CN117963034A - Leg structure and robot - Google Patents

Abstract

The application discloses a leg structure and a robot, and relates to the technical field of robots. The leg structure includes: thigh, shank portion that sets up with thigh portion interval, the connecting portion of rotating with thigh and shank respectively, and set up on thigh or shank on the first drive division. The shank and the thigh portion define accommodation space, and the thigh portion is provided with first gear towards accommodation space's one end, and the shank portion is provided with the second gear with first gear engagement towards accommodation space's one end, and the output of first drive portion is connected with connecting portion for through connecting portion drive thigh portion and shank portion relative rotation. According to the leg structure provided by the application, in the process of relative rotation of the thigh part and the shank part, the output stroke of the first driving part can be amplified by the engagement of the first gear and the second gear, so that the bending angle range of the knee part is increased, and the bionic effect of the robot is further improved.

Description

Leg structure and robot

Technical Field

The application relates to the technical field of robots, in particular to a leg structure and a robot.

Background

The information disclosed in this background section is only for enhancement of understanding of the general background of the disclosure and is not to be taken as an admission or any form of suggestion that this information forms the prior art that is well known to a person skilled in the art.

In the related art, the thigh and the shank of the robot are connected in a hinge manner, an electric push rod is arranged on the thigh, and the output end of the electric push rod is hinged with the shank, so that the thigh and the shank can be driven to rotate relatively, and bending action of the knee part is realized. However, the electric putter in the above structure has a limited angle for driving the thigh and the shank to rotate relative to each other, resulting in insufficient bending angle of the knee part, and thus the bionic effect is not ideal.

Disclosure of Invention

In view of the above, the present application aims to provide a leg structure and a robot, which aims to solve the technical problem that the bionic effect of the robot is not ideal due to the insufficient bending angle of the knee part in the prior art.

In order to achieve the above purpose, the technical scheme adopted by the application is as follows:

in a first aspect, embodiments of the present application provide a leg structure comprising:

thigh section;

A lower leg portion provided at a distance from the thigh portion to define an accommodation space, the end of the thigh portion facing the accommodation space being provided with a first gear, and the end of the lower leg portion facing the accommodation space being provided with a second gear;

a connecting portion rotatably connected to the thigh portion and the shank portion, respectively, and the second gear is engaged with the first gear so that the thigh portion and the shank portion can be rotated relatively;

and the output end of the first driving part is connected with the connecting part and is used for driving the thigh and the shank to rotate relatively through the connecting part.

In one embodiment of the first aspect, at least one of the first gear and the second gear is a sector gear, the sector gear includes a wheel body, a toothed portion, and a toothless portion, the toothed portion and the toothless portion are disposed along an outer peripheral side of the wheel body, and at least a portion of the toothed portion is accommodated in the accommodation space.

In one embodiment of the first aspect, the modulus of the first gear and/or the modulus of the second gear is m, satisfying: m is more than or equal to 1 and less than or equal to 2.5.

In one embodiment of the first aspect, the first driving part includes at least one electric push rod, the electric push rod includes a connected driver and a push rod, the driver is used for driving the push rod to move linearly, one end of the driver away from the push rod is connected with the thigh part through a first universal element, and one end of the push rod away from the driver is connected with the connecting part through a second universal element.

In one embodiment of the first aspect, the first gimbal element and/or the second gimbal element is a fish-eye bearing.

In one embodiment of the first aspect, the connecting portion includes a first connecting body and a second connecting body that are connected, the first connecting body defines a limiting space, one end of the thigh portion facing the accommodating space is accommodated in the limiting space and is rotationally connected with the first connecting body, one end of the shank portion facing the accommodating space is accommodated in the limiting space and is rotationally connected with the first connecting body, and an output end of the first driving portion is rotationally connected with the second connecting body.

In one embodiment of the first aspect, the thigh is provided with a first limit rib and a second limit rib, respectively;

When the thigh portion rotates relative to the connecting portion, the first limit rib or the second limit rib can abut against the first connecting body to limit the angle of relative rotation of the thigh portion and the shank portion.

In one embodiment of the first aspect, the first connector includes two connecting arms, the two connecting arms being located on different sides of the thigh portion to define the limiting space, and the second connector is connected between the two connecting arms, each of the connecting arms being hinged with the thigh portion and the shank portion, respectively.

In one embodiment of the first aspect, the lower leg portion includes a lower leg arm, a first rotor, and a driving member, the second gear is disposed on the first rotor, the connecting portion is rotationally connected with the first rotor, and the driving member is disposed on the first rotor and connected with the lower leg arm, and is configured to drive the lower leg arm to rotate relative to the first rotor.

In one embodiment of the first aspect, the thigh portion includes a thigh arm, a second swivel and a rotating shaft, the thigh arm is connected with the second swivel, the second swivel defines an installation space, the rotating shaft is fixed in the second swivel, and is disposed through the installation space, the connecting portion is connected with an end of the rotating shaft through a bearing, and a portion of the first gear is accommodated in the installation space and is fixed in the rotating shaft.

In one embodiment of the first aspect, the leg structure further includes a foot rotatably connected to an end of the lower leg remote from the thigh, and a second driving portion disposed on the lower leg, an output end of the second driving portion being connected to the foot for driving the foot to rotate relative to the lower leg.

In a second aspect, embodiments of the present application also provide a robot comprising the leg structure described in any of the embodiments above.

The beneficial effects of the application are as follows:

The application provides a leg structure, which comprises a thigh part, a shank part, a connecting part and a first driving part. The first gear is engaged with the second gear by disposing the thigh portion at a distance from the shank portion and disposing the first gear on the thigh portion and disposing the second gear on the shank portion. On the basis, the connecting part is respectively connected with the thigh part and the shank part in a rotating way so as to be used as a force arm for bending action of the knee part, the first driving part is arranged on the thigh part or the shank part, and the output end of the first driving part is connected with the connecting part so as to drive the thigh part and the shank part to rotate relatively through the connecting part. In the relative rotation process of the thigh part and the shank part, the output stroke of the first driving part can be amplified by the meshing of the first gear and the second gear, so that the bending angle range of the knee part is increased, and the bionic effect of the robot is further improved.

In order to make the above objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 illustrates a schematic view of a leg structure in accordance with some embodiments of the application;

FIG. 2 shows a schematic diagram of the structure of the portion A in FIG. 1;

FIG. 3 is a schematic view showing the structure of the portion B in FIG. 1;

FIG. 4 illustrates another perspective exploded structural schematic of a leg structure in some embodiments of the application;

FIG. 5 shows a schematic view of the structure of the portion C in FIG. 4;

FIG. 6 illustrates yet another perspective exploded view of a leg structure in some embodiments of the application;

FIG. 7 is a schematic view showing the structure of the portion D in FIG. 6;

FIG. 8 illustrates a schematic diagram of a first gear in some embodiments of the application;

FIG. 9 is a schematic diagram of a connection portion in some embodiments of the application;

Fig. 10 shows a schematic diagram of the thigh section in some embodiments of the application.

Description of main reference numerals:

100-leg structure; 110-thigh; 111-thigh arms; 112-a second swivel; 1121—installation space; 113-a spindle; 114-bearings; 120-lower leg; 121-a lower leg arm; 122-a first swivel; 123-a driver; 130-a connection; 131-a first connector; 1311-a connecting arm; 13111—a limit space; 132-a second linker; 140-a first gear; 141-wheel body; 142-toothed portion; 143-toothless portion; 150-a second gear; 160-a first driving part; 161-electric push rod; 1611-a driver; 1612-pushrod; 162-a first gimbal element; 163-a second gimbal element; 171-first limit ribs; 172-second limit ribs; 173-an accommodation space; 180-foot; 181-foot body; 182-a third gimbal element; 183-fourth gimbal element; 190-a second drive section.

Detailed Description

Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the application.

In the description of the present 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. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present application.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

In the present application, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.

In the present application, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

As shown in fig. 1, in a first aspect, an embodiment of the present application provides a leg structure 100, which relates to the field of robot technology and is mainly applied to robots, such as humanoid robots, animal biomimetic robots, and the like.

As shown in fig. 1 and 4, the leg structure 100 provided in this embodiment includes: thigh section 110, shank section 120, connecting section 130, and first driving section 160.

Wherein, the lower leg portion 120 is spaced apart from the thigh portion 110 to define an accommodating space 173, the thigh portion 110 is provided with a first gear 140 toward an end of the accommodating space 173, and the lower leg portion 120 is provided with a second gear 150 toward an end of the accommodating space 173. The connection 130 is rotatably connected to the thigh 110 and the shank 120, respectively, and the second gear 150 is engaged with the first gear 140 to enable the thigh 110 and the shank 120 to rotate relative to each other. The first driving part 160 is disposed on the thigh 110 or the shank 120, and an output end of the first driving part 160 is connected to the connecting part 130 for driving the thigh 110 and the shank 120 to rotate relatively through the connecting part 130.

Illustratively, the first gear 140 and the second gear 150 may each be a sector gear, although circular gears may be selected to achieve inter-tooth engagement. The first driving unit 160 may be provided on the thigh section 110, but may be provided on the shank section 120, and the thigh section 110 and the shank section 120 may be driven to rotate relative to each other by the connecting unit 130. The types of the first gear 140 and the second gear 150 and the arrangement position of the first driving part 160 are not particularly limited herein.

It should be noted that, in the related art, the thigh and the shank of the robot are connected in an articulated manner, an electric putter is provided on the thigh, and an output end of the electric putter is articulated with the shank, so that the thigh and the shank can be driven to rotate relatively to achieve bending motion of the knee portion. However, the electric putter in the above structure has a limited angle for driving the thigh and the shank to rotate relative to each other, resulting in insufficient bending angle of the knee part, and thus the bionic effect is not ideal.

It will be appreciated that the present embodiment provides a leg structure 100 in which the first gear 140 is engaged with the second gear 150 by disposing the thigh portion 110 at a distance from the shank portion 120 and disposing the first gear 140 on the thigh portion 110 and disposing the second gear 150 on the shank portion 120. In addition, the connection part 130 is rotatably connected to the thigh 110 and the shank 120, respectively, so as to serve as a moment arm for bending motion of the knee portion, and the thigh 110 or the shank 120 is provided with a first driving part 160, so that an output end of the first driving part 160 is connected to the connection part 130 to drive the thigh 110 and the shank 120 to rotate relatively through the connection part 130. In the process of the relative rotation of the thigh 110 and the shank 120, the engagement of the first gear 140 and the second gear 150 can amplify the output stroke of the first driving part 160, thereby increasing the bending angle range of the knee part and further improving the bionic effect of the robot.

As shown in fig. 8, in one embodiment, at least one of the first gear 140 and the second gear 150 is a sector gear, which includes a wheel body 141, a toothed portion 142, and a toothless portion 143, the toothed portion 142 and the toothless portion 143 being disposed along an outer peripheral side of the wheel body 141, at least a portion of the toothed portion 142 being accommodated in the accommodation space 173.

Illustratively, the first gear 140 and the second gear 150 are each provided as sector gears. Of course, one of the first gear 140 and the second gear 150 may be provided as a sector gear. In addition, a part of the toothed portion 142 may be housed in the housing space 173, or the whole toothed portion 142 may be housed in the housing chamber, and may be provided according to the design requirements.

When the first gear 140 is a sector gear, the wheel body 141 of the sector gear is connected to the thigh 110, and the toothed portion 142 of the sector gear is engaged with the second gear 150. When the second gear 150 is a sector gear, the wheel body 141 of the sector gear is connected to the lower leg portion 120, and the toothed portion 142 of the sector gear is engaged with the first gear 140. When the first gear 140 and the second gear 150 are both sector gears, the toothed portions 142 of the two sector gears mesh.

In this embodiment, at least one of the first gear 140 and the second gear 150 is configured as a sector gear, and at least a portion of the toothed portion 142 of the sector gear is accommodated in the accommodating space 173, so that the space occupation of the first gear 140 and the second gear 150 at the knee portion can be reduced, the structural compactness of the leg structure 100 is improved, and the miniaturized design of the robot is facilitated.

Of course, with the above embodiment, at least one of the first gear 140 and the second gear 150 may be provided as a circular gear, and the outer circumference side of the circular gear may have an entire circle of external teeth, and the inter-tooth engagement may be similarly achieved, thereby achieving the effect of enlarging the output stroke of the first driving portion 160.

In one embodiment, the modulus of the first gear 140 or the modulus of the second gear 150 is m, or the modulus of the first gear 140 and the modulus of the second gear 150 are both m, satisfying: m is more than or equal to 1 and less than or equal to 2.5.

In this embodiment, the modulus of the first gear 140 and/or the modulus of the second gear 150 are controlled within the range of 1-2.5, so that the tooth shapes of the first gear 140 and the second gear 150 are smaller, so as to save the occupied space of the first gear 140 and the second gear 150, and further improve the structural compactness of the leg structure 100.

Preferably, the modulus of the first gear 140 and the modulus of the second gear 150 are both 1.5, so that the occupation of the space by the first gear 140 and the second gear 150 can be reduced on the basis of meeting the transmission requirement. Of course, the modulus of the first gear 140 and the modulus of the second gear 150 may also be selected and combined in 1, 1.25, 1.5, 1.75, 2.25, 2.5.

As shown in fig. 4, 6 and 7, in one embodiment, the first driving part 160 includes at least one electric push rod 161, the electric push rod 161 includes a driver 1611 and a push rod 1612 connected to each other, the driver 1611 is used for driving the push rod 1612 to move linearly, one end of the driver 1611 away from the push rod 1612 is connected to the thigh 110 through the first universal element 162, and one end of the push rod 1612 away from the driver 1611 is connected to the connecting part 130 through the second universal element 163.

Illustratively, the electric push rod 161 may be provided as one, two, three, four, etc., and may be specifically selected according to design requirements.

In this embodiment, one end of the driver 1611 away from the push rod 1612 is connected with the thigh 110 through the first universal element 162, and one end of the push rod 1612 away from the driver 1611 is connected with the connecting portion 130 through the second universal element 163, so that the driver 1611 can rotate in a universal manner relative to the thigh 110, and the push rod 1612 can rotate in a universal manner relative to the connecting portion 130, thus, assembly and stroke errors of the electric push rod 161 can be compensated, bending movements of knee parts are smoother, and meanwhile, complex rotation movements required by other leg movements can be satisfied by a universal connection mode.

Further, the first gimbal element 162 or the second gimbal element 163 are fisheye bearings, or the fisheye bearings are selected for the first gimbal element 162 and the second gimbal element 163, so that the fisheye bearings not only can realize universal rotation, but also have smaller volume and more compact structure, and the structural compactness of the leg structure 100 is improved. Of course, the first gimbal 162 and the second gimbal 163 may be selected as cross-shaped gimbals, and may be specifically configured according to design requirements, and the types of the first gimbal 162 and the second gimbal 163 are not specifically limited herein.

In another embodiment, the first driving part 160 includes a linear motor module and a connecting rod, the linear motor module is disposed on the thigh portion 110, the connecting rod is hinged with the slider of the linear motor module and the connecting part 130 respectively, and the linear motor module can drive the thigh portion 110 and the shank portion 120 to rotate relatively through the connecting part 130 when working. In addition, a combination of the steering engine and the link may be used, and the link may be hinged to the swing arm of the steering engine and the connecting portion 130, respectively, so that the thigh portion 110 and the shank portion 120 can be driven to rotate relatively, and the structure of the first driving portion 160 is not particularly limited.

As shown in fig. 1 and 9, in one embodiment, the connection portion 130 includes a first connection body 131 and a second connection body 132 that are connected, the first connection body 131 defines a limiting space 13111, one end of the thigh portion 110 facing the accommodating space 173 is accommodated in the limiting space 13111 and is rotatably connected with the first connection body 131, one end of the shank portion 120 facing the accommodating space 173 is accommodated in the limiting space 13111 and is rotatably connected with the first connection body 131, and an output end of the first driving portion 160 is rotatably connected with the second connection body 132.

In this embodiment, the first connecting body 131 and the second connecting body 132 serve as lever arms when the first driving part 160 applies force, so as to achieve the relative rotation of the thigh 110 and the shank 120, and meet the bending requirement of the knee part. Meanwhile, the end of the thigh 110 facing the accommodating space 173 and the end of the shank 120 facing the accommodating space 173 are both accommodated in the limiting space 13111, which reduces the space occupation of the thigh 110 and the shank 120 and improves the compactness of the leg structure 100.

As shown in fig. 2 and 5, further, a first stopper rib 171 and a second stopper rib 172 are provided on the thigh portion 110, respectively. When the thigh 110 rotates relative to the connecting portion 130, the first limiting rib 171 or the second limiting rib 172 can abut against the first connecting body 131 to limit the angle of relative rotation between the thigh 110 and the shank 120, thereby limiting the bending angle of the knee portion.

As shown in fig. 2 and 9, further, the first connector 131 includes two connecting arms 1311, the two connecting arms 1311 are located at different sides of the thigh section 110 to define a limiting space 13111, and the second connector 132 is connected between the two connecting arms 1311, and each connecting arm 1311 is hinged to the thigh section 110 and the shank section 120, respectively.

In this embodiment, by positioning two connecting arms 1311 on different sides of the thigh section 110 to support opposite sides of the thigh section 110, and hinging each connecting arm 1311 to the thigh section 110 and the shank section 120, respectively, the number of connection points of the connecting section 130 to the thigh section 110 and the shank section 120 is increased. In this way, the strength and stability of the leg structure 100 is improved, and the service life of the leg structure 100 is prolonged.

It should be noted that, when the first limiting rib 171 is disposed on the thigh 110, the first limiting rib 171 includes two sub-limiting ribs, each sub-limiting rib can be abutted with one connecting arm 1311 to play a limiting effect respectively, and the limitation on the bending angle of the knee portion can be better achieved by matching with the second limiting rib 172.

In another embodiment, the connection portion 130 may be a U-shaped connection seat or an arc-shaped connection arm, which can also be used as a lever arm when the first driving portion 160 applies a force, and the structure of the connection portion 130 is not particularly limited.

As shown in fig. 2, 5 and 7, in one embodiment, the lower leg 120 includes a lower leg arm 121, a first rotator 122, and a driving member 123, the second gear 150 is disposed on the first rotator 122, the connection 130 is rotatably connected to the first rotator 122, and the driving member 123 is disposed on the first rotator 122 and connected to the lower leg arm 121 for driving the lower leg arm 121 to rotate relative to the first rotator 122.

Illustratively, the driver 123 is a steering engine. Of course, the driving member 123 may be other devices capable of outputting torque, such as a rotary electric machine or a driving motor.

In this embodiment, the driving member 123 can drive the lower leg arm 121 to rotate relative to the first rotating body 122, and meanwhile, the first driving portion 160 can drive the connecting portion 130 to drive the thigh portion 110 to rotate relative to the lower leg portion 120, so that more complex motions of knee portions can be combined, thereby improving the bionic effect of the robot.

As shown in fig. 5, 7 and 10, in one embodiment, the thigh 110 includes a thigh arm 111, a second swivel 112 and a rotation shaft 113, the thigh arm 111 is connected with the second swivel 112, the second swivel 112 defines an installation space 1121, the rotation shaft 113 is fixed to the second swivel 112 and is disposed through the installation space 1121, the connection portion 130 is connected with an end of the rotation shaft 113 through a bearing 114, and a portion of the first gear 140 is accommodated in the installation space 1121 and is fixed to the rotation shaft 113.

Illustratively, the rotary shaft 113 is connected to the second rotator 112 in a key-coupling manner, and the first gear 140 is connected to the rotary shaft 113 in a key-coupling manner. Of course, the connection may be performed by a screw connection, welding, or a clamping connection, and the fixing manner of the rotation shaft 113 and the second rotation body 112 and the fixing manner of the first gear 140 and the rotation shaft 113 are not particularly limited, so long as the relative rotation of the rotation shaft 113 and the second rotation body 112 and the relative rotation of the first gear 140 and the rotation shaft 113 can be limited.

In this embodiment, the installation of the first gear 140 and the thigh 110 is facilitated by the installation space 1121 and the rotation shaft 113, and at the same time, a part of the first gear 140 is accommodated in the thigh 110, so that the occupation of the space by the first gear 140 is reduced, and the compactness of the leg structure 100 is improved. In addition, the connection part 130 is connected to the end of the rotation shaft 113 through the bearing 114, so that the connection part 130 can smoothly rotate around the rotation shaft 113, and further, the bending motion of the knee part is smoother and more natural.

It should be understood that the above is given by way of example only as one specific configuration of thigh section 110 and calf section 120. In other embodiments, the thigh 110 is the thigh arm 111, the shank 120 is the shank arm 121, the first gear 140 is directly fixed to the thigh arm 111, and the second gear 150 is directly fixed to the shank arm 121, and the bending operation of the knee portion can be achieved, and the structures of the thigh 110 and the shank 120 are not particularly limited.

As shown in fig. 1 and fig. 4, in one embodiment, the leg structure 100 further includes a foot portion 180 and a second driving portion 190, where the foot portion 180 is rotatably connected with one end of the shank portion 120 far away from the thigh portion 110, the second driving portion 190 is disposed on the shank portion 120, and an output end of the second driving portion 190 is connected with the foot portion 180 and is used for driving the foot portion 180 to rotate relative to the shank portion 120, so as to implement bending motion of an ankle portion, and more leg motions can be combined in cooperation with bending motion of a knee portion, so that a bionic effect of the robot is further improved.

Illustratively, the second drive section 190 includes at least one electric push rod 161. Of course, the second driving portion 190 may be a combination of a linear motor module and a link, or a combination of a steering engine and a link, which will not be described herein.

As shown in fig. 3, further, the foot 180 includes a foot body 181, a third universal element 182 and a fourth universal element 183, and the foot body 181 is connected to one end of the lower leg 120 far from the thigh 110 through the third universal element 182, and is connected to the output end of the second driving part 190 through the fourth universal element 183, so that the ankle part can be rotated in a universal manner under the driving of the second driving part 190, and the real motion of the ankle part of the human body and the animal is more approximate, thereby improving the bionic effect of the robot.

Illustratively, the third gimbal element 182 selects a cross-joint and the fourth gimbal element 183 selects a fish-eye bearing. Of course, the fish-eye bearing and the cross universal joint can be used alternatively, and the fish-eye bearing and the cross universal joint can be specifically selected according to design requirements.

In a second aspect, embodiments of the present application provide a robot comprising the leg structure 100 of any of the embodiments described above.

It will be appreciated that, since the robot provided in this embodiment has the leg structure 100 in any of the above embodiments, the entire advantageous effects of the leg structure 100 are provided, and the description is not given here.

In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

While embodiments of the present application have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the application, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the application.

Claims (12)

1. A leg structure, comprising:

thigh section;

A lower leg portion provided at a distance from the thigh portion to define an accommodation space, the end of the thigh portion facing the accommodation space being provided with a first gear, and the end of the lower leg portion facing the accommodation space being provided with a second gear;

a connecting portion rotatably connected to the thigh portion and the shank portion, respectively, and the second gear is engaged with the first gear so that the thigh portion and the shank portion can be rotated relatively;

and the output end of the first driving part is connected with the connecting part and is used for driving the thigh and the shank to rotate relatively through the connecting part.

2. The leg structure according to claim 1, wherein at least one of the first gear and the second gear is a sector gear including a wheel body, a toothed portion, and a toothless portion, the toothed portion and the toothless portion being provided along an outer peripheral side of the wheel body, at least a portion of the toothed portion being accommodated in the accommodation space.

3. Leg structure according to claim 1, characterized in that the modulus of the first gear and/or the modulus of the second gear is m, satisfying: m is more than or equal to 1 and less than or equal to 2.5.

4. The leg structure according to claim 1, wherein the first driving portion includes at least one electric putter including a driver and a putter connected thereto, the driver being adapted to drive the putter in a linear motion, an end of the driver remote from the putter being connected to the thigh portion by a first gimbal, and an end of the putter remote from the driver being connected to the connecting portion by a second gimbal.

5. The leg structure of claim 4 wherein the first gimbal element and/or the second gimbal element is a fish eye bearing.

6. The leg structure according to any one of claims 1 to 5, wherein the connecting portion includes a first connecting body and a second connecting body that are connected, the first connecting body defines a spacing space, an end of the thigh portion facing the accommodating space is accommodated in the spacing space and is rotatably connected to the first connecting body, an end of the shank portion facing the accommodating space is accommodated in the spacing space and is rotatably connected to the first connecting body, and an output end of the first driving portion is rotatably connected to the second connecting body.

7. The leg structure according to claim 6, wherein the thigh portion is provided with a first stopper rib and a second stopper rib, respectively;

When the thigh portion rotates relative to the connecting portion, the first limit rib or the second limit rib can abut against the first connecting body to limit the angle of relative rotation of the thigh portion and the shank portion.

8. The leg structure according to claim 6, wherein the first link includes two link arms on different sides of the thigh to define the spacing space, and the second link is connected between the two link arms, each of the link arms being hinged with the thigh and the calf, respectively.

9. A leg structure according to any one of claims 1 to 5, wherein the calf portion comprises a calf arm, a first swivel on which the second gear is arranged, and a drive member rotatably connected to the first swivel, the drive member being arranged on the first swivel and connected to the calf arm for driving the calf arm in rotation relative to the first swivel.

10. A leg structure according to any one of claims 1 to 5, wherein the thigh portion includes a thigh arm, a second swivel and a rotating shaft, the thigh arm is connected with the second swivel, the second swivel defines an installation space, the rotating shaft is fixed to the second swivel and penetrates through the installation space, the connecting portion is connected with an end portion of the rotating shaft through a bearing, and a portion of the first gear is accommodated in the installation space and is fixed to the rotating shaft.

11. A leg structure as claimed in any one of claims 1 to 5 further comprising a foot rotatably connected to an end of the lower leg remote from the thigh, and a second drive portion provided on the lower leg, an output end of the second drive portion being connected to the foot for driving rotation of the foot relative to the lower leg.

12. A robot comprising the leg structure of any one of claims 1 to 11.