Leg moving part for robot
By optimizing the structure of the leg movement components of the small AI robot, the entire circuit path is hidden, solving the problems of exposed circuits, insufficient structural strength, and inaccurate assembly, thus improving the robot's operational stability and aesthetic appearance.
Patent Information
- Application Number
- CN202522718418.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-23
- Publication Date
- 2026-01-30
- Estimated Expiration
- 2035-12-23
AI Technical Summary
Existing small AI robots suffer from problems such as exposed wiring, insufficient structural strength, inaccurate assembly, and movement lag in their leg movement components, which affect the robot's operational stability and lifespan.
A robot leg motion component was designed, including a hollow leg support, a connecting seat, a rotating shaft component, and a hidden wiring structure. By optimizing the structure of the leg support, connecting seat, and rotating shaft component, the wiring path is hidden throughout, ensuring structural strength, assembly accuracy, and motion flexibility.
The entire path of the circuit is hidden, which improves the robot's operational stability and service life, ensures the flexibility of movement and the reliability of the structure, reduces assembly difficulty and maintenance costs, and optimizes the appearance design.
Smart Images
Figure CN223858775U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model belongs to robot limb structure technical field, concretely relates to a leg moving part for robot, especially suitable for the hidden arrangement of leg support, motion drive and internal circuit of light intelligent equipment such as desktop robot, can realize the leg motion of robot, and the technical problem of exposed wiring of leg joint is solved simultaneously. BACKGROUND
[0002] With the rapid development of artificial intelligence technology, small AI robots (such as desktop robots, educational entertainment light robots) are increasingly widely used in consumer electronics, office assistance, education and entertainment and other fields. The core competitiveness of such robots is concentrated in the realization of AI interaction function, and the limb structure design needs to consider light weight, compactness and motion flexibility. The leg moving part, as a key structure connecting the robot body (or head) and the foot, not only needs to bear the function of supporting the body weight and transmitting the motion driving force, but also needs to adapt to the layout requirements of the internal power supply lines, signal lines and other lines of the robot.
[0003] In the prior art, there are many defects in the design of the leg moving part of the small AI robot that need to be solved:
[0004] Circuit layout defects: due to the small overall size of the robot, the internal space of the leg is limited, and the lines in the leg joint and leg support area lack reasonable hidden wiring channels, and the lines are mostly exposed on the surface of the leg support or in the joint gap. The exposed lines are easily affected by external forces such as collision and friction, causing wear and tear, which seriously affects the running stability and service life of the robot; at the same time, the exposed lines are easily entangled and pulled during the leg movement of the robot, interfering with the flexible movement of the leg joint, causing the robot limb to jam, and limiting the smoothness of the limb movement.
[0005] Insufficient structural strength and wiring compatibility: some existing leg supports are designed with solid structure to ensure structural strength, or although hollow structure is adopted, reasonable reinforcing structure is not provided, and deformation and fracture are easily occurred after long-term bearing of body weight or repeated movement; and a few hollow leg supports do not plan the wiring guide structure, and the lines are randomly arranged inside, which still causes the problem of mutual extrusion and wear.
[0006] Assembly and positioning accuracy defects: the connection seat of the leg support of the existing leg movement part and the driving motor mostly adopts a simple round hole assembly structure, lacks precise positioning design, and is prone to deviation and misplacement during assembly, resulting in that the connection angle of the leg support and the driving motor does not meet the movement requirements, the support is prone to shaking during robot movement, and thus the pulling and wear of internal lines are aggravated; meanwhile, the assembly structure design of the rotating shaft part connected between the leg support and the foot movement part is unreasonable, the connection stability of the rotating shaft and the leg support is poor, the rotating shaft is prone to falling off during movement, and the rotating shaft part is not planned to have a wire routing channel, and the lines still need to be exposed from the hinge.
[0007] Unreasonable wire groove structure design: in the prior art, if a wire groove is arranged, the cross section thereof is mostly of an equal-width structure, and the groove has no limiting design, the lines are prone to falling out of the wire groove during robot movement, and the narrow cavity structure is difficult to accommodate multiple lines arranged simultaneously, the lines are pressed and wound against each other, and the assembly difficulty and the later maintenance cost are increased.
[0008] The above defects result in that the design of the limb movement part of the existing small AI robot is limited, the movement flexibility and the structural reliability are difficult to be considered, and the optimization and upgrading of the limb structure of the small AI robot and the market application expansion are restricted. Practical new type content
[0009] In view of the above problems, the present practical new type provides a leg movement part for a robot, which optimizes the structural design of the leg support, the connection seat and the rotating shaft part, realizes the full-path hidden arrangement of the leg line of the robot, ensures the structural strength, assembly accuracy and movement flexibility of the leg movement part, and solves the problems of line exposure, structural deformation, inaccurate assembly and positioning and movement jam in the prior art.
[0010] To achieve the above object, the technical scheme adopted by the present practical new type is as follows:
[0011] A leg movement part for a robot, comprising a leg support, the leg support is internally hollow to form a wire cavity; a leg motor is connected to the top end of the leg support to drive the leg support to rotate around a vertical shaft, and a foot movement part is arranged at the lower end to flip around a horizontal shaft;
[0012] The foot movement part comprises a foot bottom plate, a raised foot cover plate is arranged on the foot bottom plate, the foot cover plate and the foot bottom plate are combined to form a foot mounting cavity, and a foot motor is arranged in the foot mounting cavity.
[0013] Rotating shaft parts are arranged at the two ends of the lower part of the leg support, the rotating shaft parts are rotatably arranged in the holes at the two ends of the foot cover plate, and one of the rotating shaft parts is connected to the foot motor.
[0014] The beneficial effects of the above technical scheme are: the hollow wiring cavity of the leg support provides a basic hidden space for the internal wiring of the robot, avoiding exposure of the wiring; the leg motor and the foot motor respectively realize rotation of the leg around a vertical axis and overturning of the leg around a horizontal axis, meeting the multi-dimensional motion requirements of the robot leg; the foot mounting cavity can protect the foot motor, reducing damage to the motor caused by external collisions; the rotating shaft component connects the leg support and the foot moving part, ensuring smooth overturning motion of the foot and realizing power transmission through connection with the foot motor, and the overall structure takes into account the motion function and the wiring hiding requirement.
[0015] As a further improvement of the above scheme, the top end of the leg support is provided with a connecting seat connected with the leg motor, the top of the connecting seat is provided with an assembly hole, and the side edge is provided with a wiring slot which penetrates the upper end surface of the connecting seat along the axial direction of the connecting seat.
[0016] The beneficial effects of the above technical scheme are: the connecting seat realizes stable connection with the leg motor through the assembly hole, improving the firmness of the connection between the two, and avoiding part shaking caused by loose connection during motion; the wiring slot on the side edge provides a transition channel for the wiring extending from the leg motor to the wiring cavity of the leg support, and the design that the wiring slot penetrates the upper end surface of the connecting seat facilitates quick wiring, reduces the bending of the wiring at the connection part, reduces the risk of wiring damage, and further improves the hidden wiring path.
[0017] As a further improvement of the above scheme, reinforcing ribs for reinforcement are arranged in the wiring cavity along the length direction of the leg support, the two ends of the reinforcing ribs are connected with the two side walls of the wiring cavity, and a slot is formed in the middle of the reinforcing rib for wiring.
[0018] The beneficial effects of the above technical scheme are: the reinforcing ribs can effectively enhance the structural strength of the leg support, avoid deformation and fracture of the leg support due to long-term bearing of the body weight or repeated motion, and prolong the service life of the component; the slot in the middle of the reinforcing rib ensures the reinforcing effect while not affecting the arrangement of the wiring in the wiring cavity, so that the wiring can smoothly pass along the length direction of the leg support, avoiding disordered arrangement caused by blocking of the reinforcing rib, and taking into account the structural strength and wiring convenience.
[0019] As a further improvement of the above scheme, the lower part of the leg support is provided with mounting holes at both ends, and the two mounting holes are located on the same axis; the rotating shaft component includes a shaft sleeve for insertion into the mounting hole, and a flange plate is arranged at one end of the shaft sleeve, and the flange plate is connected with the leg support by bolts.
[0020] The beneficial effects of the above technical solution are: the same axis mounting hole ensures that the rotation shaft component meets the coaxiality standard after installation, guarantees the stability of the foot movement member when it turns around the transverse shaft, and avoids movement jam caused by axis position deviation; the design of the shaft sleeve inserted into the mounting hole realizes precise assembly of the rotation shaft component and the leg support, the flange plate is further connected by bolts to improve the firmness of the connection between the two, preventing the rotation shaft component from falling off during movement, and the bolt connection facilitates later maintenance and component replacement, improving the convenience of use.
[0021] As a further improvement of the above scheme, the shaft sleeve side opening of one of the rotation shaft components forms a wire passing groove, which penetrates both ends of the shaft sleeve.
[0022] The beneficial effects of the above technical solution are: the wire passing groove on the side of the shaft sleeve provides a channel for the line to extend from the leg support wire routing cavity to the foot mounting cavity, realizes hidden arrangement of the line at the rotation shaft component, and avoids the line exposed from the connection gap between the rotation shaft and the foot cover plate; the design of the wire passing groove penetrating both ends of the shaft sleeve ensures that the line can smoothly pass through the rotation shaft component without affecting the rotation function of the rotation shaft component, while preventing the line from being pulled and worn due to rotation, and ensuring the stability of line transmission.
[0023] As a further improvement of the above scheme, the bottom of the connecting seat, located on the side of the wire routing groove, is provided with a wire passing hole, which penetrates both sides of the connecting seat and communicates with the wire routing cavity.
[0024] The beneficial effects of the above technical solution are: the wire passing hole realizes the communication between the wire routing groove of the connecting seat and the wire routing cavity of the leg support, and builds a complete channel for the line from the wire routing groove to the wire routing cavity, avoiding the exposure of the line at the junction of the connecting seat and the leg support; the design of the wire passing hole penetrating both sides of the connecting seat allows the selection of the line passing direction according to the actual wire routing requirements, improves the wire routing flexibility, and further ensures the line hiding effect and use safety.
[0025] As a further improvement of the above scheme, the wire routing groove is exposed on the slot of the leg support outer wall, which is narrow on the outside and wide on the inside, so that the cross section of the wire routing groove cavity is T-shaped.
[0026] The beneficial effects of the above technical solution are: the T-shaped cross section of the wire routing groove, the narrow slot can limit the line in the groove, preventing the line from falling out of the slot during robot movement and avoiding line exposure; the wide internal space can accommodate multiple lines at the same time, reducing the situation of line mutual extrusion and entanglement, and reducing the assembly difficulty; at the same time, the T-shaped structure takes into account the line limiting and accommodating requirements, improving the practicability and reliability of the wire routing groove.
[0027] As a further improvement of the above scheme, the inner wall of the assembly hole is provided with a positioning structure, which is a positioning groove or a positioning protrusion annularly distributed on the inner wall of the assembly hole and extending in the axial direction.
[0028] The beneficial effects of the above technical scheme are that the positioning groove or the positioning protrusion is matched with the corresponding structure of the leg motor, so that the precise positioning and assembly of the connecting seat and the leg motor can be quickly realized, the offset and misalignment during assembly are avoided, and it is ensured that the connection angle of the leg support and the leg motor meets the movement requirements; the precise positioning reduces the shaking of the leg support during the movement of the robot, thereby reducing the pulling and wear of the internal circuit caused by the shaking, and improving the overall movement stability and service life of the components.
[0029] As a further improvement of the above scheme, the leg support is in the shape of an inverted U or an inverted V.
[0030] Compared with the prior art, the beneficial effects of the utility model are as follows:
[0031] The line hiding and safety are improved: through the cooperative design of the hollow wiring cavity of the leg support, the T-shaped wiring groove and the wire passing hole of the connecting seat, and the wire passing groove of the rotating shaft component, a complete internal wiring path from the robot foot to the leg and then to the body / head is constructed, the line full-path hiding is realized, the line exposure is completely avoided, the wear and breakage of the line caused by collision, friction and winding are effectively prevented, the running stability and service life of the robot are significantly improved, and the safety hazards such as accidental touch and winding caused by the exposed line are eliminated.
[0032] The movement flexibility is guaranteed: the assembly structure and movement trajectory of the wiring structure, the leg support and the rotating shaft component are highly matched, the line is orderly arranged inside and has no pulling and winding risk, it is ensured that the leg joint can smoothly realize the rotary movement around the vertical shaft and the overturning movement around the horizontal shaft, and the limb movement of the robot is not disturbed.
[0033] The structural strength and assembly reliability are optimized: the reinforcing ribs distributed at intervals in the leg support greatly enhance the structural strength of the leg support without affecting the wiring, and deformation and fracture of the leg support caused by bearing the weight of the body or long-term movement are avoided; the positioning structure of the assembly hole of the connecting seat realizes the precise positioning and assembly with the driving motor, and prevents assembly offset and shaking during movement; the design of the shaft sleeve and the flange plate of the rotating shaft component ensures the stable connection with the leg support and prevents falling off during movement, and the light weight and supporting performance are considered.
[0034] The assembly and production efficiency are improved: the T-shaped cross-section wiring groove is convenient for the simultaneous arrangement of multiple lines, can limit the lines, and reduces the threading difficulty; the design of the wire passing groove structure of the rotating shaft component and the coaxial mounting hole of the leg support simplifies the assembly process, improves the production and assembly efficiency and the product qualification rate.
[0035] Appearance aesthetics improvement: hidden line design eliminates the damage of exposed lines to the overall appearance of the robot, optimizes the visual effect of the product, and better meets the appearance design requirements of small AI robots in the consumer electronics, education and entertainment fields. BRIEF DESCRIPTION OF DRAWINGS
[0036] Figure 1 It is a schematic diagram of the leg movement structure of the robot.
[0037] Figure 2 It is a schematic diagram of the leg support structure.
[0038] Figure 3 It is a schematic diagram of the overall structure of the support.
[0039] Figure 4 It is a schematic diagram of the installation structure of the rotating shaft component on the leg support.
[0040] Figure 5 It is a schematic diagram of the wire passing hole structure on the leg support.
[0041] Figure 6 It is a schematic diagram of the rotating shaft component structure.
[0042] Figure 7 It is a schematic diagram of the wire slot structure on the connecting seat for wire passing.
[0043] In the figure: 303, leg motor; 401, leg support; 402, foot cover plate; 403, foot bottom plate; 405, rotating shaft component; 407, foot motor; 408, support cover plate; 4010, connecting seat; 4011, wire slot; 4012, wire passing hole; 4013, assembly hole; 4051, shaft sleeve; 4052, wire passing slot; 4053, flange plate; 4054, boss with hole. DETAILED DESCRIPTION
[0044] In order for those skilled in the art to better understand the technical solutions, the utility model will be described in detail below in conjunction with the embodiments, and the description in this part is only exemplary and explanatory, and should not have any limiting effect on the protection scope of the utility model.
[0045] As Figures 1-7 shown, the leg movement component of the robot is suitable for small AI desktop robots, and the whole is processed by injection molding process of ABS engineering plastic, through precise design and assembly of leg support, connecting seat, rotating shaft component, foot movement component and other core structures, realizes the rotating movement of robot leg around vertical shaft and the overturning movement around horizontal shaft, at the same time completes the full path hidden arrangement of line, takes into account the movement flexibility, structural strength and assembly convenience.
[0046] I. Leg support structure design and forming
[0047] The leg support 401 is the core support structure of the leg movement part of the robot, and is integrally formed in an inverted U shape or an inverted V shape by injection molding of ABS engineering plastic. The leg support 401 is hollow inside to form a wire cavity. The wire cavity has a rectangular cross section and provides a basic channel for hiding the internal wiring of the robot.
[0048] In the wire cavity, reinforcing ribs are distributed at intervals along the length direction of the leg support 401. The reinforcing ribs are integrally formed at both ends with the two side walls of the wire cavity. A slot is formed in the middle of each reinforcing rib and extends along the length direction of the leg support 401. The reinforcing ribs can enhance the structural strength of the leg support 401 and prevent the leg support 401 from deforming or breaking due to the weight of the robot body or long-term movement. The slot in the middle of the reinforcing rib ensures that the wiring can be smoothly arranged along the wire cavity, and the slot also guides the wiring to prevent the wiring from shaking randomly in the cavity.
[0049] Circular mounting holes are formed at both ends of the lower part of the leg support 401. The axes of the two mounting holes coincide, and the coaxiality error is controlled within 0.1 mm. This provides a coaxial positioning basis for the assembly of subsequent rotating shaft components. A detachable support cover plate 408 is also assembled on the outer wall of the leg support 401. The support cover plate 408 is connected to the clamping groove on the outer wall of the leg support 401 through buckling. The support cover plate 408 can close the wire cavity to prevent the wiring from coming out. After being removed, the wire cavity can be exposed to facilitate the maintenance and repair of the wiring.
[0050] II. Structure design and integration of the connecting seat
[0051] The connecting seat 4010 is protrudingly arranged on the middle part of the upper end of the leg support 401 and is integrally formed with the leg support 401 by injection molding. The connecting seat 4010 has a cylindrical structure. A circular assembly hole 4013 is formed on the top of the connecting seat 4010. A positioning structure is arranged on the inner wall of the assembly hole 4013. The positioning structure is a positioning groove or a positioning protrusion arranged in a ring shape on the inner wall of the assembly hole 4013 and extending in the axial direction. The positioning groove or the positioning protrusion can cooperate with the matching structure of the output shaft of the leg motor 303 to realize the precise positioning and assembly of the connecting seat 4010 and the leg motor 303.
[0052] A wire slot 4011 is formed on the side of the connecting seat 4010. The wire slot 4011 penetrates the upper end surface of the connecting seat 4010 in the axial direction and is exposed to the slot of the outer wall of the leg support 401. The slot of the wire slot 4011 has a narrow part and a wide part. The cross section of the cavity of the wire slot 4011 is in a T shape. The narrow part of the T-shaped structure can limit the wiring in the slot to prevent the wiring from coming out during the movement of the robot. The wide part can accommodate multiple wires to reduce the situation of mutual extrusion and entanglement of the wires.
[0053] The bottom of the connecting seat 4010 and the side of the wire slot 4011 are processed with wire passing holes 4012, which penetrate through the two sides of the connecting seat 4010 and are in communication with the wire cavity of the leg support 401, so as to realize the penetration of the wire slot 4011 and the wire cavity and build a complete wire path from the connecting seat to the leg support.
[0054] III. Structure design and assembly of the rotating shaft component
[0055] The rotating shaft component 405 includes a shaft sleeve 4051 and a flange plate 4053, which are separately injection molded by ABS engineering plastic. The shaft sleeve 4051 is in a cylindrical structure and is accurately matched with the mounting hole at the lower part of the leg support 401, and the flange plate 4053 is integrally formed at one end of the shaft sleeve 4051, and the flange plate 4053 is provided with a boss 4054 with a hole.
[0056] During assembly, the shaft sleeve 4051 is inserted into the mounting hole at the two ends of the leg support 401, and the gap is controlled within 0.05 mm, and then the bolt is threaded through the threaded hole on the flange plate 4053 and is screwed with the leg support 401, so as to realize the stable assembly of the rotating shaft component 405 and the leg support 401 and prevent the rotating shaft component 405 from falling off during the movement of the robot.
[0057] The side of the shaft sleeve 4051 of one of the rotating shaft components 405 is opened along the axial direction to form a wire passing groove 4052, which penetrates through the two ends of the shaft sleeve 4051, so as to provide a channel for the wire extending from the wire cavity of the leg support 401 to the foot mounting cavity, and realize the hidden arrangement of the wire at the hinged part.
[0058] IV. Structure design and assembly of the foot moving component
[0059] The foot moving component includes a foot bottom plate 403 and a foot cover plate 402, which are both injection molded by ABS engineering plastic. The foot cover plate 402 is protruded from the surface of the foot bottom plate 403, and the two are combined by buckle or bolt connection to form a foot mounting cavity, and a foot motor 407 is fixedly arranged in the cavity, which can protect the foot motor 407 and reduce the damage of the motor caused by external collision.
[0060] The two ends of the foot cover plate 402 are processed with holes matched with the rotating shaft component 405, and the rotating shaft component 405 at the lower part of the leg support 401 is rotatably installed in the holes, and the output shaft of the foot motor 407 is connected with the end of the shaft sleeve 4051 of one of the rotating shaft components 405 through a shaft coupling, so as to realize the power transmission of the foot motor 407 to the turning movement of the leg support 401 around the horizontal shaft.
[0061] V. Assembly of the driving motor and overall arrangement of the wire
[0062] (I) Assembly of the driving motor
[0063] The output shaft of the leg motor 303 is inserted into the assembly hole 4013 of the connecting seat 4010, the structure on the output shaft is precisely matched with the positioning groove or positioning protrusion in the assembly hole 4013, and then the leg motor 303 is fixed on the mounting frame of the robot body / head by bolts. When the leg motor 303 works, it can drive the leg support 401 to rotate around the vertical shaft.
[0064] The foot motor 407 is fixed in the foot mounting cavity in advance, and the output shaft thereof is connected with the rotating shaft component 405. When working, the foot motor 407 can drive the leg support 401 to flip around the horizontal shaft through the rotating shaft component 405.
[0065] (II) Wiring arrangement
[0066] The wiring of the robot body / head is put from the wiring slot 4011 of the connecting seat 4010, enters the wiring cavity of the leg support 401 through the through hole 4012 at the bottom of the connecting seat 4010, passes through the through slot 4052 of the rotating shaft component 405, enters the foot mounting cavity, and finally realizes electrical connection with the foot motor 407. The wiring is fixed in the wiring cavity and the wiring slot at fixed intervals by a tie, so as to complete the whole-path wiring hidden arrangement from the robot body / head to the feet, avoiding the exposure of the wiring.
[0067] Six, overall assembly detection
[0068] After all the components are assembled, the leg motor 303 is started to control the leg support 401 to rotate around the vertical shaft at 0°-360°, and whether there are problems such as jamming and abnormal sound in the rotating process is detected. The foot motor 407 is started to control the leg support 401 to flip around the horizontal shaft at 0°-90°, and the smoothness of the flipping motion is detected.
[0069] After completing the specified number of rotating and flipping cycles, the components are disassembled to check whether the wiring is worn, broken or the like, so as to ensure the reliability of the wiring arrangement and the working stability of the moving components, so that the structure and performance of the whole robot leg moving component meet the design requirements.
[0070] It should be noted that in this paper, the terms: including, containing and any other variants are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. The principle and implementation of the present application are described by using specific examples. The above examples are only used to help understand the method and its core idea. The above is only the preferred embodiment of the present application. It should be pointed out that due to the limited expression of the text, there are objectively infinite specific structures. For ordinary technical personnel in this technical field, without departing from the principle of the present application, some improvements, refinements or changes can be made, and the above technical features can be combined in a proper way; these improvements, refinements, changes or combinations, or without improvement, the concept and technical scheme of the present application are directly applied to other occasions, which should be regarded as the protection scope of the present application.
Claims
1. A leg moving member for a robot, characterized by, The leg support (401) is internally hollow to form a wiring cavity; the top end of the leg support (401) is connected with a leg motor (303) for driving the leg support (401) to rotate around a vertical shaft, and the lower end is provided with a foot moving part for turning around a horizontal shaft; The foot moving part comprises a foot bottom plate (403), and a raised foot cover plate (402) is arranged on the foot bottom plate (403), the foot cover plate (402) and the foot bottom plate (403) combine to form a foot mounting cavity, and a foot motor (407) is arranged in the foot mounting cavity; The lower ends of the leg support (401) are provided with rotating shaft parts (405), the rotating shaft parts (405) are rotatably arranged in the holes at the two ends of the foot cover plate (402), and one of the rotating shaft parts (405) is connected with the foot motor (407).
2. The leg unit for a robot according to claim 1, characterized by The top end of the leg support (401) is provided with a connecting seat (4010) connected with the leg motor (303), the top of the connecting seat (4010) is provided with an assembly hole (4013), the side edge is provided with a wiring groove (4011), and the wiring groove (4011) penetrates the upper end surface of the connecting seat (4010) along the axial direction of the connecting seat (4010).
3. The leg unit for a robot according to claim 1, characterized by, The wiring cavity is provided with reinforcing ribs for reinforcement, which are arranged along the length direction of the leg support (401) and connected with the two side walls of the wiring cavity, and a notch is arranged in the middle of the reinforcing rib for wiring.
4. The leg unit for a robot according to claim 1, characterized by, The lower ends of the leg support (401) are provided with mounting holes, and the two mounting holes are located on the same axis; the rotating shaft part (405) comprises a shaft sleeve (4051) for inserting into the mounting hole, one end of the shaft sleeve (4051) is provided with a flange plate (4053), and the flange plate (4053) is connected with the leg support (401) through bolts.
5. The leg unit for a robot according to claim 1, characterized by The shaft sleeve (4051) of one of the rotating shaft parts (405) is provided with a wire passing groove (4052) at the side edge, and the wire passing groove (4052) penetrates the two ends of the shaft sleeve (4051).
6. The leg unit for a robot according to claim 2, characterized by The bottom of the connecting seat (4010) is provided with a wire passing hole (4012) at the side edge of the wiring groove (4011), and the wire passing hole (4012) penetrates the two sides of the connecting seat (4010) and communicates with the wiring cavity.
7. The leg unit for a robot according to claim 2, wherein The notch of the wiring groove (4011) exposed on the outer wall of the leg support (401) is narrow and wide inside, so that the cross section of the cavity of the wiring groove (4011) is T-shaped.
8. The leg unit for a robot according to claim 2, characterized by, The inner wall of the assembly hole (4013) is provided with a positioning structure, which is a positioning groove or a positioning protrusion arranged in the form of a ring on the inner wall of the assembly hole (4013) and extending in the axial direction.
9. The leg unit for a robot according to claim 1, characterized by, The leg support (401) is in the form of an inverted U or an inverted V.