Leg structure and robot
By using a two-stage amplification module in the leg structure of the footed robot to enhance the joint torque, the problem of insufficient joint torque of the existing footed robot is solved, achieving greater load capacity and long-term load bearing.
Patent Information
- Application Number
- CN202420515048.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-03-15
- Publication Date
- 2025-01-24
- Estimated Expiration
- 2034-03-15
AI Technical Summary
The existing four-leg or bipedal robots have insufficient joint torque, cannot carry too much weight, and cannot achieve long-term weight loading.
By introducing the first zoom module and the second zoom module in the leg structure, the two -level magnification of joint torque is achieved, thereby increasing joint torque.
Makes robots carrying larger weights while increasing the weight of the robot.
Smart Images
Figure CN222388277U_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of robotics, and more particularly, to a leg structure and a robot. Background Art
[0002] With the popularity of robots, more and more places are beginning to use robots to replace operators to save manpower, for example, legged robots can transport objects instead of operators.
[0003] However, the joint torque of current quadrupedal or bipedal robots is insufficient to carry objects of excessive weight, nor can they carry loads for long periods of time. Utility Model Content
[0004] To solve the above problems, the present application provides a leg structure and a robot. The leg structure provided by the present application can achieve two-stage amplification of the joint torque through a first amplification module and a second amplification module to increase the joint torque, thereby enabling the robot to carry objects of greater weight and at the same time increase the load-bearing time of the robot.
[0005] In the first aspect, the present application provides a leg structure, including a power module, a first mechanical leg, an amplification module and a second mechanical leg, the power module is used to drive the second mechanical leg to rotate relative to the first mechanical leg through the amplification module; wherein the amplification module includes: a first amplification module, a second amplification module and a transmission assembly; one end of the first amplification module is connected to the power module, for performing a primary amplification of the torque output to the second mechanical leg; one end of the second amplification module is connected to the power output end of the first amplification module, for performing a secondary amplification of the torque output to the second mechanical leg, wherein the second amplification module is arranged in the first mechanical leg; one end of the transmission assembly is connected to the other end of the second amplification module, and the other end of the transmission assembly is connected to the second mechanical leg, and the transmission assembly is used to drive the second mechanical leg to rotate relative to the first mechanical leg.
[0006] The first amplification module provided based on the embodiment of the present application can perform a first-stage amplification on the torque output to the second mechanical leg, and transmit the amplified torque to the second amplification module. The second amplification module will amplify the torque again and output the torque after two-stage amplification to the second mechanical leg through the transmission component to increase the torque of the second mechanical leg and achieve large torque output, so that the second mechanical leg can rotate relative to the first mechanical leg based on the large torque, thereby enabling the robot to carry objects of greater weight and at the same time increase the load-bearing time of the robot.
[0007] In one possible design, the second amplification module includes: a first gear and a second gear; the first gear is sleeved on the power output end of the first amplification module; the second gear is meshed with the first gear, the second gear is sleeved on one end of the transmission assembly and the second gear is rotatably connected to the first mechanical leg; the pitch circle diameter of the second gear is larger than the pitch circle diameter of the first gear.
[0008] Based on the above optional method, the second gear will amplify the torque transmitted by the first gear, thereby further amplifying the torque output to the thigh and transmitting it to the transmission component, so that the transmission component can control the calf based on the large torque. Moreover, compared with the reducer, the first gear and the second gear are smaller in size and lighter in weight, and are suitable for structures with smaller space such as the calf joint.
[0009] In a possible design, the second gear is an incomplete gear, and the number of teeth of the incomplete gear matches the rotation angle of the second mechanical leg relative to the first mechanical leg; or the second gear is a complete gear.
[0010] Based on the above optional manner, when the second gear is an incomplete gear, the space occupied by the second amplifying module in the leg structure can be reduced, and the weight and manufacturing cost of the second amplifying module can be reduced.
[0011] In one possible design, the transmission assembly includes: a rocker arm and a connecting rod; one end of the rocker arm is sleeved with the second gear; one end of the connecting rod is rotationally connected to the other end of the rocker arm, and the other end of the connecting rod is rotationally connected to the second mechanical leg.
[0012] In a possible design, the rocker arm is fixed coaxially with the second gear.
[0013] Based on the above optional method, after the second gear amplifies the torque, since the rocker arm and the second gear are coaxially fixed, the synchronization of the second gear and the rocker arm can be guaranteed, thereby ensuring the accuracy of the two-stage amplified torque transmitted to the calf.
[0014] In a possible design, the leg structure also includes a drive shaft and a bearing; the second gear, the rocker arm, the bearing and the drive shaft are sequentially sleeved.
[0015] In a possible design, the first amplification module includes a reducer, which is sleeved with a power output end of the first mechanical leg, and the power output end of the reducer is connected to one end of the second amplification module to achieve torque transmission.
[0016] In a possible design, the leg structure also includes a first fastening key, one end of which is connected to the power output end of the reducer, and the other end of the first fastening key is connected to one end of the second amplification module.
[0017] Based on the above optional manner, the connection firmness between the reducer and the second amplification module can be ensured, that is, the rotation reliability of the reducer and the second amplification module can be ensured, thereby ensuring the reliability of torque transmission.
[0018] In a possible design, the leg structure further includes a second fastening key, one end of the second fastening key is connected to the other end of the second amplification module, and the other end of the second fastening key is connected to one end of the transmission assembly.
[0019] Based on the above optional manner, the connection firmness between the second amplification module and the transmission assembly can be ensured, that is, the rotation reliability of the second amplification module and the transmission assembly can be ensured, thereby ensuring the reliability of torque transmission.
[0020] In a second aspect, the present application provides a robot comprising the leg structure and a body as described in any optional manner in the first aspect, wherein a plurality of leg structures are respectively arranged around the body. BRIEF DESCRIPTION OF THE DRAWINGS
[0021] Figure 1 is a schematic diagram of the structure of the robot provided in an embodiment of the present application;
[0022] Figure 2 is a structural schematic diagram of a leg structure provided in an embodiment of the present application;
[0023] Figure 3 This is a schematic diagram of the cross-sectional structure of the leg structure provided in the embodiment of the present application. Figure 1 ;
[0024] Figure 4 This is a schematic diagram of the cross-sectional structure of the leg structure provided in the embodiment of the present application. Figure 2 ;
[0025] Figure 5 is a schematic diagram of the decomposed structure of the leg structure provided in an embodiment of the present application;
[0026] Figure 6 This is a schematic diagram of the cross-sectional structure of the leg structure provided in the embodiment of the present application. Figure 3 .
[0027] Among them, the reference numerals in the figure are:
[0028] 1. Leg structure; 11. Power module; 12. First mechanical leg; 121. Motor; 13. Amplification module; 131. First amplification module; 1311. Reducer; 132. Second amplification module; 1321. First gear; 1322. Second gear; 133. Transmission assembly; 1331. Rocker arm; 1332. Connecting rod; 134. Output flange; 14. Second mechanical leg; 15. Drive shaft; 16. Bearing; 17. First fastening key; 18. Second fastening key; 2. Fuselage. DETAILED DESCRIPTION
[0029] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, and circuits are omitted to prevent unnecessary details from obstructing the description of the present application.
[0030] With the popularity of robots, more and more places are beginning to use robots, such as food delivery robots, cleaning robots, industrial robots, and foot-type robots, etc., to replace operators and save manpower. Among them, foot-type robots generally have several mechanical legs, each of which is provided with a joint module. The joint module can accurately control the transmission of the mechanical legs through the motor and the reducer to ensure the accuracy of the movement of the foot-type robot, thereby replacing the operator to transport objects. Here, it is worth explaining that the role of the motor is to convert electrical energy into mechanical energy to provide power and motion control for the robot. In order to ensure the accuracy of the robot's movement, a reducer is needed to ensure that the robot can reliably complete the process tasks while reducing the speed and increasing the torque, and ensure the reliability of the robot's use.
[0031] There are usually two types of legged robots in the related art. One type of legged robot has a reducer in its motor, that is, the reducer is arranged inside the joint module, and the joint module can directly output power through the internal reducer. However, the torque requirements of each joint of the legged robot are different. For example, the torque required by the motor in the calf joint is relatively large. If only the reducer arranged inside the motor is used, this torque cannot be supported, which leads to insufficient joint torque of the robot and inability to use it normally. Moreover, when only the reducer arranged inside the motor is used, the joint torque of the robot is limited, resulting in its inability to carry objects of excessive weight. In the related art, the size of the joints that require greater torque is usually enlarged to avoid the problem of insufficient joint torque of the robot. However, this will lead to greater redundancy of other joints, affecting the normal use of other joints.
[0032] Another type of legged robot does not have a reducer in its motor, so an external reducer is required to reduce and amplify the speed to ensure the accuracy of the robot's movement. That is, the reducer is set on the outside of the joint module so that the torque output by the motor can be reduced and amplified by the external reducer. However, the torque requirements of each joint of a legged robot are different. For example, the torque required by the motor in the calf joint is relatively large. If only the reducer set outside the motor is used, the torque required by the calf motor will be insufficient and cannot be used normally. In addition, when only the reducer set outside the motor is used, the joint torque of the robot is limited, resulting in its inability to carry weight for a long time.
[0033] To this end, an embodiment of the present application provides a leg structure and a robot, which can achieve two-stage amplification of joint torque through a first amplification module and a second amplification module to increase the joint torque to achieve large torque output, thereby enabling the robot to carry objects of greater weight and at the same time increase the robot's load-bearing time.
[0034] The leg structure and robot provided in the present application are exemplarily introduced below with reference to the accompanying drawings.
[0035] like Figure 1 As shown, the embodiment of the present application provides a robot, including a leg structure 1 and a body 2, wherein a plurality of leg structures 1 are respectively arranged around the body 2, such as Figure 1 As shown, the robot includes four leg structures 1 as an example, and the four leg structures 1 are respectively arranged around the body 2 to form a quadruped robot. Here, it is worth noting that this application only takes a quadruped robot as an example, and the number and position of the leg structures 1 can be set according to actual needs, and this application does not make specific restrictions on this.
[0036] Optionally, in order to reduce the overall manufacturing cost of the robot, the modules in the four leg structures 1 can adopt the same structure or the same model. In this way, there are fewer types of parts and a certain manufacturing cost is reduced.
[0037] In order to increase the output torque of the leg structure 1 to meet the torque requirements of different joints, in one example, Figure 2 As shown, the leg structure 1 may include a power module 11, a first mechanical leg 12, an amplification module 13 and a second mechanical leg 14. The power module 11 can drive the second mechanical leg 14 to rotate relative to the first mechanical leg 12 through the amplification module 13, and the amplification module 13 can decelerate and amplify the torque output to the second mechanical leg 14, so that the leg structure 1 can achieve large torque output, thereby meeting the torque requirements of different joints.
[0038] Below, the leg structure 1 provided by the present application is described exemplarily by taking the first mechanical leg 12 as a thigh and the second mechanical leg 14 as a calf. It is worth noting that the present application only takes the thigh and calf as examples, and the first mechanical leg 12 and the second mechanical leg 14 may also be other leg structures, and the present application does not make any specific restrictions on this.
[0039] Among them, the torque required by the motor in the calf is relatively large. In order to meet the torque demand of the calf, in one example, Figure 3 As shown, the amplification module 13 in the leg structure 1 may include a first amplification module 131, a second amplification module 132 and a transmission assembly 133. One end of the first amplification module 131 is connected to the power module 11. Optionally, the power module 11 may be a motor that drives the second mechanical leg 14 to move relative to the first mechanical leg 12 and output power, that is, a calf motor that drives the calf to move relative to the thigh and output power. The first amplification module 131 is used to perform a primary amplification of the torque output to the second mechanical leg 14. One end of the second amplification module 132 is connected to the power output end of the first amplification module 131, and is used to perform a secondary amplification of the torque output to the second mechanical leg 14. One end of the transmission assembly 133 is connected to the other end of the second amplification module 132, and the other end of the transmission assembly 133 is connected to the second mechanical leg 14. The transmission assembly 133 is used to drive the second mechanical leg 14 to rotate relative to the first mechanical leg 12. In this way, the torque output from the power output end of the power module 11 to the second mechanical leg 14 will first be transmitted to the first amplification module 131, and the first amplification module 131 can perform a first-stage amplification on the torque. The first amplification module 131 will then transmit the amplified torque to the second amplification module 132, and the second amplification module 132 will amplify the torque again and output the two-stage amplified torque to the calf through the transmission component 133, so that the calf can rotate relative to the thigh based on the two-stage amplified torque, while increasing the torque of the calf to achieve large torque output, thereby enabling the robot to carry objects of greater weight and increase the load-bearing time of the robot.
[0040] like Figure 3 As shown, the power module 11 in the present application includes a motor 121, through which power is output to the second mechanical leg 14. By way of example, it is assumed that the motor 121 includes a housing, a rotor and a stator mounted on the rotor, and the rotor and the stator are both arranged in the housing, and the housing is fixedly connected to the first mechanical leg 12, wherein the output end of the rotor is connected to one end of the first amplification module 131 to transmit torque to the first amplification module 131.
[0041] Optionally, the first amplification module 131 in the present application can be integrated with the motor 121, and the structure is more compact and space-saving. Optionally, the second amplification module 132 can be set outside the motor 121, for example, the second amplification module 132 is set inside the first mechanical leg 12, that is, the second amplification module 132 is set inside the thigh, which can make full use of the internal space of the thigh and has high space utilization. In this way, the torque output by the motor in the present application can first be amplified by the integrated first amplification module 131, and then amplified by the second amplification module 132 outside the motor 121 to increase the torque of the calf and achieve high torque output. In addition, the first amplifying module 131 is arranged outside the first mechanical leg 12 and integrated with the power module 11, and the second amplifying module 132 is arranged inside the first mechanical leg 12, so that the thigh motor can transmit power to the first mechanical leg 12 and the second mechanical leg 14 through the power module 11 to drive the first mechanical leg 12 and the second mechanical leg 14 to swing relative to the fuselage 2, and also enable the power of the power module 11 to be transmitted to the second mechanical leg 14 through the first amplifying module 131, the second amplifying module 132 and the transmission assembly 133 to drive the second mechanical leg 14 to swing relative to the first mechanical leg 12. Optionally, the first amplification module 131 in the present application may include a reducer 1311, and the reducer 1311 is sleeved with the power output end of the first mechanical leg 12, that is, the reducer 1311 is connected to the output end of the motor 121, and the power output end of the reducer 1311 is connected to one end of the second amplification module 132 to achieve torque transmission. The reducer 1311 can specifically be a planetary reducer, a harmonic reducer, etc. It is only necessary to connect the power output end of the reducer 1311 to one end of the second amplification module 132 to achieve torque transmission, such as Figure 3 As shown, the first amplification module 131 in the present application can adopt an NW-type planetary reducer 1311, and the present application does not make any specific limitation on this.
[0042] In one example, if Figure 3 As shown, the leg structure 1 can also include a first fastening key 17, one end of the first fastening key 17 is connected to the power output end of the reducer 1311, and the other end of the first fastening key 17 is connected to one end of the second amplification module 132, so as to ensure the firmness of the connection between the reducer 1311 and the second amplification module 132, that is, to ensure the rotation reliability of the reducer 1311 and the second amplification module 132, and then to ensure the reliability of torque transmission.
[0043] Optionally, the first fastening key 17 may be a spline.
[0044] Further, such as Figure 3As shown, the power output end of the first amplifying module 131 can be provided with an output flange 134, the other end of the first fastening key 17 is connected to one end of the output flange 134, and the other end of the output flange 134 is connected to one end of the second amplifying module 132, that is, the power output end of the first amplifying module 131 is connected to one end of the second amplifying module 132 through the output flange 134 to achieve torque output.
[0045] Therefore, the torque output by the motor 121 will be amplified by the first amplification module 131 and then transmitted to the second amplification module 132. Since the reducer is large in size and the space of the thigh joint of the foot-type robot is small, the second amplification module 132 provided in the embodiment of the present application can be composed of a gear assembly. The gear is small in size and occupies a small area, so it is suitable for thigh joints with small space. In order to enable the gear assembly to amplify the torque, in one example, Figure 4 As shown, the second amplification module 132 composed of a gear assembly provided in the embodiment of the present application may include a first gear 1321 and a second gear 1322. The first gear 1321 is sleeved on the power output end of the first amplification module 131, the second gear 1322 is meshed with the first gear 1321, the second gear 1322 is sleeved on one end of the transmission assembly 133 and the second gear 1322 is rotatably connected to the first mechanical leg 12, wherein the pitch circle diameter of the second gear 1322 is greater than the pitch circle diameter of the first gear 1321. In this way, the torque amplified by the first amplifying module 131 will be transmitted from the first gear 1321 to the second gear 1322. Since the pitch circle diameter of the second gear 1322 is larger than the pitch circle diameter of the first gear 1321 at this time, the second gear 1322 will amplify the torque transmitted by the first gear 1321, thereby realizing the further amplification of the torque output to the thigh, and transmitting it to the transmission component 133, so that the transmission component 133 can control the calf based on the large torque, so that the calf can rotate relative to the thigh. Moreover, compared with the reducer, the first gear 1321 and the second gear 1322 are smaller in size and lighter in weight, and are suitable for structures with smaller space such as thigh joints. Moreover, the first amplifying module 131 is arranged outside the first mechanical leg 12 and integrated with the power module 11, so that the power module 11 and the first amplifying module 131 are arranged along the axial direction of the power module 11 (such as Figure 2 As shown in the dotted line direction, the first gear 1321 and the second gear 1322 are arranged in the first mechanical leg 12, so that the first gear 1321 and the second gear 1322 are arranged along the axis perpendicular to the power module 11, which can make full use of spaces of different dimensions and avoid arranging more structures in the same direction to increase the occupied space.
[0046] In this way, through the reducer 1311, the first gear 1321 and the second gear 1322, a two-stage amplification of the torque output to the calf is achieved, and the two-stage amplified torque is output to the calf through the transmission component 133, so that the calf can rotate relative to the thigh based on the torque, and at the same time, the torque of the calf is increased to achieve a large torque output, thereby enabling the robot to carry objects of greater weight and at the same time increase the load-bearing time of the robot.
[0047] Optionally, the second gear 1322 can be a complete gear or an incomplete gear. When it is an incomplete gear, the number of its teeth needs to match the rotation angle of the second mechanical leg 14 relative to the first mechanical leg 12 to achieve torque transmission. The shape of the second gear 1322 can be set according to actual needs. For example, if you want to reduce the space occupied by the second amplification module 132 in the leg structure 1, and reduce the weight and manufacturing cost of the second amplification module 132, the second gear 1322 can be an incomplete gear, such as an incomplete sector gear; if you want to ensure the reliability of torque transmission, the second gear 1322 can be a complete gear, and this application does not make specific restrictions. The second gear 1322 is an incomplete gear, which means that the outer contour of the second gear 1322 is not a complete circle. The second gear 1322 is a complete gear, which means that the outer contour of the second gear 1322 is a complete circle.
[0048] In one example, if Figure 5 As shown, the leg structure 1 can also include a second fastening key 18, one end of which is connected to the other end of the second amplification module 132, that is, one end of the second fastening key 18 is socketed with the second gear 1322, and the other end of the second fastening key 18 is connected to one end of the transmission assembly 133, so as to ensure the firmness of the connection between the second gear 1322 and the transmission assembly 133, that is, to ensure the rotation reliability of the second gear 1322 and the transmission assembly 133, and thus to ensure the reliability of torque transmission.
[0049] Alternatively, the second fastening key 18 may be a spline.
[0050] In one example, if Figure 4As shown, the transmission assembly 133 may include a rocker arm 1331 and a connecting rod 1332, one end of the rocker arm 1331 is sleeved with the second gear 1322; one end of the connecting rod 1332 is rotatably connected to the other end of the rocker arm 1331, and the other end of the connecting rod 1332 is rotatably connected to the second mechanical leg 14. In this way, the second gear 1322 will transmit the torque after two-stage amplification to the rocker arm 1331, the rocker arm 1331 will transmit the torque to the connecting rod 1332, and the connecting rod 1332 will output the torque to the calf, so as to realize the transmission of power, increase the torque of the calf, and realize the output of large torque, so as to enable the robot to carry heavier objects and increase the load-bearing time of the robot.
[0051] In order to ensure the accuracy of the two-stage amplified torque transmitted to the calf, the rocker arm 1331 is coaxially fixed with the second gear 1322. Thus, after the second gear 1322 amplifies the torque, since the rocker arm 1331 and the second gear 1322 are coaxially fixed, the synchronization of the second gear 1322 and the rocker arm 1331 can be ensured, thereby ensuring the accuracy of the two-stage amplified torque transmitted to the calf.
[0052] Optional, such as Figure 6 As shown, the leg structure 1 also includes a drive shaft 15 and a bearing 16; the second gear 1322, the rocker arm 1331, the bearing 16 and the drive shaft 15 are sequentially sleeved to achieve coaxial fixation of the rocker arm 1331 and the second gear 1322 and transmission of torque.
[0053] In summary, in the leg structure 1 provided in the embodiment of the present application, the first amplifying module 131 can perform a first-stage amplification on the torque output to the second mechanical leg 14, and the first amplifying module 131 will transmit the amplified torque to the second amplifying module 132, and the second amplifying module 132 will amplify the torque again and output the two-stage amplified torque to the second mechanical leg 14 through the transmission component 133, so as to increase the torque of the second mechanical leg 14 and achieve a large torque output, so that the second mechanical leg 14 can achieve rotation relative to the first mechanical leg 12 based on the large torque, thereby enabling the robot to carry objects of greater weight and at the same time increase the load-bearing time of the robot.
[0054] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.
[0055] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.
[0056] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.
[0057] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.
[0058] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.
Claims
1. A leg structure (1), applied to a robot, characterized in that: The leg structure (1) comprises a power module (11), a first mechanical leg (12), an amplification module (13) and a second mechanical leg (14); the power module (11) is used to drive the second mechanical leg (14) to rotate relative to the first mechanical leg (12) through the amplification module (13); Wherein, the amplification module (13) comprises: A first amplification module (131), one end of the first amplification module (131) being connected to the power module (11) and being used for performing a primary amplification on the torque output to the second mechanical leg (14); a second amplifying module (132), one end of the second amplifying module (132) being connected to the power output end of the first amplifying module (131) and being used for performing secondary amplification on the torque output to the second mechanical leg (14), wherein the second amplifying module (132) is arranged in the first mechanical leg (12); and A transmission component (133), one end of the transmission component (133) is connected to the other end of the second amplification module (132), and the other end of the transmission component (133) is connected to the second mechanical leg (14), and the transmission component (133) is used to drive the second mechanical leg (14) to rotate relative to the first mechanical leg (12).
2. The leg structure (1) according to claim 1, characterized in that: The second amplification module (132) comprises: a first gear (1321), wherein the first gear (1321) is sleeved on a power output end of the first amplifying module (131); and a second gear (1322), the second gear (1322) meshing with the first gear (1321), the second gear (1322) being sleeved on one end of the transmission assembly (133) and the second gear (1322) being rotationally connected to the first mechanical leg (12); The pitch circle diameter of the second gear (1322) is greater than the pitch circle diameter of the first gear (1321).
3. The leg structure (1) according to claim 2, characterized in that: The second gear (1322) is an incomplete gear, and the number of teeth of the incomplete gear matches the rotation angle of the second mechanical leg (14) relative to the first mechanical leg (12); or the second gear (1322) is a complete gear.
4. The leg structure (1) according to claim 2, characterized in that: The transmission assembly (133) comprises: a rocker arm (1331), one end of the rocker arm (1331) being sleeved with the second gear (1322); and A connecting rod (1332), one end of the connecting rod (1332) is rotatably connected to the other end of the rocker arm (1331), and the other end of the connecting rod (1332) is rotatably connected to the second mechanical leg (14).
5. The leg structure (1) according to claim 4, characterized in that The rocker arm (1331) is coaxially fixed with the second gear (1322).
6. The leg structure (1) according to claim 5, characterized in that The leg structure (1) further comprises a drive shaft (15) and a bearing (16); The second gear (1322), the rocker arm (1331), the bearing (16) and the drive shaft (15) are sleeved in sequence.
7. The leg structure (1) according to any one of claims 1 to 6, characterized in that: The first amplification module (131) comprises a reducer (1311), the reducer (1311) is sleeved with the power output end of the first mechanical leg (12), and the power output end of the reducer (1311) is connected to one end of the second amplification module (132) to achieve torque transmission.
8. The leg structure (1) according to claim 7, characterized in that The leg structure (1) further comprises: A first fastening key (17), one end of the first fastening key (17) is connected to the power output end of the reducer (1311), and the other end of the first fastening key (17) is connected to one end of the second amplification module (132).
9. The leg structure (1) according to claim 7, characterized in that The leg structure (1) further comprises: A second fastening key (18), one end of the second fastening key (18) is connected to the other end of the second amplifying module (132), and the other end of the second fastening key (18) is connected to one end of the transmission assembly (133).
10. A robot, characterized in that: It comprises a fuselage (2) and a plurality of leg structures (1) and a fuselage (2) as claimed in any one of claims 1 to 9, wherein the plurality of leg structures (1) are respectively arranged around the fuselage (2).