Leg structure of robot, robot, biped robot and humanoid robot

Abstract

The utility model discloses a leg structure of a robot, the robot, a biped robot and a humanoid robot, the leg structure of the robot comprises: a shank, the shank comprises an upper hinge end, an extension section and a lower mounting end; the first lower mounting part is detachably connected with the lower mounting end; the second lower mounting part is detachably connected with the lower mounting end, and an outer ring of the first bearing is arranged on the first lower mounting part; the outer ring of the second bearing is arranged on the second lower mounting piece, and the central axis of the first bearing and the central axis of the second bearing are collinear; a foot; the foot connecting shaft is arranged on the foot, the first end of the foot connecting shaft is arranged on the inner ring of the first bearing, and the second end of the foot connecting shaft is arranged on the inner ring of the second bearing. Therefore, the number of shank parts can be reduced, mounting and dismounting of the first lower mounting piece and the second lower mounting piece can be facilitated, and mounting and dismounting of the first bearing, the second bearing and the foot connecting shaft can be facilitated.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, and particularly relates to a leg structure of a robot, a machine, a biped robot and a humanoid robot. Background Art

[0002] In the prior art, generally, a sleeve shaft part is arranged on the calf of a robot, which increases the number of parts of the robot's leg. During the working process of the robot's leg, multiple parts need to cooperate for movement, which not only increases the cost but also reduces the movement efficiency of the robot's leg. Moreover, during the installation process, due to the increase in the number of parts of the robot's leg, the assembly efficiency of the robot's leg is low and it is not convenient for installation. Content of the Utility Model

[0003] The utility model aims to solve at least one of the technical problems existing in the prior art. For this purpose, the utility model provides a leg structure of a robot, which can reduce the number of parts of the calf, and is also convenient for the installation and disassembly of the first lower mounting part and the second lower mounting part, thereby increasing the installation space between the first lower mounting part and the second lower mounting part, and also being convenient for the installation and disassembly of the first bearing, the second bearing and the foot connecting shaft.

[0004] The utility model further provides a robot.

[0005] The utility model also provides a biped robot.

[0006] The utility model also provides a humanoid robot.

[0007] According to the leg structure of the robot of the first aspect embodiment of the utility model, it includes: a calf, the calf includes an upper hinge end, an extension section and a lower mounting end, and the calf is integrally processed; a first lower mounting part, the first lower mounting part is detachably connected to the lower mounting end; a second lower mounting part, the second lower mounting part is detachably connected to the lower mounting end, and the first lower mounting part and the second lower mounting part are arranged oppositely; a first bearing, the outer ring of the first bearing is arranged on the first lower mounting part; a second bearing, the outer ring of the second bearing is arranged on the second lower mounting part, and the central axis of the first bearing is collinear with the central axis of the second bearing; a foot; a foot connecting shaft, the foot connecting shaft is arranged on the foot, the foot connecting shaft is located between the first lower mounting part and the second lower mounting part, the first end of the foot connecting shaft is arranged in the inner ring of the first bearing, and the second end of the foot connecting shaft is arranged in the inner ring of the second bearing.

[0008] Thus, the leg structure of the robot can reduce the number of parts of the calf, and is also convenient for the installation and disassembly of the first lower mounting part and the second lower mounting part, thereby increasing the installation space between the first lower mounting part and the second lower mounting part, and also being convenient for the installation and disassembly of the first bearing, the second bearing and the foot connecting shaft.

[0009] According to some embodiments of the present utility model, the first lower mounting member includes: a first hinge portion provided with a first bearing hole, and an outer ring of the first bearing is disposed within the first bearing hole; a first mounting portion connected to the first hinge portion; the second lower mounting member includes: a second hinge portion provided with a second bearing hole, and an outer ring of the second bearing is disposed within the second bearing hole; a second mounting portion connected to the second hinge portion, the first mounting portion and the second mounting portion are disposed opposite to each other and are respectively detachably connected to the lower mounting end.

[0010] According to some embodiments of the present utility model, a partial surface of one side of the first mounting portion away from the second mounting portion is coplanar with a partial surface of one side of the extension segment, and a partial surface of one side of the second mounting portion away from the first mounting portion is coplanar with a partial surface of the other side of the extension segment.

[0011] According to some embodiments of the present utility model, one of the first mounting portion and the lower mounting end is provided with a first positioning block, and the other of the first mounting portion and the lower mounting end is provided with a first positioning groove, and the first positioning block is engaged with the first positioning groove to limit the cooperation between the first mounting portion and the lower mounting end in the width direction of the first mounting portion; and / or one of the second mounting portion and the lower mounting end is provided with a second positioning block, and the other of the second mounting portion and the lower mounting end is provided with a second positioning groove, and the second positioning block is engaged with the second positioning groove to limit the cooperation between the second mounting portion and the lower mounting end in the width direction of the second mounting portion.

[0012] According to some embodiments of the present utility model, the first mounting portion is provided with a first positioning block, the second mounting portion is provided with a second positioning block, the lower mounting end is respectively provided with a first positioning groove and a second positioning groove, a first transition arc is provided between the upper end of the first positioning block and the extension segment, a second transition arc is provided between the upper end of the second positioning block and the extension segment, a third transition arc is provided at the upper end of the first positioning groove, a fourth transition arc is provided at the upper end of the second positioning groove, and the first transition arc is engaged with the third transition arc, and the second transition arc is engaged with the fourth transition arc.

[0013] According to some embodiments of the present utility model, the top surface of the first mounting portion is configured as a first arc surface protruding upward, the top surface of the second mounting portion is configured as a second arc surface protruding upward, the top surface of the lower mounting end is configured as a third arc surface and a fourth arc surface protruding upward, and the first arc surface is engaged with the third arc surface, and the second arc surface is engaged with the fourth arc surface.

[0014] According to some embodiments of the present utility model, the first mounting portion is provided with a first mounting hole, the second mounting portion is provided with a second mounting hole, and the lower mounting end is provided with a third mounting hole, and the third mounting hole is located between the first mounting hole and the second mounting hole, so that a fastener passes through the first mounting hole, the third mounting hole and the second mounting hole.

[0015] According to some embodiments of the present utility model, the first hinge portion is provided with a first limiting ring at one end of the first bearing hole far away from the second bearing hole, and the first limiting ring is in limiting cooperation with the outer ring of the first bearing in the thickness direction of the first hinge portion; the second hinge portion is provided with a second limiting ring at one end of the second bearing hole far away from the first bearing hole, and the second limiting ring is in limiting cooperation with the outer ring of the second bearing in the thickness direction of the second hinge portion.

[0016] According to some embodiments of the present utility model, the first lower mounting member further includes: a first arc transition portion, and the first arc transition portion is connected between the first mounting portion and the first hinge portion, so that the first hinge portion protrudes in a direction away from the second hinge portion; the second lower mounting member further includes: a second arc transition portion, and the second arc transition portion is connected between the second mounting portion and the second hinge portion, so that the second hinge portion protrudes in a direction away from the first hinge portion.

[0017] According to some embodiments of the present utility model, the foot includes: a sole; a shaft seat, and the shaft seat is mounted on the sole; a third bearing, the outer ring of the third bearing is disposed on the shaft seat, and the third end of the foot connecting shaft is disposed in the inner ring of the third bearing; a fourth bearing, the outer ring of the fourth bearing is disposed on the shaft seat, and the fourth end of the foot connecting shaft is disposed in the inner ring of the fourth bearing.

[0018] According to some embodiments of the present utility model, the foot connecting shaft includes: a first shaft body, the first end of the first shaft body is disposed in the inner ring of the first bearing, the second end of the first shaft body is disposed in the inner ring of the second bearing, and a through hole is provided in the middle of the first shaft body; a second shaft body, the second shaft body passes through the through hole and the first shaft body is rotatable relative to the second shaft body, the first end of the second shaft body is disposed in the inner ring of the third bearing, the second end of the second shaft body is disposed in the inner ring of the fourth bearing, and the central axis of the first shaft body is perpendicular to the central axis of the second shaft body.

[0019] According to some embodiments of the present utility model, the cross-section of the portion of the first shaft body between the first bearing and the second bearing perpendicular to the central axis of the first shaft body is rectangular, and the cross-section of the second shaft body perpendicular to its central axis is circular.

[0020] According to some embodiments of the present utility model, the first shaft body includes: a first main shaft section, the cross-section of the first main shaft section perpendicular to the central axis of the first shaft body is rectangular, the first main shaft section is provided with a perforation, and the first main shaft section and the shaft seat are in circumferential limiting cooperation; a first shaft end and a second shaft end, the first shaft end and the second shaft end are respectively connected to both ends of the first main shaft section, the cross-sections of the first shaft end and the second shaft end perpendicular to the central axis of the first shaft body are circular, the first shaft end is arranged in the inner ring of the first bearing, and the second shaft end is arranged in the inner ring of the second bearing.

[0021] According to some embodiments of the present utility model, the leg structure of the robot further includes: a first stopper, the first stopper is arranged at one end of the first bearing away from the first main shaft section; a first fastener, the first fastener passes through the first stopper and then is connected to the first shaft end; a second stopper, the second stopper is arranged at one end of the second bearing away from the first main shaft section; a second fastener, the second fastener passes through the second stopper and then is connected to the second shaft end.

[0022] According to some embodiments of the present utility model, the second shaft body includes: a second main shaft section, the second main shaft section passes through the inner ring of the third bearing, the perforation and the inner ring of the fourth bearing, and the cross-section of the second main shaft section perpendicular to the central axis of the second shaft body is circular; a third shaft end, the third shaft end is connected to the first end of the second main shaft section; the leg structure of the robot further includes: a third stopper, the second main shaft section passes through the third stopper, and the third stopper is in stopper cooperation with the third shaft end; a fourth stopper, the second main shaft section passes through the fourth stopper; a third fastener, the third fastener passes through the fourth stopper and then is connected to the second end of the second main shaft section.

[0023] According to some embodiments of the present utility model, the extension section is configured with a third shaft body; the leg structure of the robot further includes: a thigh, the lower end of the thigh is connected to the upper hinge end; a first pull rod, one end of the first pull rod is connected to the thigh, and the other end of the first pull rod is arranged on the third shaft body; a fixing member, the fixing member is detachably connected to the extension section, and one end of the third shaft body away from the extension section is connected to the fixing member; a first joint module, the first joint module is arranged on the calf and is in transmission connection with the foot; a second joint module, the second joint module is arranged on the calf and is arranged at a radial interval from the first joint module on the calf, and the second joint module is in transmission connection with the foot; a second pull rod, the second pull rod is arranged between the first joint module and the foot; a third pull rod, the third pull rod is arranged between the second joint module and the foot.

[0024] The robot according to the second aspect embodiment of the present utility model includes: the leg structure of the above-mentioned robot.

[0025] A bipedal robot according to an embodiment of the third aspect of the present invention includes: a fuselage; a first lower limb assembly and a second lower limb assembly, the first lower limb assembly and the second lower limb assembly are connected to the lower part of the fuselage, the first lower limb assembly and the second lower limb assembly are arranged at intervals, and at least one of the first lower limb assembly and the second lower limb assembly is the leg structure of the above-mentioned robot.

[0026] A humanoid robot according to an embodiment of the fourth aspect of the present invention includes: a head; a torso, the torso is connected to the lower part of the head; an upper limb assembly, the upper limb assembly is connected to both sides of the torso; a first lower limb assembly and a second lower limb assembly, the first lower limb assembly and the second lower limb assembly are connected to the lower part of the torso, the first lower limb assembly and the second lower limb assembly are arranged side by side, and at least one of the first lower limb assembly and the second lower limb assembly is the leg structure of the above-mentioned robot.

[0027] Additional aspects and advantages of the present invention will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present invention. Description of the Drawings

[0028] The above and / or additional aspects and advantages of the present invention will become apparent and be readily understood from the description of the embodiments in conjunction with the following drawings, wherein:

[0029] Figure 1 is a schematic structural diagram of the leg structure of a robot according to an embodiment of the present invention;

[0030] Figure 2 is Figure 1 an enlarged view of area A in

[0031] Figure 3 is a schematic structural diagram of the leg structure of a robot according to an embodiment of the present invention including a foot connecting shaft;

[0032] Figure 4 is a schematic structural diagram of the leg structure of a robot according to an embodiment of the present invention including a second positioning block;

[0033] Figure 5 is a schematic structural diagram of the separation of the second lower mounting member and the calf according to an embodiment of the present invention;

[0034] Figure 6 is a schematic structural diagram of the second positioning block provided with a second transition arc according to an embodiment of the present invention;

[0035] Figure 7 is a schematic structural diagram of the leg structure of a robot according to an embodiment of the present invention including a first stopper;

[0036] Figure 8 Schematic structural diagram of the leg structure of a robot according to an embodiment of the present utility model, which includes a second stopper;

[0037] Figure 9 Schematic structural diagram of the leg structure of a robot according to an embodiment of the present utility model, which includes a fourth stopper;

[0038] Figure 10 Schematic structural diagram of a first shaft body according to an embodiment of the present utility model;

[0039] Figure 11 Schematic structural diagram of a second shaft body according to an embodiment of the present utility model;

[0040] Figure 12 Schematic structural diagram of a first bearing hole opened in a first hinge portion according to an embodiment of the present utility model;

[0041] Figure 13 Schematic structural diagram of a first limiting ring contained in a first hinge portion according to an embodiment of the present utility model;

[0042] Figure 14 Schematic structural diagram of a second limiting ring contained in a second hinge portion according to an embodiment of the present utility model;

[0043] Figure 15 Schematic structural diagram of a connection between a first pull rod and a thigh according to an embodiment of the present utility model;

[0044] Figure 16 Schematic structural diagram of a connection between one end of a first pull rod and a fixing member according to an embodiment of the present utility model;

[0045] Figure 17 Schematic structural diagram of a fixing member according to an embodiment of the present utility model;

[0046] Figure 18 Schematic structural diagram of an outer ring of a first bearing disposed at a lower hinge end according to an embodiment of the present utility model;

[0047] Figure 19 Schematic structural diagram of an outer ring of a second bearing disposed at a lower mounting member according to an embodiment of the present utility model;

[0048] Figure 20 Schematic structural diagram of a calf containing a first joint module and a second joint module according to an embodiment of the present utility model.

[0049] Reference numerals:

[0050] 100, leg structure of the robot;

[0051] 10, calf; 11, upper hinge end; 12, extension section;

[0052] 13. Lower mounting end; 131. First hinge portion; 1311. First bearing hole; 1312. First limiting ring;

[0053] 132. First mounting portion; 133. First arc transition portion; 134. Fourth arc surface;

[0054] 20. First lower mounting member; 201. Second lower mounting member;

[0055] 21. Second hinge portion; 211. Second limiting ring;

[0056] 22. Second mounting portion; 221. Second arc surface; 23. Second arc transition portion; 24. Second positioning block; 241. Second transition arc;

[0057] 30. First bearing;

[0058] 40. Second bearing; 41. Second bearing hole;

[0059] 50. Foot; 51. Sole; 52. Axle seat; 53. Third bearing; 54. Fourth bearing;

[0060] 60. Foot connecting shaft; 61. First shaft body; 611. First main shaft section; 612. First shaft end; 613. Second shaft end;

[0061] 62. Second shaft body; 621. Second main shaft section; 622. Third shaft end; 623. Third stop member; 624. Fourth stop member; 625. Third fastener; 63. Through hole;

[0062] 70. Second positioning groove; 80. Fourth transition arc;

[0063] 90. First stop member; 91. First fastener; 92. Second stop member; 93. Second fastener;

[0064] 94. Thigh; 95. First pull rod; 96. Fixing member; 97. Third shaft body; 98. First joint module; 981. Second pull rod; 99. Second joint module; 991. Third pull rod. Detailed implementation manners

[0065] The embodiments of the present utility model will be described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. The embodiments of the present utility model will be described in detail below.

[0066] Next, refer to Figures 1 - 20 to describe the leg structure 100 of the robot according to the embodiments of the present utility model.

[0067] Refer to Figures 1 - 5As shown, the leg structure 100 of the robot according to the first aspect embodiment of the present utility model includes: a calf 10, a first lower mounting member 20, a second lower mounting member 201, a first bearing 30, a second bearing 40, a foot 50, and a foot connecting shaft 60. The calf 10 includes an upper hinge end 11, an extension section 12, and a lower mounting end 13. The calf 10 is integrally processed. The first lower mounting member 20 is detachably connected to the lower mounting end 13, and the second lower mounting member 201 is detachably connected to the lower mounting end 13. The first lower mounting member 20 and the second lower mounting member 201 are arranged oppositely. The outer ring of the first bearing 30 is arranged in the first lower mounting member 20, and the outer ring of the second bearing 40 is arranged in the second lower mounting member 201. The central axis of the first bearing 30 is collinear with the central axis of the second bearing 40. The foot connecting shaft 60 is arranged on the foot 50, and the foot connecting shaft 60 is located between the first lower mounting member 20 and the second lower mounting member 201. The first end of the foot connecting shaft 60 is arranged in the inner ring of the first bearing 30, and the second end of the foot connecting shaft 60 is arranged in the inner ring of the second bearing 40.

[0068] Specifically, the calf 10 in the leg structure 100 of the robot is mainly composed of an upper hinge end 11, an extension section 12, and a lower mounting end 13. The calf 10 is integrally processed. In this way, the strength of the calf 10 can be increased, and the number of components of the calf 10 can also be reduced. The first lower mounting member 20 is detachably connected to the lower mounting end 13, which not only facilitates the installation and disassembly of the first lower mounting member 20 and the lower mounting end 13, but also facilitates the replacement of the first lower mounting member 20, so as to be adaptable to different types of feet 50. Further, the second lower mounting member 201 is detachably connected to the lower mounting end 13, which can facilitate the installation and disassembly of the second lower mounting member 201 and the lower mounting end 13, and also facilitate the replacement of the second lower mounting member 201. It can also increase the installation space between the first lower mounting member 20 and the second lower mounting member 201, so as to facilitate the installation and disassembly of the first bearing 30 and the second bearing 40, and also facilitate maintenance.

[0069] The central axis of the first bearing 30 is collinear with the central axis of the second bearing 40, which can ensure that the first lower mounting member 20 and the second lower mounting member 201 rotate on the same central axis.

[0070] Also, as Figure 18 and Figure 19 shown, the outer ring of the first bearing 30 is arranged in the first lower mounting member 20, the outer ring of the second bearing 40 is arranged in the second lower mounting member 201, and the foot connecting shaft 60 is located between the first lower mounting member 20 and the second lower mounting member 201, which can connect the first lower mounting member 20 and the second lower mounting member 201 into a whole.

[0071] Further, the first end of the foot connecting shaft 60 is disposed in the inner ring of the first bearing 30. The inner ring of the first bearing 30 can provide an installation position for the first end of the foot connecting shaft 60. The first end of the foot connecting shaft 60 can rotate relative to the inner ring of the first bearing 30. The second end of the foot connecting shaft 60 is disposed in the inner ring of the second bearing 40. The inner ring of the second bearing 40 can provide an installation position for the second end of the foot connecting shaft 60. The second end of the foot connecting shaft 60 can rotate relative to the inner ring of the second bearing 40. In this way, it can be ensured that the first lower mounting member 20 and the second lower mounting member 201 rotate synchronously.

[0072] Thus, the leg structure 100 of the robot can reduce the number of components of the lower leg 10, and can also facilitate the installation and disassembly of the first lower mounting member 20 and the second lower mounting member 201, thereby increasing the installation space between the first lower mounting member 20 and the second lower mounting member 201, and can also facilitate the installation and disassembly of the first bearing 30, the second bearing 40 and the foot connecting shaft 60.

[0073] According to some embodiments of the present invention, as Figure 2 and Figure 3 shown, the first lower mounting member 20 includes: a first hinge portion 131 and a first mounting portion 132. The first hinge portion 131 is provided with a first bearing hole 1311. The outer ring of the first bearing 30 is disposed in the first bearing hole 1311. The first mounting portion 132 is connected to the first hinge portion 131.

[0074] Wherein, the first hinge portion 131 is provided with a first bearing hole 1311. The outer ring of the first bearing 30 can extend into the first bearing hole 1311. The first bearing hole 1311 can provide an installation space for the outer ring of the first bearing 30. Also, the first mounting portion 132 is connected to the first hinge portion 131, which can provide an installation space, thereby facilitating the installation of the lower leg 10.

[0075] Also, as Figure 2 and Figure 3 shown, the second lower mounting member 201 includes: a second hinge portion 21 and a second mounting portion 22. The second hinge portion 21 is provided with a second bearing hole 41. The outer ring of the second bearing 40 is disposed in the second bearing hole 41. The second mounting portion 22 is connected to the second hinge portion 21. The first mounting portion 132 and the second mounting portion 22 are disposed opposite to each other, and the first mounting portion 132 and the second mounting portion 22 are respectively detachably connected to the lower mounting end 13.

[0076] Among them, the second hinge portion 21 is provided with a second bearing hole 41. The outer ring of the second bearing 40 can extend into the second bearing hole 41, and the second bearing hole 41 can provide an installation space for the outer ring of the second bearing 40. Moreover, the first installation portion 132 and the second installation portion 22 are arranged oppositely, so that an installation space for the first bearing 30 and the second bearing 40 can be formed. The first installation portion 132 and the second installation portion 22 are respectively detachably connected to the lower installation end 13, which can further increase the installation space for the first bearing 30, the second bearing 40 and the foot connecting shaft 60, and also facilitate maintenance and replacement.

[0077] According to some embodiments of the present invention, as Figure 3 and Figure 4 shown, a part of the surface of the first installation portion 132 on the side away from the second installation portion 22 is coplanar with a side surface of the extension section 12, and a part of the surface of the second installation portion 22 on the side away from the first installation portion 132 is coplanar with the other side surface of the extension section 12.

[0078] Among them, a part of the surface of the first installation portion 132 on the side away from the second installation portion 22 is coplanar with a side surface of the extension section 12, which can facilitate the connection between the first installation portion 132 and the extension section 12, ensure that the surfaces of the first installation portion 132 and the extension section 12 are flatter, and prevent large stress at the connection between the first installation portion 132 and the extension section 12.

[0079] Similarly, a part of the surface of the second installation portion 22 on the side away from the first installation portion 132 is coplanar with the other side surface of the extension section 12, which can facilitate the connection between the second installation portion 22 and the extension section 12, ensure that the surfaces of the second installation portion 22 and the extension section 12 are flatter, and prevent large stress at the connection between the second installation portion 22 and the extension section 12.

[0080] According to some embodiments of the present invention, as Figure 3 and Figure 5 shown, one of the first installation portion 132 and the lower installation end 13 is provided with a first positioning block, and the other of the first installation portion 132 and the lower installation end 13 is provided with a first positioning groove. The first positioning block cooperates with the first positioning groove, so that the first installation portion 132 and the lower installation end 13 can be limited and matched in the width direction of the first installation portion 132, and / or one of the second installation portion 22 and the lower installation end 13 is provided with a second positioning block 24, and the other of the second installation portion 22 and the lower installation end 13 is provided with a second positioning groove 70. The second positioning block 24 cooperates with the second positioning groove 70, so that the second installation portion 22 and the lower installation end 13 can be limited and matched in the width direction of the second installation portion 22.

[0081] Wherein, one of the first mounting portion 132 and the lower mounting end 13 is provided with a first positioning block, and the other of the first mounting portion 132 and the lower mounting end 13 is provided with a first positioning groove. That is to say, when the first mounting portion 132 is provided with the first positioning block, correspondingly, the lower mounting end 13 is provided with the first positioning groove; when the first mounting portion 132 is provided with the first positioning groove, correspondingly, the lower mounting end 13 is provided with the first positioning block.

[0082] The first mounting portion 132 and the lower mounting end 13 are limited and matched through the first positioning block and the first positioning groove, which can facilitate the installation and disassembly of the first mounting portion 132 and the lower mounting end 13, and can also improve the installation and disassembly speed of the first mounting portion 132 and the lower mounting end 13.

[0083] Similarly, the second mounting portion 22 and the lower mounting end 13 are limited and matched through the second positioning block 24 and the second positioning groove 70, which can facilitate the installation and disassembly of the second mounting portion 22 and the lower mounting end 13, and can also improve the installation and disassembly speed of the second mounting portion 22 and the lower mounting end 13.

[0084] According to some embodiments of the present invention, as Figure 6 shown, the first mounting portion 132 is provided with a first positioning block, the second mounting portion 22 is provided with a second positioning block 24, the lower mounting end 13 is respectively provided with a first positioning groove and a second positioning groove 70. A first transition arc is provided between the upper end of the first positioning block and the extension section 12, a second transition arc 241 is provided between the upper end of the second positioning block 24 and the extension section 12, a third transition arc is provided at the upper end of the first positioning groove, and a fourth transition arc 80 is provided at the upper end of the second positioning groove 70. The first transition arc cooperates with the third transition arc, and the second transition arc 241 cooperates with the fourth transition arc 80.

[0085] Wherein, the cooperation between the first transition arc at the upper end of the first positioning block and the third transition arc at the upper end of the first positioning groove can make the connection between the upper end of the first positioning block and the upper end of the first positioning groove tighter and more firm.

[0086] Similarly, the cooperation between the second transition arc 241 at the upper end of the second positioning block 24 and the upper end of the second positioning groove 70 can make the connection between the upper end of the second positioning block 24 and the upper end of the second positioning groove 70 tighter and more firm.

[0087] According to some embodiments of the present invention, as Figure 5As shown, the top surface of the first mounting portion 132 is configured as a first arc surface protruding upward, the top surface of the second mounting portion 22 is configured as a second arc surface 221 protruding upward, and the top surface of the lower mounting end 13 is configured as a third arc surface and a fourth arc surface 134 protruding upward. The first arc surface cooperates with the third arc surface, and the second arc surface 221 cooperates with the fourth arc surface 134.

[0088] Among them, the cooperation between the first arc surface of the first mounting portion 132 and the third arc surface of the lower mounting end 13 can make the connection between the first mounting portion 132 and the lower mounting end 13 closer and firmer. The cooperation between the second arc surface 221 of the second mounting portion 22 and the fourth arc surface 134 of the lower mounting end 13 can make the connection between the second mounting portion 22 and the lower mounting end 13 closer and firmer.

[0089] According to some embodiments of the present invention, the first mounting portion 132 is provided with a first mounting hole, the second mounting portion 22 is provided with a second mounting hole, and the lower mounting end 13 is provided with a third mounting hole. The third mounting hole is located between the first mounting hole and the second mounting hole, so that a fastener can pass through the first mounting hole, the third mounting hole, and the second mounting hole.

[0090] Among them, the fastener can be a bolt, and the bolt can pass through the first mounting hole, the third mounting hole, and the second mounting hole, so that the first mounting portion 132, the lower mounting end 13, and the second mounting portion 22 can be connected more stably and firmly, and it is also convenient for disassembly.

[0091] According to some embodiments of the present invention, as Figures 12 - 14 shown, the first hinge portion 131 is provided with a first limiting ring 1312 at one end of the first bearing hole 1311 away from the second bearing hole 41. The first limiting ring 1312 is in limiting cooperation with the outer ring of the first bearing 30 in the thickness direction of the first hinge portion 131; the second hinge portion 21 is provided with a second limiting ring 211 at one end of the second bearing hole 41 away from the first bearing hole 1311. The second limiting ring 211 is in limiting cooperation with the outer ring of the second bearing 40 in the thickness direction of the second hinge portion 21.

[0092] Among them, as Figure 13 shown, the first limiting ring 1312 can play a role in limiting the outer ring of the first bearing 30, and can prevent the first bearing 30 from shifting during operation. Similarly, the second limiting ring 211 is in limiting cooperation with the outer ring of the second bearing 40 in the thickness direction of the second hinge portion 21, which can prevent the second bearing 40 from shifting during operation, so as to ensure the stable operation of the first bearing 30 and the second bearing 40.

[0093] According to some embodiments of the present invention, as Figure 3As shown in the figure, the first lower mounting member 20 further includes: a first arc transition portion 133, the first arc transition portion 133 being connected between the first mounting portion 132 and the first hinge portion 131, so that the first hinge portion 131 can protrude in a direction away from the second hinge portion 21. In this way, the strength between the first mounting portion 132 and the first hinge portion 131 can be increased, and the distance between the first hinge portion 131 and the second hinge portion 21 can also be increased.

[0094] Also, as Figure 3 shown, the second lower mounting member 201 further includes: a second arc transition portion 23, the second arc transition portion 23 being connected between the second mounting portion 22 and the second hinge portion 21, so that the second hinge portion 21 can protrude in a direction away from the first hinge portion 131. In this way, the strength between the second mounting portion 22 and the second hinge portion 21 can be increased, and the distance between the first hinge portion 131 and the second hinge portion 21 can be further increased.

[0095] According to some embodiments of the present invention, the foot 50 includes: a sole 51, a shaft seat 52, a third bearing 53 and a fourth bearing 54. The shaft seat 52 is mounted on the sole 51. The outer ring of the third bearing 53 is disposed on the shaft seat 52. The third end of the foot connecting shaft 60 is disposed in the inner ring of the third bearing 53. The outer ring of the fourth bearing 54 is disposed on the shaft seat 52. The fourth end of the foot connecting shaft 60 is disposed in the inner ring of the fourth bearing 54.

[0096] Among them, the shaft seat 52 is mounted on the sole 51, and the sole 51 can provide a mounting position for the shaft seat 52. The inner ring of the third bearing 53 can provide support for the third end of the foot connecting shaft 60, and the third end of the foot connecting shaft 60 can rotate relative to the inner ring of the third bearing 53. The inner ring of the fourth bearing 54 can provide support for the fourth end of the foot connecting shaft 60, and the fourth end of the foot connecting shaft 60 can rotate relative to the inner ring of the fourth bearing 54.

[0097] According to some embodiments of the present invention, as Figure 3 shown, the foot connecting shaft 60 includes: a first shaft body 61 and a second shaft body 62. The first end of the first shaft body 61 is disposed in the inner ring of the first bearing 30. The second end of the first shaft body 61 is disposed in the inner ring of the second bearing 40. A through hole 63 is provided in the middle of the first shaft body 61. The second shaft body 62 passes through the through hole 63, and the first shaft body 61 is rotatable relative to the second shaft body 62. The first end of the second shaft body 62 is disposed in the inner ring of the third bearing 53. The second end of the second shaft body 62 is disposed in the inner ring of the fourth bearing 54. The central axis of the first shaft body 61 is perpendicular to the central axis of the second shaft body 62.

[0098] Among them, the first shaft body 61 is arranged perpendicular to the thickness direction of the first hinge portion 131. The inner ring of the first bearing 30 can support the first end of the first shaft body 61, and the first shaft body 61 can rotate relative to the inner ring of the first bearing 30. Moreover, the inner ring of the third bearing 53 can support the first end of the second shaft body 62, and the first end of the second shaft body 62 can rotate relative to the inner ring of the third bearing 53. The inner ring of the fourth bearing 54 can support the second end of the second shaft body 62, and the second end of the second shaft body 62 can rotate relative to the inner ring of the fourth bearing 54. A through hole 63 is formed in the middle of the first shaft body 61 to facilitate the passing through of the second shaft body 62. In this way, the second shaft body 62 can rotate relative to the first shaft body 61.

[0099] In addition, as Figure 3 shown, the central axis of the first shaft body 61 is perpendicular to the central axis of the second shaft body 62, so as to avoid interference between the first shaft body 61 and the second shaft body 62 during rotation.

[0100] According to some embodiments of the present invention, the cross-section of the portion of the first shaft body 61 between the first bearing 30 and the second bearing 40 perpendicular to the central axis of the first shaft body 61 is rectangular, and the cross-section of the second shaft body 62 perpendicular to its central axis is circular.

[0101] Specifically, the rectangular cross-section has good strength and stability when bearing torsional and bending forces. In this way, when the first shaft body 61 is provided with a hole, the high strength of the first shaft body 61 can also be ensured, and it is convenient for the first shaft body 61 to be in limit fit with the shaft seat 52 to avoid the rotation of the first shaft body 61, which can further ensure the working stability of the first shaft body 61.

[0102] In addition, the cross-section of the second shaft body 62 perpendicular to its central axis is circular, and the circular cross-section can distribute the force more evenly when bearing pressure, so as to improve the stability of the second shaft body 62 during rotation.

[0103] According to some embodiments of the present invention, as Figure 10 and Figure 11 shown, the first shaft body 61 includes: a first main shaft section 611, a first shaft end 612 and a second shaft end 613. The cross-section of the first main shaft section 611 perpendicular to the central axis of the first shaft body 61 is rectangular. The first main shaft section 611 is provided with a through hole 63. The first main shaft section 611 is in limit fit with the shaft seat 52 in the circumferential direction of the first main shaft section 611. The first shaft end 612 and the second shaft end 613 are respectively connected to both ends of the first main shaft section 611. The cross-sections of the first shaft end 612 and the second shaft end 613 perpendicular to the central axis of the first shaft body 61 are circular. The first shaft end 612 is arranged in the inner ring of the first bearing 30, and the second shaft end 613 is arranged in the inner ring of the second bearing 40.

[0104] Specifically, the first main shaft section 611 is provided with a through hole 63, which facilitates the passing of the second shaft body 62. The first main shaft section 611 and the shaft seat 52 are in circumferential limit cooperation on the circumference of the first main shaft section 611, so that the shaft seat 52 can provide a supporting force for the first main shaft section 611. The first shaft end 612 and the second shaft end 613 are respectively connected to both ends of the first main shaft section 611. The cross-sections of the first shaft end 612 and the second shaft end 613 are both circular, so that it is convenient for the first shaft end 612 to rotate in the inner ring of the first bearing 30 and for the second shaft end 613 to rotate in the inner ring of the second bearing 40.

[0105] According to some embodiments of the present invention, as Figures 7 - 9 shown, the leg structure 100 of the robot further includes: a first stopper 90, a first fastener 91, a second stopper 92 and a second fastener 93. The first stopper 90 is disposed at one end of the first bearing 30 away from the first main shaft section 611. The first fastener 91 passes through the first stopper 90 and is connected to the first shaft end 612. The second stopper 92 is disposed at one end of the second bearing 40 away from the first main shaft section 611. The second fastener 93 passes through the second stopper 92 and is connected to the second shaft end 613.

[0106] Among them, the first stopper 90 is disposed at one end of the first bearing 30 away from the first main shaft section 611. Thus, the first stopper 90 plays a role in stopping the first bearing 30, so as to prevent the first bearing 30 from slipping out. Further, the first fastener 91 passes through the first stopper 90 and is connected to the first shaft end 612, so that the connection between the first stopper 90 and the first shaft end 612 can be made more firm.

[0107] Similarly, as Figure 8 shown, the second stopper 92 is disposed at one end of the second bearing 40 away from the first main shaft section 611. Thus, the second stopper 92 plays a role in stopping the second bearing 40, so as to prevent the second bearing 40 from slipping out. Further, the second fastener 93 passes through the second stopper 92 and is connected to the second shaft end 613, so that the connection between the second stopper 92 and the second shaft end 613 can be made more firm.

[0108] According to some embodiments of the present invention, as Figure 11 shown, the second shaft body 62 includes: a second main shaft section 621 and a third shaft end 622. The second main shaft section 621 passes through the inner ring of the third bearing 53, the through hole 63 and the inner ring of the fourth bearing 54. The cross-section of the second main shaft section 621 perpendicular to the central axis of the second shaft body 62 is circular. The third shaft end 622 is connected to the first end of the second main shaft section 621.

[0109] Among them, the second main shaft section 621 passes through the inner ring of the third bearing 53, the through hole 63, and the inner ring of the fourth bearing 54, so that the second main shaft section 621 can rotate relative to the first shaft body 61. The cross-section of the second main shaft section 621 perpendicular to the central axis of the second shaft body 62 is circular. In this way, the friction between the second main shaft section 621 and the through hole 63 can be reduced during the rotation process.

[0110] Also, as Figure 2 and Figure 9 shown, the leg structure 100 of the robot further includes: a third stopper 623, a fourth stopper 624, and a third fastener 625. The second main shaft section 621 passes through the third stopper 623, and the third stopper 623 is in a stopper fit with the third shaft end 622. The second main shaft section 621 passes through the fourth stopper 624, and after the third fastener 625 passes through the fourth stopper 624, it is connected to the second end of the second main shaft section 621.

[0111] Among them, the third stopper 623 is in a stopper fit with the third shaft end 622, and the third stopper 623 can play a role in stopping the third shaft end 622, so as to prevent the third shaft end 622 from slipping out.

[0112] Furthermore, after the third fastener 625 passes through the fourth stopper 624, it is connected to the second end of the second main shaft section 621, so that the connection between the fourth stopper 624 and the second end of the second main shaft section 621 can be made more firm.

[0113] According to some embodiments of the present invention, as Figure 15 and Figure 16 shown, the extension section 12 is configured with a third shaft body 97. The leg structure 100 of the robot further includes: a thigh 94, a first pull rod 95, and a fixing member 96. The lower end of the thigh 94 is connected to the upper hinge end 11. One end of the first pull rod 95 is connected to the thigh 94, and the other end of the first pull rod 95 is disposed on the third shaft body 97. The fixing member 96 is detachably connected to the extension section 12, and the end of the third shaft body 97 away from the extension section 12 is connected to the fixing member 96.

[0114] Among them, the lower end of the thigh 94 is connected to the upper hinge end 11. In this way, the lower end of the thigh 94 can rotate around the upper hinge end 11. One end of the first pull rod 95 is connected to the thigh 94, and the other end of the first pull rod 95 is disposed on the third shaft body 97, so that the position of the thigh 94 can be adjusted. Also, the fixing member 96 is detachably connected to the extension section 12, which can provide an installation space for the installation of the third shaft body 97, thus facilitating the installation of the third shaft body 97.

[0115] The robot according to the embodiment of the second aspect of the present invention includes: the leg structure 100 of the robot in the above embodiment.

[0116] Further, as Figure 20 shown, the leg structure 100 of the robot further includes: a first joint module 98, a second joint module 99, a second pull rod 981, and a third pull rod 991. The first joint module 98 is disposed on the calf 10, and the first joint module 98 is in transmission connection with the foot 50. The second pull rod 981 is disposed between the first joint module 98 and the foot 50.

[0117] Among them, the first joint module 98 is mainly composed of a first motor and a first reducer. Thus, the first joint module 98 can provide power for the foot 50. The second pull rod 981 is disposed between the first joint module 98 and the foot 50, so that the power of the first joint module 98 can be transmitted to the foot 50 through the second pull rod 981.

[0118] The second joint module 99 is disposed on the calf 10, and the second joint module 99 and the first joint module 98 are arranged at a radial interval on the calf 10. The second joint module 99 is in transmission connection with the foot 50. The third pull rod 991 is disposed between the second joint module 99 and the foot 50. Among them, the second joint module 99 is mainly composed of a second motor and a second reducer, so that the power of the second joint module 99 can be transmitted to the foot 50 through the third pull rod 991.

[0119] The robot according to the second aspect embodiment of the present invention includes: the leg structure 100 of the robot in the above embodiment.

[0120] The biped robot according to the third aspect embodiment of the present invention includes: a fuselage, a first lower limb component, and a second lower limb component. The first lower limb component and the second lower limb component are connected to the lower part of the fuselage. The first lower limb component and the second lower limb component are arranged at an interval. At least one of the first lower limb component and the second lower limb component is the leg structure 100 of the robot in the above embodiment.

[0121] Among them, the biped robot is mainly composed of a fuselage, a first lower limb component, and a second lower limb component. At least one of the first lower limb component and the second lower limb component is the leg structure 100 of the robot. Thus, the radial dimensions of the first lower limb component and the second lower limb component of the biped robot can be smaller, and there can also be a larger space in the radial direction of the first lower limb component and the second lower limb component.

[0122] The humanoid robot according to the fourth aspect embodiment of the present invention includes: a head, a torso, an upper limb component, a first lower limb component, and a second lower limb component. The torso is connected to the lower part of the head. The upper limb component is connected to both sides of the torso. The first lower limb component and the second lower limb component are connected to the lower part of the torso. The first lower limb component and the second lower limb component are arranged side by side. At least one of the first lower limb component and the second lower limb component is the leg structure 100 of the robot in the above embodiment.

[0123] Among them, the humanoid robot mainly consists of a head, a torso, an upper limb component, a first lower limb component, and a second lower limb component. The torso is connected below the head, the upper limb components are connected to both sides of the torso, and the first lower limb component and the second lower limb component are connected to the lower part of the torso, thereby forming a humanoid robot.

[0124] In the description of the present utility model, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present utility model.

[0125] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "schematic embodiments", "examples", "specific examples", or "some examples", etc. means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present utility model. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example.

[0126] Although the embodiments of the present utility model have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and purposes of the present utility model, and the scope of the present utility model is defined by the claims and their equivalents.

Claims

1. A robot leg structure, characterized in that: include: A calf, the calf comprising an upper hinge end, an extension section and a lower mounting end, the calf being integrally formed; a first lower mounting member, the first lower mounting member being detachably connected to the lower mounting end; a second lower mounting member, the second lower mounting member being detachably connected to the lower mounting end, the first lower mounting member and the second lower mounting member being arranged opposite to each other; a first bearing, wherein an outer ring of the first bearing is disposed on the first lower mounting member; a second bearing, wherein an outer ring of the second bearing is disposed on the second lower mounting member, and a central axis of the first bearing is collinear with a central axis of the second bearing; foot; A foot connecting shaft, wherein the foot connecting shaft is arranged on the foot, the foot connecting shaft is located between the first lower mounting member and the second lower mounting member, the first end of the foot connecting shaft is arranged on the inner ring of the first bearing, and the second end of the foot connecting shaft is arranged on the inner ring of the second bearing.

2. The leg structure of the robot according to claim 1, characterized in that: The first lower mounting member comprises: A first hinged portion, wherein the first hinged portion is provided with a first bearing hole, and an outer ring of the first bearing is arranged in the first bearing hole; a first mounting portion, the first mounting portion being connected to the first hinged portion; The second lower mounting member comprises: a second hinged portion, wherein the second hinged portion is provided with a second bearing hole, and an outer ring of the second bearing is arranged in the second bearing hole; The second mounting portion is connected to the second hinged portion, and the first mounting portion and the second mounting portion are arranged opposite to each other and are respectively detachably connected to the lower mounting end.

3. The leg structure of the robot according to claim 2, characterized in that: A portion of the surface of the first mounting portion away from the second mounting portion is coplanar with one side surface of the extension section, and a portion of the surface of the second mounting portion away from the first mounting portion is coplanar with another side surface of the extension section.

4. The leg structure of the robot according to claim 2, characterized in that: One of the first mounting portion and the lower mounting end is provided with a first positioning block, the other of the first mounting portion and the lower mounting end is provided with a first positioning groove, the first positioning block cooperates with the first positioning groove so that the first mounting portion and the lower mounting end are upper limit cooperated in the width direction of the first mounting portion; and / or One of the second mounting portion and the lower mounting end is provided with a second positioning block, and the other of the second mounting portion and the lower mounting end is provided with a second positioning groove, and the second positioning block cooperates with the second positioning groove to make the second mounting portion and the lower mounting end cooperate in the upper limit position in the width direction of the second mounting portion.

5. The robot leg structure according to claim 4, characterized in that: The first mounting portion is provided with the first positioning block, the second mounting portion is provided with the second positioning block, the lower mounting ends are respectively provided with the first positioning groove and the second positioning groove, a first transition arc is provided between the upper end of the first positioning block and the extension section, a second transition arc is provided between the upper end of the second positioning block and the extension section, a third transition arc is provided at the upper end of the first positioning groove, a fourth transition arc is provided at the upper end of the second positioning groove, the first transition arc cooperates with the third transition arc, and the second transition arc cooperates with the fourth transition arc.

6. The robot leg structure according to claim 2, characterized in that: The top surface of the first mounting portion is configured as a first curved surface protruding upward, the top surface of the second mounting portion is configured as a second curved surface protruding upward, the top surface of the lower mounting end is configured as a third curved surface and a fourth curved surface protruding upward, the first curved surface cooperates with the third curved surface, and the second curved surface cooperates with the fourth curved surface.

7. The robot leg structure according to claim 2, characterized in that: The first mounting portion is provided with a first mounting hole, the second mounting portion is provided with a second mounting hole, the lower mounting end is provided with a third mounting hole, and the third mounting hole is located between the first mounting hole and the second mounting hole, so that a fastener passes through the first mounting hole, the third mounting hole and the second mounting hole.

8. The robot leg structure according to claim 2, characterized in that: The first hinged portion is provided with a first limiting ring at one end of the first bearing hole away from the second bearing hole, and the first limiting ring cooperates with the outer ring of the first bearing in a thickness direction of the first hinged portion; The second hinged portion is provided with a second limiting ring at one end of the second bearing hole away from the first bearing hole, and the second limiting ring cooperates with the outer ring of the second bearing for limiting positioning in the thickness direction of the second hinged portion.

9. The robot leg structure according to claim 2, characterized in that: The first lower mounting member further comprises: A first arc transition portion, wherein the first arc transition portion is connected between the first mounting portion and the first hinge portion so that the first hinge portion protrudes in a direction away from the second hinge portion; The second lower mounting member further comprises: A second arc transition portion, wherein the second arc transition portion is connected between the second mounting portion and the second hinge portion, so that the second hinge portion protrudes in a direction away from the first hinge portion.

10. The robot leg structure according to claim 1, characterized in that: The foot comprises: soles of feet; An axle seat, the axle seat being mounted on the sole of the foot; A third bearing, the outer ring of the third bearing is arranged on the shaft seat, and the third end of the foot connecting shaft is arranged on the inner ring of the third bearing; A fourth bearing, the outer ring of the fourth bearing is arranged on the shaft seat, and the fourth end of the foot connecting shaft is arranged on the inner ring of the fourth bearing.

11. The robot leg structure according to claim 10, characterized in that: The foot connecting shaft comprises: A first shaft body, wherein a first end of the first shaft body is disposed on an inner ring of the first bearing, a second end of the first shaft body is disposed on an inner ring of the second bearing, and a through hole is disposed in the middle of the first shaft body; A second shaft body, wherein the second shaft body passes through the through hole and the first shaft body is rotatable relative to the second shaft body, the first end of the second shaft body is arranged on the inner ring of the third bearing, the second end of the second shaft body is arranged on the inner ring of the fourth bearing, and the central axis of the first shaft body is perpendicular to the central axis of the second shaft body.

12. The robot leg structure according to claim 11, characterized in that: The cross section of the portion of the first shaft body located between the first bearing and the second bearing perpendicular to the central axis of the first shaft body is rectangular, and the cross section of the second shaft body perpendicular to the central axis thereof is circular.

13. The robot leg structure according to claim 12, characterized in that: The first shaft body comprises: A first main shaft section, wherein the cross section of the first main shaft section perpendicular to the central axis of the first shaft body is rectangular, the first main shaft section is provided with the through hole, and the first main shaft section and the shaft seat are matched at the circumferential upper limit position of the first main shaft section; A first shaft end and a second shaft end, the first shaft end and the second shaft end are respectively connected to the two ends of the first main shaft section, the cross-sections of the first shaft end and the second shaft end perpendicular to the central axis of the first shaft body are circular, the first shaft end is arranged on the inner ring of the first bearing, and the second shaft end is arranged on the inner ring of the second bearing.

14. The robot leg structure according to claim 13, characterized in that: Also includes: a first stopper, the first stopper being arranged at an end of the first bearing away from the first main shaft section; a first fastener, the first fastener passing through the first stopper and connected to the first shaft end; a second stopper, the second stopper being arranged at an end of the second bearing away from the first main shaft section; A second fastener is connected to the second shaft end after passing through the second stopper.

15. The robot leg structure according to claim 12, characterized in that: The second shaft comprises: a second main shaft section, wherein the inner ring of the third bearing, the through hole and the inner ring of the fourth bearing are passed through the second main shaft section, and a cross section of the second main shaft section perpendicular to the central axis of the second shaft body is circular; a third shaft end, the third shaft end being connected to the first end of the second main shaft section; The leg structure of the robot also includes: A third stopper, the second main shaft section is provided with the third stopper, and the third stopper cooperates with the third shaft end stopper; a fourth stopper, wherein the second main shaft section passes through the fourth stopper; A third fastener is connected to the second end of the second main shaft section after passing through the fourth stopper.

16. The robot leg structure according to claim 1, characterized in that: The extension section is configured with a third shaft body; The leg structure of the robot also includes: A thigh, the lower end of which is connected to the upper hinged end; a first pull rod, one end of which is connected to the thigh, and the other end of which is disposed on the third shaft; A fixing member, wherein the fixing member is detachably connected to the extension section, and an end of the third shaft body away from the extension section is connected to the fixing member; A first joint module, the first joint module is arranged on the lower leg and is transmission-connected to the foot; a second joint module, the second joint module being arranged on the calf and spaced apart from the first joint module in the radial direction of the calf, and the second joint module being transmission-connected to the foot; A second pull rod, the second pull rod is disposed between the first joint module and the foot; A third pull rod is disposed between the second joint module and the foot.

17. A robot, characterized in that: include: The leg structure of the robot according to any one of claims 1 to 16.

18. A bipedal robot, characterized in that: include: body; A first lower limb assembly and a second lower limb assembly, wherein the first lower limb assembly and the second lower limb assembly are connected to the lower part of the fuselage, the first lower limb assembly and the second lower limb assembly are arranged at intervals, and at least one of the first lower limb assembly and the second lower limb assembly is the leg structure of the robot described in any one of claims 1-16.

19. A humanoid robot, characterized in that: include: head; a torso connected to a lower portion of the head; An upper limb assembly, the upper limb assembly being connected to both sides of the trunk; A first lower limb assembly and a second lower limb assembly, wherein the first lower limb assembly and the second lower limb assembly are connected to the lower part of the torso, the first lower limb assembly and the second lower limb assembly are arranged side by side, and at least one of the first lower limb assembly and the second lower limb assembly is the leg structure of the robot described in any one of claims 1-16.

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