Leg structure and robot

Abstract

The invention provides a leg structure and a robot. The leg structure comprises a first shell, a second shell, a foot driving assembly, a first connecting rod, a movable part and a second connecting rod. The first end of the first shell is used for being connected to a foot structure of the robot. The second shell is movably connected to a second end, far away from the first end, of the first shell; the foot driving assembly is connected to the second shell; the first connecting rod is connected to the foot driving assembly so as to move relative to the second shell under the driving of the foot driving assembly; the movable part is rotationally connected to the first shell around a first axis; the first connecting rod is rotationally connected to the movable part around a second axis; the second connecting rod is used for being connected to a foot structure of the robot and rotationally connected to the movable part around a third axis; on a projection plane with the first axis as the normal, the projection of the first connecting rod and the projection of the second connecting rod are arranged in a staggered mode.

Description

[0001] The applicant filed a utility model patent application for the same invention on the same day as applying for the invention patent. Technical Field

[0002] This application relates to the field of robotics, specifically to a leg structure and a robot. Background Technology

[0003] In related technologies, robots often have motors in their feet to drive the feet to rotate relative to the legs, achieving movements similar to human ankle rotation and making the robot's movements more flexible. However, when the robot performs actions such as lifting its leg or walking, the rotation of the legs causes the feet to move synchronously. The motors increase the weight of the feet, resulting in a large moment of inertia when the robot's legs rotate, which still limits the robot's flexibility during movement. Summary of the Invention

[0004] The embodiments of this application provide a leg structure and robot that can improve the technical problem of inflexible robot legs.

[0005] In a first aspect, embodiments of this application provide a leg structure, including:

[0006] A first housing, the first end of which is used to connect to the robot's foot structure;

[0007] The second housing is movably connected to the second end of the first housing, which is away from the first end;

[0008] A foot drive assembly is connected to the second housing;

[0009] A first link, one end of which is connected to the foot drive assembly, is movable relative to the second housing under the drive of the foot drive assembly;

[0010] The movable component is rotatably connected to the first housing about a first axis, and the other end of the first connecting rod is rotatably connected to the movable component about a second axis.

[0011] The second link has one end connected to the robot's foot structure, and the other end of the second link is rotatably connected to the movable part about a third axis;

[0012] Specifically, on the projection plane with the first axis as the normal, the projections of the first connecting rod and the second connecting rod are misaligned.

[0013] In one embodiment, the second housing has a first inner cavity, and at least a portion of the first connecting rod is located in the first inner cavity;

[0014] And / or, the first housing has a second inner cavity, in which at least a portion of the second connecting rod is located.

[0015] In one embodiment, at least when the leg structure is flexed, the side of the movable member connecting the first link and the second link is at least partially located outside the first housing;

[0016] The projection point of the first axis on the projection plane is defined as the first projection point, the projection point of the second axis on the projection plane is defined as the second projection point, and the projection point of the third axis on the projection plane is defined as the third projection point.

[0017] The first projection point is located on one side of the straight line containing the second projection point and the third projection point.

[0018] In one embodiment, the interior angles of the triangle with the first projection point, the second projection point, and the third projection point as vertices are less than or equal to 90°.

[0019] In one embodiment, the first axis, the second axis, and the third axis are parallel to each other.

[0020] In one embodiment, the foot drive assembly includes:

[0021] The foot drive motor is fixedly mounted on the second housing;

[0022] The first connecting member includes a fixing part fixedly connected to the output shaft of the foot drive motor, and a connecting part protruding from the periphery of the fixing part, wherein one end of the first connecting rod is rotatably connected to the connecting part.

[0023] The connecting portion protrudes from the fixing portion and is inclined radially to the output shaft of the motor.

[0024] In one embodiment, the foot drive assembly further includes:

[0025] A limiting member is fixedly connected to the foot drive motor or the second housing. The limiting member is provided with a limiting groove, and the limiting groove has an opening at one end along the radial direction of the output shaft of the foot drive motor.

[0026] The first connector further includes:

[0027] The limiting part is at least partially embedded in the limiting groove from the opening;

[0028] The limiting part is movably disposed within the limiting groove, such that at least a portion of the groove wall of the limiting groove is used to stop the limiting part to limit the rotation angle of the first connecting member.

[0029] In one embodiment, the groove wall of the limiting groove includes:

[0030] The first groove wall is located on the first side of the limiting part;

[0031] The second groove wall is located on the second side of the limiting part opposite to the first side;

[0032] The limiting part is located between the first groove wall and the second groove wall; the limiting member is further provided with:

[0033] The reinforcing part protrudes axially along the output shaft of the drive motor and is disposed at the first groove wall or the second groove wall.

[0034] In one embodiment, the leg structure further includes:

[0035] A leg drive assembly, connected to the second housing, is used to drive the first housing to rotate relative to the second housing;

[0036] A third link, one end of which is rotatably connected to the first housing about a fourth axis, is connected to the leg drive assembly to drive the first housing to rotate relative to the second housing under the drive of the leg drive assembly.

[0037] In one embodiment, the first housing is rotatably connected to the second housing about the first axis; the fourth axis is parallel to the first axis.

[0038] In one embodiment, the first axis is located between the second axis and the fourth axis.

[0039] In one embodiment, the leg drive assembly includes:

[0040] The leg drive motor is fixedly mounted on the second housing.

[0041] The second connector is fixedly connected to the output shaft of the leg drive motor, and the other end of the third link is rotatably connected to the second connector.

[0042] The portion of the third link that connects to the second connector is located around the output shaft of the leg drive motor.

[0043] Secondly, embodiments of this application provide a robot including the leg structure described above.

[0044] In one embodiment, the robot further includes:

[0045] The foot structure is rotatably connected to the first end of the first housing;

[0046] The second link is rotatably connected to the foot structure.

[0047] The beneficial effects of the embodiments of this application are as follows:

[0048] In the embodiments of this application, by integrating the foot drive assembly that drives the foot structure to move into the second housing, the weight of the foot structure is reduced, and the relative positions of the first and second links used for transmission allow them to be more concentratedly integrated in the space defined by the first and second housings. For example, the first and second links can be integrated in the same plane, so the space on the second and first housings for mounting the first or second link can be relatively small, and the volume of the first and second housings can be relatively small. These arrangements can reduce the inertia when the first housing and the foot structure move together relative to the second housing, so that the robot's leg and foot structures move more flexibly, thereby improving the technical problem of insufficient robot dexterity. Attached Figure Description

[0049] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0050] Figure 1 This is a three-dimensional schematic diagram of a portion of the structure of the robot provided in an embodiment of this application;

[0051] Figure 2 yes Figure 1 Exploded view of the structure shown;

[0052] Figure 3 yes Figure 1 A three-dimensional schematic diagram of a portion of the structure shown;

[0053] Figure 4 yes Figure 3 A three-dimensional schematic diagram of a portion of the structure shown;

[0054] Figure 5 yes Figure 3 A schematic diagram of the projected outline of a portion of the structure shown on the projection plane.

[0055] Figure 6 yes Figure 4 A schematic diagram of the middle limiting component.

[0056] Explanation of reference numerals in the attached figures:

[0057] 10. Foot structure;

[0058] 100. Leg structure;

[0059] 110. First shell; 111. Second inner cavity;

[0060] 120. Second housing; 121. First inner cavity;

[0061] 130. Foot drive assembly; 131. Foot drive motor; 132. First connector; 132a. Fixing part; 132b. Connecting part; 132c. Limiting part; 133. Limiting member; 133a. Limiting groove; 133b. Opening; 133c. First groove wall; 133d. Second groove wall; 133e. Reinforcing part;

[0062] 140. First link;

[0063] 150. Movable items;

[0064] 160. Second link;

[0065] 170. Leg drive assembly; 171. Leg drive motor; 172. Second connector;

[0066] 180, Third Link;

[0067] A1, First end; A2, Second end; L1, First axis; L2, Second axis; L3, Third axis; L4, Fourth axis; S, Projection plane; a1, First projection point; a2, Second projection point; a3, Third projection point. Detailed Implementation

[0068] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application. In addition, it should be understood that the specific embodiments described herein are only for illustration and explanation of this application and are not intended to limit this application. In this application, unless otherwise stated, directional terms such as "upper" and "lower" generally refer to the upper and lower positions of the device in actual use or operation, specifically the drawing directions in the accompanying drawings; while "inner" and "outer" refer to the outline of the device.

[0069] Firstly, referring to Figures 1 to 6 As shown, the leg structure 100 provided in some embodiments of this application includes: a first housing 110, a second housing 120, a foot drive assembly 130, a first link 140, a movable member 150, and a second link 160.

[0070] Among them, reference Figure 1 and Figure 2 As shown, the first end A1 of the first housing 110 is connected to the robot's foot structure 10, so that the movement of the first housing 110 can drive the movement of the foot structure 10. The second housing 120 is movably connected to the second end A2 of the first housing 110 away from the first end A1. The second housing 120 can be integrated into the robot's torso or other parts, and a driving component for driving the movement of the first housing 110 can be integrated on the second housing 120, so that the first housing 110 and the robot's foot structure 10 can move relative to the second housing 120, realizing the robot's leg lifting, walking and other actions.

[0071] Understandably, because the first shell 110 and the second shell 120 are relatively movable, the leg structure 100 can exist in at least two states: flexion and extension. In the flexed state, the first end A1 of the first shell 110 is closer to the second shell 120, allowing the leg structure 100 to achieve a movement and posture similar to a human squatting or a bird sitting. In the extended state, the first end A1 of the first shell 110 is farther from the second shell 120, allowing the leg structure 100 to achieve a movement and posture similar to a human standing or a bird standing.

[0072] In this application, reference is made to Figure 2 As shown, the foot drive assembly 130 is connected to the second housing 120. One end of the first link 140 is connected to the foot drive assembly 130, and the first link 140 is movable relative to the second housing 120 under the drive of the foot drive assembly 130. The movable member 150 is rotatably connected to the first housing 110 about a first axis L1, and the other end of the first link 140 is rotatably connected to the movable member 150 about a second axis L2. One end of the second link 160 is connected to the robot's foot structure 10, and the other end of the second link 160 is rotatably connected to the movable member 150 about a third axis L3. Thus, the foot drive assembly 130 can drive the robot's foot structure 10 to move relative to the first housing 110 by moving the first link 140 and the second link 160. The foot drive assembly 130 is located at the second housing 120. Compared with the related art, which places the drive component that drives the rotation of the foot structure at the foot structure, it can reduce the inertia when the first housing 110 and the robot's foot structure 10 move together relative to the first housing 110.

[0073] In this application, reference is made to Figure 3 and Figure 4 As shown, for the leg structure 100 provided in this application, on the projection plane S with the first axis L1 as the normal, the projections of the first link 140 and the second link 160 are misaligned.

[0074] By adopting the above solution, integrating the foot drive assembly that drives the foot structure into the second housing 120 reduces the weight of the foot structure. Furthermore, the relative positions of the first link 140 and the second link 160, used for transmission, allow for more concentrated integration within the space defined by the first housing 110 and the second housing 120. For example, the first link 140 and the second link 160 can be integrated on the same plane. This reduces the space available for mounting the first link 140 or the second link 160 on the second housing 120 and the first housing 110, resulting in a smaller volume for the first housing 110 and the second housing 120. This also facilitates the integration of other components into the first housing 110 and the second housing 120. These features reduce the inertia when the first housing 110 and the foot move together relative to the second housing 120, making the robot's leg and foot structures more flexible and improving the technical problem of insufficient robot dexterity. The first link 140 and the second link 160 drive the robot's foot structure 10 through their own movements. In some embodiments, refer to... Figure 3 As shown, the second housing 120 can be defined to have a first inner cavity 121, with at least a portion of the first connecting rod 140 located within the first inner cavity 121. This allows the second housing 120 to protect the first connecting rod 140 from damage caused by external debris. Similarly, the first housing 110 can be defined to have a second inner cavity 111, with at least a portion of the second connecting rod 160 located within the second inner cavity 111, thus allowing the first housing 110 to protect the second connecting rod 160.

[0075] It is understandable that the first inner cavity 121 and the second inner cavity 111 can also be used to integrate and install components such as sensors and wires. The aforementioned scheme of setting the projection of the first connecting rod 140 and the projection of the second connecting rod 160 on the projection plane S is beneficial to limiting the range of motion of the first connecting rod 140 and the second connecting rod 160, facilitating the spatial layout and assembly of other components in the inner cavity, thereby having the function of limiting the volume of the first housing 110 and the second housing 120 themselves.

[0076] The movable component 150 can also be disposed in the second inner cavity 111. Specifically, at least when the leg structure 100 is in a bent position, the side of the movable component 150 connecting the first link 140 and the second link 160 is at least partially located outside the first housing 110, facilitating the assembly of structures such as the first link 140, the second link 160, the first housing 110, and the second housing 120. Figure 3 The specific embodiment shown illustrates a configuration in which the leg structure 100 serves as at least a part of the leg of the ostrich robot, and with the leg structure 100 extended, the movable member 150 is located outside the first housing 110 on one side connecting the first link 140 and the second link 160.

[0077] In some embodiments, refer to Figure 5 As shown, the projection point of the first axis L1 on the projection plane S can be defined as the first projection point a1, the projection point of the second axis L2 on the projection plane S as the second projection point a2, and the projection point of the third axis L3 on the projection plane S as the third projection point a3. The first projection point a1 is located on one side of the line containing the second projection point a2 and the third projection point a3, meaning that the first projection point a1, the second projection point a2, and the third projection point a3 are not collinear. The shape formed by connecting the line segments with each of these three as endpoints is a triangle. Compared to a collinear scheme, the first link 140 and the second link 160 can be integrated onto the movable part 150 with a shorter movable part 150 length. Because the movable part 150 extends beyond the first housing 110, the shorter length of the movable part 150 reduces the possibility of the movable part 150 being obstructed by external objects, thus improving the robot's flexibility when performing actions.

[0078] As a specific plan, refer to Figure 5 As shown, the interior angles of the triangle with the first projection point a1, the second projection point a2, and the third projection point a3 as vertices are less than or equal to 90°, that is, the triangle is an acute triangle or a right triangle, so that the first link 140 and the second link 160 are arranged relatively centrally at one end of the movable part 150, reducing space occupation.

[0079] In a more specific design, the first axis L1, the second axis L2, and the third axis L3 are parallel to each other, ensuring smooth rotation of the first link 140 and the second link 160.

[0080] As an exemplary description of the specific structure of the foot drive assembly 130, refer to Figure 2 , Figure 3 and Figure 4 As shown, the foot drive assembly 130 can be defined as including: a foot drive motor 131 and a first connector 132.

[0081] The foot drive motor 131 is fixedly mounted in the second housing 120 and provides power for the rotation of the robot's foot structure 10 relative to the first housing 110. Specifically, the housing or stator of the foot drive motor 131 can be fixed in the first inner cavity 121, and the output shaft of the foot drive motor 131 can rotate relative to the first housing 110.

[0082] Reference Figure 4As shown, the first connector 132 includes a fixing part 132a fixedly connected to the output shaft of the foot drive motor 131, and a connecting part 132b protruding from the periphery of the fixing part 132a. One end of the first link 140 is rotatably connected to the connecting part 132b, so that when the output shaft of the foot drive motor 131 rotates, it can drive the fixing part 132a to rotate. Then, the rotation of the connecting part 132b drives the first link 140 to move. After that, the movement of the first link 140 drives the movement of the movable part 150 and the second link 160 to move. Finally, the second link 160 drives the robot's foot structure 10 to move relative to the first shell 110.

[0083] More specifically, the connecting part 132b protrudes from the fixing part 132a and is inclined radially toward the output shaft of the motor. This arrangement allows the foot drive motor to move the second link 160, and while the fixing part 132a has sufficient volume to install the first link 140, the first connecting part 132 occupies a small radial length along the output shaft of the foot drive motor 131. As a result, the range of motion of the first link 140 is relatively small, which helps to reduce the space required for the movement of the first link 140 and makes it easier to limit the overall volume of the second housing 120.

[0084] In one embodiment, reference is made to Figure 4 and Figure 6 As shown, the foot drive assembly 130 further includes a limiting member 133. The limiting member 133 is fixedly connected to the foot drive motor 131 or the second housing 120. The limiting member 133 is provided with a limiting groove 133a, and one end of the limiting groove 133a along the radial direction of the output shaft of the foot drive motor 131 has an opening 133b, which can be used to allow at least a portion of the first connecting member 132 to be inserted into the limiting groove 133a.

[0085] Specifically, refer to Figure 4 and Figure 6 As shown, the first connecting member 132 further includes a limiting portion 132c. The limiting portion 132c is at least partially embedded from the opening 133b into the limiting groove 133a. That is, the limiting portion 132c can extend radially along the output shaft of the foot drive motor 131, thereby inserting the limiting portion 132c into the limiting groove 133a from the opening 133b. The limiting portion 132c is movably disposed within the limiting groove 133a so that at least a portion of the groove wall of the limiting groove 133a serves to stop the limiting portion 132c to limit the rotation angle of the first connecting member 132. In other words, the groove wall of the limiting groove 133a can be used to limit the rotation of the first connecting member 132 under the drive of the foot drive motor 131, thereby limiting the range of motion of the first link 140. This ensures stable operation of the linkage mechanism, which is an integral structure consisting of the first link 140, the movable member 150, and the second link 160, reducing the possibility of jamming.

[0086] In some embodiments, refer to Figure 6 As shown, the groove wall of the limiting groove 133a includes a first groove wall 133c and a second groove wall 133d. The first groove wall 133c is located on the first side of the limiting portion 132c. The second groove wall 133d is located on the second side of the limiting portion 132c opposite to the first side. The limiting portion 132c is located between the first groove wall 133c and the second groove wall 133d. When the first connecting member 132 rotates to the point where the limiting portion 132c abuts against the first groove wall 133c or the second groove wall 133d, it is stopped. This achieves the specific limitation of the rotation range of the first connecting member 132 by the first groove wall 133c and the second groove wall 133d being located on both sides of the limiting portion 132c.

[0087] In the specific plan, refer to Figure 6 As shown, the limiting member 133 is further provided with a reinforcing part 133e. This reinforcing part 133e protrudes axially along the output shaft of the drive motor and is located at the first groove wall 133c or the second groove wall 133d, thereby increasing the thickness of the first groove wall 133c and the second groove wall 133d. This prevents damage to the limiting member 133 when the limiting part 132c contacts the first groove wall 133c or the second groove wall 133d, thus improving the structural strength of the limiting member 133. In extreme cases, such as when the second housing 120 is raised, causing the robot's foot structure 10 to suspend in the air, and the foot drive motor is damaged or other malfunctions cause the first connector 132 to rotate abnormally, the second connector 172 may rotate rapidly and collide with the limiting member 133. By providing the reinforcing part 133e at the first groove wall 133c and the second groove wall 133d, damage to the limiting member 133 can be prevented, ensuring that the first connector 132 can be stopped and preventing danger.

[0088] As an exemplary description of a specific structure for realizing the movement of the first housing 110 relative to the second housing 120, refer to Figure 2 and Figure 3 As shown, the leg structure 100 also includes a leg drive assembly 170 and a third link 180.

[0089] The leg drive assembly 170 is connected to the second housing 120 and is used to drive the first housing 110 to rotate relative to the second housing 120. One end of the third link 180 is rotatably connected to the first housing 110 about the fourth axis L4, and the third link 180 is connected to the leg drive assembly 170 so that the first housing 110 rotates relative to the second housing 120 under the drive of the leg drive assembly 170. Thus, when the leg drive assembly 170 is working, it drives the third link 180 to move, and in turn, the third link 180 drives the first housing 110 to rotate relative to the second housing 120, which can be used to realize the robot's leg lifting, walking and other actions.

[0090] In the specific design, the first housing 110 is rotatably connected to the second housing 120 about the first axis L1. That is, the center of rotation of the first housing 110 relative to the second housing 120 is the same as the center of rotation of the movable part 150 relative to the first housing 110. This simplifies the transmission design between the first housing 110 and the second housing 120, as well as between the first housing 110, the second housing 120, and the robot's foot structure 10. The fourth axis L4 can also be set to be parallel to the first axis L1.

[0091] In a more specific design, the first axis L1 is located between the second axis L2 and the fourth axis L4. This allows the first link 140 and the third link 180 to be separated by the movable part 150. This arrangement makes full use of the space around the movable part 150 to compactly arrange the first link 140 and the third link 180. While ensuring that the first link 140 and the third link 180 move without interference, the overall space occupied by the transmission configuration between the first housing 110 and the second housing 120, as well as between the robot's foot structure 10 and the foot drive assembly 130, is relatively small. This helps to limit the overall volume and weight of the first housing 110 and the second housing 120. It is understood that when the robot performs actions such as lifting its leg or walking, the second housing 120 needs to move relative to other parts of the robot. The above arrangement reduces the inertia of the first housing 110 and the second housing 120 during movement, further improving the robot's flexibility when performing actions.

[0092] The leg drive assembly 170 can drive the third link 180 using pneumatic, hydraulic, or electric methods, etc., and this application does not impose specific limitations in this regard. For example, see... Figure 3 As shown, the leg drive assembly 170 includes: a leg drive motor 171 and a second connector 172.

[0093] A leg drive motor 171 is fixedly mounted on the second housing 120 to provide power for rotating the first housing 110 relative to the second housing 120. A second connector 172 is fixedly connected to the output shaft of the leg drive motor 171, enabling the leg drive motor 171 to drive the second connector 172 to rotate when it is operating. The other end of a third link 180 is rotatably connected to the second connector 172, and the portion of the third link 180 connected to the first connector 132 is located around the output shaft of the foot drive motor 131. Thus, when the leg drive motor 171 drives the second connector 172 to rotate, it can further drive the third link 180 to move, ultimately causing the first housing 110 to rotate relative to the second housing 120.

[0094] Based on the use of the leg structure 100, a second aspect of this application provides a robot including the aforementioned leg structure 100. This robot possesses the beneficial effects of the aforementioned leg structure 100, which will not be elaborated upon here.

[0095] In the specific plan, refer to Figures 1 to 3 As shown, the robot also includes a foot structure 10. The foot structure 10 is rotatably connected to the first end A1 of the first housing 110. More specifically, a second link 160 is rotatably connected to the foot structure 10, so that when the second link 160 moves, it can drive the foot structure 10 to rotate relative to the first housing 110.

[0096] This application does not impose any restrictions on the specific rotatable connections between the first link 140 and the movable member 150, between the first link 140 and the first connecting member 132, between the second link 160 and the movable member 150, between the second link 160 and the foot structure 10, between the third link 180 and the first housing 110, between the third link 180 and the second connecting member 172, and between the foot structure 10 and the first housing 110. As an example, the connections between the first link 140 and the movable member 150, between the first link 140 and the first connecting member 132, between the second link 160 and the movable member 150, between the second link 160 and the foot structure 10, between the third link 180 and the first housing 110, between the third link 180 and the second connecting member 172, and between the foot structure 10 and the first housing 110 can be hinged or other similar connections.

[0097] The embodiments of this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A leg structure, characterized in that, include: A first housing, the first end of which is used to connect to the robot's foot structure; The second housing is movably connected to the second end of the first housing, which is away from the first end; A foot drive assembly is connected to the second housing; A first link, one end of which is connected to the foot drive assembly, is movable relative to the second housing under the drive of the foot drive assembly; The movable component is rotatably connected to the first housing about a first axis, and the other end of the first connecting rod is rotatably connected to the movable component about a second axis. The second link has one end connected to the robot's foot structure, and the other end of the second link is rotatably connected to the movable part about a third axis; On the projection plane with the first axis as the normal, the projections of the first link and the second link are misaligned.

2. The leg structure according to claim 1, characterized in that, The second housing has a first inner cavity, and at least a portion of the first connecting rod is located in the first inner cavity; And / or, the first housing has a second inner cavity, in which at least a portion of the second connecting rod is located.

3. The leg structure according to claim 2, characterized in that, At least when the leg structure is flexed, the side of the movable member connecting the first link and the second link is at least partially located outside the first housing; The projection point of the first axis on the projection plane is defined as the first projection point, the projection point of the second axis on the projection plane is defined as the second projection point, and the projection point of the third axis on the projection plane is defined as the third projection point. The first projection point is located on one side of the straight line containing the second projection point and the third projection point.

4. The leg structure according to claim 3, characterized in that, The interior angles of the triangle with the first projection point, the second projection point, and the third projection point as vertices are less than or equal to 90°.

5. The leg structure according to claim 1, characterized in that, The first axis, the second axis, and the third axis are parallel to each other.

6. The leg structure according to any one of claims 1 to 5, characterized in that, The foot drive component includes: The foot drive motor is fixedly mounted on the second housing; The first connecting member includes a fixing part fixedly connected to the output shaft of the foot drive motor, and a connecting part protruding from the periphery of the fixing part, wherein one end of the first connecting rod is rotatably connected to the connecting part. The connecting portion protrudes from the fixing portion and is inclined radially to the output shaft of the motor.

7. The leg structure according to claim 6, characterized in that, The foot drive assembly also includes: A limiting member is fixedly connected to the foot drive motor or the second housing. The limiting member is provided with a limiting groove, and the limiting groove has an opening at one end along the radial direction of the output shaft of the foot drive motor. The first connector further includes: The limiting part is at least partially embedded in the limiting groove from the opening; The limiting part is movably disposed within the limiting groove, such that at least a portion of the groove wall of the limiting groove is used to stop the limiting part to limit the rotation angle of the first connecting member.

8. The leg structure according to claim 7, characterized in that, The groove wall of the limiting groove includes: The first groove wall is located on the first side of the limiting part; The second groove wall is located on the second side of the limiting part opposite to the first side; The limiting part is located between the first groove wall and the second groove wall; the limiting member is further provided with: The reinforcing part protrudes axially along the output shaft of the drive motor and is disposed at the first groove wall or the second groove wall.

9. The leg structure according to any one of claims 1 to 5, characterized in that, The leg structure also includes: A leg drive assembly, connected to the second housing, is used to drive the first housing to rotate relative to the second housing; A third link, one end of which is rotatably connected to the first housing about a fourth axis, is connected to the leg drive assembly to drive the first housing to rotate relative to the second housing under the drive of the leg drive assembly.

10. The leg structure according to claim 9, characterized in that, The first housing is rotatably connected to the second housing about the first axis; the fourth axis is parallel to the first axis.

11. The leg structure according to claim 9, characterized in that, The first axis is located between the second axis and the fourth axis.

12. The leg structure according to claim 9, characterized in that, The leg drive assembly includes: The leg drive motor is fixedly mounted on the second housing. The second connector is fixedly connected to the output shaft of the leg drive motor, and the other end of the third link is rotatably connected to the second connector. The portion of the third link that connects to the second connector is located around the output shaft of the leg drive motor.

13. A robot, characterized in that, Includes the leg structure as described in any one of claims 1 to 12.

14. The robot according to claim 13, characterized in that, The robot also includes: The foot structure is rotatably connected to the first end of the first housing; The second link is rotatably connected to the foot structure.

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