel gear 1015 rotates around the first connecting shaft 1011 when the first bevel gear 1013 and the second bevel gear 1014 rotate in the same direction, and the third bevel gear 1015 rotates around the second connecting shaft 1012 when the first bevel gear 1013 and the second bevel gear 1014 rotate in opposite directions. As shown in fig. 4, the first bevel gear 1013 and the second bevel gear 1014 can rotate about a direction B or a direction C, which is opposite to the direction C. Optionally, the crotch assembly 100 further comprises a crotch shell, and the cross 101, the first bevel gear 1013, the second bevel gear 1014 and the third bevel gear 1015 are arranged in the crotch shell, which facilitates the connection of the crotch assembly 100 to the robot body and avoids interference of the outside with the first bevel gear 1013, the second bevel gear 1014 and the third bevel gear 1015. In other embodiments, the cross axle 101 can be replaced by a fixed frame, and the first bevel gear 1013, the second bevel gear 1014 and the third bevel gear 1015 are rotatably connected to the fixed frame. The first end 11 of the thigh part is fixedly connected with a third bevel gear 1015. Optionally, the thigh portion 10 and the third bevel gear 1015 are fixedly connected through a flange or a connecting rod.

In this embodiment, the crotch assembly 100 further comprises two second drive motors 1016, wherein one second drive motor 1016 is drivingly connected to the first bevel gear 1013 and the other second drive motor 1016 is drivingly connected to the third bevel gear 1015. Two second driving motors 1016 drive the first bevel gear 1013 and the third bevel gear 1015 respectively, and further drive the third bevel gear 1015 to rotate around the first connecting shaft 1011 or around the second connecting shaft 1012.

As shown in fig. 5 and 6, the present invention further provides a robot, which includes a robot body 200 and the robot walking mechanism described in the above technical solution. By adopting the robot walking mechanism provided by the above, the spring 50 is arranged between the thigh part 10 and the shank part 20, and the spring 50 can assist the driving part to drive the shank part 20 to keep in a supporting state, so that the driving force of the driving part is reduced, the weight and the use cost of the driving part are reduced, and the whole weight and the manufacture cost of the robot are further reduced.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the orientation words such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc. are usually based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and in the case of not making a reverse description, these orientation words do not indicate and imply that the device or element being referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore, should not be considered as limiting the scope of the present invention; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.

Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of the present invention should not be construed as being limited.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides a running gear of robot which characterized in that, running gear of robot includes:

a thigh section (10) having oppositely disposed first and second ends;

the small leg part (20) is provided with a first end and a second end which are oppositely arranged, the first end (21) of the small leg part is rotatably connected with the second end (12) of the big leg part through a first rotating shaft (30), and the small leg part (20) has a retracting state and a supporting state relative to the big leg part (10);

the output end of the driving piece is in driving connection with the first end of the shank, and the driving piece drives the shank to rotate around the first rotating shaft so as to enable the shank to be switched between the retracting state and the supporting state;

a spring (50) having first and second ends disposed opposite each other, the first end (51) of the spring being connected to the thigh portion (10), the second end (52) of the spring being connected to the lower leg portion (20), the spring (50) being for providing an elastic force to the lower leg portion (20) to maintain the lower leg portion (20) in the support state.

2. The robot walking mechanism of claim 1,

a bulge part (23) is arranged on the first end (21) of the shank part;

the driving piece is a telescopic rod (40), the telescopic rod (40) is provided with a first end and a second end which are arranged oppositely, the first end (41) of the telescopic rod is hinged to the side wall of the thigh portion (10), the second end (42) of the telescopic rod is rotatably connected with the boss portion (23) through a second rotating shaft (60), the first rotating shaft (30) and the second rotating shaft (60) are arranged in parallel, the telescopic rod (40) drives the small leg portion (20) to rotate around the first rotating shaft (30), and when the telescopic rod (40) extends, the small leg portion (20) is in the retraction state; when the telescopic rod (40) is contracted, the small leg part (20) is in the supporting state.

3. The robot walking mechanism according to claim 2, characterized in that the spring (50) and the telescopic rod (40) are arranged side by side outside the thigh section (10), and the second end (52) of the spring and the second end (42) of the telescopic rod are arranged on both sides of the protrusion (23), respectively.

4. The robot walking mechanism of claim 1, further comprising:

a first drive motor (70);

the walking wheel (80) is rotatably arranged at the second end (12) of the thigh part, the first driving motor (70) is in driving connection with the walking wheel (80), the small leg part (20) is in the condition of the withdrawing state, the first driving motor (70) can drive the walking wheel (80) to rotate, so that the robot walking mechanism can walk through the walking wheel (80).

5. The robot walking mechanism according to claim 4, further comprising a transmission assembly, wherein the transmission assembly comprises a first belt wheel, a second belt wheel (91) and a synchronous belt (92), the first belt wheel is rotatably connected to the first end (11) of the thigh portion, the second belt wheel (91) is rotatably connected to the second end (12) of the thigh portion, the synchronous belt (92) is sleeved on the first belt wheel and the second belt wheel (91), the first belt wheel is in driving connection with the first driving motor (70), and the second belt wheel (91) is in fixed connection with the walking wheel (80).

6. The robot walking mechanism according to claim 5, wherein the first shaft (30) is rotatably connected to the second end (12) of the thigh, the first end (21) of the shank is rotatably connected to the first shaft (30), the second pulley (91) and the walking wheel (80) are disposed on the first shaft (30) at an interval, and the first shaft (30) is fixedly connected to the second pulley (91) and the walking wheel (80), respectively.

7. The robot walking mechanism of claim 1, further comprising a crotch assembly (100), wherein the crotch assembly (100) comprises a cross (101), the cross (101) has a first connecting shaft (1011) and a second connecting shaft (1012) perpendicular to each other, a first bevel gear (1013) and a second bevel gear (1014) are connected to both ends of the first connecting shaft (1011), a third bevel gear (1015) is connected to one end of the second connecting shaft (1012), the third bevel gears (1015) are respectively engaged with the first bevel gear (1013) and the second bevel gear (1014), the third bevel gear (1015) rotates around the first connecting shaft (1011) when the first bevel gear (1013) and the second bevel gear (1014) rotate in the same direction, and the third bevel gear (1015) rotates around the second bevel gear (1014) when the first bevel gear (1013) and the second bevel gear (1014) rotate in opposite directions The second connecting shaft (1012) rotates, and the first end (11) of the thigh part is fixedly connected with the third bevel gear (1015).

8. The robotic walking mechanism of claim 7, wherein the crotch assembly (100) further comprises two second drive motors (1016), the two second drive motors (1016) being in driving connection with the first bevel gear (1013) and the third bevel gear (1015), respectively.

9. A robot characterized by comprising a robot body and the robot running mechanism of any one of claims 1 to 8.