Legged robot and leg assembly thereof

A legged robot, comprising:

• a body assembly;
• and
• a plurality of leg assemblies, each leg assembly comprising:
• a first leg having a first end and a second end;
• a motor arranged at the first end of the first leg, and having an output shaft;
• an output flange connected to the output shaft of the motor, and configured to be driven by the output shaft of the motor to rotate;
• a second leg pivotably connected to the second end of the first leg;
• and
• a transmission component connected to the output flange and the second leg, and configured to drive the second leg to rotate relative to the first leg,
• wherein the output flange is provided with a first limiting portion, the first leg is provided with a first stop portion and a second stop portion, the first stop portion and the second stop portion are spaced apart and configured to stop the first limiting portion to limit a rotation angle of the output flange, and the first leg is provided with a second limiting portion configured to stop the second leg to limit rotation of the second leg,
• wherein the first leg of the leg assembly is pivotably connected to the body assembly,
• wherein the output flange is provided with a third limiting portion configured to stop the transmission component to limit the rotation of the second leg,
• wherein the transmission component comprises a connecting rod, a first end of the connecting rod is pivotably connected to the output flange through a first pivot shaft, a second end of the connecting rod is pivotably connected to a first end of the second leg through a second pivot shaft, and the second end of the first leg is pivotably connected to the first end of the second leg through a third pivot shaft,
• wherein the output flange has a recessed portion, an end of the recessed portion is provided with a U-shaped fitting groove, the first end of the connecting rod is pivotably fitted in the U-shaped fitting groove, and a bottom surface of the recessed portion is configured as the third limiting portion.

A leg assembly for a legged robot, comprising:

• a first leg having a first end and a second end;
• a motor arranged at the first end of the first leg, and having an output shaft;
• an output flange connected to the output shaft of the motor, and configured to be driven by the output shaft of the motor to rotate;
• a second leg pivotably connected to the second end of the first leg;
• and
• a transmission component connected to the output flange and the second leg, and configured to drive the second leg to rotate relative to the first leg,
• wherein the output flange is provided with a first limiting portion, the first leg is provided with a first stop portion and a second stop portion, the first stop portion and the second stop portion are spaced apart and configured to stop the first limiting portion to limit a rotation angle of the output flange, and the first leg is provided with a second limiting portion configured to stop the second leg to limit rotation of the second leg,
• wherein the transmission component comprises a first wheel, a second wheel and a flexible transmission member wound around the first wheel and the second wheel, the first wheel is mounted on the output flange, the second wheel is rotatably mounted on the second end of the first leg, and a first end of the second leg is connected to the second wheel.