Robot leg structure capable of changing speed ratio and robot

Abstract

The utility model relates to the technical field of foot type robots, in particular to a robot leg structure capable of changing the rotation speed ratio and a robot. The robot leg structure capable of changing the rotation speed ratio comprises a thigh and a shank, a first speed changing and reducing part is arranged on the shank, and a second speed changing and reducing part for driving the first speed changing and reducing part is arranged on the thigh; the variable-speed-ratio gear is arranged on the first variable-speed-reduction part and / or the second variable-speed-reduction part to form a leg variable-speed-ratio structure, so that the rotation speed ratio between the first variable-speed-reduction part and the second variable-speed-reduction part can be changed through meshing transmission of the variable-speed-ratio gear, and therefore when the robot is in a relatively upright state, the large rotation speed ratio can be provided, and the robot can be more stable in operation. The leg movement speed is high, so that the execution efficiency is high, the flexibility is high, and the speed is high; when the robot is in a squatting or sitting state, a small rotating speed ratio is provided, and therefore large output torque can be provided to meet the requirement of the scene needing large torque.

Description

Technical Field

[0001] The utility model relates to the technical field of foot-type robots, in particular to a robot leg structure capable of changing the speed ratio and a robot. Background Art

[0002] Currently, robots require significant torque to transition from a squatting position to a standing position while walking or performing tasks, but also require excellent response speed when running or jumping while standing relatively upright. However, current robot legs often use a fixed speed ratio, which results in insufficient joint torque when bending and slow speed when running or jumping.

[0003] Furthermore, most existing robot legs adopt a fixed speed ratio structure, which means that the working point of the leg motor cannot always be in the high-efficiency working range, resulting in large energy loss in the overall system, low system energy efficiency, and inflexibility.

[0004] The information disclosed in this background art is only for understanding the background of the concept of the present invention and therefore it may include information that does not constitute prior art. Utility Model Content

[0005] In response to the above problem or one of the above problems, one purpose of the present utility model is to provide a robot leg structure and a robot capable of changing the speed ratio. When the robot is running, jumping or walking in a relatively upright position, a large speed ratio can be provided, so that the legs move quickly, thereby having a higher execution speed and greater flexibility; when the robot is in a squatting or sitting state, a small speed ratio can be provided, thereby providing a larger output torque to meet scenarios requiring large torque.

[0006] The second purpose of the present utility model is to provide a robot leg structure and a robot capable of changing the speed ratio, wherein a first speed reducer is provided on the calf and a second speed reducer is provided on the thigh; a speed ratio gear is provided on the first speed reducer and / or the second speed reducer to form a leg speed ratio structure, so that the speed ratio between the first speed reducer and the second speed reducer can be changed by utilizing the meshing transmission of the speed ratio gear, thereby achieving a large speed ratio when the robot is in a relatively upright state, so that the legs move quickly, thereby having higher execution efficiency, greater flexibility and faster speed; when the robot is in a squatting or sitting state, a small speed ratio is provided, thereby providing a larger output torque to meet scenarios requiring large torque.

[0007] In response to the above problem or one of the above problems, the third object of the present utility model is to provide a robot leg structure and a robot capable of changing the speed ratio. At least one gear division and gear change portion are arranged on the first speed reducer and / or the second speed reducer to form a leg speed ratio variable structure, so that the speed ratio between the first speed reducer and the second speed reducer can be changed by utilizing the alternating meshing transmission of the gear division and the gear change portion. Therefore, through this speed ratio variable structure, the robot can be suitable for a variety of application scenarios, taking into account both providing high torque power and high-efficiency action execution.

[0008] In response to the above problem or one of the above problems, the fourth purpose of the present utility model is to provide a robot leg structure and robot capable of changing the speed ratio, which has high execution efficiency, great flexibility and fast speed. By adjusting the speed ratio, the working point of the motor is always in the high-efficiency area, and the overall system has high energy efficiency, so that the robot can maintain optimal performance under a wide range of working conditions and reduce energy waste; and, the joint motor drives the variable speed ratio gear through a connecting rod, so that the entire thigh is more compact and has a small inertia, so as to prevent the knee joint from being too bulky.

[0009] In order to achieve one of the above purposes, the first technical solution of the present utility model is:

[0010] A robot leg structure capable of changing speed ratios, comprising a thigh and a calf rotatably connected to the thigh, the calf being provided with a first speed-changing member, and the thigh being provided with a second speed-changing member for driving the first speed-changing member;

[0011] When the robot is in a relatively upright state, the speed ratio of the first speed-changing member to the second speed-changing member is denoted as a;

[0012] When the robot is in a squatting or sitting state, the speed ratio of the first speed reducing member to the second speed reducing member is denoted as b;

[0013] The a>b is used to ensure that when the rotational speed of the second speed-reducing component is the same, the rotational speed of the first speed-reducing component will be higher when the robot is relatively upright.

[0014] The robot being in a relatively upright state refers to the robot being in a standing state, a running state, a jumping state, or a walking state, and its body is in an upright state as a whole or in a partially upright state.

[0015] The robot being in a squatting or sitting state refers to the robot being in a squatting state, a standing state, or a sitting state.

[0016] As preferred technical measures:

[0017] The first speed-changing member is a first speed ratio gear fixed on the calf, and the second speed-changing member is a second speed ratio gear rotatably assembled on the thigh.

[0018] As preferred technical measures:

[0019] The first speed reducing member and the second speed reducing member are elliptical gears, bevel gears, special-shaped gears or eccentric gears;

[0020] Alternatively, the first speed reducing member and the second speed reducing member constitute a planetary gear set or a harmonic gear set.

[0021] As preferred technical measures:

[0022] The thigh is provided with a joint motor, and the joint motor drives the second speed reducing member through a connecting rod, a belt, a chain or a gear set.

[0023] As an optimal technical measure: when the robot squats to the extreme position, the flexion angle between the thigh and the calf is greater than 140 degrees; when the robot stands and the thigh and the calf are stretched to the extreme position, the angle between the thigh and the calf is approximately 0 degree.

[0024] In order to achieve one of the above purposes, the second technical solution of the utility model is:

[0025] A robot leg structure capable of changing speed ratios, comprising a thigh and a calf rotatably connected to the thigh, the calf being provided with a first speed-changing member, and the thigh being provided with a second speed-changing member for driving the first speed-changing member;

[0026] At least one of the first speed-changing member and the second speed-changing member is a non-concentric gear, and the non-concentric gear is provided with at least one gear division section and a gear changing section;

[0027] The meshing circle radius corresponding to the gear division portion is different from the meshing circle radius corresponding to the gear change portion, so that when the two are alternately meshed and transmitted, the speed ratio between the first speed reducing member and the second speed reducing member can be changed.

[0028] After continuous exploration and testing, the utility model provides at least one gear division and gear change portion on the first speed reducer and / or the second speed reducer to form a leg speed ratio structure, so that the alternating meshing transmission of the gear division and the gear change portion can be used to change the speed ratio between the first speed reducer and the second speed reducer, thereby achieving a large speed ratio when the robot walks, runs or jumps, and fast leg movements, thereby having higher execution efficiency, great flexibility and fast speed; when the robot squats or stands up, a small speed ratio is provided, thereby providing a larger output torque to meet scenarios requiring large torque.

[0029] Furthermore, the variable speed ratio structure of the legs of the utility model has high execution efficiency, great flexibility, and fast response. By adjusting the speed ratio, the working point of the motor is always in the high-efficiency area, and the overall system has high energy efficiency, so that the robot can maintain optimal performance under a wide range of working conditions and reduce energy waste.

[0030] As preferred technical measures:

[0031] The first speed reducing member is a driven gear, which includes at least a first gear section and a first gear changing section;

[0032] The second speed reducing member is a driving gear, which includes at least a second gear section and a second gear changing section;

[0033] The meshing circle radius corresponding to the first gear section is c;

[0034] The meshing circle radius corresponding to the first gear shifting portion is h; c>h;

[0035] The meshing circle radius corresponding to the second gear section is e;

[0036] The meshing circle radius corresponding to the second gear shift part is f; e>f;

[0037]

[0038] When the first gear section and the second gear section are meshed and transmitted, a small speed ratio structure is formed, the lower leg responds slowly, and the torque is large, which is used for the robot to stand up or squat;

[0039] When the first gear part and the second gear part are meshed and transmitted, a large speed ratio structure is formed with small torque, which is used for the robot to run, jump or walk when it is relatively upright;

[0040] Or / and, the thigh and calf are respectively a rod-shaped structure or a plate-shaped structure or a shell structure or a bionic leg structure.

[0041] As preferred technical measures:

[0042] The first speed reducing member is an elliptical gear or a shuttle gear, which includes two sections of first gear divisions and two sections of first gear changing sections;

[0043] The second speed reducing member is a shuttle gear or an elliptical gear, which includes two sections of second gear division parts and two sections of second gear changing parts;

[0044] When the first gear section and the second gear section are meshed and transmitted, a small speed ratio structure is formed, the lower leg responds slowly, and the torque is large, which is used for the robot to stand up or squat;

[0045] When the first gear section and the second gear section are meshed and transmitted, a high speed ratio structure is formed with a small torque, which is used for the robot to run, jump or walk when it is relatively upright.

[0046] As preferred technical measures:

[0047] The first speed reducing member is a plum blossom gear, which includes eight first gear division sections and four first gear change sections;

[0048] The second speed reducing member is an elliptical gear, which includes two sections of second gear division parts and two sections of second gear changing parts;

[0049] When the first gear section and the second gear section are meshed and transmitted, a small speed ratio structure is formed, the lower leg responds slowly, and the torque is large, which is used for the robot to stand up or squat;

[0050] When the first gear section and the second gear section are meshed and transmitted, a high speed ratio structure is formed with a small torque, which is used for the robot to run, jump or walk when it is relatively upright.

[0051] In order to achieve one of the above purposes, the third technical solution of the utility model is:

[0052] A robot comprises the above-mentioned robot leg structure capable of changing the speed ratio, wherein the robot is a humanoid robot, a bipedal robot or a quadrupedal robot.

[0053] Compared with the prior art, the beneficial effects of the present invention are:

[0054] The utility model is provided with a first speed reducer on the calf and a second speed reducer on the thigh; a speed ratio gear is provided on the first speed reducer and / or the second speed reducer to form a leg speed ratio structure, so that the speed ratio between the first speed reducer and the second speed reducer can be changed by utilizing the meshing transmission of the speed ratio gear, thereby achieving a large speed ratio when the robot is in a relatively upright state, so that the legs move quickly, thereby having higher execution efficiency, greater flexibility and faster speed; when the robot is in a squatting or sitting state, a small speed ratio is provided, thereby providing a larger output torque to meet the scenario requiring a large torque.

[0055] Furthermore, the utility model provides at least one gear section and a gear changing section on the first speed reducer and / or the second speed reducer to form a leg speed ratio structure, so that the speed ratio between the first speed reducer and the second speed reducer can be changed by utilizing the alternating meshing transmission of the gear section and the gear changing section. Therefore, through this speed ratio structure, the robot can be suitable for a variety of application scenarios, taking into account both providing high torque power and high-efficiency action execution.

[0056] Furthermore, the utility model provides a robot leg structure capable of changing the speed ratio. When the robot is walking, running or jumping, a large speed ratio can be provided, so that the legs move quickly, thereby having higher execution efficiency, greater flexibility and faster speed; when the robot is in a squatting or sitting state, a small speed ratio can be provided, thereby providing a larger output torque to meet scenarios requiring large torque.

[0057] The utility model provides a robot, when the robot is walking, running or jumping, the variable speed ratio of the leg is provided, so that the leg moves quickly, thereby having high execution efficiency, great flexibility and high speed; when the robot is in a squatting or sitting state, a small speed ratio is provided, thereby providing a large output torque to meet the scene requiring large torque.

[0058] In summary, the utility model has high execution efficiency, great flexibility, and fast response. By adjusting the speed ratio, the operating point of the motor is always in the high-efficiency area. The overall system has high energy efficiency, enabling the robot to maintain optimal performance under a wide range of working conditions and reduce energy waste.

[0059] The present invention will be described in further detail below with reference to the accompanying drawings and specific implementation methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] Figure 1 This is a schematic diagram of a leg standing state of the robot leg structure of the present utility model;

[0061] Figure 2 This is a schematic diagram of a leg squatting state of the leg structure of the utility model robot;

[0062] Figure 3 This is a schematic diagram of the leg flexion and extension extreme positions of the leg structure of the robot of the utility model;

[0063] Figure 4 This is a schematic diagram of the first special-shaped gear of the robot leg structure of the utility model;

[0064] Figure 5 This is a schematic diagram of the second type of special-shaped gear in the leg structure of the robot of the present invention;

[0065] Figure 6 This is a schematic diagram of the third special-shaped gear of the robot leg structure of the utility model;

[0066] Figure 7 It is a schematic diagram of the meshing circle relationship between the first speed reducing member and the second speed reducing member of the machine of the utility model.

[0067] Description of reference numerals:

[0068] 1. Thigh; 2. Calf; 3. First speed reducer; 4. Second speed reducer; 5. First speed ratio gear; 6. Second speed ratio gear; 7. Joint motor; 8. Connecting rod; 31. First gear section; 32. First gear section; 41. Second gear section; 42. Second gear section. DETAILED DESCRIPTION

[0069] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0070] Rather, the present invention encompasses any alternatives, modifications, equivalents, and solutions within the spirit and scope of the present invention as defined by the claims. Furthermore, to facilitate a better understanding of the present invention, certain specific details are detailed below in the detailed description of the present invention. Those skilled in the art will be able to fully understand the present invention without these details.

[0071] It should be noted that when two elements are referred to as being "fixedly connected" or "engaged," the two elements may be directly connected or there may be an intervening element. In contrast, when an element is referred to as being "directly on" another element, there are no intervening elements. The terms "larger," "smaller," "upper," "lower," and similar expressions used herein are for illustrative purposes only.

[0072] Unless otherwise defined, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which this invention pertains. The terms used herein are for the purpose of describing specific embodiments only and are not intended to limit this invention. The term "or / and" as used herein includes any and all combinations of one or more of the associated listed items.

[0073] like Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 As shown, the first specific embodiment of the robot leg structure of the utility model:

[0074] A robot leg structure capable of variable speed ratio, comprising a thigh 1 and a shank 2 rotatably connected to the thigh 1, wherein the shank 2 is provided with a first speed-changing member 3, and the thigh 1 is provided with a second speed-changing member 4 that drives the first speed-changing member 3;

[0075] When the robot is in a relatively upright state, the speed ratio of the first speed-changing member 3 to the second speed-changing member 4 is denoted as a;

[0076] When the robot is in a squatting or sitting state, the speed ratio of the first speed-changing member 3 to the second speed-changing member 4 is denoted as b;

[0077] The a>b is used to ensure that when the rotation speed of the second speed changer 4 is the same, the rotation speed of the first speed changer 3 will be higher when the robot is relatively upright.

[0078] In this embodiment, the first speed-changing member 3 is a first speed ratio gear 5 fixed on the calf 2 , and the second speed-changing member 4 is a second speed ratio gear 6 rotatably mounted on the thigh 1 .

[0079] In this embodiment, a joint motor 7 is provided on the thigh 1 , and the joint motor 7 drives the second speed reducer 4 through a connecting rod 8 or a belt or a chain or a gear set.

[0080] In this embodiment: when the robot squats to the extreme position, the flexion angle between the thigh 1 and the calf 2 is greater than 140 degrees; when the robot stands, the thigh 1 and the calf 2 are stretched to the extreme position, the angle between the thigh 1 and the calf 2 is approximately 0 degree.

[0081] The second specific embodiment of the robot leg structure of the utility model:

[0082] A robot leg structure capable of changing the speed ratio includes a thigh 1 and a calf 2 rotatably connected to the thigh 1, the calf 2 being provided with a first speed reducer 3, and the thigh 1 being provided with a second speed reducer 4 for driving the first speed reducer 3; when the robot is walking, running or jumping, the speed ratio between the first speed reducer 3 and the second speed reducer 4 is large; when the robot is in a squatting or sitting state, the speed ratio between the first speed reducer 3 and the second speed reducer 4 is small.

[0083] In this embodiment, the first speed-changing member 3 includes a first eccentric circular gear 5 fixed on the calf 2 , and the second speed-changing member 4 includes a second eccentric circular gear 6 rotatably fixed on the thigh 1 .

[0084] In this embodiment, a joint motor is provided on the thigh 1, and the joint motor drives the second eccentric gear 6 through a connecting rod, a belt, a chain, or a gear set.

[0085] In this embodiment, when the robot squats to the extreme position, the flexion angle between the thigh 1 and the calf 2 is 170 degrees; when the robot stands, the thigh 1 and the calf 2 are stretched to the extreme position, the angle between the thigh 1 and the calf 2 is minus 5 degrees, which can be seen in the figure. Figure 3 .

[0086] This embodiment provides a robot leg structure capable of variable speed ratios. When the robot is walking, running, or jumping, a high speed ratio is provided, resulting in faster leg movement, thus achieving high execution efficiency, greater flexibility, and faster speed. When the robot is in a squatting or sitting position, a low speed ratio is provided, thereby providing greater output torque to meet scenarios requiring high torque. In summary, this leg-mounted variable speed ratio structure offers high execution efficiency, great flexibility, and fast response. By adjusting the speed ratio, the motor's operating point is always in the high-efficiency range, resulting in high overall system energy efficiency, allowing the robot to maintain optimal performance under a wide range of operating conditions and reducing energy waste.

[0087] The third specific embodiment of the robot leg structure of the present utility model:

[0088] A robot leg structure capable of variable speed ratio, comprising a thigh 1 and a shank 2 rotatably connected to the thigh 1, wherein the shank 2 is provided with a first speed-changing member 3, and the thigh 1 is provided with a second speed-changing member 4 that drives the first speed-changing member 3;

[0089] At least one of the first speed-changing member 3 and the second speed-changing member 4 is a non-concentric gear, and the non-concentric gear is provided with at least one gear division section and a gear changing section;

[0090] The gear sub-portions and the gear changing portion are alternately meshed and driven to change the speed ratio between the first speed reducing member 3 and the second speed reducing member 4 .

[0091] In this embodiment, the first reduction gear 3 is a driven gear, which includes at least one first gear section 31 and a first gear changing section 32; the second reduction gear 4 is a driving gear, which includes at least one second gear section 41 and a second gear changing section 42; when the first gear section 31 and the second gear changing section 42 are engaged in transmission, a small speed ratio structure is formed, the calf 2 responds slowly, and the torque is large, which is used for the robot to stand up or squat; when the first gear changing section 32 and the second gear section 41 are engaged in transmission, a large speed ratio structure is formed, the torque is small, which is used for the robot to walk.

[0092] The thigh 1 and the calf 2 are bionic leg structures respectively.

[0093] The fourth specific embodiment of the robot leg structure of the present utility model:

[0094] In this embodiment, the first speed reducer 3 is an elliptical gear, which includes two first gear sections 31 and two first gear change sections 32; the second speed reducer 4 is a shuttle gear, which includes two second gear sections 41 and two second gear change sections 42. Figure 4 .

[0095] When the first gear section 31 and the second gear section 42 are meshed and transmitted, a small speed ratio structure is formed, the lower leg 2 responds slowly and has a large torque, which is used for the robot to stand up or squat;

[0096] When the first gear section 32 and the second gear section 41 are meshed and transmitted, a high speed ratio structure is formed with a small torque, which is used for the robot to walk.

[0097] The fifth specific embodiment of the robot leg structure of the present utility model:

[0098] In this embodiment, the first speed reducer 3 is a plum blossom gear, which includes eight first gear sections 31 and four first gear change sections 32; the second speed reducer 4 is an elliptical gear, which includes two second gear sections 41 and two second gear change sections 42, which can be seen in FIG. Figure 5 .

[0099] When the first gear section 31 and the second gear section 42 are meshed and transmitted, a small tooth drives a large tooth transmission structure, and the lower leg 2 responds slowly and has a large torque, which is used for the robot to stand up or squat;

[0100] When the first gear section 32 and the second gear section 41 are meshed and driven, a large tooth drives a small tooth transmission structure is formed with a small torque, which is used for the robot to walk.

[0101] The sixth specific embodiment of the robot leg structure of the present utility model:

[0102] In this embodiment, the first speed reducing member 3 is a shuttle gear, which includes two sections of first gear divisions 31 and two sections of first gear changing sections 32; the second speed reducing member 4 is a shuttle gear, which includes two sections of second gear divisions 41 and two sections of second gear changing sections 42, which can be seen in FIG. Figure 6 .

[0103] When the first gear section 31 and the second gear section 42 are meshed for transmission, a small tooth drives a large tooth transmission structure is formed, the calf 2 responds slowly, and the torque is large, which is used for the robot to stand up or squat; when the first gear section 32 and the second gear section 41 are meshed for transmission, a large tooth drives a small tooth transmission structure is formed, and the torque is small, which is used for the robot to walk.

[0104] The seventh specific embodiment of the robot leg structure of the present utility model:

[0105] A robot leg structure capable of variable speed ratio, comprising a thigh 1 and a shank 2 rotatably connected to the thigh 1, wherein the shank 2 is provided with a first speed-changing member 3, and the thigh 1 is provided with a second speed-changing member 4 that drives the first speed-changing member 3;

[0106] At least one of the first speed-changing member 3 and the second speed-changing member 4 is a non-concentric gear, and the non-concentric gear is provided with at least one gear division section and a gear changing section;

[0107] The meshing circle radius corresponding to the gear division portion is different from the meshing circle radius corresponding to the gear change portion, so that when the two are alternately meshed and transmitted, the speed ratio between the first speed reducing member 3 and the second speed reducing member 4 can be changed.

[0108] After continuous exploration and testing, the utility model provides at least one gear division and gear change portion on the first speed reducer 3 and / or the second speed reducer 4 to form a leg speed ratio structure, so that the alternating meshing transmission of the gear division and the gear change portion can be used to change the speed ratio between the first speed reducer 3 and the second speed reducer 4, so that when the robot is walking, running or jumping, a large speed ratio is provided, the legs move quickly, and thus it has higher execution efficiency, greater flexibility and faster speed; when the robot is in a squatting or sitting state, a small speed ratio is provided, so that a larger output torque can be provided to meet the scenarios requiring large torque.

[0109] Furthermore, the variable speed ratio structure of the legs of the utility model has high execution efficiency, great flexibility, and fast response. By adjusting the speed ratio, the working point of the motor is always in the high-efficiency area, and the overall system has high energy efficiency, so that the robot can maintain optimal performance under a wide range of working conditions and reduce energy waste.

[0110] In this embodiment: the first speed reducing member 3 is a driven gear, which includes at least a first gear section 31 and a first gear changing section 32;

[0111] The second speed-changing member 4 is a driving gear, which includes at least a second gear section 41 and a second gear changing section 42;

[0112] The meshing circle radius corresponding to the first gear section 31 is c;

[0113] The meshing circle radius corresponding to the first gear changing portion 32 is h; c>h;

[0114] The meshing circle radius corresponding to the second gear section 41 is e;

[0115] The meshing circle radius corresponding to the second gear changing portion 42 is f; e>f;

[0116]

[0117] For specific correspondence, see Figure 7 .

[0118] When the first gear section 31 and the second gear section 42 are meshed and transmitted, a small speed ratio structure is formed, the lower leg 2 responds slowly and has a large torque, which is used for the robot to stand up or squat;

[0119] When the first gear section 32 and the second gear section 41 are meshed and transmitted, a high speed ratio structure is formed with a small torque, which is used for the robot to run, jump or walk when it is relatively upright.

[0120] A specific embodiment of the robot leg structure of the utility model is as follows:

[0121] A robot comprises the above-mentioned robot leg structure capable of changing the speed ratio.

[0122] The present invention provides a robot whose leg-mounted variable-speed reduction structure provides a high speed ratio when the robot is walking, running, or jumping, resulting in rapid leg movement and high execution efficiency, great flexibility, and high speed. When the robot is in a squatting or sitting position, a low speed ratio is provided, thereby providing a large output torque to meet scenarios requiring high torque. In summary, the leg-mounted variable-speed ratio structure offers high execution efficiency, great flexibility, and fast response. By adjusting the speed ratio, the motor's operating point is always in the high-efficiency range, resulting in high overall system energy efficiency, allowing the robot to maintain optimal performance under a wide range of operating conditions and reducing energy waste.

[0123] In the present application, the fixed connection method can be screw connection, welding, riveting, plug connection, or connection through a third component, and those skilled in the art can choose according to actual conditions.

[0124] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field can still modify or replace the specific implementation methods of the present invention. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be included in the scope of protection of the claims of the present invention.

Claims

1. A robot leg structure capable of changing the speed ratio, characterized in that: The invention comprises a thigh (1) and a calf (2) rotatably connected to the thigh (1), wherein the calf (2) is provided with a first speed reducing member (3), and the thigh (1) is provided with a second speed reducing member (4) for driving the first speed reducing member (3); When the robot is in a relatively upright state, the speed ratio of the first speed-changing member (3) to the second speed-changing member (4) is denoted as a; When the robot is in a squatting or sitting state, the speed ratio of the first speed-changing member (3) to the second speed-changing member (4) is recorded as b; The a>b is used to ensure that when the rotation speed of the second speed-changing member (4) is the same, the rotation speed of the first speed-changing member (3) will be higher when the robot is relatively upright.

2. A robot leg structure capable of changing speed ratio according to claim 1, characterized in that: The first speed-changing member (3) is a first speed ratio gear (5) fixed on the calf (2), and the second speed-changing member (4) is a second speed ratio gear (6) rotatably mounted on the thigh (1).

3. The robot leg structure capable of changing the speed ratio according to claim 1, characterized in that: The first speed reducing member (3) and the second speed reducing member (4) are elliptical gears, bevel gears, special-shaped gears, or eccentric circular gears; Alternatively, the first speed reducing member (3) and the second speed reducing member (4) constitute a planetary gear set or a harmonic gear set.

4. A robot leg structure capable of changing speed ratio according to any one of claims 1 to 3, characterized in that: The thigh (1) is provided with a joint motor (7), and the joint motor (7) drives the second speed reducing member (4) via a connecting rod (8) or a belt or a chain or a gear set.

5. A robot leg structure capable of changing speed ratio according to any one of claims 1 to 3, characterized in that: When the robot squats to an extreme position, the flexion angle between the thigh (1) and the calf (2) is greater than 140 degrees; when the robot stands, the thigh (1) and the calf (2) are extended to an extreme position, and the angle between the thigh (1) and the calf (2) is approximately 0 degrees.

6. A robot leg structure capable of changing the speed ratio, characterized in that: The invention comprises a thigh (1) and a calf (2) rotatably connected to the thigh (1), wherein the calf (2) is provided with a first speed reducing member (3), and the thigh (1) is provided with a second speed reducing member (4) for driving the first speed reducing member (3); At least one of the first speed-changing member (3) and the second speed-changing member (4) is a non-concentric gear, and the non-concentric gear is provided with at least one gear division section and a gear changing section; The meshing circle radius corresponding to the gear division portion and the meshing circle radius corresponding to the gear change portion are different, so that when the two are alternately meshed and transmitted, the speed ratio between the first speed reducing member (3) and the second speed reducing member (4) can be changed.

7. The robot leg structure capable of changing the speed ratio according to claim 6, characterized in that: The first speed-changing member (3) is a driven gear, which includes at least one first gear section (31) and a first gear changing section (32); The second speed-changing member (4) is a driving gear, which includes at least one second gear section (41) and a second gear changing section (42); The meshing circle radius corresponding to the first gear section (31) is c; The meshing circle radius corresponding to the first gear changing portion (32) is h; c>h; The meshing circle radius corresponding to the second gear section (41) is e; The meshing circle radius corresponding to the second gear changing portion (42) is f; e>f; When the first gear section (31) and the second gear section (42) are meshed and transmitted, a small speed ratio structure is formed, the lower leg (2) responds slowly and has a large torque, which is used for the robot to stand up or squat; When the first gear changing portion (32) and the second gear sub-portion (41) are meshed and transmitted, a high speed ratio structure is formed with a small torque, which is used for the robot to run, jump or walk when it is relatively upright; Or / and, the thigh (1) and the calf (2) are respectively a rod-shaped structure or a plate-shaped structure or a shell structure or a bionic leg structure.

8. The robot leg structure capable of changing the speed ratio according to claim 6, characterized in that: The first speed reducing member (3) is an elliptical gear or a shuttle gear, and includes two sections of first gear sub-sections (31) and two sections of first gear changing sections (32); The second speed reducing member (4) is a shuttle gear or an elliptical gear, which includes two sections of second gear division parts (41) and two sections of second gear changing parts (42); When the first gear section (31) and the second gear section (42) are meshed and transmitted, a small speed ratio structure is formed, the lower leg (2) responds slowly and has a large torque, which is used for the robot to stand up or squat; When the first gear changing portion (32) and the second gear sub-portion (41) are meshed and transmitted, a high speed ratio structure is formed with a small torque, which is used for the robot to run, jump or walk when it is relatively upright.

9. The robot leg structure capable of changing the speed ratio according to claim 6, characterized in that: The first speed reducing member (3) is a plum blossom gear, comprising eight first gear sub-sections (31) and four first gear changing sections (32); The second speed reducing member (4) is an elliptical gear, which includes two sections of second gear sub-sections (41) and two sections of second gear changing sections (42); When the first gear section (31) and the second gear section (42) are meshed and transmitted, a small speed ratio structure is formed, the lower leg (2) responds slowly and has a large torque, which is used for the robot to stand up or squat; When the first gear changing portion (32) and the second gear sub-portion (41) are meshed and transmitted, a high speed ratio structure is formed with a small torque, which is used for the robot to run, jump or walk when it is relatively upright.

10. A robot, characterized in that: It comprises a robot leg structure capable of changing the speed ratio as described in any one of claims 1 to 9, wherein the robot is a humanoid robot, a bipedal robot or a quadrupedal robot.

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