Leg structure of robot and robot

Abstract

The application relates to a leg structure of a robot and the robot, and the leg structure of the robot is mainly composed of a first limb member for constituting a foot, a second limb member rotationally connected with the first limb member, a power mechanism arranged on a main body of the robot, a rocker member mechanism and the like. The rocker member mechanism is rotationally connected with the power mechanism at one end and rotationally connected with the first limb member at the other end; wherein the power mechanism comprises coaxially arranged first and second motors, a first adapter member for connecting a driving shaft of the first motor and the rocker member mechanism, and a second adapter member for connecting a driving shaft of the second motor and the second limb member. Compared with the prior art, the leg structure of the robot and the robot provided by the application can facilitate the position layout of the motor without affecting the driving of the motor on the leg member, and improve the service life of the motor.

Description

Technical Field

[0001] This invention relates to the field of mechanics, and more particularly to a leg structure for a robot and the robot itself. Background Technology

[0002] Robots, as intelligent machines capable of semi-autonomous or fully autonomous operation, have become a key research area for the development of artificial intelligence. Currently, some legged robots have been put into actual operation or testing, and they are expected to become a commonly used intelligent tool in daily life in the future.

[0003] In existing robots, such as legged robots, the leg end of each leg needs to be able to precisely reach any position in space during use. Therefore, the leg structure of the robot usually has three degrees of freedom to precisely control the robot and make it reach any position. The typical leg configuration of a legged robot is controlled by three motors. However, the typical leg configuration of a legged robot has the following disadvantages: Since there are usually two motors on the sides of the robot's legs, as the robot's legs move, the motors controlling the robot will rotate. This causes the connecting wires between the robot's body and the motors, such as electrical wires and communication lines, to be pulled or tangled, resulting in damage such as wire detachment or tearing, thus shortening the lifespan of the motors and their connecting circuits.

[0004] Therefore, how to provide a robot leg structure and robot that can facilitate the placement of the motor and improve the service life of the motor without affecting the motor's drive on the leg components is a technical problem that this invention urgently needs to solve. Summary of the Invention

[0005] The purpose of this invention is to provide a leg structure for a robot and a robot in general, which allows for convenient placement of the motors and improves their service life without affecting the motors' ability to drive the leg components.

[0006] To achieve the above objectives, the present invention proposes a leg structure for a robot, comprising: a first limb component for forming a foot; and a second limb component rotatably connected to the first limb component;

[0007] The power mechanism is located on the main body of the robot;

[0008] The rocker arm mechanism has one end connected to the power mechanism and the other end rotatably connected to the first limb component;

[0009] The power mechanism includes: a first motor and a second motor coaxially arranged, a first adapter for connecting the drive shaft of the first motor and the rocker arm mechanism, and a second adapter for connecting the drive shaft of the second motor and the second limb component.

[0010] Further, as a preferred embodiment, it further includes: a third motor and a fixed base for fixing the third motor and rotatably connected to the second limb member; wherein, the drive shaft of the third motor is coaxially arranged with the drive shafts of the first motor and the second motor, and is used to drive the fixed base, the first limb member and the second limb member to swing synchronously when the drive shaft of the third motor rotates.

[0011] Further, as a preferred embodiment, the first adapter component includes: a first connecting shaft for connecting the drive portion of the drive shaft of the first motor, and a first rotating component whose opposite ends are respectively pivotally connected to the first connecting shaft and the rocker arm mechanism; the first rotating component includes: a first end with a first bearing hole, a second end with a second bearing hole, and a bent connecting rod connected to the first end and the second end.

[0012] Further, preferably, the second adapter component includes: a second connecting shaft for connecting the drive portion of the drive shaft of the second motor, and a second rotating component whose opposite ends are pivotally connected to the second connecting shaft and the second limb component respectively; wherein, the second rotating component includes: a first end with a first bushing hole, a second end with a second bushing hole, and a bent portion connected to the first end and the second end.

[0013] Further, preferably, the first rotating component further includes: bearing sleeves respectively disposed in corresponding bearing holes, and end caps for sealing the bearing sleeves in the corresponding bearing holes; wherein, the end of the first connecting shaft has a first rotating head that is inclined and used to be inserted into the first bearing sleeve; the end of the rocker arm mechanism has a second rotating head that is inclined and used to be inserted into the second bearing sleeve.

[0014] Further preferably, the second rotating member further includes: bushings respectively disposed in corresponding bushing holes, and a cover for sealing the bushings in the corresponding bushing holes; the end of the second connecting shaft has an inclined first connector for insertion into the first bushing; the end of the second limb member has an inclined second connector for insertion into the second bushing.

[0015] Further, as a preferred embodiment, the bending angle of the bending connecting rod is 90 degrees; the bending angle of the bending portion is 90 degrees.

[0016] Further, preferably, the angle between the axis of the drive shaft of the first motor and the axis of rotation of the pivot shaft of the rocker arm mechanism for pivotal connection with the second limb component is 90 degrees.

[0017] Further, as a preferred embodiment, the angle between the axis of the drive shaft of the second motor and the rotation axis of the second limb member is 90 degrees.

[0018] Further, as a preferred embodiment, the rocker arm mechanism includes: a rocker arm pivotally connected to the first adapter member, a first connecting rod member with one end pivotally connected to the rocker arm member and the other end pivotally connected to the first limb member, and a second connecting rod member with its opposite ends pivotally connected to the rocker arm member and the first limb member, respectively; wherein the pivot points of the rocker arm member, the first connecting rod member, the second connecting rod member, and the first limb member form a parallelogram mechanism.

[0019] Furthermore, preferably, the axial lines of the first connecting rod member and the second limb member remain parallel to each other during rotation.

[0020] Further, preferably, the rocker arm component includes: a first structural portion for pivotally connecting with the first adapter component and the first link component, and a second structural portion connected to the first structural portion and for pivotally connecting with the second limb component and the second link component.

[0021] Further, as a preferred embodiment, the second limb component includes: a first rotating arm and a second rotating arm symmetrically arranged on opposite sides of the rocker arm mechanism; wherein, the opposite ends of the first rotating arm and the second rotating arm are respectively rotatably connected to the power mechanism and the first limb component; the first rotating arm and the second rotating arm are symmetrically arranged with the axis of symmetry formed by the pivot point that forms a rotatable connection with the power mechanism and the first limb component as the axis of symmetry.

[0022] Further, preferably, the rocker arm mechanism further includes a pivot member for coaxially connecting the first link member and the first limb member; wherein the pivot member is perpendicular to the first link member and parallel to the axis of the pivot axis of the first limb member and the second limb member.

[0023] This application also provides a robot, including the aforementioned leg structure.

[0024] Compared with the prior art, the beneficial effects of the present invention are mainly reflected in the following: the robot's leg structure and the robot can ensure that the limb components used to form the feet can smoothly achieve forward and backward flipping. Attached Figure Description

[0025] Figure 1: A schematic diagram of the leg structure in the first embodiment of the present invention Figure 1 ;

[0026] Figure 2 : A schematic diagram of the leg structure in the first embodiment of the present invention Figure 2 ;

[0027] Figure 3 : A schematic diagram of the leg structure in the first embodiment of the present invention Figure 3

[0028] Figure 4 : A schematic diagram of the movement state of the leg structure in the first embodiment of the present invention. Figure 2 ;

[0029] Figure 5 : This is a schematic diagram of the robot structure in the first embodiment of the present invention;

[0030] Figure 6 This is a schematic diagram of the structure of the first rotating component according to the first embodiment of the present invention;

[0031] Figure 7 This is a schematic diagram of the structure of the first drive motor and the second drive motor according to the first embodiment of the present invention;

[0032] Figure 8 This is a partial structural diagram of the first embodiment of the present invention.

[0033] Reference numerals: First limb component 8, Second limb component 10, First transition component 4, First connecting shaft 41, First rotating component 42, First end 421, Second end 422, Bending connecting rod 423, Second transition component 6, Second connecting shaft 61, Second rotating component 62, First end 621, Second end 622, Bending part 623, Second connecting rod component 9, Rocker component 12, First connecting rod component 13, Pivot shaft 101, Pivot shaft 102, Pivot shaft 103, Pivot shaft 104, Drive part 412, Drive part 612, Second rotating shaft head 108. Detailed Implementation

[0034] The parallel mechanism of the present invention will now be described in more detail with reference to the schematic diagrams, which illustrate preferred embodiments of the invention. It should be understood that those skilled in the art can modify the invention described herein while still achieving its advantageous effects. Therefore, the following description should be understood as being of general knowledge to those skilled in the art and is not intended to limit the invention.

[0035] Example 1

[0036] Please refer to Figures 1 to 8In this embodiment, a leg structure for a robot is provided, which is mainly composed of a first limb component 8 for forming a foot, a second limb component 10 rotatably connected to the first limb component 8, a power mechanism disposed on the main body of the robot, and a rocker arm component mechanism, etc.

[0037] The rocker arm mechanism has one end connected to the power mechanism and the other end rotatably connected to the first limb component 8;

[0038] The power mechanism includes: a first motor and a second motor arranged coaxially, a first adapter 4 for connecting the drive shaft of the first motor and the rocker arm mechanism, and a second adapter 6 for connecting the drive shaft of the second motor and the second limb component 10.

[0039] With the above structure, by setting the first motor and the second motor, which are coaxially arranged in the power mechanism, on the main body, and connecting the drive shaft of the first motor and the rocker arm mechanism by means of the first adapter 4, and connecting the drive shaft of the second motor and the second limb member 10 by means of the second adapter 6, the drive shafts of the first motor and the second motor do not need to follow the movement of the leg mechanism when rotating. Therefore, it is possible to avoid the pulling or tangling of the connecting wires that are electrically connected to the motor in the motor module, such as wires and communication lines, thereby greatly extending the service life of the first motor, the second motor and their connecting circuits.

[0040] Furthermore, the above structure allows the motors to be positioned at appropriate locations on the main body as needed. The coaxial arrangement saves space and facilitates the layout of the first and second motors. It also ensures that the first limb component 8 and the second limb component 10 can rotate synchronously or asynchronously as needed, thereby improving the robot's terrain adaptability.

[0041] Specifically, it also includes: a third motor and a fixed base for fixing the third motor and rotatably connected to the second limb member 10; wherein, the drive shaft of the third motor is coaxially arranged with the drive shaft of the first motor and the drive shaft of the second motor, and is used to drive the fixed base, the first limb member 8 and the second limb member 10 to swing synchronously when the drive shaft of the third motor rotates.

[0042] The above structure prevents the third motor from rotating during the upward or downward movement of the first limb member 8 and the second limb member 10. This avoids pulling or tangling of connecting wires, such as electrical wires and communication lines, that are electrically connected to the motor body in the motor module, thus greatly extending the service life of the third motor and its connecting circuits. Furthermore, since the drive shafts of the first, second, and third motors are coaxially arranged, the rotational speed and direction of the drive shafts can be controlled to achieve synchronous or asynchronous oscillations between the first limb member 8 and the second limb member 10 during lateral swinging, facilitating operations such as turning of the robot.

[0043] For example, since the axes of the three motors coincide, when the first motor 1 and the second motor 2 are driven individually or simultaneously, the rotation angle is the corresponding input angle. When the third motor 3 drives the fixed base 11, there is differential motion. The first motor 1 and the second motor 2 need to rotate with the third motor 3. If the first motor 1, the second motor 2 and the third motor 3 rotate at the same speed, the first limb component 8 and the second limb component 10 will not move relative to each other and will only swing laterally with the fixed base 11. When the first motor 1, the second motor 2 and the third motor 3 rotate at different speeds, the first limb component 8 and the second limb component 10 will swing back and forth while swinging laterally, so that the robot with the leg mechanism can perform turning and other actions.

[0044] Further, as a preferred embodiment, the first adapter component 4 includes: a first connecting shaft 41 for connecting the drive portion 412 of the drive shaft of the first motor, and a first rotating component 42 whose opposite ends are respectively pivotally connected to the first connecting shaft 41 and the rocker arm mechanism; wherein, the first rotating component 42 includes: a first end 421 with a first bearing hole, a second end 422 with a second bearing hole, and a bent connecting rod 423 connecting the first end 421 and the second end 422. With this structure, when the drive shaft of the first drive motor 1 drives the first connecting shaft 41 to rotate, under the transmission action of the first rotating component 42, the rotational motion of the drive shaft 101 of the drive motor 1 along its axial direction can be maximized to be converted into periodic motion of the rocker arm mechanism in its plane, and lateral swaying motion is less likely to occur. For example, the first drive motor 1 and the second drive motor 2, according to... Figure 1 , Figure 3 and Figure 4 When rotated in the indicated direction, the first limb component 8 can be driven to swing accordingly along the axis of its second limb component 10.

[0045] Further, preferably, the second adapter member 6 includes: a second connecting shaft 61 for connecting the drive portion 612 of the drive shaft of the second motor, and a second rotating member 62 whose opposite ends are pivotally connected to the second connecting shaft 61 and the second limb member 10, respectively. The second rotating member 62 includes: a first end portion 621 with a first bushing hole, a second end portion 622 with a second bushing hole, and a bent portion 623 connected to the first end portion and the second end portion. With this structure, when the drive shaft 201 of the second drive motor 2 drives the second connecting shaft 61 to rotate, the rotational motion of the drive shaft of the second drive motor 2 along its axial direction can be maximized by converting the rocker arm mechanism into periodic motion within its plane, thus preventing left-right swaying.

[0046] Further, as a preferred embodiment, the bending angle of the bending link 423 is 90 degrees; the bending angle of the bending portion 623 is 90 degrees.

[0047] Further, as a preferred embodiment, the first rotating component further includes: bearing sleeves 425 respectively disposed in corresponding bearing holes, and end caps 426 for sealing the bearing sleeves in the corresponding bearing holes; wherein, the end of the first connecting shaft 41 has a first rotating head 411 inclined and for inserting into the first bearing sleeve 425; the end of the rocker arm mechanism has a second rotating head 121 inclined and for inserting into the second bearing sleeve.

[0048] Further, as a preferred embodiment, the second rotating member further includes: bushings (not shown in the figure) respectively disposed in corresponding bushing holes, and a cover (not shown in the figure) for sealing the bushings in the corresponding bushing holes; the end of the second connecting shaft has a first connecting head 611 inclined for insertion into the first bushing; the end of the second limb member has a second connecting head 108 inclined for insertion into the second bushing. It should be noted that the second rotating member and the first rotating member in this embodiment have largely the same structure, differing only in the angle during installation, and are not specifically limited thereto.

[0049] In detail, assuming that the axis of the drive shaft of the first motor in this embodiment is r1, the rotation output axis of the first connecting shaft 41 is r2, the rotation output axis of the second end 423 of the first rotating member 42 is r3, the rotation axis of the pivot shaft 123 pivotally connected to the rocker member 12 and the second limb member 10 is r4, the angle between r1 and r2 is θ1 and the length is l1, the angle between r2 and r3 is θ2 and the length is l2, the angle between r3 and r4 is θ3 and the length is l3, and the angle between r4 and r1 is θ4 and the length is l4, then the following relationships are satisfied: θ1=θ3, θ2=θ4, l1=l3, l2=l4, l1sinθ2=l2sinθ1. In this invention, the angle of θ4 is 90°.

[0050] Similarly, assuming the axis of the second motor drive shaft is r1, the rotation output axis of the second connecting shaft is r2, the rotation output axis of the second end of the second rotating component is r3, the rotation axis of the second limb component is r4, the angle between r1 and r2 is θ1 with a length of l1, the angle between r2 and r3 is θ2 with a length of l2, the angle between r3 and r4 is θ3 with a length of l3, and the angle between r4 and r1 is θ4 with a length of l4, then the following relationships are satisfied: θ1 = θ3, θ2 = θ4, l1 = l3, l2 = l4, l1sinθ2 = l2sinθ1. In this invention, the angle of θ4 is 90°.

[0051] In addition, it should be noted that, in order to meet the design and assembly requirements in practical applications, the bending angle of the above-mentioned bending link 423 and bending part 623 can also be preferably other angles, such as 30° to 120° or other angles. This embodiment only uses the bending angle of the bending link 423 and bending part 623 as an example of 90°. In practical applications, the bending angles of the bending link 423 and bending part 623 can also be different, which will not be elaborated or specifically limited here.

[0052] In addition, it is worth mentioning that the first connecting shaft 41 and the second connecting shaft 61 in this embodiment adopt a cantilever beam structure, and the cross-section near the motor is thicker to ensure strength.

[0053] Further, as a preferred embodiment, the rocker arm mechanism includes: a rocker arm 12 pivotally connected to the first adapter 4; a first connecting rod 13 pivotally connected at one end to the rocker arm 12 and at the other end to the first limb member 8; and a second connecting rod 9 pivotally connected at opposite ends to the rocker arm 12 and the first limb member 8, respectively. The pivot points of the rocker arm 12, the first connecting rod 13, the second connecting rod 9, and the first limb member 8 form a parallelogram mechanism, specifically referring to pivot axes 101, 102, 103, and 104 that constitute the corresponding pivot points.

[0054] Compared to existing synchronous belts and chains, the parallelogram mechanism used in this embodiment does not require a tensioning structure, which can effectively improve power transmission efficiency, increase load strength, achieve lightweight design, and optimize the structure. This facilitates transmission while effectively reducing the mass of the connecting rods and leg mechanisms, thereby helping to reduce the overall mass of the robot.

[0055] Furthermore, preferably, the axial lines of the first link member and the second limb member 10 remain parallel to each other during rotation, thus avoiding the phenomenon of the axial lines of the first link member 13 and the second limb member 10 intersecting each other, such as in an anti-parallelogram mechanism. This ensures that the parallelogram mechanism can only operate according to the normal periodic motion trajectory, thereby avoiding motion failures or other safety hazards in the leg structure. It also ensures that the first limb member 8 can flip back and forth normally under the control of the power mechanism, thus ensuring that the limb member used to form the foot can smoothly achieve forward and backward flipping, which is beneficial for the robot with this leg structure to walk in complex terrain.

[0056] In addition, it is worth mentioning that the rocker component mechanism in this embodiment can also adopt other types of linkage structures, not limited to parallelogram mechanisms, and will not be described or limited in detail here.

[0057] Further, as a preferred embodiment, the rocker arm component 12 may consist of a first structural portion 12a for pivotally connecting to the first adapter component 4 and the first connecting rod component 13, and a second structural portion 12b connected to the first structural portion 12a and for pivotally connecting to the second limb component 10 and the second connecting rod component 9, for example... Figure 2 and Figure 6 As shown, the first structural part 12a is pivotally connected to the first connecting rod member 13 via pivot shaft 122, and the first structural part 12a is pivotally connected to the first transition member 4 via pivot shaft 121. The second structural part 12b is pivotally connected to the second limb member 10 via pivot shaft 123, and to the second connecting rod member 9 via pivot shaft 104.

[0058] The above structure enables the rocker arm component 12 to have four pivot axes, which allows for a movable connection with the second limb component 10 without affecting the normal operation of the parallelogram mechanism, thus avoiding jamming.

[0059] Further, as a preferred embodiment, the second limb component 10 includes: a first rotating arm and a second rotating arm symmetrically arranged on opposite sides of the rocker arm mechanism; wherein, the opposite ends of the first rotating arm and the second rotating arm are respectively rotatably connected to the power mechanism and the first limb component 8; the first rotating arm and the second rotating arm are symmetrically arranged with the axis of symmetry formed by the pivot point that forms a rotatable connection with the power mechanism and the first limb component 8 as the axis of symmetry.

[0060] In this embodiment, the second limb component 10 is preferably a component with a hollow structure to reduce its mass, ensure its overall strength, and ensure balanced force distribution.

[0061] Further, as a preferred embodiment, the rocker arm mechanism further includes a pivot member for coaxially connecting the first link member 13 and the first limb member 8, namely the aforementioned pivot shaft 102; wherein the pivot member is perpendicular to the first link member 13 and parallel to the axis of the pivot shaft of the first limb member 8 and the second limb member 10.

[0062] In addition, it is worth mentioning that, in order to facilitate the fixing of the first drive motor 1, the second drive motor 2, and the third drive motor 3 in the power mechanism to the main body 7, the housing of the first drive motor 1 can be provided with multiple through holes 100 in the circumferential direction, so as to be independently fixed to the main body 7 by fasteners or to the corresponding bracket in the main body.

[0063] Similarly, the housing of the second drive motor 2 can be provided with multiple through holes 200 in the circumferential direction, so as to be fixed to the main body 7 by fasteners or to the corresponding bracket inside the main body.

[0064] Similarly, the housing of the third drive motor 3 can be provided with multiple through holes 200 in the circumferential direction to facilitate fixing to the main body 7 or to the corresponding bracket inside the main body by fasteners.

[0065] Furthermore, after the first drive motor 1, the second drive motor 2, and the third drive motor 3 are respectively fixed to the main body 7, their drive shafts are coaxially arranged.

[0066] Example 2

[0067] This embodiment provides a robot, which includes the leg structure described in Embodiment 1 above.

[0068] Specifically, the robot in this embodiment is preferably a legged robot.

[0069] The above are merely preferred embodiments of the present invention and do not constitute any limitation on the present invention. Any equivalent substitutions or modifications made by those skilled in the art to the technical solutions and content disclosed in the present invention without departing from the scope of the present invention shall be deemed to have remained within the protection scope of the present invention.

Claims

1. A leg structure for a robot, comprising: The first limb component that forms the foot; A second limb component rotatably connected to the first limb component; characterized in that it comprises: The power mechanism is located on the main body of the robot; The rocker arm mechanism has one end connected to the power mechanism and the other end rotatably connected to the first limb component; The power mechanism includes: a first motor and a second motor arranged coaxially, a first adapter for connecting the drive shaft of the first motor and the rocker arm mechanism, and a second adapter for connecting the drive shaft of the second motor and the second limb component. It also includes: a third motor and a fixed base for fixing the third motor and rotatably connected to the second limb member; wherein, the drive shaft of the third motor is coaxially arranged with the drive shaft of the first motor and the drive shaft of the second motor, and is used to drive the fixed base, the first limb member and the second limb member to swing synchronously when the drive shaft of the third motor rotates. The first adapter component includes: a first connecting shaft for connecting the drive portion of the drive shaft of the first motor, and a first rotating component whose opposite ends are respectively pivotally connected to the first connecting shaft and the rocker arm mechanism; the first rotating component includes: a first end with a first bearing hole, a second end with a second bearing hole, and a bent connecting rod connected to the first end and the second end; the second adapter component includes: a second connecting shaft for connecting the drive portion of the drive shaft of the second motor, and a second rotating component whose opposite ends are respectively pivotally connected to the second connecting shaft and the second limb mechanism; wherein, the second rotating component includes: a first end with a first bushing hole, a second end with a second bushing hole, and a bent portion connected to the first end and the second end; The rocker arm mechanism includes: a rocker arm pivotally connected to the first adapter component; a first connecting rod component with one end pivotally connected to the rocker arm component and the other end pivotally connected to the first limb component; and a second connecting rod component with its opposite ends pivotally connected to the rocker arm component and the first limb component, respectively; the pivot points of the rocker arm component, the first connecting rod component, the second connecting rod component, and the first limb component form a parallelogram mechanism. The rocker arm component includes: a first structural portion for pivotally connecting to the first adapter component and the first link component, and a second structural portion connected to the first structural portion and for pivotally connecting to the second limb component and the second link component.

2. The leg structure as described in claim 1, characterized in that, The bending angle of the bending link is 90 degrees; the bending angle of the bending part is 90 degrees; the angle between the axis of the drive shaft of the first motor and the rotation axis of the pivot shaft of the rocker arm mechanism used for pivotal connection with the second limb component is 90 degrees; the angle between the axis of the drive shaft of the second motor and the rotation axis of the second limb component is 90 degrees.

3. The leg structure as described in claim 1, characterized in that, The first rotating component further includes: bearing sleeves respectively disposed in corresponding bearing holes, and end caps for sealing the bearing sleeves in the corresponding bearing holes; wherein, the end of the first connecting shaft has an inclined first rotating head for inserting into the first bearing sleeve; the end of the rocker arm mechanism has an inclined second rotating head for inserting into the second bearing sleeve; the rotating component further includes: bushings respectively disposed in corresponding bushing holes, and caps for sealing the bushings in the corresponding bushing holes; the end of the second connecting shaft has an inclined first connector for inserting into the first bushing; the end of the second limb component has an inclined second connector for inserting into the second bushing.

4. The leg structure as described in claim 1, characterized in that, The second limb component includes: a first rotating arm and a second rotating arm symmetrically arranged on opposite sides of the rocker arm mechanism; wherein, the opposite ends of the first rotating arm and the second rotating arm are respectively rotatably connected to the power mechanism and the first limb component; the first rotating arm and the second rotating arm are symmetrically arranged with the axis of symmetry formed by the pivot point that forms a rotatable connection with the power mechanism and the first limb component as the axis of symmetry.

5. The leg structure as described in claim 4, characterized in that, The rocker arm mechanism further includes a pivot member for coaxially connecting the first link member and the first limb member; wherein the pivot member is perpendicular to the first link member and parallel to the axis of the pivot axis of the first limb member and the second limb member.

6. A robot, characterized in that, include: The leg structure according to any one of claims 1 to 5.

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