Robot leg structure capable of variable rotation speed ratio, and robot

Abstract

The present invention relates to the technical field of legged robots, and in particular to a robot leg structure capable of a variable rotation speed ratio, and a robot. The robot leg structure capable of a variable rotation speed ratio of the present invention comprises an upper leg and a lower leg. The lower leg is provided with a first variable speed reduction member, and the upper leg is provided with a second variable speed reduction member for driving the first variable speed reduction member. A variable speed ratio gear is provided on the first variable speed reduction member and / or the second variable speed reduction member to form a leg variable rotation speed ratio structure, so that a rotation speed ratio of the first variable speed reduction member to the second variable speed reduction member can be changed by using meshing transmission of the variable speed ratio gear. Thus, when the robot is in a relatively upright state, a large rotation speed ratio can be provided, enabling fast leg movement, thereby achieving high execution efficiency, great flexibility, and high speed; and when the robot is in a squatting or sitting state, a small rotation speed ratio can be provided, so that a high output torque can be provided to satisfy a scenario requiring a high torque.

Description

A robot leg structure capable of variable rotation speed and a robot Technical Field

[0001] This invention relates to the field of legged robot technology, and in particular to a robot leg structure and robot capable of variable rotation speed ratio. Background Technology

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

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

[0004] The information disclosed in this background section is only for understanding the background of the inventive concept, and therefore may include information that does not constitute prior art. Summary of the Invention

[0005] To address the aforementioned problems or one of the aforementioned problems, the objective of this invention is to provide a robot leg structure and robot capable of variable speed ratio. When the robot is running, jumping, or walking in a relatively upright position, it can provide a large speed ratio, enabling fast leg movement and thus achieving high execution speed and high flexibility. When the robot is in a squatting or sitting position, it can provide a small speed ratio, thereby providing a larger output torque to meet scenarios requiring high torque.

[0006] The second objective of this invention is to provide a robot leg structure and robot capable of variable speed ratio. A first variable speed reducer is provided on the lower leg, and a second variable speed reducer is provided on the upper leg. Variable speed ratio gears are installed on the first and / or second variable speed reducers to form a variable speed ratio leg structure. This allows the meshing transmission of the variable speed ratio gears to change the speed ratio between the first and second variable speed reducers. Therefore, when the robot is in a relatively upright position, a large speed ratio is provided, resulting in fast leg movement, high execution efficiency, high flexibility, and high speed. When the robot is in a squatting or sitting position, a small speed ratio is provided, thus providing a larger output torque to meet scenarios requiring high torque.

[0007] To address the aforementioned problems or one of the aforementioned problems, the third objective of this invention is to provide a robot leg structure and robot capable of variable speed ratio. At least one gear section and a gear variable section are provided on the first and / or second variable speed reducer to form a variable speed ratio leg structure. This allows for alternating meshing of the gear section and the gear variable section to change the speed ratio between the first and second variable speed reducers. Therefore, through this variable speed ratio structure, the robot can be applied to diverse application scenarios, providing both high torque power and high-efficiency motion execution.

[0008] To address the aforementioned problems or one of the aforementioned problems, the fourth objective of this invention is to provide a robot leg structure and robot capable of variable speed ratio, which has high execution efficiency, high flexibility, and high speed. By adjusting the speed ratio, the operating point of the motor is always in the high-efficiency range, resulting in high overall system energy efficiency. This allows the robot to maintain optimal performance under a wide range of working conditions and reduces energy waste. Furthermore, the joint motor drives the variable speed ratio gear through a linkage, making the entire thigh more compact and with low inertia, thus preventing the knee joint from becoming too bulky.

[0009] To achieve one of the above objectives, the first technical solution of the present invention is as follows:

[0010] A robot leg structure capable of variable speed ratio includes a thigh and a lower leg rotatably connected to the thigh. The lower leg is provided with a first variable speed reduction component, and the thigh is provided with a second variable speed reduction component that drives the first variable speed reduction component.

[0011] When the robot is in a relatively upright position, the speed ratio between the first variable speed reducer and the second variable speed reducer is denoted as a;

[0012] When the robot is in a squatting or sitting position, the speed ratio between the first variable speed reducer and the second variable speed reducer is denoted as b.

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

[0014] The robot being in a relatively upright state refers to the robot being in a standing, running, jumping, or walking state, with its entire body or a part of it being in an upright state.

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

[0016] As a preferred technical measure:

[0017] The first speed reducer is a first gear fixed on the lower leg, and the second speed reducer is a second gear that can rotate and is mounted on the thigh.

[0018] As a preferred technical measure:

[0019] The first and second variable speed components are elliptical gears, bevel gears, irregular gears, or eccentric circular gears.

[0020] Alternatively, the first and second variable speed components may constitute a planetary gear set or a harmonic gear set.

[0021] As a preferred technical measure:

[0022] The thigh is equipped with a joint motor, which drives the second variable reduction component through a connecting rod, belt, chain, or gear set.

[0023] As a preferred technical measure:

[0024] When the robot squats to its limit, the flexion angle between the thigh and the lower leg is greater than 140 degrees; when the robot stands and the thigh and the lower leg extend to their limit, the angle between the thigh and the lower leg is approximately 0 degrees.

[0025] To achieve one of the above objectives, the second technical solution of the present invention is as follows:

[0026] A robot leg structure capable of variable speed ratio includes a thigh and a lower leg rotatably connected to the thigh. The lower leg is provided with a first variable speed reduction component, and the thigh is provided with a second variable speed reduction component that drives the first variable speed reduction component.

[0027] At least one of the first and second variable speed components is a non-concentric circular gear, and the non-concentric circular gear is provided with at least one gear section and a gear variable section.

[0028] The different meshing circle radii of the gear section and the gear reducer section allow them to change the speed ratio between the first reducer and the second reducer during alternating meshing transmission.

[0029] Through continuous exploration and experimentation, this invention incorporates at least one gear section and a gear variable section on the first and / or second variable reducers to form a variable speed ratio structure for the legs. This allows for alternating meshing of the gear section and gear variable section to change the speed ratio between the first and second variable reducers. Consequently, when the robot walks, runs, or jumps, it provides a high speed ratio, resulting in fast leg movements, high execution efficiency, flexibility, and speed. When the robot squats or stands up, it provides a low speed ratio, thus offering a larger output torque to meet scenarios requiring high torque.

[0030] Furthermore, the variable speed ratio structure of the legs in this invention has high execution efficiency, high flexibility, and fast response. By adjusting the speed ratio, the operating point of the motor is always in the high-efficiency range, resulting in high overall system energy efficiency. This allows the robot to maintain optimal performance under a wide range of working conditions and reduces energy waste.

[0031] As a preferred technical measure:

[0032] The first variable reduction component is a driven gear, which includes at least a first gear section and a first gear variable section;

[0033] The second speed reducer is a driving gear, which includes at least one second gear section and a second gear variable section;

[0034] The radius of the meshing circle corresponding to the first gear segment is c;

[0035] The radius of the meshing circle corresponding to the first gear variant is h; c>h;

[0036] The meshing circle radius corresponding to the second gear section is e;

[0037] The radius of the meshing circle corresponding to the second gear variant is f; e>f;

[0038]

[0039] When the first gear section meshes with the second gear section, a small speed ratio structure is formed, the lower leg response is slow, and the torque is large, which is used for the robot to stand up or squat down.

[0040] When the first gear variable part meshes with the second gear part, a large speed ratio structure is formed with small torque, which is used for running, jumping or walking when the robot is relatively upright.

[0041] Or / and, the thigh and calf are respectively rod-shaped structures, plate-shaped structures, shell structures, or bionic leg structures.

[0042] As a preferred technical measure:

[0043] The first reducer is an elliptical gear or a shuttle gear, which includes two first gear sections and two first gear reducer sections;

[0044] The second reducer is a shuttle gear or an elliptical gear, which includes two sections of the second gear and two sections of the second gear reducer.

[0045] When the first gear section meshes with the second gear section, a small speed ratio structure is formed, the lower leg response is slow, and the torque is large, which is used for the robot to stand up or squat down.

[0046] When the first gear section meshes with the second gear section, a high speed ratio structure is formed with low torque, which is used for running, jumping or walking when the robot is relatively upright.

[0047] As a preferred technical measure:

[0048] The first reducer is a plum blossom-shaped gear, which includes eight segments of the first gear section and four segments of the first gear reducer section;

[0049] The second reducer is an elliptical gear, which includes two sections of the second gear and two sections of the second gear variable section;

[0050] When the first gear section meshes with the second gear section, a small speed ratio structure is formed, the lower leg response is slow, and the torque is large, which is used for the robot to stand up or squat down.

[0051] When the first gear section meshes with the second gear section, a high speed ratio structure is formed with low torque, which is used for running, jumping or walking when the robot is relatively upright.

[0052] To achieve one of the above objectives, the third technical solution of the present invention is as follows:

[0053] A robot comprising the aforementioned variable speed ratio robot leg structure, wherein the robot is a humanoid robot, a bipedal robot, or a quadrupedal robot.

[0054] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0055] This invention features a first variable speed reducer on the lower leg and a second variable speed reducer on the thigh. Variable speed ratio gears are installed on the first and / or second variable speed reducers to form a variable speed ratio structure in the leg. This allows the meshing transmission of the variable speed ratio gears to change the speed ratio between the first and second variable speed reducers. Therefore, when the robot is in a relatively upright position, a large speed ratio is provided, resulting in fast leg movement, high execution efficiency, high flexibility, and high speed. When the robot is in a squatting or sitting position, a small speed ratio is provided, thus providing a larger output torque to meet scenarios requiring high torque.

[0056] Furthermore, the present invention provides at least one gear section and a gear variable section on the first variable reducer and / or the second variable reducer to form a variable speed ratio structure for the leg. This allows the alternating meshing of the gear section and the gear variable section to change the speed ratio between the first variable reducer and the second variable reducer. Therefore, through this variable speed ratio structure, the robot can be applied to diverse application scenarios, providing both high torque power and high-efficiency motion execution.

[0057] Furthermore, the present invention provides a robot leg structure capable of variable speed ratio. When the robot is walking, running, or jumping, it can provide a large speed ratio, enabling the leg to move quickly, thereby achieving high execution efficiency, high flexibility, and high speed. When the robot is in a squatting or sitting state, it can provide a small speed ratio, thus providing a large output torque to meet the needs of scenarios requiring high torque.

[0058] The present invention provides a robot in which, when the robot walks, runs, or jumps, the variable deceleration structure of its legs provides a large speed ratio, enabling the legs to move quickly, thereby achieving high execution efficiency, high flexibility, and high speed; when the robot is in a squatting or sitting state, it provides a small speed ratio, thus providing a large output torque to meet the needs of scenarios requiring high torque.

[0059] In summary, this invention has high execution efficiency, great flexibility, and fast response. By adjusting the speed ratio, the motor's operating point is always in the high-efficiency range, resulting in high overall system energy efficiency. This allows the robot to maintain optimal performance under a wide range of working conditions and reduces energy waste.

[0060] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments. Attached Figure Description

[0061] Figure 1 is a schematic diagram of the robot leg structure of the present invention in a standing state;

[0062] Figure 2 is a schematic diagram of the leg structure of the robot of the present invention in a squatting state;

[0063] Figure 3 is a schematic diagram of the limit position of the leg flexion and extension of the robot leg structure of the present invention;

[0064] Figure 4 is a schematic diagram of the first type of irregular gear in the robot leg structure of the present invention;

[0065] Figure 5 is a schematic diagram of the second type of irregular gear in the robot leg structure of the present invention;

[0066] Figure 6 is a schematic diagram of the third type of irregular gear in the robot leg structure of the present invention;

[0067] Figure 7 is a schematic diagram of the meshing circle relationship between the first and second variable speed components of the machine of the present invention.

[0068] Explanation of reference numerals in the attached figures:

[0069] 1. Thigh; 2. Lower leg; 3. First gear reducer; 4. Second gear reducer; 5. First gear ratio gear; 6. Second gear ratio gear; 7. Joint motor; 8. Connecting rod; 31. First gear section; 32. First gear reducer section; 41. Second gear section; 42. Second gear reducer section. Embodiments of the present invention

[0070] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0071] Conversely, this invention encompasses any substitutions, modifications, equivalent methods, and solutions made within the spirit and scope of the invention as defined in the claims. Furthermore, to provide a better understanding of the invention, certain specific details are described in detail below. However, those skilled in the art will fully understand the invention even without these detailed descriptions.

[0072] It should be noted that when two elements are "fixedly connected" or "engaged," the two elements can be directly connected or there may be an intermediate element. Conversely, when an element is referred to as being "directly on" another element, there is no intermediate element. The terms "large," "small," "on," "on," and similar expressions used in this document are for illustrative purposes only.

[0073] 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 limit the invention. The term "or / and" as used herein includes any and all combinations of one or more of the associated listed items.

[0074] As shown in Figures 1, 2, 3, and 4, the first specific embodiment of the robot leg structure of the present invention is as follows:

[0075] A robot leg structure capable of variable speed ratio includes a thigh 1 and a lower leg 2 rotatably connected to the thigh 1. The lower leg 2 is provided with a first variable speed reduction component 3, and the thigh 1 is provided with a second variable speed reduction component 4 that drives the first variable speed reduction component 3.

[0076] When the robot is in a relatively upright position, the speed ratio between the first variable speed reducer 3 and the second variable speed reducer 4 is denoted as a;

[0077] When the robot is in a squatting or sitting position, the speed ratio between the first variable speed reducer 3 and the second variable speed reducer 4 is recorded as b.

[0078] The a>b setting is used to ensure that when the second variable speed reducer 4 rotates at the same speed, the first variable speed reducer 3 will rotate at a higher speed when the robot is relatively upright.

[0079] In this embodiment: the first speed reducer 3 is a first speed ratio gear 5 fixed on the lower leg 2, and the second speed reducer 4 is a second speed ratio gear 6 that can be rotated and mounted on the thigh 1.

[0080] In this embodiment: a joint motor 7 is provided on the thigh 1, and the joint motor 7 drives the second variable reduction component 4 through a connecting rod 8, belt, chain, or gear set.

[0081] In this embodiment: when the robot squats to its limit position, the flexion angle between the thigh 1 and the lower leg 2 is greater than 140 degrees; when the robot stands and the thigh 1 and the lower leg 2 are extended to their limit positions, the included angle between the thigh 1 and the lower leg 2 is approximately 0 degrees.

[0082] A second specific embodiment of the robot leg structure of the present invention:

[0083] A robot leg structure capable of variable speed ratio includes a thigh 1 and a lower leg 2 rotatably connected to the thigh 1. The lower leg 2 is provided with a first variable speed reducer 3, and the thigh 1 is provided with a second variable speed reducer 4 that drives the first variable speed reducer 3. When the robot walks, runs, or jumps, the speed ratio between the first variable speed reducer 3 and the second variable speed reducer 4 is large. When the robot is in a squatting or sitting state, the speed ratio between the first variable speed reducer 3 and the second variable speed reducer 4 is small.

[0084] In this embodiment, the first variable speed reducer 3 includes a first eccentric circular gear 5 fixed on the lower leg 2, and the second variable speed reducer 4 includes a second eccentric circular gear 6 rotatably fixed on the thigh 1.

[0085] In this embodiment, a joint motor is provided on the thigh 1, and the joint motor drives the second eccentric circular gear 6 through a connecting rod, belt, chain, or gear set.

[0086] In this embodiment, when the robot squats to its limit position, the flexion angle between the thigh 1 and the lower leg 2 is 170 degrees; when the robot stands up and the thigh 1 and the lower leg 2 are extended to their limit positions, the included angle between the thigh 1 and the lower leg 2 is -5 degrees, as shown in Figure 3.

[0087] This embodiment provides a variable speed ratio robot leg structure. When the robot walks, runs, or jumps, it provides a high speed ratio, resulting in fast leg movements, high execution efficiency, high flexibility, and high speed. When the robot is in a squatting or sitting position, it provides a low speed ratio, thus providing a larger output torque to meet scenarios requiring high torque. In summary, this variable speed ratio leg structure offers high execution efficiency, high flexibility, and fast response. By adjusting the speed ratio, the motor's operating point is always in the high-efficiency range, resulting in high overall system energy efficiency. This allows the robot to maintain optimal performance under a wide range of working conditions and reduces energy waste.

[0088] A third specific embodiment of the robot leg structure of the present invention:

[0089] A robot leg structure capable of variable speed ratio includes a thigh 1 and a lower leg 2 rotatably connected to the thigh 1. The lower leg 2 is provided with a first variable speed reduction component 3, and the thigh 1 is provided with a second variable speed reduction component 4 that drives the first variable speed reduction component 3.

[0090] At least one of the first variable reduction component 3 and the second variable reduction component 4 is a non-concentric circular gear, and the non-concentric circular gear is provided with at least one gear section and a gear variable section.

[0091] The gear section and the gear variable section alternately mesh and drive, changing the speed ratio between the first variable reducer 3 and the second variable reducer 4.

[0092] In this embodiment, the first variable reduction component 3 is a driven gear, which includes at least a first gear section 31 and a first gear variable section 32; the second variable reduction component 4 is a driving gear, which includes at least a second gear section 41 and a second gear variable section 42; when the first gear section 31 and the second gear variable section 42 mesh and transmit power, a small speed ratio structure is formed, the lower leg 2 responds slowly, and the torque is large, which is used for the robot to stand up or squat down; when the first gear variable section 32 and the second gear section 41 mesh and transmit power, a large speed ratio structure is formed, and the torque is small, which is used for the robot to walk.

[0093] The thigh 1 and the calf 2 are bionic leg structures.

[0094] The fourth specific embodiment of the robot leg structure of the present invention:

[0095] In this embodiment, the first variable reduction component 3 is an elliptical gear, which includes two first gear segments 31 and two first gear variable segments 32; the second variable reduction component 4 is a shuttle gear, which includes two second gear segments 41 and two second gear variable segments 42, as shown in Figure 4.

[0096] When the first gear section 31 meshes with the second gear section 42, a small speed ratio structure is formed. The lower leg 2 responds slowly and has a large torque, which is used for the robot to stand up or squat.

[0097] When the first gear variable part 32 meshes with the second gear part 41, a high speed ratio structure is formed with low torque, which is used for robot walking.

[0098] The fifth specific embodiment of the robot leg structure of the present invention:

[0099] In this embodiment, the first variable reduction component 3 is a plum blossom-shaped gear, which includes eight segments of the first gear section 31 and four segments of the first gear variable section 32; the second variable reduction component 4 is an elliptical gear, which includes two segments of the second gear section 41 and two segments of the second gear variable section 42, as shown in Figure 5.

[0100] When the first gear section 31 meshes with the second gear section 42, a small tooth drives the large tooth transmission structure. The lower leg 2 has a slow response and a large torque, which is used for the robot to stand up or squat.

[0101] When the first gear variable part 32 meshes with the second gear part 41, a transmission structure is formed in which the large tooth drives the small tooth, resulting in a small torque, which is used for robot walking.

[0102] The sixth specific embodiment of the robot leg structure of the present invention:

[0103] In this embodiment, the first variable reduction component 3 is a shuttle gear, which includes two first gear sections 31 and two first gear variable sections 32; the second variable reduction component 4 is a shuttle gear, which includes two second gear sections 41 and two second gear variable sections 42, as shown in Figure 6.

[0104] When the first gear section 31 meshes with the second gear section 42, a small tooth drives a large tooth transmission structure. The lower leg 2 has a slow response and a large torque, which is used for the robot to stand up or squat down. When the first gear section 32 meshes with the second gear section 41, a large tooth drives a small tooth transmission structure. The torque is small, which is used for the robot to walk.

[0105] The seventh specific embodiment of the robot leg structure of the present invention:

[0106] A robot leg structure capable of variable speed ratio includes a thigh 1 and a lower leg 2 rotatably connected to the thigh 1. The lower leg 2 is provided with a first variable speed reduction component 3, and the thigh 1 is provided with a second variable speed reduction component 4 that drives the first variable speed reduction component 3.

[0107] At least one of the first variable reduction component 3 and the second variable reduction component 4 is a non-concentric circular gear, and the non-concentric circular gear is provided with at least one gear section and a gear variable section.

[0108] The meshing circle radius corresponding to the gear section is different from that corresponding to the gear variable section, so that when the two are alternately meshing and transmitting, the speed ratio between the first variable reducer 3 and the second variable reducer 4 can be changed.

[0109] Through continuous exploration and experimentation, this invention incorporates at least one gear section and a gear variable section on the first variable reducer 3 and / or the second variable reducer 4, forming a variable speed ratio structure for the leg. This allows for alternating meshing of the gear section and the gear variable section to change the speed ratio between the first variable reducer 3 and the second variable reducer 4. Consequently, when the robot is walking, running, or jumping, it provides a high speed ratio, resulting in fast leg movements, high execution efficiency, high flexibility, and high speed. When the robot is in a squatting or sitting position, it provides a low speed ratio, thus offering a larger output torque to meet scenarios requiring high torque.

[0110] Furthermore, the variable speed ratio structure of the legs in this invention has high execution efficiency, high flexibility, and fast response. By adjusting the speed ratio, the operating point of the motor is always in the high-efficiency range, resulting in high overall system energy efficiency. This allows the robot to maintain optimal performance under a wide range of working conditions and reduces energy waste.

[0111] In this embodiment: the first variable reduction component 3 is a driven gear, which includes at least a first gear section 31 and a first gear variable section 32;

[0112] The second variable reduction component 4 is a driving gear, which includes at least a second gear section 41 and a second gear variable section 42;

[0113] The meshing circle radius corresponding to the first gear section 31 is c;

[0114] The meshing circle radius corresponding to the first gear variable part 32 is h; c>h;

[0115] The meshing circle radius corresponding to the second gear section 41 is e;

[0116] The meshing circle radius corresponding to the second gear variable part 42 is f; e>f;

[0117]

[0118] For the specific correspondence, please refer to Figure 7.

[0119] When the first gear section 31 meshes with the second gear section 42, a small speed ratio structure is formed. The lower leg 2 responds slowly and has a large torque, which is used for the robot to stand up or squat.

[0120] When the first gear variable part 32 meshes with the second gear part 41, a large speed ratio structure is formed with small torque, which is used for running, jumping or walking when the robot is relatively upright.

[0121] A specific embodiment of the robot leg structure of the present invention:

[0122] A robot comprising the aforementioned robot leg structure capable of variable speed ratio.

[0123] This invention provides a robot whose legs feature a variable speed reduction structure that provides a large speed ratio when the robot is walking, running, or jumping, resulting in fast leg movements, high execution efficiency, high flexibility, and high speed. When the robot is in a squatting or sitting position, it provides a small speed ratio, thus offering a larger output torque to meet scenarios requiring high torque. In summary, this variable speed ratio leg structure offers high execution efficiency, high flexibility, and fast response. By adjusting the speed ratio, the motor's operating point is always in the high-efficiency range, resulting in high overall system energy efficiency. This allows the robot to maintain optimal performance under a wide range of working conditions and reduces energy waste.

[0124] In this application, the fixed connection method can be screwing, welding, riveting, plugging, or connection through a third component. Those skilled in the art can choose according to the actual situation.

[0125] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art can still make modifications or equivalent substitutions to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the protection scope of the claims of the present invention.

Claims

1. A robot leg structure capable of variable speed ratio, characterized in that, It includes a thigh (1) and a lower leg (2) rotatably connected to the thigh (1). The lower leg (2) is provided with a first variable speed reducer (3), and the thigh (1) is provided with a second variable speed reducer (4) that drives the first variable speed reducer (3). When the robot is in a relatively upright position, the speed ratio between the first variable speed reducer (3) and the second variable speed reducer (4) is denoted as a; When the robot is in a squatting or sitting state, the speed ratio between the first variable speed reducer (3) and the second variable speed reducer (4) is recorded as b; The a>b is used to ensure that when the second variable speed reducer (4) rotates at the same speed, the speed of the first variable speed reducer (3) will be higher when the robot is relatively upright.

2. The robot leg structure capable of variable speed ratio as described in claim 1, characterized in that, The first speed reducer (3) is a first speed ratio gear (5) fixed on the lower leg (2), and the second speed reducer (4) is a second speed ratio gear (6) that can rotate and is mounted on the thigh (1).

3. The robot leg structure capable of variable speed ratio as described in claim 1, characterized in that, The first variable speed reducer (3) and the second variable speed reducer (4) are elliptical gears, bevel gears, irregular gears, or eccentric round gears; Alternatively, the first variable speed reducer (3) and the second variable speed reducer (4) may constitute a planetary gear set or a harmonic gear set.

4. A robot leg structure capable of variable speed ratio as described in any one of claims 1-3, characterized in that, The thigh (1) is provided with a joint motor (7), which drives the second variable reduction component (4) through a connecting rod (8), belt, chain, or gear set.

5. A robot leg structure capable of variable speed ratio as described in any one of claims 1-3, characterized in that, When the robot squats down to its limit position, the flexion angle between the thigh (1) and the lower leg (2) is greater than 140 degrees; when the robot stands up and the thigh (1) and the lower leg (2) extend to their limit positions, the angle between the thigh (1) and the lower leg (2) is approximately 0 degrees.

6. A robot leg structure capable of variable speed ratio, characterized in that, It includes a thigh (1) and a lower leg (2) rotatably connected to the thigh (1). The lower leg (2) is provided with a first variable speed reducer (3), and the thigh (1) is provided with a second variable speed reducer (4) that drives the first variable speed reducer (3). The first variable reduction component (3) and the second variable reduction component (4) are at least one non-concentric circular gears, and the non-concentric circular gears are provided with at least one gear section and a gear variable section; The meshing circle radius corresponding to the gear section and the meshing circle radius corresponding to the gear variable section are different, so that when the two are alternately meshing and transmitting, the speed ratio between the first variable reducer (3) and the second variable reducer (4) can be changed.

7. A robot leg structure capable of variable speed ratio as described in claim 6, characterized in that, The first variable reduction component (3) is a driven gear, which includes at least a first gear section (31) and a first gear variable section (32). The second variable reduction component (4) is a driving gear, which includes at least one second gear section (41) and a second gear variable section (42). The meshing circle radius corresponding to the first gear segment (31) is c; The meshing circle radius corresponding to the first gear variant (32) is h; c>h; The meshing circle radius corresponding to the second gear section (41) is e; The meshing circle radius corresponding to the second gear variant (42) is f; e>f; ； When the first gear section (31) meshes with the second gear section (42), a small speed ratio structure is formed, the lower leg (2) responds slowly and has a large torque, which is used for the robot to stand up or squat down; When the first gear variable part (32) meshes with the second gear part (41) for transmission, a large speed ratio structure is formed with small torque, which is used for running, jumping or walking when the robot is relatively upright. Or / and, the thigh (1) and the calf (2) are respectively rod-shaped structures, plate-shaped structures, shell structures or bionic leg structures.

8. A robot leg structure capable of variable speed ratio as described in claim 6, characterized in that, The first variable reduction component (3) is an elliptical gear or a shuttle gear, which includes two first gear sections (31) and two first gear variable sections (32). The second reducer (4) is a shuttle gear or an elliptical gear, which includes two second gear sections (41) and two second gear reducer sections (42). When the first gear section (31) meshes with the second gear section (42), a small speed ratio structure is formed, the lower leg (2) responds slowly and has a large torque, which is used for the robot to stand up or squat down; When the first gear variable part (32) meshes with the second gear part (41), a large speed ratio structure is formed with small torque, which is used for running, jumping or walking when the robot is relatively upright.

9. A robot leg structure capable of variable speed ratio as described in claim 6, characterized in that, The first reducer (3) is a plum blossom-shaped gear, which includes eight segments of first gear (31) and four segments of first gear reducer (32). The second variable reduction component (4) is an elliptical gear, which includes two sections of second gear (41) and two sections of second gear variable part (42). When the first gear section (31) meshes with the second gear section (42), a small speed ratio structure is formed, the lower leg (2) responds slowly and has a large torque, which is used for the robot to stand up or squat down; When the first gear variable part (32) meshes with the second gear part (41), a large speed ratio structure is formed with small torque, which is used for running, jumping or walking when the robot is relatively upright.

10. A robot, characterized in that, Includes a robot leg structure capable of variable speed ratio as described in any one of claims 1-9, wherein the robot is a humanoid robot, a bipedal robot, or a quadrupedal robot.

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