Robot leg structure capable of changing speed ratio and robot

Abstract

The invention relates to the technical field of foot type robots, in particular to a robot leg structure capable of changing the rotation speed ratio and a robot. The robot leg structure capable of changing the rotation speed ratio comprises thighs and shanks, first speed changing and reducing parts are arranged on the shanks, and second speed changing and reducing parts for driving the first speed changing and reducing parts are arranged on the thighs; the variable-speed-ratio gear is arranged on the first variable-speed-reduction part and / or the second variable-speed-reduction part to form a leg variable-speed-ratio structure, so that the rotation speed ratio between the first variable-speed-reduction part and the second variable-speed-reduction part can be changed through meshing transmission of the variable-speed-ratio gear, and therefore when the robot is in a relatively upright state, the large rotation speed ratio can be provided, and the robot can be more stable in operation. The leg movement speed is high, so that the execution efficiency is high, the flexibility is high, and the speed is high; when the robot is in a squatting or sitting state, a small rotating speed ratio is provided, and therefore large output torque can be provided to meet the requirement of the scene needing large torque.

Description

Technical Field

[0001] The invention relates to the technical field of foot-type robots, and in particular to a robot leg structure capable of changing a rotational speed ratio and a robot. Background Art

[0002] At present, when robots are walking or performing tasks, they need a lot of torque to change from a squatting state to a standing state, but they also need a good response speed when running or jumping in a relatively upright state. However, most current robot legs use a fixed speed ratio structure, which has problems such as insufficient joint torque when the joints are bent and slow speed when running or jumping.

[0003] Furthermore, existing robot legs mostly adopt a fixed speed ratio structure, which means that the working point of the leg motor cannot always be in a high-efficiency working range, resulting in large energy loss in the overall system, low system energy efficiency, and inflexibility.

[0004] The information disclosed in this Background Art is only for understanding the background of the inventive concept and therefore it may include information that does not constitute the prior art. Summary of the invention

[0005] In response to the above problem or one of the above problems, an object of the present invention is to provide a robot leg structure and a robot capable of changing the speed ratio. When the robot is running, jumping or walking in a relatively upright position, a large speed ratio can be provided to make the legs move quickly, thereby having a higher execution speed and greater flexibility. When the robot is in a squatting or sitting state, a small speed ratio can be provided, thereby providing a larger output torque to meet scenarios requiring a large torque.

[0006] The second object of the present invention is to provide a robot leg structure and a robot capable of changing the speed ratio, wherein a first speed reducer is provided on the calf, and a second speed reducer is provided on the thigh; a speed ratio gear is provided on the first speed reducer and / or the second speed reducer to form a leg speed ratio structure, so that the speed ratio between the first speed reducer and the second speed reducer can be changed by utilizing the meshing transmission of the speed ratio gear, thereby achieving a large speed ratio when the robot is in a relatively upright state, so that the legs move quickly, thereby having higher execution efficiency, greater flexibility and faster speed; when the robot is in a squatting or sitting state, a small speed ratio is provided, thereby being able to provide a larger output torque to meet scenarios requiring a large torque.

[0007] In response to the above problem or one of the above problems, the third object of the present invention is to provide a robot leg structure and a robot capable of changing the speed ratio. At least one gear division and a gear change portion are arranged on the first speed reducer and / or the second speed reducer to form a leg variable speed ratio structure, so that the speed ratio between the first speed reducer and the second speed reducer can be changed by utilizing the alternating meshing transmission of the gear division and the gear change portion. Therefore, through the variable speed ratio structure, the robot can be suitable for a variety of application scenarios, taking into account both providing large torque power and high-efficiency action execution.

[0008] In response to the above problem or one of the above problems, the fourth object of the present invention is to provide a robot leg structure and a robot capable of variable speed ratio, which has high execution efficiency, great flexibility and high speed. By adjusting the speed ratio, the working point of the motor is always in the high-efficiency area, and the overall system has high energy efficiency, so that the robot can maintain optimal performance under a wide range of working conditions and reduce energy waste; and, the joint motor drives the variable speed ratio gear through a connecting rod, so that the entire thigh is more compact and has a small inertia to prevent the knee joint from being too bulky.

[0009] To achieve one of the above purposes, the first technical solution of the present invention is:

[0010] A robot leg structure capable of changing the speed ratio, comprising a thigh and a calf rotatably connected to the thigh, the calf being provided with a first speed-changing member, and the thigh being provided with a second speed-changing member driving the first speed-changing member;

[0011] When the robot is in a relatively upright state, the speed ratio of the first speed-changing member to the second speed-changing member is denoted as a;

[0012] When the robot is in a squatting or sitting state, the speed ratio of the first speed changer to the second speed changer is denoted as b;

[0013] The a>b is used to ensure that when the rotation speed of the second speed reducer is the same, the rotation speed of the first speed reducer will be higher when the robot is relatively upright.

[0014] The robot being in a relatively upright state refers to the robot being in a standing state, a running state, a jumping state, or a walking state, and its body is in an upright state as a whole or partially.

[0015] The robot being in a squatting or sitting state refers to the robot being in a squatting state, a standing state, or a sitting state.

[0016] As the preferred technical measures:

[0017] The first speed-changing reduction member is a first speed ratio gear fixed on the calf, and the second speed-changing reduction member is a second speed ratio gear rotatably mounted on the thigh.

[0018] As the preferred technical measures:

[0019] The first speed reducing member and the second speed reducing member are oval gears, bevel gears, special-shaped gears or eccentric circular gears;

[0020] Alternatively, the first speed reducing member and the second speed reducing member constitute a planetary gear set or a harmonic gear set.

[0021] As the preferred technical measures:

[0022] A joint motor is arranged on the thigh, and the joint motor drives the second speed reducer through a connecting rod, a belt, a chain or a gear set.

[0023] As an optimal technical measure: when the robot squats to the extreme position, the flexion angle between the thigh and the calf is greater than 140 degrees; when the robot stands and the thigh and the calf are stretched to the extreme position, the angle between the thigh and the calf is approximately 0 degree.

[0024] To achieve one of the above purposes, the second technical solution of the present invention is:

[0025] A robot leg structure capable of changing the speed ratio, comprising a thigh and a calf rotatably connected to the thigh, the calf being provided with a first speed-changing member, and the thigh being provided with a second speed-changing member driving the first speed-changing member;

[0026] At least one of the first speed-changing member and the second speed-changing member is a non-concentric circular gear, and the non-concentric circular gear is provided with at least one gear division section and a gear changing section;

[0027] The meshing circle radius corresponding to the gear division portion is different from the meshing circle radius corresponding to the gear change portion, so that when the two are alternately meshed and transmitted, the speed ratio between the first speed reducing member and the second speed reducing member can be changed.

[0028] After continuous exploration and experimentation, the present invention sets at least one gear division and gear change portion on the first speed reducer and / or the second speed reducer to form a leg speed ratio structure, so that the alternating meshing transmission of the gear division and the gear change portion can be used to change the speed ratio between the first speed reducer and the second speed reducer. Therefore, when the robot is walking, running or jumping, a large speed ratio is provided, and the leg movements are fast, thereby having higher execution efficiency, greater flexibility and faster speed; when the robot squats or stands up, a small speed ratio is provided, thereby providing a larger output torque to meet the scenarios requiring large torque.

[0029] Furthermore, the variable speed ratio structure of the legs of the present invention has high execution efficiency, great flexibility, and fast response. By adjusting the speed ratio, the working point of the motor is always in the high-efficiency area. The overall system has high energy efficiency, allowing the robot to maintain optimal performance under a wide range of working conditions and reduce energy waste.

[0030] As the preferred technical measures:

[0031] The first speed reducing member is a driven gear, which includes at least a first gear section and a first gear changing section;

[0032] The second speed reducing member is a driving gear, which includes at least a second gear section and a second gear changing section;

[0033] The meshing circle radius corresponding to the first gear section is c;

[0034] The radius of the meshing circle corresponding to the first gear change part is h; c>h;

[0035] The meshing circle radius corresponding to the second gear section is e;

[0036] The meshing circle radius corresponding to the second gear shifting part is f; e>f;

[0037]

[0038] When the first gear section and the second gear section are meshed and transmitted, a small speed ratio structure is formed, the lower leg responds slowly, and the torque is large, which is used for the robot to stand up or squat;

[0039] When the first gear part and the second gear part are meshed and transmitted, a large speed ratio structure is formed with a small torque, which is used for the robot to run, jump or walk when it is relatively upright;

[0040] Or / and, the thigh and calf are respectively a rod-shaped structure or a plate-shaped structure or a shell structure or a bionic leg structure.

[0041] As the preferred technical measures:

[0042] The first speed reducing member is an elliptical gear or a shuttle gear, which includes two first gear division sections and two first gear changing sections;

[0043] The second speed reducing member is a shuttle gear or an elliptical gear, which includes two sections of second gear division parts and two sections of second gear changing parts;

[0044] When the first gear section and the second gear section are meshed and transmitted, a small speed ratio structure is formed, the lower leg responds slowly, and the torque is large, which is used for the robot to stand up or squat;

[0045] When the first gear section and the second gear section are meshed and transmitted, a large speed ratio structure is formed with a small torque, which is used for the robot to run, jump or walk when it is relatively upright.

[0046] As the preferred technical measures:

[0047] The first speed reducing member is a plum blossom gear, which includes eight first gear division sections and four first gear change sections;

[0048] The second speed reducing member is an elliptical gear, which includes two sections of second gear division parts and two sections of second gear changing parts;

[0049] When the first gear section and the second gear section are meshed and transmitted, a small speed ratio structure is formed, the lower leg responds slowly, and the torque is large, which is used for the robot to stand up or squat;

[0050] When the first gear section and the second gear section are meshed and transmitted, a large speed ratio structure is formed with a small torque, which is used for the robot to run, jump or walk when it is relatively upright.

[0051] To achieve one of the above purposes, the third technical solution of the present invention is:

[0052] A robot comprises the above-mentioned robot leg structure capable of changing the speed ratio, wherein the robot is a humanoid robot, a biped robot or a quadruped robot.

[0053] Compared with the prior art, the present invention has the following beneficial effects:

[0054] The present invention provides a first speed reducer on the calf and a second speed reducer on the thigh; a speed ratio gear is provided on the first speed reducer and / or the second speed reducer to form a leg speed ratio structure, so that the speed ratio between the first speed reducer and the second speed reducer can be changed by utilizing the meshing transmission of the speed ratio gear, thereby achieving a large speed ratio when the robot is in a relatively upright state, so that the legs move quickly, thereby having higher execution efficiency, greater flexibility and faster speed; when the robot is in a squatting or sitting state, a small speed ratio is provided, thereby providing a larger output torque to meet the scenario requiring a large torque.

[0055] Furthermore, the present invention arranges at least one gear division and gear change portion on the first speed reducer and / or the second speed reducer to form a leg speed ratio structure, so that the speed ratio between the first speed reducer and the second speed reducer can be changed by utilizing the alternating meshing transmission of the gear division and the gear change portion. Therefore, through this speed ratio structure, the robot can be suitable for a variety of application scenarios, while providing high torque power and high-efficiency action execution.

[0056] Furthermore, the present invention provides a robot leg structure capable of changing the speed ratio. When the robot is walking, running or jumping, a large speed ratio can be provided, so that the legs move quickly, thereby having higher execution efficiency, greater flexibility and faster speed. When the robot is in a squatting or sitting state, a small speed ratio can be provided, thereby providing a larger output torque to meet scenarios requiring a large torque.

[0057] The present invention provides a robot that, when walking, running or jumping, has a variable speed ratio on its legs, so that the legs move quickly, thereby having higher execution efficiency, greater flexibility and faster speed; when the robot is in a squatting or sitting state, a small speed ratio is provided, thereby being able to provide a larger output torque to meet scenarios requiring a large torque.

[0058] In summary, the present invention has high execution efficiency, great flexibility, and fast response. By adjusting the speed ratio, the working point of the motor is always in the high-efficiency area. The overall system has high energy efficiency, which enables the robot to maintain optimal performance under a wide range of working conditions and reduce energy waste.

[0059] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] Figure 1 It is a schematic diagram of a leg standing state of the robot leg structure of the present invention;

[0061] Figure 2 It is a schematic diagram of a leg squatting state of the leg structure of the robot of the present invention;

[0062] Figure 3 It is a schematic diagram of the leg flexion and extension limit position of the robot leg structure of the present invention;

[0063] Figure 4 is a schematic diagram of a first special-shaped gear of the robot leg structure of the present invention;

[0064] Figure 5 is a schematic diagram of the second special-shaped gear of the robot leg structure of the present invention;

[0065] Figure 6 is a schematic diagram of a third special-shaped gear of the robot leg structure of the present invention;

[0066] Figure 7 It is a schematic diagram of the meshing circle relationship between the first speed reducing member and the second speed reducing member of the machine of the present invention.

[0067] Description of reference numerals:

[0068] 1. Thigh; 2. Calf; 3. First speed reducer; 4. Second speed reducer; 5. First speed ratio gear; 6. Second speed ratio gear; 7. Joint motor; 8. Connecting rod; 31. First gear section; 32. First gear section; 41. Second gear section; 42. Second gear section. DETAILED DESCRIPTION

[0069] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0070] On the contrary, the present invention covers any substitution, modification, equivalent method and scheme made on the essence and scope of the present invention as defined by the claims. Further, in order to make the public have a better understanding of the present invention, some specific details are described in detail in the following detailed description of the present invention. Those skilled in the art can fully understand the present invention without the description of these details.

[0071] It should be noted that when two elements are "fixedly connected" or "engaged", the two elements may be directly connected or there may be an intermediate element. In contrast, when an element is referred to as being "directly on" another element, there is no intermediate element. The terms "large", "small", "upper", "lower" and similar expressions used herein are for illustrative purposes only.

[0072] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which the present invention pertains. The terms used herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "or / and" as used herein includes any and all combinations of one or more of the associated listed items.

[0073] like Figure 1 , Figure 2 , Figure 3 , Figure 4 As shown, the first specific embodiment of the robot leg structure of the present invention:

[0074] A robot leg structure capable of changing the speed ratio, comprising a thigh 1 and a shank 2 rotatably connected to the thigh 1, wherein the shank 2 is provided with a first speed-changing member 3, and the thigh 1 is provided with a second speed-changing member 4 driving the first speed-changing member 3;

[0075] When the robot is in a relatively upright state, the speed ratio of the first speed changer 3 and the second speed changer 4 is denoted as a;

[0076] When the robot is in a squatting or sitting state, the speed ratio of the first speed changer 3 and the second speed changer 4 is denoted as b;

[0077] The a>b is used to ensure that when the rotation speed of the second speed reducer 4 is the same, the rotation speed of the first speed reducer 3 will be higher when the robot is relatively upright.

[0078] In this embodiment: the first speed-changing reduction member 3 is a first speed ratio gear 5 fixed on the calf 2, and the second speed-changing reduction member 4 is a second speed ratio gear 6 rotatably mounted on the thigh 1.

[0079] In this embodiment: a joint motor 7 is provided on the thigh 1, and the joint motor 7 drives the second speed reducer 4 through a connecting rod 8 or a belt or a chain or a gear set.

[0080] In this embodiment: when the robot squats to the extreme position, the flexion angle between the thigh 1 and the calf 2 is greater than 140 degrees; when the robot stands and the thigh 1 and the calf 2 are stretched to the extreme position, the angle between the thigh 1 and the calf 2 is approximately 0 degrees.

[0081] The second specific embodiment of the robot leg structure of the present invention:

[0082] A robot leg structure capable of changing the speed ratio comprises a thigh 1 and a calf 2 rotatably connected to the thigh 1, the calf 2 being provided with a first speed reducer 3, and the thigh 1 being provided with a second speed reducer 4 for driving the first speed reducer 3; when the robot is walking, running or jumping, the speed ratio between the first speed reducer 3 and the second speed reducer 4 is large; when the robot is in a squatting or sitting state, the speed ratio between the first speed reducer 3 and the second speed reducer 4 is small.

[0083] In this embodiment, the first speed changer 3 includes a first eccentric circular gear 5 fixed on the calf 2 , and the second speed changer 4 includes a second eccentric circular gear 6 rotatably fixed on the thigh 1 .

[0084] In this embodiment, a joint motor is provided on the thigh 1, and the joint motor drives the second eccentric circular gear 6 through a connecting rod or a belt or a chain or a gear set.

[0085] In this embodiment, when the robot squats to the extreme position, the flexion angle between the thigh 1 and the calf 2 is 170 degrees; when the robot stands, the thigh 1 and the calf 2 are stretched to the extreme position, the angle between the thigh 1 and the calf 2 is negative 5 degrees, which can be seen from Figure 3 .

[0086] This embodiment provides a robot leg structure capable of variable speed ratio. When the robot is walking, running or jumping, a large speed ratio is provided, and the leg moves quickly, thereby having high execution efficiency, great flexibility and high speed; when the robot is in a squatting or sitting state, a small speed ratio is provided, thereby providing a large output torque to meet the scene requiring a large torque. In summary, the leg variable speed ratio structure has high execution efficiency, great flexibility and fast response. By adjusting the speed ratio, the working point of the motor is always in the high-efficiency area, and the overall system has high energy efficiency, so that the robot can maintain optimal performance under a wide range of working conditions and reduce energy waste.

[0087] A third specific embodiment of the robot leg structure of the present invention:

[0088] A robot leg structure capable of changing the speed ratio, comprising a thigh 1 and a shank 2 rotatably connected to the thigh 1, wherein the shank 2 is provided with a first speed-changing member 3, and the thigh 1 is provided with a second speed-changing member 4 driving the first speed-changing member 3;

[0089] At least one of the first speed-changing member 3 and the second speed-changing member 4 is a non-concentric circular gear, and the non-concentric circular gear is provided with at least one gear division section and a gear changing section;

[0090] The gear division part and the gear change part are alternately meshed and transmitted to change the speed ratio between the first speed reducing member 3 and the second speed reducing member 4 .

[0091] In this embodiment, the first reduction gear 3 is a driven gear, which includes at least a first gear section 31 and a first gear change section 32; the second reduction gear 4 is a driving gear, which includes at least a second gear section 41 and a second gear change section 42; when the first gear section 31 and the second gear change section 42 are meshed for transmission, a small speed ratio structure is formed, the calf 2 responds slowly, and the torque is large, which is used for the robot to stand up or squat; when the first gear change section 32 and the second gear section 41 are meshed for transmission, a large speed ratio structure is formed, the torque is small, which is used for the robot to walk.

[0092] The thigh 1 and the calf 2 are bionic leg structures respectively.

[0093] A fourth specific embodiment of the robot leg structure of the present invention:

[0094] In this embodiment, the first speed reducer 3 is an elliptical gear, which includes two first gear sections 31 and two first gear change sections 32; the second speed reducer 4 is a shuttle gear, which includes two second gear sections 41 and two second gear change sections 42, see Figure 4 .

[0095] When the first gear section 31 and the second gear section 42 are meshed and transmitted, a small speed ratio structure is formed, the lower leg 2 responds slowly and has a large torque, which is used for the robot to stand up or squat;

[0096] When the first gear section 32 and the second gear section 41 are meshed and transmitted, a high speed ratio structure is formed with a small torque, which is used for the robot to walk.

[0097] A fifth specific embodiment of the robot leg structure of the present invention:

[0098] In this embodiment, the first speed reducer 3 is a plum blossom gear, which includes eight first gear sections 31 and four first gear change sections 32; the second speed reducer 4 is an elliptical gear, which includes two second gear sections 41 and two second gear change sections 42, see Figure 5 .

[0099] When the first gear section 31 and the second gear section 42 are meshed and transmitted, a transmission structure of small teeth driving large teeth is formed, and the lower leg 2 responds slowly and has a large torque, which is used for the robot to stand up or squat;

[0100] When the first gear changing part 32 and the second gear sub-part 41 are meshed and transmitted, a transmission structure in which large teeth drive small teeth is formed, and the torque is small, which is used for the robot to walk.

[0101] A sixth specific embodiment of the robot leg structure of the present invention:

[0102] In this embodiment, the first speed reducing member 3 is a shuttle gear, which includes two first gear divisions 31 and two first gear changing parts 32; the second speed reducing member 4 is a shuttle gear, which includes two second gear divisions 41 and two second gear changing parts 42, see Figure 6 .

[0103] When the first gear section 31 and the second gear section 42 are meshed for transmission, a small tooth drives a large tooth transmission structure, the calf 2 responds slowly and has a large torque, which is used for the robot to stand up or squat; when the first gear section 32 and the second gear section 41 are meshed for transmission, a large tooth drives a small tooth transmission structure, which has a small torque, which is used for the robot to walk.

[0104] A seventh specific embodiment of the robot leg structure of the present invention:

[0105] A robot leg structure capable of changing the speed ratio, comprising a thigh 1 and a shank 2 rotatably connected to the thigh 1, wherein the shank 2 is provided with a first speed-changing member 3, and the thigh 1 is provided with a second speed-changing member 4 driving the first speed-changing member 3;

[0106] At least one of the first speed-changing member 3 and the second speed-changing member 4 is a non-concentric circular gear, and the non-concentric circular gear is provided with at least one gear division section and a gear changing section;

[0107] The meshing circle radius corresponding to the gear division portion is different from the meshing circle radius corresponding to the gear change portion, so that when the two are alternately meshed and transmitted, the speed ratio between the first speed reducer 3 and the second speed reducer 4 can be changed.

[0108] After continuous exploration and experimentation, the present invention sets at least one gear division and gear change portion on the first speed reducer 3 and / or the second speed reducer 4 to form a leg speed ratio structure, so that the speed ratio between the first speed reducer 3 and the second speed reducer 4 can be changed by utilizing the alternating meshing transmission of the gear division and the gear change portion. Therefore, when the robot is walking, running or jumping, a large speed ratio is provided, and the leg movements are fast, thereby having higher execution efficiency, greater flexibility and faster speed; when the robot is in a squatting or sitting state, a small speed ratio is provided, thereby being able to provide a larger output torque to meet the scenarios requiring a large torque.

[0109] Furthermore, the variable speed ratio structure of the legs of the present invention has high execution efficiency, great flexibility, and fast response. By adjusting the speed ratio, the working point of the motor is always in the high-efficiency area. The overall system has high energy efficiency, allowing the robot to maintain optimal performance under a wide range of working conditions and reduce energy waste.

[0110] In this embodiment: the first speed-changing member 3 is a driven gear, which includes at least one first gear section 31 and a first gear changing section 32;

[0111] The second speed-changing member 4 is a driving gear, which includes at least a second gear section 41 and a second gear changing section 42;

[0112] The meshing circle radius corresponding to the first gear section 31 is c;

[0113] The meshing circle radius corresponding to the first gear changing portion 32 is h; c>h;

[0114] The meshing circle radius corresponding to the second gear section 41 is e;

[0115] The meshing circle radius corresponding to the second gear changing portion 42 is f; e>f;

[0116]

[0117] For specific correspondence, see Figure 7 .

[0118] When the first gear section 31 and the second gear section 42 are meshed and transmitted, a small speed ratio structure is formed, the lower leg 2 responds slowly and has a large torque, which is used for the robot to stand up or squat;

[0119] When the first gear section 32 and the second gear section 41 are meshed and transmitted, a large speed ratio structure is formed with a small torque, which is used for the robot to run, jump or walk when it is relatively upright.

[0120] A specific embodiment of the robot leg structure of the present invention is applied:

[0121] A robot comprises the above-mentioned robot leg structure capable of changing the speed ratio.

[0122] The present invention provides a robot, when the robot is walking, running or jumping, the variable speed ratio structure of its legs provides a large speed ratio, the legs move quickly, so that it has high execution efficiency, great flexibility and fast speed; when the robot is in a squatting or sitting state, a small speed ratio is provided, so that a large output torque can be provided to meet the scene that requires a large torque. In summary, the variable speed ratio structure of the legs has high execution efficiency, great flexibility and fast response. By adjusting the speed ratio, the working point of the motor is always in the high-efficiency area, and the overall system has high energy efficiency, so that the robot can maintain optimal performance under a wide range of working conditions and reduce energy waste.

[0123] In the present application, the fixed connection method can be screw connection, welding, riveting, plug connection, or connection through a third component, and technical personnel in this field can choose according to actual conditions.

[0124] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field can still modify or replace the specific implementation methods of the present invention. Any modification or equivalent substitution that does not deviate from the spirit and scope of the present invention should be included in the scope of protection of the claims of the present invention.

Claims

1. A robot leg structure capable of changing the speed ratio, characterized in that: The invention comprises a thigh (1) and a calf (2) rotatably connected to the thigh (1), wherein the calf (2) is provided with a first speed reducing member (3), and the thigh (1) is provided with a second speed reducing member (4) for driving the first speed reducing member (3); When the robot is in a relatively upright state, the speed ratio of the first speed changer (3) to the second speed changer (4) is denoted as a; When the robot is in a squatting or sitting state, the speed ratio of the first speed changer (3) to the second speed changer (4) is denoted as b; The a>b is used to ensure that when the rotation speed of the second speed-changing member (4) is the same, the rotation speed of the first speed-changing member (3) will be higher when the robot is relatively upright.

2. A robot leg structure capable of changing the speed ratio as claimed in claim 1, characterized in that: The first speed-changing member (3) is a first speed-changing ratio gear (5) fixed on the calf (2), and the second speed-changing member (4) is a second speed-changing ratio gear (6) rotatably mounted on the thigh (1).

3. A robot leg structure capable of changing speed ratio as claimed in claim 1, characterized in that: The first speed reducing member (3) and the second speed reducing member (4) are elliptical gears, bevel gears, special-shaped gears or eccentric circular gears; Alternatively, the first speed reducer (3) and the second speed reducer (4) constitute a planetary gear set or a harmonic gear set.

4. A robot leg structure capable of changing the speed ratio as claimed in any one of claims 1 to 3, characterized in that: The thigh (1) is provided with a joint motor (7), and the joint motor (7) drives the second speed reducer (4) via a connecting rod (8) or a belt or a chain or a gear set.

5. A robot leg structure capable of changing speed ratio as claimed in any one of claims 1 to 3, characterized in that: When the robot squats to the extreme position, the flexion angle between the thigh (1) and the calf (2) is greater than 140 degrees; when the robot stands, when the thigh (1) and the calf (2) are stretched to the extreme position, the angle between the thigh (1) and the calf (2) is approximately 0 degrees.

6. A robot leg structure capable of changing the speed ratio, characterized in that: The invention comprises a thigh (1) and a calf (2) rotatably connected to the thigh (1), wherein the calf (2) is provided with a first speed reducing member (3), and the thigh (1) is provided with a second speed reducing member (4) for driving the first speed reducing member (3); At least one of the first speed change member (3) and the second speed change member (4) is a non-concentric circular gear, and the non-concentric circular gear is provided with at least one gear division section and a gear change section; The meshing circle radius corresponding to the gear division portion is different from the meshing circle radius corresponding to the gear change portion, so that when the two are alternately meshed and transmitted, the speed ratio between the first speed change component (3) and the second speed change component (4) can be changed.

7. A robot leg structure capable of changing speed ratio as claimed in claim 6, characterized in that: The first speed-changing member (3) is a driven gear, which comprises at least one first gear section (31) and a first gear changing section (32); The second speed-changing member (4) is a driving gear, which comprises at least one second gear section (41) and a second gear changing section (42); The meshing circle radius corresponding to the first gear section (31) is c; The meshing circle radius corresponding to the first gear changing portion (32) is h; c>h; The meshing circle radius corresponding to the second gear section (41) is e; The meshing circle radius corresponding to the second gear changing portion (42) is f; e>f; When the first gear section (31) and the second gear section (42) are meshed and transmitted, a small speed ratio structure is formed, the lower leg (2) responds slowly and has a large torque, which is used for the robot to stand up or squat; When the first gear changing part (32) and the second gear sub-part (41) are meshed and transmitted, a high speed ratio structure is formed with a small torque, which is used for the robot to run, jump or walk when it is relatively upright; Or / and, the thigh (1) and the calf (2) are respectively a rod-shaped structure or a plate-shaped structure or a shell structure or a bionic leg structure.

8. The robot leg structure capable of changing the speed ratio as claimed in claim 6, characterized in that: The first speed-changing member (3) is an elliptical gear or a shuttle gear, and comprises two first gear division parts (31) and two first gear changing parts (32); The second speed-changing member (4) is a shuttle gear or an elliptical gear, which includes two sections of second gear division parts (41) and two sections of second gear changing parts (42); When the first gear section (31) and the second gear section (42) are meshed and transmitted, a small speed ratio structure is formed, the lower leg (2) responds slowly and has a large torque, which is used for the robot to stand up or squat; When the first gear changing part (32) and the second gear sub-part (41) are meshed and transmitted, a high speed ratio structure is formed with a small torque, which is used for the robot to run, jump or walk when it is relatively upright.

9. A robot leg structure capable of changing speed ratio as claimed in claim 6, characterized in that: The first speed-changing and speed-reducing member (3) is a plum blossom-shaped gear, which comprises eight first gear division sections (31) and four first gear changing sections (32); The second speed-changing member (4) is an elliptical gear, which includes two sections of second gear division parts (41) and two sections of second gear changing parts (42); When the first gear section (31) and the second gear section (42) are meshed and transmitted, a small speed ratio structure is formed, the lower leg (2) responds slowly and has a large torque, which is used for the robot to stand up or squat; When the first gear changing part (32) and the second gear sub-part (41) are meshed and transmitted, a high speed ratio structure is formed with a small torque, which is used for the robot to run, jump or walk when it is relatively upright.

10. A robot, characterized in that: It comprises a robot leg structure capable of changing the speed ratio as described in any one of claims 1 to 9, wherein the robot is a humanoid robot, a biped robot or a quadruped robot.

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