Leg module of robot and robot

Abstract

The utility model discloses a leg module of a robot and the robot. Wherein the leg module comprises a first rotary actuator, a first connecting piece, a second rotary actuator, a second connecting piece and a main body mechanism; the first rotary actuator comprises a first rotary part and a first fixed part, and the first rotary part can rotate around the axis direction of the first fixed part relative to the first fixed part; the first connecting piece is assembled on the first rotating part; the second rotating actuator comprises a second rotating part and a second fixing part, the second rotating part can rotate around the axis direction of the second fixing part relative to the second fixing part, and the two ends of the second connecting piece are locked in the circumferential direction of the first fixing part and the circumferential direction of the second fixing part respectively; the main body mechanism is movably connected to the second rotating actuator, so that the second rotating actuator can drive the main body mechanism to rotate around a first direction, and the first direction is consistent with the axis direction of the first rotating part and the second rotating part. The leg module provided by the utility model is convenient to disassemble, and the maintenance difficulty is reduced.

Description

Technical Field

[0001] This application belongs to the field of robotics technology, specifically relating to a leg module for a robot and the robot itself. Background Technology

[0002] In existing technologies, the leg structure of a robot is usually assembled sequentially by multiple power components. When a certain part needs to be disassembled for maintenance or replacement, all the components of the leg structure need to be disassembled sequentially, resulting in low disassembly efficiency and high maintenance difficulty. Utility Model Content

[0003] This application aims to provide a leg module for a robot and a robot in order to at least solve one of the problems of the prior art.

[0004] To solve the above-mentioned technical problems, this application is implemented as follows:

[0005] According to a first aspect of this application, a leg module for a robot is provided, comprising:

[0006] A first rotary actuator, comprising a first rotating part and a first fixed part, wherein the first rotating part is capable of rotating about its axis relative to the first fixed part;

[0007] A first connector is assembled to the first rotating part;

[0008] The second rotary actuator includes a second rotating part and a second fixed part, wherein the second rotating part is capable of rotating about its axis relative to the second fixed part;

[0009] The second connector has two ends respectively sleeved on the first fixing part and the second fixing part, and respectively locked from the first fixing part and the second fixing part in the circumferential direction;

[0010] The main body is movably connected to the second rotary actuator, enabling the second rotary actuator to drive the main body to rotate around a first direction, which is consistent with the axial direction of the first rotating part and the second rotating part.

[0011] Optionally, it also includes an electrical connector and a connecting harness, the electrical connector being disposed inside the second connector, and both the first rotary actuator and the second rotary actuator being connected to the electrical connector;

[0012] The second connector is provided with a cable outlet. One end of the connecting wire harness is connected to the electrical connector, and the other end exits from the cable outlet, so that the first rotary actuator and the second rotary actuator can be connected to an external control circuit.

[0013] Optionally, it also includes a wire cover and a wire clip, the wire cover being disposed at the outlet, the wire clip being disposed at the first connector, and the connecting wire harness exiting from the outlet and extending through the first connector;

[0014] The wire cover is used to shield the wire outlet, and the wire clip is used to fix the connecting wire harness to the first connector.

[0015] Optionally, the main body includes a thigh body, a lower leg body, an output flange, and a connecting rod;

[0016] The first end of the thigh body is movably disposed on the second fixed part, and the second end is rotatably connected to the first end of the lower leg body. The first end of the connecting rod is connected to the second rotating part through the output flange, and the second end is rotatably connected to the first end of the lower leg body, forming a four-bar linkage mechanism.

[0017] The second rotating part can drive the connecting rod to rotate around the first direction, so that the thigh body can rotate around the first direction, and the lower leg body can rotate around the thigh body.

[0018] Optionally, the second end of the thigh body is rotatably connected to the first end of the lower leg body via a bearing, and the second end of the connecting rod is rotatably connected to the first end of the lower leg body via a rotating shaft.

[0019] Optionally, it also includes a third rotary actuator, which includes a third rotating part and a third fixed part, the third rotating part being rotatable relative to the third fixed part about its axis;

[0020] The first connector includes a first connecting part and a second connecting part that are connected to each other. The first connecting part is connected to the first rotating part, and the second connecting part is connected to the third rotating part. The axial direction of the third rotating part is perpendicular to the axial direction of the second rotating part.

[0021] Optionally, the first connector further includes an annular support portion connected to the second connector portion, the annular support portion being movably sleeved on the periphery of the first fixing portion.

[0022] Optionally, it also includes a sliding bushing disposed between the annular support portion and the second fixing portion.

[0023] Optionally, it also includes a third connector, which is connected to the third fixing part and axially locked from the third fixing part, and is used to connect to an external structure.

[0024] According to a second aspect of this application, a robot is provided, comprising: a body and a leg module as described in the first aspect, the leg module being connected to the body.

[0025] This application simplifies the disassembly efficiency of the leg module, improves the modular design of the leg module, and reduces its maintenance difficulty by fixing the first fixed part of the first rotary actuator and the second fixed part of the second rotary actuator to the first fixed part of the first rotary actuator by circumferential locking through the second connecting member, and by setting the first connecting member in the first rotary part, so that the first rotary actuator and the second rotary actuator can be directly separated by disassembling the second connecting member during disassembly and maintenance, or the first rotary actuator can be separated from the external structure by disassembling the first connecting member.

[0026] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0027] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0028] Figure 1 This is a structural schematic diagram of a leg module provided in this application;

[0029] Figure 2 yes Figure 1 Exploded view;

[0030] Figure 3 This is a structural schematic diagram of the second structural component;

[0031] Figure 4 This is one of the wiring harness connection diagrams for the leg module provided in this application.

[0032] Figure 5 This is the second schematic diagram of the wiring harness connection of the leg module provided in this application.

[0033] Figure 6 This is a structural diagram of the main body provided in this application.

[0034] Figure 7 This is a magnified view of a portion of the connection between the thigh body and the lower leg body provided in this application.

[0035] Figure 8 This is a structural schematic diagram of a robot provided in this application.

[0036] Figure 9 This is a schematic diagram of another robot provided in this application.

[0037] Figure 10 yes Figure 9 Exploded view.

[0038] Figure label:

[0039] 100. Body; 200. Leg module;

[0040] 1. Third rotary actuator; 11. Third connector; 12. First connector; 121. First connecting part; 122. Annular support part; 123. Second connecting part; 2. First rotary actuator; 21. Second connector; 22. Wire cover; 23. Connecting wire harness; 24. Wire clip; 3. Second rotary actuator; 4. Thigh body; 41. Thigh inner shell; 42. Thigh outer shell; 43. Output flange; 44. Connecting rod; 45. Silicone pad; 5. Lower leg body; 51. Protrusion; 52. Bearing; 6. Fourth rotary actuator. Detailed Implementation

[0041] Embodiments of this application will now be described in detail. Examples of these embodiments are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application. All other embodiments obtained by those skilled in the art based on the embodiments in this application are within the scope of protection of this application.

[0042] The terms "first" and "second" in the specification and claims of this application may explicitly or implicitly include one or more of the features. In the description of this application, unless otherwise stated, "multiple" means two or more. Furthermore, "and / or" in the specification and claims indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0043] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0044] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0045] like Figures 1 to 2 As shown, according to some embodiments of this application, a robot leg module 200 is provided, including: a first rotary actuator 2, a first connector 12, a second rotary actuator 3, a second connector 21, and a main body mechanism; the first rotary actuator 2 includes a first rotating part and a first fixed part, the first rotating part being rotatable relative to the first fixed part about its axis; the first connector 12 is assembled to the first rotating part; the second rotary actuator 3 includes a second rotating part and a second fixed part, the second rotating part being rotatable relative to the second fixed part about its axis, the two ends of the second connector 21 being respectively sleeved on the first fixed part and the second fixed part, and respectively circumferentially locked from the first fixed part and the second fixed part; the main body mechanism is movably connected to the second rotary actuator 3, so that the second rotary actuator 3 can drive the main body mechanism to rotate about a first direction (X direction in the figure), the first direction being consistent with the axial direction of the first rotating part and the second rotating part.

[0046] Specifically, in this embodiment, both the first rotary actuator 2 and the second rotary actuator 3 rotate around a first direction, meaning the rotation axes of the first and second rotating parts coincide, such that the ends of the first rotary actuator 2 and the second rotary actuator 3 are positioned opposite each other. The two ends of the second connecting member 21 can be respectively fitted onto the first fixing part and the second fixing part to connect the first rotary actuator 2 and the second rotary actuator 3. The first rotating part is also connected to the first connecting member 12, allowing the entire leg module to be assembled onto an external structure, such as the robot's body 100, via the first connecting member 12. This improves the modular design of the entire leg module 200 and facilitates the assembly and disassembly of the leg module with external modules. Furthermore, the rotary actuator can be a rotary motor, etc., without limitation.

[0047] In the above embodiment, the two ends of the second connector 21 are sleeved on the first fixing part and the second fixing part, and are circumferentially locked to the first fixing part and the second fixing part. This allows the second connector 21 to be disassembled and repaired only when the first rotary actuator 2 or the second rotary actuator 3 needs to be disassembled, without having to disassemble the main body or other structures sequentially. This improves the disassembly efficiency of the leg module 200 and reduces the difficulty of maintenance. The second connector 21 can be a cylindrical structure, with its two ends respectively sleeved on the first fixing part and the second fixing part, and can be circumferentially fixed by screws or other fasteners.

[0048] In addition, in practical applications, the first rotary actuator 2 and the second rotary actuator 3 usually need to be provided with outgoing wire positions to connect them to the control circuit so that the first rotating part and the second rotating part can rotate relative to the first fixed part and the second fixed part, respectively. The second connector 21 is connected to the first fixed part and the second fixed part so that there is no relative movement between the first fixed part and the second fixed part. The wiring harnesses of the first rotary actuator 2 and the second rotary actuator 3 can both exit from the same position of the second connector 21 so as to facilitate electrical connection between the wiring harness and the outside. This avoids excessive wiring harness exposure, which could lead to malfunction of the leg module 200 and improves the safety and reliability of the leg module 200.

[0049] In this embodiment, the main structure is the structural component used to perform the rotational actions of the first and second actuators. It is typically designed as a thigh assembly connecting to a lower leg assembly to support and move the entire robot. Specifically, when the two leg modules 200 in the above embodiment are respectively assembled onto the robot's body 100 via the first connector 12, refer to... Figure 9 and Figure 10 The rotation of the first rotating part enables the entire leg module 200 to rotate relative to the body 100 around the first direction, while the rotation of the second rotating part enables the entire main body mechanism to rotate around the first direction, thereby realizing the forward and backward movements of the bipedal robot.

[0050] Optionally, such as Figures 4 to 5 As shown, the leg module 200 also includes an electrical connector and a connecting harness 23. The electrical connector is located inside the second connector 21. Both the first rotary actuator 2 and the second rotary actuator 3 are connected to the electrical connector. The second connector 21 is provided with a cable outlet. One end of the connecting harness 23 is connected to the electrical connector, and the other end exits from the cable outlet, so that the first rotary actuator 2 and the second rotary actuator 3 can be connected to an external control circuit.

[0051] Specifically, in this embodiment, the electrical connector is disposed inside the second connector 21. The wiring harnesses of the first rotary actuator 2 and the second rotary actuator 3 can both be connected to the electrical connector and connected to external modules (such as other rotary actuators or control circuits) through the same connecting wire harness 23 connected to the electrical connector. The electrical connector can be a connection port.

[0052] In practical applications, this design, which connects a single wiring harness 23 through a single outlet, saves on the number of external wiring harnesses 23 and improves the convenience of electrical connections. Furthermore, the reduced number of exposed wiring harnesses and the absence of relative movement between the first and second fixing parts lower the probability of wear on the wiring harness 23, thereby improving the safety and reliability of the leg module 200 during operation.

[0053] Optionally, such as Figures 4 to 5 As shown, the leg module 200 also includes a wire cover 22 and a wire clip 24. The wire cover 22 is disposed at the wire outlet, and the wire clip 24 is disposed at the first connector 12. The connecting wire harness 23 exits from the wire outlet and extends through the first connector 12. The wire cover 22 is used to cover the wire outlet, and the wire clip 24 is used to fix the connecting wire harness 23 to the first connector 12.

[0054] Specifically, in this embodiment, the design of the wire cover 22 and the wire clip 24 ensures that the connecting wire harness 23 will not move relative to the first fixing part, the second fixing part, or the second connector 21, further avoiding wear and tear on the connecting wire harness 23 and improving the reliability of the electrical connection.

[0055] Optionally, such as Figure 2 and Figure 6 As shown, the main mechanism includes a thigh body 4, a lower leg body 5, an output flange 43, and a connecting rod 44. The first end of the thigh body 4 is movably disposed on the second fixed part, and the second end is rotatably connected to the first end of the lower leg body 5. The first end of the connecting rod 44 is connected to the second rotating part through the output flange 43, and the second end is rotatably connected to the first end of the lower leg body 5, forming a four-bar linkage 44 mechanism. The second rotating part can drive the connecting rod 44 to rotate around the first direction, so that the thigh body 4 can rotate around the first direction, and the lower leg body 5 can rotate around the thigh body 4.

[0056] Specifically, in this embodiment, the thigh body 4 may include an inner thigh shell 41 and an outer thigh shell 42 that interlock with each other. A connecting rod 44 is located inside the thigh body 4, with its two ends connected to the second rotating part and the lower leg body 5, respectively. The two ends of the thigh body 4 are rotatably connected to the second fixed part and the lower leg body 5, forming a four-bar linkage 44 mechanism. When the second rotating part rotates, the connecting rod 44 can drive the lower leg to rotate, which in turn drives the thigh body 4 to rotate on the second fixed part. This allows the robot to reciprocate in one direction when the leg module 200 is assembled on the robot. The connection between the connecting rod 44 and the second rotating part is achieved through an output flange 43, improving the reliability of the four-bar linkage 44 mechanism and simplifying the structure of the main body. Additionally, a silicone pad 45 may be provided on the outer side of the thigh shell 42 to protect the entire thigh body 4.

[0057] Optionally, such as Figure 6 As shown, the second end of the thigh body 4 is rotatably connected to the first end of the calf body 5 via a bearing 52, and the second end of the connecting rod 44 is rotatably connected to the first end of the calf body 5 via a rotating shaft.

[0058] Specifically, in this embodiment, the connection between the thigh body 4 and the lower leg body 5 is achieved through a bearing 52. The lower leg body 5 has protrusions 51 on both sides of its second end, on which the bearing 52 is fitted to ensure smooth rotation between the thigh body 4 and the lower leg body 5. The bearing 52 can be a ball bearing 52 to improve the connection strength and wear resistance. Furthermore, the connection between the second end of the connecting rod 44 and the lower leg can be achieved through a rotating shaft. A certain distance exists between the rotating shaft and the bearing 52, allowing the main body mechanism to form a four-bar linkage 44, enabling the linkage between the various components within the main body mechanism.

[0059] Optionally, such as Figures 1 to 2 As shown, the leg module 200 also includes a third rotary actuator 1, which includes a third rotating part and a third fixed part. The third rotating part is capable of rotating about its axis relative to the third fixed part. The first connector 12 includes a first connecting part 121 and a second connecting part 123 connected to each other. The first connecting part 121 is connected to the first rotating part, and the second connecting part 123 is connected to the third rotating part. The axial direction of the third rotating part is perpendicular to the axial direction of the second rotating part.

[0060] Specifically, in this embodiment, the third rotary actuator 1 is connected to the first rotary actuator 2 via the first connector 12, enabling the entire leg module to rotate around a second direction (the Y direction in the attached figure) different from the first direction. This increases the degree of freedom of the leg module, making the robot's movement more diverse when it is assembled on the robot. The connection between the leg module 200 and the robot's body 100 can be achieved by connecting the third rotary actuator to the body 100 via the connector. When it is necessary to disassemble the leg module 200, it is only necessary to separate the connector from the body 100. The specific form of the connector can be designed to match the actual structure of the body 100, and is not limited here.

[0061] In the above embodiment, the first connecting part 121 on the first connector 12 is connected to the first rotating part, and the second connecting part 123 is connected to the second rotating part. Based on the fact that the rotation center of the third rotating part is perpendicular to the rotation center of the first rotating part, and the first fixing part and the second fixing part are opposite to each other, that is, the first rotary actuator 2 and the second rotary actuator 3 are designed back to back, so that the outer end of the first rotating part is not blocked by other structural parts. The first connecting part 121 is circumferentially fixed to the outer end of the first rotating part through the connector, so that when disassembling the first rotary actuator 2 and the third rotary actuator 1, it is only necessary to disconnect the connection between the second connecting part 123 on the second connector 21 and the first rotating part, which further improves the convenience of disassembly and maintenance of the entire leg module 200.

[0062] Optionally, such as Figure 3 As shown, the first connector 12 also includes an annular support portion 122 connected to the second connector portion 123, and the annular support portion 122 is movably sleeved on the periphery of the first fixing portion.

[0063] Specifically, in this embodiment, the annular support portion 122 allows for auxiliary force application to the main structure when it is subjected to significant stress, thereby improving the connection rigidity between the second rotary actuator 3 and the first connecting member 12. Furthermore, the annular support portion 122 does not affect the disassembly and maintenance of the entire structure.

[0064] Optionally, the leg module 200 also includes a sliding bushing disposed between the annular support portion 122 and the second fixing portion. The sliding bushing reduces the friction between the annular support portion 122 and the second fixing portion, ensuring the flexibility of the leg module 200.

[0065] Optionally, such as Figures 1 to 2 As shown, the leg module 200 also includes a third connector 11, which is connected to the third fixing part and is axially locked from the third fixing part. The third connector 11 is used to connect with an external structure.

[0066] Specifically, in this embodiment, the third connector 11 is circumferentially locked to the third fixing part and a connection position with the external structure is reserved to realize the connection between the entire leg module 200 and the external structure, such as the robot body 100, which further ensures the convenience of disassembling the leg module 200 from the external structure and improves the modular design of the leg module 200.

[0067] For example, in one embodiment, the third connector 11 is designed with a ring structure. The ring width of the ring structure can reserve the installation position of the third connector 11 and the third fixing part as well as the installation position of the external structure. This simplifies the structure of the third connector 11 and does not affect the disassembly of the entire leg module 200 and the external structure.

[0068] like Figures 8 to 10 As shown, according to a second aspect of this application, a robot is provided, including: a body 100 and a leg module 200 of the first aspect, the leg module 200 being connected to the body 100.

[0069] Specifically, in one embodiment, such as Figure 9 and Figure 10 As shown, the robot includes a body 100 and two leg modules 200, each equipped with a rotary actuator, as provided in the first aspect of this application. The two leg modules 200 are connected to the left and right sides of the body 100 via first connectors 12, respectively. Both leg modules 200 can rotate around a first direction to achieve back-and-forth swinging relative to the robot body 100. At the lowest end of the main body, specifically at the second end of the lower leg body 5, wheels can be mounted via fourth rotary actuators 6. When the fourth rotary actuators 6 rotate, they drive the wheels to rotate, enabling the entire robot to move back and forth. This type of robot can be used in practical applications such as as a self-balancing scooter.

[0070] In another embodiment, such as Figure 8 As shown, the robot includes a body 100 and four leg modules 200, each equipped with a three-rotary actuator, as provided in the first aspect of this application. The four leg modules 200 are connected to the left and right sides of the front end and the left and right sides of the rear end of the body 100 via third connectors 11. In practical applications, the rotation of the third rotary actuator 1 allows the four leg modules 200 to adjust the height of the body 100. The rotation of the first rotary actuator 2 causes the entire main body to swing back and forth relative to the body 100. Combined with the rotation of the second rotary actuator 3, this allows the thigh body 4 and the lower leg body 5 to rotate relative to each other, thereby enabling the robot to walk and improving its flexibility.

[0071] In the above embodiments, the robot's leg modules all adopt the leg module 200 provided in the first aspect. Based on the modular design and easy disassembly of the leg module 200, the overall disassembly efficiency of the robot is higher and the maintenance difficulty is reduced.

[0072] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0073] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

Claims

1. A leg module for a robot, characterized in that, include: A first rotary actuator, comprising a first rotating part and a first fixed part, wherein the first rotating part is capable of rotating about its axis relative to the first fixed part; A first connector is assembled to the first rotating part; The second rotary actuator includes a second rotating part and a second fixed part, wherein the second rotating part is capable of rotating about its axis relative to the second fixed part; The second connector has two ends respectively sleeved on the first fixing part and the second fixing part, and respectively locked from the first fixing part and the second fixing part in the circumferential direction; The main body is movably connected to the second rotary actuator, enabling the second rotary actuator to drive the main body to rotate around a first direction, which is consistent with the axial direction of the first rotating part and the second rotating part.

2. The leg module of the robot according to claim 1, characterized in that, It also includes electrical connectors and connecting harnesses, wherein the electrical connectors are disposed inside the second connectors, and both the first rotary actuator and the second rotary actuator are connected to the electrical connectors; The second connector is provided with a cable outlet. One end of the connecting wire harness is connected to the electrical connector, and the other end exits from the cable outlet, so that the first rotary actuator and the second rotary actuator can be connected to an external control circuit.

3. The leg module of the robot according to claim 2, characterized in that, It also includes a wire cover and a wire clip, the wire cover being disposed at the outlet, the wire clip being disposed at the first connector, and the connecting wire harness exiting from the outlet and extending through the first connector; The wire cover is used to shield the wire outlet, and the wire clip is used to fix the connecting wire harness to the first connector.

4. The leg module of the robot according to claim 1, characterized in that, The main structure includes a thigh body, a lower leg body, an output flange, and a connecting rod; The first end of the thigh body is movably disposed on the second fixed part, and the second end is rotatably connected to the first end of the lower leg body. The first end of the connecting rod is connected to the second rotating part through the output flange, and the second end is rotatably connected to the first end of the lower leg body, forming a four-bar linkage mechanism. The second rotating part can drive the connecting rod to rotate around the first direction, so that the thigh body can rotate around the first direction, and the lower leg body can rotate around the thigh body.

5. The leg module of the robot according to claim 4, characterized in that, The second end of the thigh body is rotatably connected to the first end of the calf body via a bearing, and the second end of the connecting rod is rotatably connected to the first end of the calf body via a rotating shaft.

6. The leg module of the robot according to claim 1, characterized in that, It also includes a third rotary actuator, which comprises a third rotating part and a third fixed part, the third rotating part being capable of rotating about its axis relative to the third fixed part; The first connector includes a first connecting part and a second connecting part that are connected to each other. The first connecting part is connected to the first rotating part, and the second connecting part is connected to the third rotating part. The axial direction of the third rotating part is perpendicular to the axial direction of the second rotating part.

7. The leg module of the robot according to claim 6, characterized in that, The first connector further includes an annular support portion connected to the second connector portion, the annular support portion being movably sleeved on the periphery of the first fixing portion.

8. The leg module of the robot according to claim 7, characterized in that, It also includes a sliding bushing, which is disposed between the annular support portion and the second fixing portion.

9. The leg module of the robot according to claim 6, characterized in that, It also includes a third connector, which is connected to the third fixing part and axially locked from the third fixing part, and is used to connect with an external structure.

10. A robot, characterized in that, include: The body and the leg module according to any one of claims 1-9, wherein the leg module is connected to the body.

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