Robot leg speed change mechanism and robot

Abstract

The invention relates to the technical field of robots, in particular to a robot leg speed change mechanism and a robotic.The robot leg speed change mechanism comprises a first motor, a speed reducer, a gearbox, a second motor and a leg connecting rod, the driving end of the first motor is connected with the speed reducer, the input end of the speed reducer is connected with the first motor, and the output end of the speed reducer is connected with the gearbox; a connecting disc is arranged at the fixed end of the second motor, and the second motor is connected with the speed reducer through the connecting disc; the gearbox comprises an output adjusting disc, a variable-speed fixed disc and a variable-speed output disc, the variable-speed fixed disc is arranged at the fixed end of the first motor, the variable-speed output disc is rotationally connected to the speed reducer, the output adjusting disc is connected with the output end of the speed reducer, and the output adjusting disc moves between the variable-speed fixed disc and the variable-speed output disc; the variable-speed fixed disc or the variable-speed output disc is in driving connection; the speed reducer and the gearbox are arranged between the first motor and the second motor, the speed reduction and speed change functions are achieved, and the stability of leg movement of the robot is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a robot leg speed changing mechanism and a robot. Background Art

[0002] The leg structure of a robot usually simulates the design of human lower limbs, mainly including hip joints, knee joints and ankle joints. The design of these joints enables the robot to simulate human walking, running, jumping and other movements. In the design of the leg structure, key factors such as motion control, mechanical / electrical performance, volume torque density, leg actuator mass distribution, leg stiffness and sensors are usually considered. Different leg structure solutions, such as linear actuators and rotary actuators, are suitable for different application scenarios and needs.

[0003] In the robot leg structure, the existing drive structure generally uses a motor to directly drive the joints or connecting rods to achieve movement, so as to combine multiple connecting rods to make various movements. However, the direct drive structure has shortcomings in use, and the stability is poor when some speed changes are required. Therefore, it is necessary to make new improvements to the existing robot leg structure. Summary of the invention

[0004] To solve the above problems, the present invention provides a robot leg speed changing mechanism and a robot by disposing a reducer and a gearbox between the first motor and the second motor to realize the deceleration and speed changing functions and improve the stability of the robot leg activities.

[0005] The technical solution adopted by the present invention is: a robot leg speed changing mechanism, including a first motor, a reducer, a gearbox, a second motor and a leg connecting rod, the driving end of the first motor is connected to the reducer, the input end of the reducer is connected to the first motor, and the output end is connected to the gearbox, the fixed end of the second motor is provided with a connecting disk, and the second motor is connected to the reducer through the connecting disk; the gearbox includes an output adjusting disk, a speed changing fixed disk and a speed changing output disk, the speed changing fixed disk is arranged at the fixed end of the first motor, the speed changing output disk is rotatably connected to the reducer, the output adjusting disk is connected to the output end of the reducer, and the output adjusting disk moves between the speed changing fixed disk and the speed changing output disk to drive the speed changing fixed disk or the speed changing output disk.

[0006] A further improvement to the above scheme is that the leg connecting rod includes a first connecting rod, a second connecting rod and a third connecting rod, one end of the first connecting rod is pivotally connected to the speed output disk, one end of the second connecting rod is connected to the output end of the second motor, and the third connecting rod is provided with a first pivot portion and a second pivot portion, the first pivot portion is connected to the first connecting rod, and the second pivot portion is connected to the second connecting rod.

[0007] A further improvement to the above scheme is that the reducer includes a driving connection seat, a fixed connection seat, a planetary gear set and an output wheel disc, one end of the driving connection seat is connected to the driving end of the first motor, the fixed connection seat is provided with a first bearing, and is rotatably connected to the speed change output disc through the first bearing, one end of the planetary gear set is rotatably connected to the fixed connection seat, and the other end is rotatably connected to the driving connection seat, and the planetary gear set is meshed with the output wheel disc.

[0008] A further improvement to the above solution is that a second bearing is provided between the output wheel disc and the speed change fixed plate, and the output wheel disc and the speed change fixed plate are rotationally connected via the second bearing.

[0009] A further improvement to the above solution is that a connecting gear ring is provided on the inner side of the fixed connecting seat, the connecting gear ring is meshed with the planetary gear set, and one end of the fixed connecting seat is connected to the connecting disk.

[0010] A further improvement to the above scheme is that the speed change fixed plate includes a connecting cover and a fixed gear ring, the connecting cover is arranged on the first motor, the fixed gear ring is arranged on one side of the connecting cover, a plurality of fixed teeth are arranged on the fixed gear ring, the output adjustment plate is provided with adjustment matching teeth, the driving end of the reducer is provided with output connecting teeth, and the output connecting teeth are meshed with the adjustment matching teeth.

[0011] A further improvement to the above scheme is that the speed change output disc is provided with output matching teeth, and the output matching teeth are used to match the adjustment matching teeth; the output connecting teeth, fixed teeth and output matching teeth are arranged relatively, and the adjustment matching teeth move between the output connecting teeth, fixed teeth and output matching teeth.

[0012] A further improvement to the above solution is that a pivot bracket is provided on one side of the speed change output disc, and the speed change output disc is pivotally connected to the first connecting rod through the pivot bracket.

[0013] A further improvement to the above solution is that the connection disk is provided with a motor connection frame, the motor connection frame is provided on the second motor, and a heat dissipation cavity is formed between the connection disk and the second motor.

[0014] A further improvement to the above scheme is that the first inclined portion and the second inclined portion are respectively provided at both ends of the first connecting rod, the first inclined portion is pivotally connected to the speed output plate, and the second inclined portion is pivotally connected to the first pivot portion; the first pivot portion and the second pivot portion are arranged on the same parallel line of the third connecting rod, and a traveling wheel group is provided at one end of the third connecting rod, and the axis of the traveling wheel group is on the same parallel line as the first pivot portion and the second pivot portion.

[0015] A robot comprises the robot leg speed changing mechanism, the robot comprises a body, the robot leg speed changing mechanism is provided with at least two groups, and the at least two groups of robot leg speed changing mechanisms are respectively provided on both sides of the body.

[0016] The beneficial effects of the present invention are: Compared with the existing robot leg structure, the present invention arranges a reducer and a gearbox between the first motor and the second motor to achieve deceleration and speed change functions and improve the stability of the robot leg movement.

[0017] The present invention directly drives the reducer through the first motor, realizes the initial deceleration and torque increase of power, ensures that the subsequent transmission components bear a reasonable load, and improves the stability and durability of the entire transmission system. The direct connection between the first motor and the reducer reduces the loss in the energy transfer process and improves the energy utilization efficiency. In addition, the ingenious connection between the output end of the reducer and the gearbox enables the power to be accurately adjusted and distributed as needed, providing the robot legs with outputs of different speeds and forces to meet the needs of walking on complex terrain. The second motor adds an additional power source and control dimension. It is connected to the reducer through a connecting disk, which not only enhances the structural stability of the system, but also allows auxiliary power to be provided or power switching to be performed when necessary, so as to achieve more delicate motion control and power distribution. The robot is able to quickly respond to external changes while maintaining efficient walking, such as sudden acceleration, turning or crossing obstacles. The combination of the output adjustment disk, the speed change fixed disk and the speed change output disk used in the gearbox constitutes a highly flexible speed change mechanism. The activity of the output adjustment disk between the speed change fixed disk and the speed change output disk can selectively drive one of the two as needed, thereby achieving precise regulation of the movement speed and force of the leg connecting rod. This design not only improves the smoothness and accuracy of walking, but also greatly expands the robot's range of motion and adaptability, enabling it to maintain the best walking state in a variety of environments. Through the transmission chain and the speed change mechanism, the leg speed change mechanism can effectively disperse and withstand the impact force and load generated during walking, protecting key components from damage. At the same time, its flexible speed change capability enables the robot to adapt to different ground conditions, such as grass, sand, stairs, etc., to achieve a wider range of application scenarios. The present invention significantly improves the robot's walking performance and application potential through efficient power transmission, flexible dual-motor configuration, innovative gearbox design, enhanced load capacity and good maintainability.

[0018] The leg connecting rod comprises a first connecting rod, a second connecting rod and a third connecting rod, one end of the first connecting rod is pivoted to the speed output disk, one end of the second connecting rod is connected to the output end of the second motor, and the third connecting rod is provided with a first pivoting portion and a second pivoting portion, the first pivoting portion is connected to the first connecting rod, and the second pivoting portion is connected to the second connecting rod. In this embodiment, the pivoting design of the first connecting rod and the speed output disk ensures that the leg mechanism can achieve flexible and efficient pace adjustment according to the rotation speed and direction of the speed output disk. This design not only improves the walking stability of the robot, but also greatly enhances its adaptability to complex terrain. Secondly, the direct connection between the second connecting rod and the output end of the second motor provides a strong driving force for the leg mechanism. By accurately controlling the output of the second motor, the leg force can be accurately adjusted, thereby meeting the movement requirements of the robot in different scenarios. The third connecting rod serves as a bridge connecting the first connecting rod and the second connecting rod, and the first pivoting portion and the second pivoting portion on it are respectively connected to the two connecting rods to form a stable triangular support structure. This design not only enhances the overall stability of the leg mechanism, but also enables the legs to maintain a smooth and continuous transition during deformation, greatly improving the robot's movement smoothness and flexibility. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a three-dimensional schematic diagram of the speed change mechanism of the robot leg of the present invention; Figure 2 for Figure 1 A three-dimensional schematic diagram of the speed change mechanism of the robot's legs from another perspective; Figure 3 for Figure 1 Explosion diagram of the speed change mechanism of the robot's legs Figure 4 for Figure 1 An exploded diagram of the speed change mechanism of the robot's legs from another perspective; Figure 5 for Figure 1 A side view schematic diagram of the speed change mechanism of the robot's legs; Figure 6 for Figure 1 A schematic side view of the speed change mechanism of the robot's legs; Figure 7 for Figure 6 The cross-sectional view of AA in FIG. Figure 8 for Figure 1 An exploded diagram of the speed change mechanism of the robot's legs.

[0020] Explanation of the accompanying drawings: first motor 1, reducer 2, drive connecting seat 21, fixed connecting seat 22, connecting gear ring 221, planetary gear set 23, output wheel plate 24, first bearing 25, second bearing 26, output connecting tooth 27, gearbox 3, output adjusting disk 31, adjusting matching tooth 311, speed change fixed disk 32, connecting cover 321, fixed gear ring 322, fixed tooth 323, speed change output disk 33, output matching tooth 331, pivot bracket 332, second motor 4, connecting disk 41, motor connecting frame 411, heat dissipation cavity 412, leg connecting rod 5, first connecting rod 51, first inclined portion 511, second inclined portion 512, second connecting rod 52, third connecting rod 53, first pivot portion 531, second pivot portion 532, traveling wheel set 533. DETAILED DESCRIPTION

[0021] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. The preferred embodiments of the present invention are given in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present invention more thorough and comprehensive.

[0022] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be an intermediate element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element at the same time.

[0023] 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 belongs. The terms used in the specification of the present invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention. Figure 1 to Figure 8As shown, in one embodiment of the present invention, a robot leg speed change mechanism is involved, including a first motor 1, a reducer 2, a gearbox 3, a second motor 4 and a leg connecting rod 5, the driving end of the first motor 1 is connected to the reducer 2, the input end of the reducer 2 is connected to the first motor 1, and the output end is connected to the gearbox 3, the fixed end of the second motor 4 is provided with a connecting disk 41, and the second motor 4 is connected to the reducer 2 through the connecting disk 41; the gearbox 3 includes an output adjustment disk 31, a speed change fixed disk 32 and a speed change output disk 33, the speed change fixed disk 32 is arranged at the fixed end of the first motor 1, the speed change output disk 33 is rotatably connected to the reducer 2, the output adjustment disk 31 is connected to the output end of the reducer 2, and the output adjustment disk 31 moves between the speed change fixed disk 32 and the speed change output disk 33 to drive the connection speed change fixed disk 32 or the speed change output disk 33. In this embodiment, a reducer 2 and a gearbox 3 are arranged between the first motor 1 and the second motor 4 to realize the deceleration and speed change functions and improve the stability of the robot leg activities.

[0024] In this embodiment, the first motor 1 directly drives the reducer 2, realizes the initial deceleration and torque increase of power, ensures that the subsequent transmission components bear a reasonable load, and improves the stability and durability of the entire transmission system. The direct connection between the first motor 1 and the reducer 2 reduces the loss in the energy transfer process and improves the energy utilization efficiency. In addition, the ingenious connection between the output end of the reducer 2 and the gearbox 3 enables the power to be accurately adjusted and distributed as needed, providing the robot legs with outputs of different speeds and forces to meet the needs of walking on complex terrain. The second motor 4 adds an additional power source and control dimension. It is connected to the reducer 2 through a connecting disk 41, which not only enhances the structural stability of the system, but also allows auxiliary power to be provided or power switching to be performed when necessary, so as to achieve more delicate motion control and power distribution. The robot is able to maintain efficient walking while having the ability to quickly respond to external changes, such as sudden acceleration, turning or crossing obstacles. The combination of the output adjustment disk 31, the speed change fixed disk 32 and the speed change output disk 33 used inside the gearbox 3 constitutes a highly flexible speed change mechanism. The movement of the output adjustment disk 31 between the speed change fixed disk 32 and the speed change output disk 33 can selectively drive one of the two as needed, thereby realizing precise control of the movement speed and force of the leg connecting rod 5. This design not only improves the stability and accuracy of walking, but also greatly expands the range of motion and adaptability of the robot, enabling it to maintain the best walking state in a variety of environments. Through the transmission chain and the speed change mechanism, the leg speed change mechanism can effectively disperse and withstand the impact force and load generated during walking, protecting key components from damage. At the same time, its flexible speed change capability enables the robot to adapt to different ground conditions, such as grass, sand, stairs, etc., to achieve a wider range of application scenarios. This embodiment significantly improves the walking performance and application potential of the robot through efficient power transmission, flexible dual-motor configuration, innovative gearbox 3 design, enhanced load capacity and good maintainability.

[0025] The leg connecting rod 5 includes a first connecting rod 51, a second connecting rod 52 and a third connecting rod 53, one end of the first connecting rod 51 is pivoted to the speed output disk 33, one end of the second connecting rod 52 is connected to the output end of the second motor 4, and the third connecting rod 53 is provided with a first pivoting portion 531 and a second pivoting portion 532, the first pivoting portion 531 is connected to the first connecting rod 51, and the second pivoting portion 532 is connected to the second connecting rod 52. In this embodiment, the pivoting design of the first connecting rod 51 and the speed output disk 33 ensures that the leg mechanism can achieve flexible and efficient pace adjustment according to the rotation speed and direction of the speed output disk 33. This design not only improves the walking stability of the robot, but also greatly enhances its adaptability to complex terrain. Secondly, the direct connection between the second connecting rod 52 and the output end of the second motor 4 provides a strong driving force for the leg mechanism. By accurately controlling the output of the second motor 4, the leg strength can be accurately adjusted, thereby meeting the movement requirements of the robot in different scenarios. The third link 53 serves as a bridge connecting the first link 51 and the second link 52, and the first pivoting portion 531 and the second pivoting portion 532 on the third link 53 are respectively connected to the two links, forming a stable triangular support structure. This design not only enhances the overall stability of the leg mechanism, but also enables the leg to maintain a smooth and continuous transition during the deformation process, greatly improving the movement fluidity and flexibility of the robot.

[0026] See also Figure 7~Figure 8 As shown, the reducer 2 includes a driving connection seat 21, a fixed connection seat 22, a planetary gear set 23 and an output wheel disc 24, one end of the driving connection seat 21 is connected to the driving end of the first motor 1, the fixed connection seat 22 is provided with a first bearing 25, and is rotatably connected to the speed output disc 33 through the first bearing 25, one end of the planetary gear set 23 is rotatably connected to the fixed connection seat 22, and the other end is rotatably connected to the driving connection seat 21, and the planetary gear set 23 is meshed with the output wheel disc 24. In this embodiment, the driving connection seat 21 is directly connected to the driving end of the first motor 1, which ensures the directness and efficiency of power transmission and reduces the loss of energy during the transmission process. The design of the first bearing 25 on the fixed connection seat 22 not only provides stable support for the speed output disc 33, but also realizes its smooth rotation, thereby enhancing the movement flexibility of the mechanism. The planetary gear set 23 is the core component of the reducer 2. Its unique structural design enables it to achieve rotational connection with the fixed connection seat 22 and the drive connection seat 21 at the same time, effectively dispersing the load during the transmission process and improving the load-bearing capacity of the entire mechanism. In addition, the meshing design of the planetary gear set 23 and the output wheel disc 24 realizes precise reduction transmission, ensuring the precise control and stable movement of the robot leg during the deformation process.

[0027] A second bearing 26 is provided between the output wheel disc 24 and the speed change fixed disc 32, and the output wheel disc 24 and the speed change fixed disc 32 are rotationally connected via the second bearing 26. In this embodiment, the introduction of the second bearing 26 greatly enhances the flexibility and range of motion of the robot leg deformation mechanism. The output wheel disc 24 can rotate smoothly relative to the speed change fixed disc 32, ensuring the accuracy and fluency of the robot when performing complex movements. This rotational connection mode enables the leg mechanism to more effectively adapt to various terrains and movement requirements, and improves the overall motion performance of the robot. Secondly, the use of the second bearing 26 also improves the durability and reliability of the robot leg deformation mechanism. As a key component in mechanical transmission, the bearing has excellent load-bearing capacity and wear resistance. During long-term operation and frequent deformation, the second bearing 26 can effectively reduce friction and wear, and extend the service life of the robot leg mechanism.

[0028] A connecting gear ring 221 is provided on the inner side of the fixed connection seat 22, and the connecting gear ring 221 is meshed with the planetary gear set 23, and one end of the fixed connection seat 22 is connected to the connecting plate 41. Specifically, the speed change fixed plate 32 includes a connecting cover 321 and a fixed gear ring 322, the connecting cover 321 is provided on the first motor 1, the fixed gear ring 322 is provided on one side of the connecting cover 321, and a plurality of fixed teeth 323 are provided on the fixed gear ring 322, the output adjustment plate 31 is provided with an adjustment matching tooth 311, and the driving end of the reducer 2 is provided with an output connection tooth 27, and the output connection tooth 27 is meshed with the adjustment matching tooth 311. The speed change output disc 33 is provided with an output matching tooth 331, and the output matching tooth 331 is used to match the adjustment matching tooth 311; the output connection tooth 27, the fixed tooth 323 and the output matching tooth 331 are arranged relatively, and the adjustment matching tooth 311 moves between the output connection tooth 27, the fixed tooth 323 and the output matching tooth 331. In this embodiment, the precise meshing of the connecting tooth ring 221 arranged on the inner side of the fixed connection seat 22 and the planetary gear set 23 ensures the stability and accuracy of power transmission, which is very important for the stable walking of the robot leg in complex terrain. The connecting disc 41 is connected to one end of the fixed connection seat 22, which further enhances the overall stability of the structure, so that the leg deformation mechanism can still maintain a good operating state when subjected to a large load. The design of the speed change fixed disc 32 gives the robot leg deformation mechanism a richer speed change capability. The connecting cover 321 is tightly mounted on the first motor 1, and the multiple fixed teeth 323 on the fixed tooth ring 322 cooperate with the adjustment matching teeth 311 on the output adjustment disc 31 to achieve precise power regulation. At the same time, the driving end of the reducer 2 smoothly transmits the power to the speed change output disc 33 through the meshing of the output connecting teeth 27 and the adjusting matching teeth 311, and then realizes the multi-stage speed change and output of the power through the matching of the output matching teeth 331. In addition, the relative arrangement of the output connecting teeth 27, the fixed teeth 323 and the output matching teeth 331, and the flexible movement of the adjusting matching teeth 311 therebetween, enable the robot leg deformation mechanism to respond quickly and adapt to different movement requirements during the deformation process.

[0029] A pivot bracket 332 is provided on one side of the speed change output disc 33, and the speed change output disc 33 is pivotally connected to the first connecting rod 51 through the pivot bracket 332. In this embodiment, the speed change output disc 33 can adjust the speed and torque according to different movement requirements, and the pivot bracket 332 ensures the stability and continuity of the power during the transmission process. Through the pivot connection with the first connecting rod 51, the structure can effectively convert the power of the speed change output disc 33 into the movement power of the robot leg, thereby realizing the flexible deformation and precise control of the leg mechanism. Secondly, the use of the pivot bracket 332 enables the leg mechanism to withstand greater force and torque during the deformation process, thereby improving the stability and durability of the mechanism. At the same time, the flexible speed change capability of the speed change output disc 33 also enables the robot to better adapt to various complex environments and task requirements.

[0030] The connecting disk 41 is provided with a motor connecting frame 411, and the motor connecting frame 411 is arranged on the second motor 4, and a heat dissipation cavity 412 is formed between the connecting disk 41 and the second motor 4. In this embodiment, a stable connection between the motor and the connecting disk 41 is achieved through the motor connecting frame 411, which provides reliable power support for the precise deformation of the robot's legs. When the legs undergo complex deformations, the motor can stably output torque to ensure the smoothness and precision of the deformation process. Secondly, the heat dissipation cavity 412 formed between the connecting disk 41 and the second motor 4 plays an important role in improving the overall heat dissipation performance of the mechanism. When the robot is continuously running or undergoing high-intensity deformation, key components such as the motor will generate a lot of heat. The design of the heat dissipation cavity 412 can accelerate the dissipation of heat and prevent the motor from overheating, thereby extending the service life of the mechanism and improving the overall operating efficiency.

[0031] The first connecting rod 51 is provided with a first inclined portion 511 and a second inclined portion 512 at both ends, the first inclined portion 511 is pivoted to the speed output disc 33, and the second inclined portion 512 is pivoted to the first pivoting portion 531; the first pivoting portion 531 and the second pivoting portion 532 are arranged on the same parallel line of the third connecting rod 53, and one end of the third connecting rod 53 is provided with a running wheel set 533, and the axis of the running wheel set 533 is on the same parallel line as the first pivoting portion 531 and the second pivoting portion 532. In this embodiment, the first inclined portion 511 and the second inclined portion 512 are provided at both ends of the first connecting rod 51, respectively, to achieve flexible pivoting with the speed output disc 33 and the first pivoting portion 531. This design not only enhances the movement flexibility of the connecting rod mechanism, but also enables the entire leg deformation mechanism to respond to control instructions more accurately and achieve more complex movement changes. Secondly, the first pivoting portion 531 and the second pivoting portion 532 are cleverly arranged on the same parallel line of the third connecting rod 53. This layout optimizes the spatial structure of the connecting rod mechanism, reduces unnecessary motion interference, and improves the stability and durability of the mechanism. At the same time, this design also facilitates the maintenance and adjustment of the connecting rod mechanism, reducing maintenance costs. Furthermore, the axis of the running wheel set 533 arranged at one end of the third connecting rod 53 is on the same parallel line as the first pivoting portion 531 and the second pivoting portion 532, ensuring the stability and smoothness of the wheel set during travel. This design enables the robot to maintain good passability and controllability under various terrain conditions, improving the adaptability and practicality of the robot.

[0032] A robot comprises a robot leg speed change mechanism and a body, wherein the robot leg speed change mechanism is provided with at least two groups, and at least two groups of robot leg speed change mechanisms are respectively provided on both sides of the body. In this embodiment, by providing at least two groups of robot leg speed change mechanisms and respectively configuring them on both sides of the body, the robot achieves high flexibility and stability in walking and movement. This bilateral symmetrical layout not only enhances the robot's balance ability, but also enables it to adjust its gait more freely in complex terrain to adapt to different road conditions. Secondly, the introduction of the leg speed change mechanism gives the robot a wider speed adjustment range. Whether it is necessary to move quickly to perform a task or to move slowly for fine operations, the robot can achieve precise speed control by adjusting the leg speed change mechanism, thereby meeting the needs of a variety of application scenarios. Furthermore, the design also helps to improve the energy efficiency and endurance of the robot. By optimizing the transmission efficiency of the leg speed change mechanism, unnecessary energy loss is reduced, so that the robot can maintain a more sustained power output when performing long-term tasks.

[0033] The above embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present invention. It should be pointed out that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention patent shall be subject to the attached claims.

Claims

1. A robot leg speed change mechanism, characterized in that: It includes a first motor, a reducer, a gearbox, a second motor and a leg connecting rod, the driving end of the first motor is connected to the reducer, the input end of the reducer is connected to the first motor, and the output end is connected to the gearbox, the fixed end of the second motor is provided with a connecting disk, and the second motor is connected to the reducer through the connecting disk; the gearbox includes an output adjusting disk, a speed changing fixed disk and a speed changing output disk, the speed changing fixed disk is provided at the fixed end of the first motor, the speed changing output disk is rotatably connected to the reducer, the output adjusting disk is connected to the output end of the reducer, and the output adjusting disk moves between the speed changing fixed disk and the speed changing output disk to drive the speed changing fixed disk or the speed changing output disk.

2. The robot leg speed change mechanism according to claim 1, characterized in that: The reducer includes a driving connection seat, a fixed connection seat, a planetary gear set and an output wheel disc. One end of the driving connection seat is connected to the driving end of the first motor. The fixed connection seat is provided with a first bearing and is rotationally connected to the speed change output disc through the first bearing. One end of the planetary gear set is rotationally connected to the fixed connection seat and the other end is rotationally connected to the driving connection seat. The planetary gear set is meshed with the output wheel disc.

3. The robot leg speed change mechanism according to claim 2, characterized in that: A second bearing is arranged between the output wheel disc and the speed change fixed plate, and the output wheel disc and the speed change fixed plate are rotatably connected via the second bearing.

4. The robot leg speed change mechanism according to claim 3, characterized in that: A connecting gear ring is arranged on the inner side of the fixed connecting seat, the connecting gear ring is meshed with the planetary gear set, and one end of the fixed connecting seat is connected to the connecting disk.

5. The robot leg speed change mechanism according to claim 4, characterized in that: The speed change fixed plate includes a connecting cover and a fixed gear ring, the connecting cover is arranged on the first motor, the fixed gear ring is arranged on one side of the connecting cover, a plurality of fixed teeth are arranged on the fixed gear ring, the output adjustment plate is provided with adjustment matching teeth, the driving end of the reducer is provided with output connecting teeth, and the output connecting teeth are meshed with the adjustment matching teeth.

6. The robot leg speed change mechanism according to claim 5, characterized in that: The speed change output disc is provided with output matching teeth, and the output matching teeth are used to match the adjustment matching teeth; the output connecting teeth, the fixed teeth and the output matching teeth are arranged relatively, and the adjustment matching teeth move among the output connecting teeth, the fixed teeth and the output matching teeth.

7. The robot leg speed change mechanism according to claim 1, characterized in that: A pivot bracket is provided on one side of the speed change output disc, and the speed change output disc is pivotally connected to the first connecting rod through the pivot bracket.

8. The robot leg speed change mechanism according to claim 1, characterized in that: The connecting plate is provided with a motor connecting frame, and the motor connecting frame is arranged on the second motor. A heat dissipation cavity is formed between the connecting plate and the second motor.

9. The robot leg speed change mechanism according to claim 1, characterized in that: The leg link includes a first link, a second link and a third link, one end of the first link is pivoted to the speed output disk, one end of the second link is connected to the output end of the second motor, and the third link is provided with a first pivot portion and a second pivot portion, the first pivot portion is connected to the first link, and the second pivot portion is connected to the second link; the first two ends of the first link are respectively provided with a first inclined portion and a second inclined portion, the first inclined portion is pivoted to the speed output disk, and the second inclined portion is pivoted to the first pivot portion; the first pivot portion and the second pivot portion are arranged on the same parallel line of the third link, and a running wheel group is arranged at one end of the third link, and the axis of the running wheel group is on the same parallel line as the first pivot portion and the second pivot portion.

10. A robot, characterized in that: The robot comprises a leg speed changing mechanism of the robot as claimed in any one of claims 1 to 9, wherein the robot comprises a body, and at least two groups of leg speed changing mechanisms of the robot are arranged, and at least two groups of leg speed changing mechanisms of the robot are arranged on both sides of the body respectively.

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