Detachable leg structure of foot type robot, biped robot, wheel-foot robot, quadruped robot and robot

Abstract

The invention relates to the technical field of robots, and discloses a detachable leg structure of a foot type robot, a biped robot, a wheel-foot robot, a quadruped robot and a robot. The machine body is provided with a fixing position, the legs are provided with leg swinging joint modules, the fixing pieces are fixedly connected with the leg swinging joint modules, and the fixing pieces are detachably and fixedly connected with the fixing position. The fixing piece is additionally arranged at the connecting position of the fuselage and the leg to serve as a transition connecting structure for assembling the fuselage and the leg, so that the assembling position between the fuselage and the leg is increased, the fuselage and the leg are assembled and disassembled conveniently, and the leg structure is convenient to maintain and repair.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and more particularly to a detachable leg structure of a legged robot, a bipedal robot, a wheeled-legged robot, a quadrupedal robot, and a robot. Background Art

[0002] A legged robot is a robot that simulates the walking of humans and animals. Its leg structure serves as the main flexion and extension structure that supports the movement of the robot. It is a functional part independent of the body. Therefore, there is a need to disassemble and assemble the leg structure separately during the production, assembly, inspection and maintenance processes.

[0003] The hip joint where the leg structure is connected to the body is provided with a driving module for controlling the swing of the leg structure. In order to ensure that the module and the body remain relatively fixed, the prior art usually directly assembles the module on the body or sets the module inside the body. The leg structure is easily damaged due to frequent operation during the operation of the robot. Since the swing leg joint module and other parts of the leg structure are arranged compactly and the assembly operation space is small, it is difficult to disassemble and assemble the leg structure and the body, which brings inconvenience to the maintenance of the leg structure. Summary of the invention

[0004] The present application provides a detachable leg structure of a leg-type robot, a leg structure of a humanoid robot and a robot, aiming to solve the problem that the leg structure of the existing leg-type robot is difficult to disassemble and assemble.

[0005] In one embodiment, a detachable leg structure of a legged robot includes: a body, legs, and fixings;

[0006] The fuselage is provided with a fixing position, the leg has a leg swinging joint module, the fixing piece is fixedly connected to the leg swinging joint module, and the fixing piece is detachably fixedly connected to the fixing position.

[0007] In one embodiment, the fixing position defines a first cavity through its side wall, and the fixing member defines a second cavity through its side wall; the first cavity and the second cavity are respectively approximately semicircular;

[0008] The side of the swing leg joint module connected to the fixing piece is accommodated in the second cavity; when the fixing piece is connected to the fixing position, the side of the swing leg joint module adjacent to the fixing position is accommodated in the first cavity.

[0009] In one embodiment, the fixing position has a first side wall and a second side wall, the fixing member has a third side wall and a fourth side wall, the first side wall is disposed in close contact with the third side wall, and the second side wall is disposed in close contact with the fourth side wall;

[0010] When the legged robot is in an upright standing posture, end surfaces of the first side wall, the second side wall, the third side wall and the fourth side wall are on the same vertical plane.

[0011] In one embodiment, the first side wall is configured with at least two first fastener mounting positions; the second side wall is configured with at least two second fastener mounting positions; the third side wall is configured with at least two third fastener mounting positions; and the fourth side wall is configured with at least two fourth fastener mounting positions.

[0012] The first side wall and the third side wall are fixedly connected by fasteners passing through the third fastener installation position and connecting with the first fastener installation position;

[0013] The second side wall is fixedly connected to the fourth side wall by a fastener passing through the fourth fastener installation position and connecting with the second fastener installation position.

[0014] In one embodiment, the fixing member is configured with a fixing portion, which is formed by extending inwardly from an outer edge of one end of a side wall of the fixing member;

[0015] The fixing part is formed with a plurality of fifth fastener installation positions, and the fasteners pass through the fifth fastener installation positions and are fixed to the fixing plate of the swing leg joint module, so that the swing leg joint module is fixedly connected to the fixing member.

[0016] In one embodiment, the fixing position is configured with a stopper, which is formed by extending inwardly from the outer edge of one end of the side wall of the fixing position;

[0017] The stopper abuts against the fixing plate of the swing leg joint module.

[0018] In one embodiment, an outer edge of one side of the fixing member is formed with an integrally formed first position limiting cover and a second position limiting cover, and the first position limiting cover and the second position limiting cover extend toward the fixing position respectively;

[0019] The first limiting mask abuts against the side surface of the fixing position in the vertical direction, thereby limiting the relative position of the fixing member and the fixing position in the vertical direction;

[0020] The second limiting mask abuts against the side surface of the fixing position in the horizontal direction, thereby limiting the relative position of the fixing member and the fixing position in the horizontal direction.

[0021] In one embodiment, the first side wall is configured with at least one first positioning hole; the second side wall is configured with at least one second positioning hole; the third side wall is configured with at least one third positioning hole; and the fourth side wall is configured with at least one fourth positioning hole.

[0022] The first side wall and the third side wall are positioned by connecting the third positioning hole and the first positioning hole through a positioning pin;

[0023] The second side wall and the fourth side wall are positioned by connecting the fourth positioning hole and the second positioning hole through a positioning pin.

[0024] In one solution, the fixing position is arranged at one end of the fuselage in the horizontal direction, or the fixing position is arranged below the fuselage in the horizontal direction.

[0025] In one embodiment, the flange of the leg swing joint module is connected to the thigh joint module through a connecting frame, and the axes of the leg swing joint module and the thigh joint module are approximately perpendicular in the horizontal direction.

[0026] In one embodiment, a bipedal robot is provided, comprising the detachable leg structure of the footed robot of the aforementioned embodiment, wherein the leg comprises a thigh, a calf, and a foot, and the foot is a point-shaped foot that cannot be actively driven.

[0027] In one embodiment, a wheeled-legged robot is provided, comprising the detachable leg structure of the footed robot of the aforementioned embodiment.

[0028] In one embodiment, a quadruped robot is provided, comprising the detachable leg structure of the legged robot of the aforementioned embodiment.

[0029] In one embodiment, a robot is provided, comprising the detachable leg structure of the foot-type robot of the aforementioned embodiment.

[0030] Beneficial effects of this application:

[0031] The present application adds a fixing part as a transition connection structure for assembling the fuselage and the legs, thereby increasing the assembly positions between the fuselage and the legs, allowing the fuselage and the legs to be quickly disassembled and assembled, improving assembly efficiency and facilitating maintenance and repair of the leg structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0033] Figure 1 is a three-dimensional schematic diagram of a detachable leg structure of a legged robot in one embodiment of the present application;

[0034] Figure 2 is an exploded schematic diagram of a detachable leg structure of a legged robot in one embodiment of the present application;

[0035] Figure 3 is a three-dimensional schematic diagram of a fuselage in an embodiment of the present application;

[0036] Figure 4 is a three-dimensional schematic diagram of a fixing member in an embodiment of the present application;

[0037] Figure 5 is an exploded schematic diagram of a detachable leg structure of a legged robot in one embodiment of the present application;

[0038] Figure 6 It is a schematic diagram of the assembly of a detachable leg structure of a legged robot in one embodiment of the present application;

[0039] Figure 7 is a cross-sectional view of a detachable leg structure of a legged robot in one embodiment of the present application;

[0040] Figure 8 is a top view of a detachable leg structure of a legged robot in one embodiment of the present application;

[0041] Fig. 9 is a three-dimensional schematic diagram of a detachable leg structure of a legged robot in another embodiment of the present application;

[0042] Fig.10 is an exploded top view of a detachable leg structure of a legged robot in another embodiment of the present application;

[0043] Fig.11 is a three-dimensional schematic diagram of a biped robot in one embodiment of the present application;

[0044] Fig.12 is a three-dimensional schematic diagram of a wheeled-legged robot in one embodiment of the present application;

[0045] Fig.13 is an exploded schematic diagram of a wheeled-legged robot in one embodiment of the present application;

[0046] Reference numerals in the figures:

[0047] 1. body; 11. fixing position; 111. first cavity; 112. first side wall; 1121. first fastener installation position; 1122. first positioning hole; 113. second side wall; 1131. second fastener installation position; 1132. second positioning hole; 114. stopper;

[0048] 2. Leg; 21. Leg swing joint module; 22. Connecting frame; 23. Thigh joint module;

[0049] 3. Fixing member; 31. Second cavity; 32. Third side wall; 321. Third fastener installation position;

[0050] 322, third positioning hole; 33, fourth side wall; 331, fourth fastener installation position; 332, fourth positioning hole; 34, fixing portion; 341, fifth fastener installation position; 35, first limiting mask; 36, second limiting mask;

[0051] Limit X to the horizontal direction; limit Y to the vertical direction. DETAILED DESCRIPTION

[0052] The specific implementation methods of the present application are further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present application, but are not intended to limit the scope of the present application. Similarly, the following examples are only some embodiments of the present application rather than all embodiments, and all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of this application.

[0053] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0054] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0055] In this application, the concept of "roughly" describes the main features of an overall structure or shape. When describing the shape of an object, it means that the object mainly presents a certain shape, but may differ in non-functional details. These detailed differences do not affect the overall characteristics, so they can be classified as "roughly" a certain shape. For example, when describing a round object, the expression "roughly round" means that the overall shape of the object is round, but there are differences in certain non-functional details. Similarly, when describing a cube, the expression "roughly cubic" means that the overall shape of the object is a cube, but there are differences in certain non-functional details.

[0056] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0057] In the present application, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being “above”, “above”, and “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below”, and “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0058] In the present application, the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0059] In order to solve the problem that the leg structure of the existing foot-type robot is difficult to disassemble and assemble, the present application makes improvements and innovations and proposes the following embodiments.

[0060] In some embodiments, see Figure 1 and Figure 2 , provides a detachable leg structure of a foot-type robot, which comprises: a body 1, a leg 2 and a fixing part 3;

[0061] The body 1 is provided with a fixing position 11 , the leg 2 has a leg swinging joint module 21 , the fixing member 3 is fixedly connected to the leg swinging joint module 21 , and the fixing member 3 is detachably fixedly connected to the fixing position 11 .

[0062] Among them, the body 1 refers to the main trunk part of the robot, which is usually used to connect various collaborative components and arrange processors, controllers, electrical circuits, etc.; the leg 2, in addition to the swing leg joint module 21, usually also has a thigh joint module 23, a calf joint module, a thigh and a calf.

[0063] In this embodiment, the detachable fixed connection between the fixing member 3 and the fixing position 11 means that when the fixing member 3 and the fixing position 11 are assembled together, the fixing member 3 and the fixing position 11 cannot make relative movement, and this assembly method is reversible, that is, the fixing member 3 and the fixing position 11 can be disassembled after assembly without damaging any parts, and the installation and disassembly processes are repeatable.

[0064] During assembly, first assemble the swing leg joint module 21 and the fixing part 3 together to form an integral structure, and then assemble the integral structure together with the fixing position 11; similarly, during disassembly, first disassemble the swing leg joint module 21 and the fixing part 3 as a whole from the fixing position 11 of the fuselage 1, and then separate the fixing part 3 from the swing leg joint module 21 separately.

[0065] Therefore, the present application adds a fixing part 3 as a transition connection structure for assembling the fuselage 1 and the leg 2. By quickly disassembling and assembling the fixing part 3, the fuselage 1 and the leg 2 can be detachably assembled, thereby improving the assembly efficiency between the fuselage 1 and the leg 2 and facilitating the maintenance of the leg structure.

[0066] In some embodiments, see Figures 3 to 6 The fixing part 11 defines a first cavity 111 through its side wall, and the fixing part 3 defines a second cavity 31 through its side wall; the first cavity 111 and the second cavity 31 are respectively approximately semicircular;

[0067] The side of the swing leg joint module 21 connected to the fixing member 3 is accommodated in the second cavity 31 ; when the fixing member 3 is connected to the fixing position 11 , the side of the swing leg joint module 21 adjacent to the fixing position 11 is accommodated in the first cavity 111 .

[0068] In this embodiment, since the shell of the robot's swing leg joint module 21 is generally cylindrical, the first cavity 111 and the second cavity 31 are respectively roughly semicircular, so that when the swing leg joint module 21 is accommodated in the first cavity 111 and the second cavity 31, the contact area between the swing leg joint module 21 and the fixed position 11 and the fixing part 3 is increased, making the assembly structure more stable, and at the same time facilitating the dispersion of the walking contact impact force transmitted from the swing leg joint module 21 to the fixed position 11 and the fixing part 3, avoiding excessive stress concentration, increasing wear between components, and reducing the service life of each stress-bearing component.

[0069] In some embodiments, see Figure 3 , Figure 4 , Figure 7 and Fig. 9 The fixing part 11 has a first side wall 112 and a second side wall 113, the fixing part 3 has a third side wall 32 and a fourth side wall 33, the first side wall 112 is fitted with the third side wall 32, and the second side wall 113 is fitted with the fourth side wall 33;

[0070] When the legged robot is in an upright standing posture, end surfaces of the first side wall 112 , the second side wall 113 , the third side wall 32 and the fourth side wall 33 are on the same vertical plane.

[0071] In this embodiment, the first side wall 112 is fitted with the third side wall 32, and the second side wall 113 is fitted with the fourth side wall 33, which can provide assembly and positioning conditions for the connection between the fixing position 11 and the fixing part 3; when the robot is in an upright standing posture, the end faces of the first side wall 112, the second side wall 113, the third side wall 32 and the fourth side wall 33 are on the same vertical plane, that is, the first side wall 112, the second side wall 113, the third side wall 32 and the fourth side wall 33 are all structural walls perpendicular to the horizontal direction X, which is convenient for the abutment and alignment of the fixing part 3 and the fixing position 11 during assembly.

[0072] Further, the first side wall 112 is configured with at least two first fastener installation positions 1121; the second side wall 113 is configured with at least two second fastener installation positions 1131; the third side wall 32 is configured with at least two third fastener installation positions 321; the fourth side wall 33 is configured with at least two fourth fastener installation positions 331;

[0073] The first side wall 112 is fixedly connected to the third side wall 32 by fasteners passing through the third fastener installation position 321 and connecting with the first fastener installation position 1121;

[0074] The second side wall 113 and the fourth side wall 33 are fixedly connected by fasteners passing through the fourth fastener installation position 331 and connecting with the second fastener installation position 1131 .

[0075] In this embodiment, since the swing leg joint module 21 is arranged along the horizontal direction X and the fixed position 11 and the fixing part 3 are in an enveloping contact manner with respect to the swing leg joint module 21, the component force of the ground impact force generated during the walking of the robot is transmitted from the swing leg joint module 21 to the fixing position 11 or the fixing part 3 deviates from the vertical direction Y, that is, the projections of the force points of the first side wall 112 and the third side wall 32 relative to the second side wall 113 and the fourth side wall 33 in the horizontal direction X are inconsistent.

[0076] Therefore, by setting at least two fastener installation positions at each assembly connection position, the bolts can apply axial preload to connect the first side wall 112 and the third side wall 32, and the second side wall 113 and the fourth side wall 33 together, while sharing the walking ground impact force components in different directions, thereby improving the shear resistance of the bolts.

[0077] In some embodiments, see Figure 4 , Figure 5 and Fig. 9 The fixing member 3 is configured with a fixing portion 34, and the fixing portion 34 is formed by extending inwardly from the outer edge of one end of the side wall of the fixing member 3;

[0078] The fixing portion 34 is formed with a plurality of fifth fastener installation positions 341 , and the fasteners pass through the fifth fastener installation positions 341 and are fixed to the fixing plate of the swing leg joint module 21 , so that the swing leg joint module 21 is fixedly connected to the fixing member 3 .

[0079] In this embodiment, the fixing portion 34 can provide a positioning reference for the assembly operation of the swing leg joint module 21 and the fixing member 3 .

[0080] In this embodiment, since the swing leg joint module 21 and other components of the leg are arranged compactly, there is insufficient operating space when assembling the fuselage 1 and the leg 2, making assembly difficult; therefore, by providing a fifth fastener installation position 341 on the fixing portion 34, the fixing member 3 and the fixing position 11 can be assembled in different directions relative to the swing leg joint module 21 and the fixing member 3, thereby avoiding the interfering assembly direction for detachable assembly of the fuselage 1 and the leg 2.

[0081] During assembly, firstly, the fixing plate of the swing leg joint module 21 is abutted against the fixing portion 34, and then the bolt is fastened through the fifth fastener installation position 341 to complete the assembly of the swing leg joint module 21 and the fixing position 11, and then the swing leg joint module 21 is assembled with other parts of the leg, and finally the whole structure composed of the leg 2 and the fixing part 3 is assembled with the fixing position 11 of the fuselage 1 to complete the assembly of the fuselage 1 and the leg 2. Similarly, the fuselage 1 and the leg 2 can be separated by disassembling the components in the reverse order.

[0082] In some embodiments, see Figure 2 , Figure 3 , Figure 6 and Figure 7 The fixing position 11 is constructed with a stopper 114 , which is formed by extending inward from the outer edge of one end of the side wall of the fixing position 11 ; the stopper 114 abuts against the fixing plate of the swing leg joint module 21 .

[0083] In this embodiment, the stopper 114 can provide a positioning reference in the horizontal direction X when the overall structure formed by assembling the swing leg joint module 21 and the fixing member 3 is assembled with the fixing position 11 .

[0084] In some embodiments, see Figures 4 to 10 , an outer edge of one side of the fixing member 3 is formed with an integrally formed first limiting mask 35 and a second limiting mask 36, and the first limiting mask 35 and the second limiting mask 36 extend toward the direction of the fixing position 11 respectively;

[0085] The first limiting mask 35 abuts against the side surface of the fixing position 11 in the vertical direction Y, thereby limiting the relative position of the fixing member 3 and the fixing position 11 in the vertical direction Y;

[0086] The second limiting mask 36 abuts against the side surface of the fixing position 11 in the horizontal direction X, thereby limiting the relative position of the fixing member 3 and the fixing position 11 in the horizontal direction X.

[0087] During assembly, the first limiting mask 35 will limit the fixing member 3 and the fixing position 11 in the vertical direction Y, and the second limiting mask 36 will limit the fixing member 3 and the fixing position 11 in the horizontal direction X, thereby assisting the assembly of the fixing member 3 and the fixing position 11. After assembly, the first limiting mask 35 will completely cover the connection gap between the fixing member 3 and the fixing position 11, thereby playing a role in dust prevention and aesthetics.

[0088] In some embodiments, see Figure 3 , Figure 4 and Figure 7 The first side wall 112 is configured with at least one first positioning hole 1122; the second side wall 113 is configured with at least one second positioning hole 1132; the third side wall 32 is configured with at least one third positioning hole 322; the fourth side wall 33 is configured with at least one fourth positioning hole 332;

[0089] The first side wall 112 and the third side wall 32 are positioned by connecting the third positioning hole 322 and the first positioning hole 1122 through a positioning pin;

[0090] The second side wall 113 and the fourth side wall 33 are positioned by connecting the fourth positioning hole 332 and the second positioning hole 1132 through a positioning pin.

[0091] In this embodiment, when the fixing member 3 is to be assembled with the fixing position 11, the positioning pins are first inserted into the first positioning hole 1122 (or the third positioning hole 322) and the second positioning hole 1132 (or the fourth positioning hole 332), respectively, and then the positioning pins are aligned and inserted into the third positioning hole 322 (or the first positioning hole 1122) and the fourth positioning hole 332 (or the second positioning hole 1132), so that the fixing member 3 and the fixing position 11 are accurately positioned to facilitate the subsequent fixed connection operation.

[0092] In some embodiments, the fixing position 11 is disposed at one end of the fuselage 1 in the horizontal direction X, or the fixing position 11 is disposed below the fuselage 1 in the horizontal direction X.

[0093] In some embodiments, see Figure 2 and Fig.13 The flange of the leg swing joint module 21 is connected to the thigh joint module 23 through the connecting frame 22, and the axes of the leg swing joint module 21 and the thigh joint module 23 are roughly perpendicular in the horizontal direction X.

[0094] In this embodiment, the connecting frame 22 serves to change the arrangement direction of the leg swing joint module 21 and the thigh joint module 23, thereby enabling the thigh joint module 23 to drive the leg to swing forward and backward while the leg swing joint module 21 can drive the leg to swing left and right.

[0095] In some embodiments, see Fig.11 , provides a bipedal robot, including the detachable leg structure of the footed robot of the aforementioned scheme, wherein the leg 2 includes a thigh, a calf, and a foot, and the foot is a point-like foot that cannot be actively driven.

[0096] In some embodiments, see Fig.12 and Fig.13 , providing a wheel-legged robot, comprising the detachable leg structure of the foot-legged robot of the aforementioned scheme.

[0097] In some embodiments, a quadruped robot is provided, comprising the detachable leg structure of the legged robot of the aforementioned solution.

[0098] In some embodiments, a robot is provided, comprising the detachable leg structure of the foot-type robot of the aforementioned solution.

[0099] The above are only optional embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application. Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A detachable leg structure of a footed robot, characterized in that: include: fuselage, legs and fixings; The fuselage is provided with a fixing position, the leg has a leg swinging joint module, the fixing piece is fixedly connected to the leg swinging joint module, and the fixing piece is detachably fixedly connected to the fixing position.

2. The detachable leg structure according to claim 1, characterized in that: The fixing position defines a first cavity through its side wall, and the fixing member defines a second cavity through its side wall; the first cavity and the second cavity are respectively approximately semicircular; The side of the swing leg joint module connected to the fixing part is accommodated in the second cavity; when the fixing part is connected to the fixing position, the side of the swing leg joint module adjacent to the fixing position is accommodated in the first cavity.

3. The detachable leg structure according to claim 1, characterized in that: The fixing position has a first side wall and a second side wall, the fixing member has a third side wall and a fourth side wall, the first side wall is arranged in close contact with the third side wall, and the second side wall is arranged in close contact with the fourth side wall; When the legged robot is in an upright standing posture, end surfaces of the first side wall, the second side wall, the third side wall and the fourth side wall are on the same vertical plane.

4. The detachable leg structure according to claim 3, characterized in that: The first side wall is configured with at least two first fastener mounting locations; The second side wall is configured with at least two second fastener mounting locations; The third side wall is configured with at least two third fastener mounting locations; The fourth side wall is configured with at least two fourth fastener mounting locations; The first side wall and the third side wall are fixedly connected by fasteners passing through the third fastener installation position and connecting with the first fastener installation position; The second side wall is fixedly connected to the fourth side wall by a fastener passing through the fourth fastener installation position and connecting with the second fastener installation position.

5. The detachable leg structure according to claim 1, characterized in that: The fixing member is configured with a fixing portion, and the fixing portion is formed by extending inwardly from an outer edge of one end of a side wall of the fixing member; The fixing portion is provided with a plurality of fifth fastener installation positions, and fasteners are passed through the fifth fastener installation positions and fixed to the fixing plate of the swing leg joint module, so that the swing leg joint module is fixedly connected to the fixing member.

6. The detachable leg structure according to claim 1, characterized in that: The fixing position is configured with a stopper, and the stopper is formed by extending inwardly from the outer edge of one end of the side wall of the fixing position; The stopper is in contact with a fixing plate of the swing leg joint module.

7. The detachable leg structure according to claim 1, characterized in that: An outer edge of one side of the fixing member is provided with an integrally formed first position limiting cover and a second position limiting cover, the first position limiting cover and the second position limiting cover respectively extending toward the direction of the fixing position; The first limiting cover abuts against the side surface of the fixing position in the vertical direction, thereby limiting the relative position of the fixing member and the fixing position in the vertical direction; The second limiting cover abuts against the side surface of the fixing position in the horizontal direction, thereby limiting the relative position of the fixing member and the fixing position in the horizontal direction.

8. The detachable leg structure according to claim 3, characterized in that: The first side wall is configured with at least one first positioning hole; The second side wall is configured with at least one second positioning hole; The third side wall is configured with at least one third positioning hole; The fourth side wall is configured with at least one fourth positioning hole; The first side wall and the third side wall are positioned by connecting the third positioning hole and the first positioning hole through a positioning pin; The second side wall and the fourth side wall are positioned by connecting the fourth positioning hole and the second positioning hole through a positioning pin.

9. The detachable leg structure according to claim 1, characterized in that: The fixing position is arranged at one end of the fuselage in the horizontal direction, or The fixing position is arranged below the fuselage in the horizontal direction.

10. The detachable leg structure according to claim 1, characterized in that: The flange of the leg-swinging joint module is connected to the thigh joint module via a connecting frame, and the axes of the leg-swinging joint module and the thigh joint module are approximately perpendicular in the horizontal direction.

11. A bipedal robot, characterized in that: A detachable leg structure of a footed robot as claimed in any one of claims 1 to 10; The leg comprises a thigh, a calf and a foot, and the foot is a point-shaped foot that cannot be actively driven.

12. A wheeled robot, characterized in that: A detachable leg structure of a footed robot as claimed in any one of claims 1 to 10.

13. A quadruped robot, characterized in that: A detachable leg structure of a footed robot as claimed in any one of claims 1 to 10.

14. A robot, characterized in that A detachable leg structure of a footed robot as claimed in any one of claims 1 to 10.

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