Robot leg speed change mechanism and robot

Abstract

The utility model relates to the technical field of robots, in particular to a robot leg speed change mechanism and a robot, the robot leg speed change mechanism comprises a first motor, a speed reducer, a gearbox, a second motor and a leg connecting rod, the driving end of the first motor is connected with the speed reducer, the input end of the speed reducer is connected with the first motor, and the output end of the speed reducer is connected with the gearbox; a connecting disc is arranged at the fixed end of the second motor, and the second motor is connected with the speed reducer through the connecting disc; the gearbox comprises an output adjusting disc, a variable-speed fixed disc and a variable-speed output disc, the variable-speed fixed disc is arranged at the fixed end of the first motor, the variable-speed output disc is rotationally connected to the speed reducer, the output adjusting disc is connected with the output end of the speed reducer, and the output adjusting disc moves between the variable-speed fixed disc and the variable-speed output disc; the variable-speed fixed disc or the variable-speed output disc is in driving connection; the speed reducer and the speed changing box are arranged between the first motor and the second motor, the speed reducing and speed changing functions are achieved, and the movement stability of the legs of the robot is improved.

Description

Technical Field

[0001] This utility model relates to the field of robot technology, and in particular to a robot leg speed change mechanism and a robot. Background Technology

[0002] Robot leg structures typically mimic human lower limb designs, primarily including the hip, knee, and ankle joints. These joints enable robots to simulate human walking, running, and jumping. The design of the leg structure usually considers key factors such as motion control, mechanical / electrical performance, volumetric torque density, leg actuator mass distribution, leg stiffness, and sensors. Different leg structure solutions, such as linear actuators and rotary actuators, are suitable for different application scenarios and requirements.

[0003] In robot leg structures, existing drive mechanisms typically use motors to directly drive joints or links to achieve movement, enabling various actions through the combination of multiple links. However, direct drive structures have shortcomings in use, exhibiting poor stability when speed changes are required. Therefore, new improvements are needed to the existing robot leg structures. Utility Model Content

[0004] To solve the above problems, this utility model provides a robot leg speed change mechanism and robot by setting a reducer and a gearbox between the first motor and the second motor to realize the functions of deceleration and speed change, thereby improving the stability of the robot's leg movements.

[0005] The technical solution adopted by this utility model is as follows: a robot leg speed change mechanism, including a first motor, a reducer, a gearbox, a second motor, and a leg linkage. The drive end of the first motor is connected to the reducer. The input end of the reducer is connected to the first motor, and the output end is connected to the gearbox. A connecting plate is provided at the fixed end of the second motor, and the second motor is connected to the reducer through the connecting plate. The gearbox includes an output adjustment plate, a speed change fixed plate, and a speed change output plate. The speed change fixed plate is located at the fixed end of the first motor. The speed change output plate is rotatably connected to the reducer. The output adjustment plate is connected to the output end of the reducer. The output adjustment plate moves between the speed change fixed plate and the speed change output plate to drive the speed change fixed plate or the speed change output plate.

[0006] A further improvement to the above solution is that the leg link includes a first link, a second link, and a third link. One end of the first link is pivotally connected to the transmission output disc, one end of the second link is connected to the output end of the second motor, and the third link is provided with a first pivot part and a second pivot part. The first pivot part is connected to the first link, and the second pivot part is connected to the second link.

[0007] A further improvement to the above scheme is that the reducer includes a drive connecting seat, a fixed connecting seat, a planetary gear set, and an output disc. One end of the drive connecting seat is connected to the drive end of the first motor. The fixed connecting seat is provided with a first bearing and is rotatably connected to the speed-changing output disc through the first bearing. One end of the planetary gear set is rotatably connected to the fixed connecting seat, and the other end is rotatably connected to the drive connecting seat. The planetary gear set meshes with the output disc.

[0008] A further improvement to the above scheme is that a second bearing is provided between the output wheel and the gear shifting fixed plate, and the output wheel and the gear shifting fixed plate are rotatably connected through the second bearing.

[0009] A further improvement to the above solution is that a connecting toothed ring is provided on the inner side of the fixed connecting seat, the connecting toothed ring meshes with the planetary gear set, and one end of the fixed connecting seat is connected to the connecting disc.

[0010] A further improvement to the above scheme is that the speed-changing fixed plate includes a connecting cover and a fixed gear ring. The connecting cover is disposed on the first motor, the fixed gear ring is disposed on one side of the connecting cover, and the fixed gear ring is provided with multiple fixed teeth. The output regulating plate is provided with adjusting engagement teeth, and the drive end of the reducer is provided with output connecting teeth, which mesh with the adjusting engagement teeth.

[0011] A further improvement to the above scheme is that the transmission output disc is provided with output mating teeth, which are used to engage with adjusting mating teeth; the output connecting teeth, fixed teeth and output mating teeth are arranged opposite to each other, and the adjusting mating teeth move between the output connecting teeth, fixed teeth and output mating teeth.

[0012] A further improvement to the above scheme is that a pivot bracket is provided on one side of the transmission output disc, and the transmission output disc is pivotally connected to the first connecting rod through the pivot bracket.

[0013] A further improvement to the above solution is that the connecting plate is provided with a motor connecting frame, the motor connecting frame is mounted on the second motor, and a heat dissipation cavity is formed between the connecting plate and the second motor.

[0014] A further improvement to the above scheme is that the first connecting rod has a first inclined portion and a second inclined portion at its two ends, the first inclined portion being pivotally connected to the transmission output disc, and the second inclined portion being pivotally connected to the first pivot portion; the first pivot portion and the second pivot portion are arranged on the same parallel line as the third connecting rod, and a travel wheel set is provided at one end of the third connecting rod, the axle of the travel wheel set being on the same parallel line as the first pivot portion and the second pivot portion.

[0015] A robot includes the aforementioned robot leg transmission mechanism. The robot includes a body, and at least two sets of the robot leg transmission mechanism are provided, with the at least two sets of robot leg transmission mechanisms respectively arranged on both sides of the body.

[0016] The beneficial effects of this utility model are:

[0017] Compared to existing robot leg structures, this invention incorporates a speed reducer and gearbox between the first and second motors to achieve deceleration and speed change functions, thereby improving the stability of the robot's leg movements.

[0018] This invention achieves initial deceleration and torque increase by directly driving the reducer with a first motor, ensuring that subsequent transmission components bear reasonable loads and improving the stability and durability of the entire transmission system. The direct connection between the first motor and the reducer reduces energy loss during transmission and improves energy utilization efficiency. Furthermore, the ingenious connection between the reducer's output and the gearbox allows for precise adjustment and distribution of power as needed, providing different speeds and forces to the robot's legs to meet the demands of walking on complex terrain. The second motor adds an additional power source and control dimension. Connected to the reducer via a connecting plate, it not only enhances the system's structural stability but also allows for auxiliary power or power switching when necessary, enabling more refined motion control and power distribution. This allows the robot to maintain efficient walking while rapidly responding to external changes, such as sudden acceleration, turning, or obstacle crossing. The gearbox's internal combination of an output adjustment plate, a fixed speed plate, and a variable speed output plate constitutes a highly flexible transmission mechanism. The movement of the output adjustment plate between the fixed speed plate and the variable speed output plate allows for selective driving of one of them as needed, thereby achieving precise control of the speed and force of the leg linkage movement. This design not only improves the stability and accuracy of walking but also greatly expands the robot's range of motion and adaptability, enabling it to maintain optimal walking performance in various environments. Through the drivetrain and gear shifting mechanism, the leg-mounted gear shifting mechanism effectively disperses and absorbs the impact forces and loads generated during walking, protecting critical components from damage. Simultaneously, its flexible gear shifting capability allows the robot to adapt to different ground conditions, such as grass, sand, and stairs, achieving broader application coverage. This invention significantly enhances the robot's walking performance and application potential through efficient power transmission, flexible dual-motor configuration, innovative gearbox design, enhanced load capacity, and good maintainability.

[0019] The leg linkage includes a first link, a second link, and a third link. One end of the first link is pivotally connected to the speed-changing output disk, and one end of the second link is connected to the output end of the second motor. The third link has a first pivot portion and a second pivot portion, with the first pivot portion connected to the first link and the second pivot portion connected to the second link. In this embodiment, the pivotal design of the first link and the speed-changing output disk ensures that the leg mechanism can achieve flexible and efficient step adjustments according to the rotational speed and direction of the speed-changing output disk. This design not only improves the robot's walking stability but also greatly enhances its adaptability to complex terrain. Secondly, the direct connection between the second link and the output end of the second motor provides a powerful driving force for the leg mechanism. By precisely controlling the output of the second motor, the leg force can be accurately adjusted to meet the robot's movement needs in different scenarios. The third link, as a bridge connecting the first and second links, has its first and second pivot portions connected to the two links respectively, forming a stable triangular support structure. This design not only enhances the overall stability of the leg mechanism, but also enables the legs to maintain a smooth and continuous transition during deformation, greatly improving the robot's motion fluidity and flexibility. Attached Figure Description

[0020] Figure 1 This is a three-dimensional schematic diagram of the robot leg speed change mechanism of this utility model;

[0021] Figure 2 for Figure 1 A three-dimensional schematic diagram of the transmission mechanism of the robot's legs from another perspective;

[0022] Figure 3 for Figure 1 Exploded view of the transmission mechanism of the robot's legs

[0023] Figure 4 for Figure 1 An exploded view of the transmission mechanism in the legs of a robot from another perspective;

[0024] Figure 5 for Figure 1 A side view of the transmission mechanism in the legs of the robot.

[0025] Figure 6 for Figure 1 A side view of a portion of the transmission mechanism in the legs of a robot.

[0026] Figure 7 for Figure 6 Sectional view of AA in the diagram;

[0027] Figure 8 for Figure 1 An exploded view of the transmission mechanism in the legs of a robot.

[0028] Explanation of reference numerals in the attached drawings: First motor 1, reducer 2, drive connecting seat 21, fixed connecting seat 22, connecting gear ring 221, planetary gear set 23, output wheel disc 24, first bearing 25, second bearing 26, output connecting gear 27, gearbox 3, output adjusting disc 31, adjusting mating gear 311, speed change fixing disc 32, connecting cover 321, fixed gear ring 322, fixed gear 323, speed change output disc 33, output mating gear 331, pivot bracket 332, second motor 4, connecting disc 41, motor connecting frame 411, heat dissipation cavity 412, leg connecting rod 5, first connecting rod 51, first inclined part 511, second inclined part 512, second connecting rod 52, third connecting rod 53, first pivot part 531, second pivot part 532, travel wheel set 533. Detailed Implementation

[0029] To facilitate understanding of this utility model, a more complete description will be given below with reference to the accompanying drawings. Preferred embodiments of this utility model are shown in the drawings. However, this utility model can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the disclosure of this utility model.

[0030] It should be noted that when a component is said to be "fixed to" another component, it can be directly attached to the other component or there may be an intervening component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there may be an intervening component.

[0031] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. Figures 1-8In one embodiment of this utility model, a robot leg speed-changing mechanism is disclosed, comprising a first motor 1, a reducer 2, a gearbox 3, a second motor 4, and a leg linkage 5. The drive end of the first motor 1 is connected to the reducer 2. The input end of the reducer 2 is connected to the first motor 1, and the output end of the reducer 2 is connected to the gearbox 3. A connecting plate 41 is provided at the fixed end of the second motor 4, and the second motor 4 is connected to the reducer 2 through the connecting plate 41. The gearbox 3 includes an output adjustment plate 31, a speed-changing fixed plate 32, and a speed-changing output plate 33. The speed-changing fixed plate 32 is disposed at the fixed end of the first motor 1. The speed-changing output plate 33 is rotatably connected to the reducer 2. The output adjustment plate 31 is connected to the output end of the reducer 2 and moves between the speed-changing fixed plate 32 and the speed-changing output plate 33 to drive the speed-changing fixed plate 32 or the speed-changing output plate 33. In this embodiment, a reducer 2 and a gearbox 3 are provided between the first motor 1 and the second motor 4 to achieve deceleration and speed-changing functions, thereby improving the stability of the robot's leg movements.

[0032] In this embodiment, the first motor 1 directly drives the reducer 2, achieving initial deceleration and torque increase of the power, ensuring that subsequent transmission components bear reasonable loads, and improving the stability and durability of the entire transmission system. The direct connection between the first motor 1 and the reducer 2 reduces energy loss during energy transfer and improves energy utilization efficiency. Furthermore, the ingenious connection between the output end of the reducer 2 and the gearbox 3 allows for precise adjustment and distribution of power as needed, providing different speeds and forces to the robot's legs to meet the requirements of walking on complex terrain. The second motor 4 adds an additional power source and control dimension. Connected to the reducer 2 via a connecting plate 41, it not only enhances the structural stability of the system but also allows for the provision of auxiliary power or power switching when necessary, achieving more refined motion control and power distribution. This enables the robot to maintain efficient walking while possessing the ability to quickly respond to external changes, such as sudden acceleration, turning, or obstacle crossing. The gearbox 3 internally employs an output adjustment plate 31, a fixed speed plate 32, and a speed output plate 33, forming a highly flexible speed change mechanism. The output adjustment disc 31 moves between the fixed speed-changing disc 32 and the output speed-changing disc 33, selectively driving one of them as needed, thereby achieving precise control over the speed and force of the leg linkage 5. This design not only improves the stability and accuracy of walking but also greatly expands the robot's range of motion and adaptability, enabling it to maintain optimal walking performance in various environments. Through the transmission chain and speed-changing mechanism, the leg speed-changing mechanism effectively disperses and withstands the impact forces and loads generated during walking, protecting critical components from damage. Simultaneously, its flexible speed-changing capability allows the robot to adapt to different ground conditions, such as grass, sand, and stairs, achieving broader application scenario coverage. This embodiment significantly improves the robot's walking performance and application potential through efficient power transmission, flexible dual-motor configuration, innovative gearbox 3 design, enhanced load capacity, and good maintainability.

[0033] The leg linkage 5 includes a first linkage 51, a second linkage 52, and a third linkage 53. One end of the first linkage 51 is pivotally connected to the speed-changing output disk 33, and one end of the second linkage 52 is connected to the output end of the second motor 4. The third linkage 53 is provided with a first pivot portion 531 and a second pivot portion 532. The first pivot portion 531 is connected to the first linkage 51, and the second pivot portion 532 is connected to the second linkage 52. In this embodiment, the pivotal design of the first linkage 51 and the speed-changing output disk 33 ensures that the leg mechanism can achieve flexible and efficient step adjustment according to the rotational speed and direction of the speed-changing output disk 33. This design not only improves the robot's walking stability but also greatly enhances its adaptability to complex terrain. Secondly, the direct connection between the second linkage 52 and the output end of the second motor 4 provides a powerful driving force for the leg mechanism. By precisely controlling the output of the second motor 4, the leg force can be precisely adjusted, thereby meeting the robot's movement needs in different scenarios. The third link 53 serves as a bridge connecting the first link 51 and the second link 52. Its first pivot part 531 and second pivot part 532 are connected to the two links respectively, forming a stable triangular support structure. This design not only enhances the overall stability of the leg mechanism, but also allows the legs to maintain a smooth and continuous transition during deformation, greatly improving the robot's motion smoothness and flexibility.

[0034] See Figures 7-8 The reducer 2 includes a drive connecting seat 21, a fixed connecting seat 22, a planetary gear set 23, and an output disc 24. One end of the drive connecting seat 21 is connected to the drive end of the first motor 1. The fixed connecting seat 22 is provided with a first bearing 25 and is rotatably connected to the speed-changing output disc 33 through the first bearing 25. One end of the planetary gear set 23 is rotatably connected to the fixed connecting seat 22, and the other end is rotatably connected to the drive connecting seat 21. The planetary gear set 23 meshes with the output disc 24. In this embodiment, the drive connecting seat 21 is directly connected to the drive end of the first motor 1, ensuring the directness and efficiency of power transmission and reducing energy loss during transmission. The design of the first bearing 25 on the fixed connecting seat 22 not only provides stable support for the speed-changing output disc 33 but also enables its smooth rotation, enhancing the movement flexibility of the mechanism. As the core component of the reducer 2, the planetary gear set 23's unique structural design allows it to be rotatably connected to both the fixed connecting seat 22 and the drive connecting seat 21 simultaneously, effectively distributing the load during transmission and improving the overall load-bearing capacity of the mechanism. In addition, the meshing design of the planetary gear set 23 and the output wheel 24 enables precise speed reduction transmission, ensuring accurate control and stable movement of the robot's legs during the deformation process.

[0035] A second bearing 26 is provided between the output wheel 24 and the speed-changing fixed plate 32, and the output wheel 24 and the speed-changing fixed plate 32 are rotatably connected by the second bearing 26. In this embodiment, the introduction of the second bearing 26 greatly enhances the flexibility and range of motion of the robot's leg deformation mechanism. The output wheel 24 can rotate smoothly relative to the speed-changing fixed plate 32, ensuring the accuracy and smoothness of the robot when performing complex movements. This rotatable connection method allows the leg mechanism to adapt more effectively to various terrains and movement requirements, improving the overall motion performance of the robot. Secondly, the use of the second bearing 26 also improves the durability and reliability of the robot's leg deformation mechanism. As a key component in mechanical transmission, the bearing has excellent load-bearing capacity and wear resistance. During long-term operation and frequent deformation, the second bearing 26 can effectively reduce friction and wear, extending the service life of the robot's leg mechanism.

[0036] A connecting gear ring 221 is provided on the inner side of the fixed connecting seat 22. The connecting gear ring 221 meshes with the planetary gear set 23. One end of the fixed connecting seat 22 is connected to the connecting disk 41. Specifically, the speed change fixed disk 32 includes a connecting cover 321 and a fixed gear ring 322. The connecting cover 321 is disposed on the first motor 1. The fixed gear ring 322 is disposed on one side of the connecting cover 321. The fixed gear ring 322 is provided with a plurality of fixed teeth 323. The output adjusting disk 31 is provided with adjusting meshing teeth 311. The drive end of the reducer 2 is provided with an output connecting tooth 27, which meshes with the adjusting meshing teeth 311. The variable speed output disk 33 is provided with output mating teeth 331, which are used to engage with adjusting mating teeth 311. The output connecting teeth 27, fixed teeth 323, and output mating teeth 331 are arranged opposite to each other, and the adjusting mating teeth 311 move between the output connecting teeth 27, fixed teeth 323, and output mating teeth 331. In this embodiment, the precise meshing of the connecting tooth ring 221 provided on the inner side of the fixed connecting seat 22 with the planetary gear set 23 ensures the smoothness and accuracy of power transmission, which is crucial for the stable walking of the robot's legs in complex terrain. The connecting disk 41 is connected to one end of the fixed connecting seat 22, further enhancing the overall stability of the structure, so that the leg deformation mechanism can still maintain a good operating state when subjected to a large load. The design of the variable speed fixed disk 32 gives the robot's leg deformation mechanism a richer variable speed capability. The connecting cover 321 is tightly installed on the first motor 1, and the multiple fixed teeth 323 on the fixed tooth ring 323 engage with the adjusting mating teeth 311 on the output adjusting disk 31 to achieve precise power control. Meanwhile, the drive end of the reducer 2 smoothly transmits power to the speed output disc 33 through the meshing of the output connecting gear 27 and the adjusting engagement gear 311. Furthermore, the engagement of the output engagement gear 331 enables multi-stage speed change and output of power. In addition, the relative arrangement of the output connecting gear 27, the fixed gear 323, and the output engagement gear 331, along with the flexible movement of the adjusting engagement gear 311, allows the robot's leg deformation mechanism to quickly respond to and adapt to different motion requirements during deformation.

[0037] A pivot bracket 332 is provided on one side of the variable speed output disk 33, and the variable speed output disk 33 is pivotally connected to the first connecting rod 51 through the pivot bracket 332. In this embodiment, the variable speed output disk 33 can adjust the speed and torque according to different motion requirements, while the pivot bracket 332 ensures the stability and continuity of power transmission. Through the pivot connection with the first connecting rod 51, this structure can effectively convert the power of the variable speed output disk 33 into the motion power of the robot's legs, thereby realizing the flexible deformation and precise control of the leg mechanism. Secondly, the use of the pivot bracket 332 allows the leg mechanism to withstand greater forces and torques during deformation, thereby improving the stability and durability of the mechanism. At the same time, the flexible speed change capability of the variable speed output disk 33 also enables the robot to better adapt to various complex environments and task requirements.

[0038] The connecting plate 41 is equipped with a motor connecting frame 411, which is mounted on the second motor 4. A heat dissipation cavity 412 is formed between the connecting plate 41 and the second motor 4. In this embodiment, the motor connecting frame 411 achieves a stable connection between the motor and the connecting plate 41, providing reliable power support for the precise deformation of the robot's legs. When the legs undergo complex deformation, the motor can stably output torque, ensuring a smooth and precise deformation process. Secondly, the heat dissipation cavity 412 formed between the connecting plate 41 and the second motor 4 plays an important role in improving the overall heat dissipation performance of the mechanism. When the robot is running continuously or undergoing high-intensity deformation, key components such as the motor will generate a large amount of heat. The design of the heat dissipation cavity 412 can accelerate heat dissipation, prevent the motor from overheating, thereby extending the service life of the mechanism and improving overall operating efficiency.

[0039] The first connecting rod 51 has a first inclined portion 511 and a second inclined portion 512 at its two ends. The first inclined portion 511 is pivotally connected to the transmission output disc 33, and the second inclined portion 512 is pivotally connected to the first pivot portion 531. The first pivot portion 531 and the second pivot portion 532 are arranged on the same parallel line as the third connecting rod 53. One end of the third connecting rod 53 is provided with a travel wheel set 533, and the axle of the travel wheel set 533 is on the same parallel line as the first pivot portion 531 and the second pivot portion 532. In this embodiment, the first inclined portion 511 and the second inclined portion 512 at both ends of the first connecting rod 51 enable flexible pivoting with the transmission output disc 33 and the first pivot portion 531. This design not only enhances the motion flexibility of the linkage mechanism but also allows the entire leg deformation mechanism to respond to control commands more precisely and achieve more complex motion changes. Secondly, the first pivot 531 and the second pivot 532 are cleverly positioned on the same parallel line as the third link 53. This layout optimizes the spatial structure of the linkage mechanism, reduces unnecessary motion interference, and improves the stability and durability of the mechanism. Simultaneously, this design facilitates maintenance and adjustment of the linkage mechanism, reducing maintenance costs. Furthermore, the axle of the traveling wheel assembly 533 at one end of the third link 53 is aligned with the first pivot 531 and the second pivot 532, ensuring the stability and smoothness of the wheel assembly during travel. This design enables the robot to maintain good passability and maneuverability in various terrain conditions, improving the robot's adaptability and practicality.

[0040] A robot includes a leg-mounted transmission mechanism and a body. At least two sets of leg-mounted transmission mechanisms are provided, each set positioned on one side of the body. In this embodiment, by providing at least two sets of leg-mounted transmission mechanisms and arranging them on both sides of the body, the robot achieves high flexibility and stability in walking and movement. This bilateral symmetrical layout not only enhances the robot's balance but also allows it to adjust its gait more freely in complex terrain to adapt to different surface conditions. Secondly, the introduction of the leg-mounted transmission mechanism gives the robot a wider speed adjustment range. Whether rapid movement is required to perform a task or slow movement is needed for delicate operations, the robot can achieve precise speed control by adjusting the leg-mounted transmission mechanism, thereby meeting the needs of diverse application scenarios. Furthermore, this design also helps improve the robot's energy efficiency and endurance. By optimizing the transmission efficiency of the leg-mounted transmission mechanism, unnecessary energy loss is reduced, allowing the robot to maintain a longer power output when performing long-term tasks.

[0041] The above embodiments only illustrate several implementation methods of this utility model, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of this utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. A robot leg transmission mechanism, characterized in that: The system includes a first motor, a reducer, a gearbox, a second motor, and a leg link. The drive end of the first motor is connected to the reducer. The input end of the reducer is connected to the first motor, and the output end of the reducer is connected to the gearbox. A connecting plate is provided at the fixed end of the second motor, and the second motor is connected to the reducer through the connecting plate. The gearbox includes an output adjustment plate, a gear shifting fixed plate, and a gear shifting output plate. The gear shifting fixed plate is located at the fixed end of the first motor. The gear shifting output plate is rotatably connected to the reducer. The output adjustment plate is connected to the output end of the reducer and moves between the gear shifting fixed plate and the gear shifting output plate to drive and connect either the gear shifting fixed plate or the gear shifting output plate. A pivot bracket is provided on one side of the gear shifting output plate, and the gear shifting output plate is pivotally connected to the leg link through the pivot bracket.

2. The robot leg speed change mechanism according to claim 1, characterized in that: The reducer includes a drive connecting seat, a fixed connecting seat, a planetary gear set, and an output disc. One end of the drive connecting seat is connected to the drive end of the first motor. The fixed connecting seat is provided with a first bearing and is rotatably connected to the speed-changing output disc through the first bearing. One end of the planetary gear set is rotatably connected to the fixed connecting seat, and the other end is rotatably connected to the drive connecting seat. The planetary gear set meshes with the output disc.

3. The robot leg speed change mechanism according to claim 2, characterized in that: A second bearing is provided between the output wheel and the gear shifting fixed plate, and the output wheel and the gear shifting fixed plate are rotatably connected through the second bearing.

4. The robot leg speed change mechanism according to claim 3, characterized in that: The inner side of the fixed connecting seat is provided with a connecting toothed ring, which meshes with the planetary gear set, and one end of the fixed connecting seat is connected to the connecting disc.

5. The robot leg speed change mechanism according to claim 4, characterized in that: The speed-changing fixed plate includes a connecting cover and a fixed gear ring. The connecting cover is disposed on the first motor, and the fixed gear ring is disposed on one side of the connecting cover. The fixed gear ring is provided with multiple fixed teeth. The output adjustment plate is provided with adjustment meshing teeth. The drive end of the reducer is provided with output connecting teeth, and the output connecting teeth mesh with the adjustment meshing teeth.

6. The robot leg speed change mechanism according to claim 5, characterized in that: The speed-changing output disc is provided with output mating teeth, which are used to engage with adjusting mating teeth; the output connecting teeth, fixed teeth, and output mating teeth are arranged opposite to each other, and the adjusting mating teeth move between the output connecting teeth, fixed teeth, and output mating teeth.

7. The robot leg speed change mechanism according to claim 1, characterized in that: The leg link includes a first link, a second link, and a third link. One end of the first link is pivotally connected to the transmission output disc, and one end of the second link is connected to the output end of the second motor. The third link is provided with a first pivot part and a second pivot part. The first pivot part is connected to the first link, and the second pivot part is connected to the second link. The first pivot part and the second pivot part are arranged on the same parallel line of the third link.

8. The robot leg speed change mechanism according to claim 7, characterized in that: The first connecting rod has a first inclined portion and a second inclined portion at its two ends, the first inclined portion being pivotally connected to the transmission output disc, and the second inclined portion being pivotally connected to the first pivot portion; one end of the third connecting rod is provided with a travel wheel set, the axle of the travel wheel set being on the same parallel line as the first pivot portion and the second pivot portion.

9. The robot leg speed change mechanism according to claim 1, characterized in that: The connecting plate is provided with a motor connecting frame, which is mounted on the second motor, and a heat dissipation cavity is formed between the connecting plate and the second motor.

10. A robot, characterized in that: The robot includes the robot leg speed change mechanism according to any one of claims 1 to 9, wherein the robot includes a body, and the robot leg speed change mechanism is provided in at least two sets, with the at least two sets of robot leg speed change mechanisms respectively arranged on both sides of the body.

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