Foldable leg type moving structure

Abstract

The foldable leg type moving structure comprises a trunk main body and four leg and foot modules, and the four leg and foot modules are installed at the bottom of the trunk main body and used for driving the trunk main body to move. Wherein the trunk main body comprises a first regular tetrahedron module, a second regular tetrahedron module, a third regular tetrahedron module, a fourth regular tetrahedron module, a fifth regular tetrahedron module, a sixth regular tetrahedron module and a seventh regular tetrahedron module; the leg-foot module comprises a first leg-foot unit module, a second leg-foot unit module, a third leg-foot unit module, a fourth leg-foot unit module and three joint motors, and the joint motors are arranged between the first leg-foot unit module and the second leg-foot unit module as well as between the second leg-foot unit module and the third leg-foot unit module; the third leg-foot unit module and the fourth leg-foot unit module are connected through a joint motor. The whole structure is simple, the ground posture is closer to that of a real animal, and the safety during task execution is effectively improved.

Description

Technical Field

[0001] The invention belongs to the technical field of mobile structures, and in particular relates to a foldable leg type mobile structure. Background Art

[0002] With the development of society and the continuous progress of science and technology, the robotics industry has also started to flourish in line with the times, and various types of mobile robots have been spawned under the needs of society. As a type of bionic robot, quadruped robots have become the focus of the robotics industry. Quadruped robots can walk and move on a variety of complex terrain surfaces based on the movement of quadrupeds, so that machines can replace human labor in some more dangerous working environments.

[0003] In the prior art, the legs and feet of quadruped robots are mostly made of long straight rods, and the driving method is mostly rotational drive to achieve the movement of the robot. In addition, quadruped robots mostly use the method of arranging the leg drive joint axis in parallel, and the hip drive joint axis and the leg drive joint axis in perpendicular arrangement. Other angles are rarely used. At the same time, as a type of bionic robot, the prone or kneeling posture of quadruped robots is a kind of movement gait that can show the movement of robots. However, most quadruped robots cannot naturally integrate their legs and feet into the torso like real animals to achieve this movement. Therefore, it is easy to identify when performing dangerous tasks, resulting in mission failure. Summary of the invention

[0004] In order to at least partially solve the technical problems existing in the above-mentioned prior art, the present invention provides a foldable leg type mobile structure.

[0005] The foldable leg-type mobile structure of the present invention comprises a trunk body and four leg-foot modules, wherein the four leg-foot modules are respectively mounted at the bottom of the trunk body and are used to drive the trunk body to move, wherein:

[0006] The trunk body includes a first regular tetrahedron module, a second regular tetrahedron module, a third regular tetrahedron module, a fourth regular tetrahedron module, a fifth regular tetrahedron module, a sixth regular tetrahedron module and a seventh regular tetrahedron module, the first regular tetrahedron module is connected to the sixth regular tetrahedron module and the seventh regular tetrahedron module respectively, the sixth regular tetrahedron module is connected to the second regular tetrahedron module and the third regular tetrahedron module respectively, and the seventh regular tetrahedron module is connected to the fourth regular tetrahedron module and the fifth regular tetrahedron module respectively;

[0007] The leg and foot module includes a first leg and foot unit module, a second leg and foot unit module, a third leg and foot unit module, a fourth leg and foot unit module and three joint motors. The first leg and foot unit module is connected to the second leg and foot unit module, the second leg and foot unit module is connected to the third leg and foot unit module, and the third leg and foot unit module is connected to the fourth leg and foot unit module through the joint motors.

[0008] Furthermore, in the above-mentioned foldable leg-type mobile structure, the first regular tetrahedron module, the second regular tetrahedron module, the third regular tetrahedron module, the fourth regular tetrahedron module and the fifth regular tetrahedron module have the same structure, and all four sides are arranged in a triangular shape, and two adjacent surfaces are provided with first equidistant through holes.

[0009] Furthermore, in the above-mentioned foldable leg-type mobile structure, the sixth regular tetrahedron module and the seventh regular tetrahedron module have the same structure, and all four sides are arranged in a triangular shape, wherein three adjacent surfaces are provided with second equidistant through holes.

[0010] Furthermore, in the above-mentioned foldable leg-type moving structure, the second equidistant through holes match the first equidistant through holes, and the number of the first equidistant through holes and the number of the second equidistant through holes are 6 respectively, which are arranged in a triangular shape on each surface.

[0011] Furthermore, in the above-mentioned foldable leg type mobile structure, the first equidistant through holes on both sides of the first regular tetrahedron module are respectively connected and fixed with the second equidistant through holes on the front side of the sixth regular tetrahedron module and the second equidistant through holes on the rear side of the seventh regular tetrahedron module by bolts;

[0012] The second equidistant through hole on the right front side of the sixth regular tetrahedron module is connected and fixed with the first equidistant through hole on one side of the second regular tetrahedron module by bolts, and the second equidistant through hole on the left front side of the sixth regular tetrahedron module is connected with the first equidistant through hole on one side of the third regular tetrahedron module by bolts;

[0013] The second equidistant through holes on the right rear side of the seventh tetrahedron module are connected to the first equidistant through holes on one side of the fourth regular tetrahedron module by bolts, and the second equidistant through holes on the left rear side of the seventh tetrahedron module are connected to the first equidistant through holes on one side of the fifth regular tetrahedron module by bolts.

[0014] Furthermore, in the above-mentioned foldable leg-type mobile structure, a third equidistant through hole is arranged on the top of the first leg-foot unit module, and the third equidistant through hole matches the first equidistant through hole, and the leg-foot module is respectively connected with the first equidistant through hole on the other side of the second regular tetrahedron module, the first equidistant through hole on the other side of the third regular tetrahedron module, the first equidistant through hole on the other side of the fourth regular tetrahedron module and the first equidistant through hole on one side of the fifth regular tetrahedron module through the third equidistant through hole.

[0015] Furthermore, in the above-mentioned foldable leg-type mobile structure, the first leg-foot unit module includes a first leg foot and a first mounting platform, the first mounting platform is welded to the bottom of the first leg foot, a first avoidance groove is arranged on one side of the bottom of the first leg foot for avoiding the joint motor, a first connecting hole is arranged around the first mounting platform, a first recessed groove is arranged in the middle of the first mounting platform, and the first joint motor base is embedded in the first recessed groove and is connected and fixed to the first connecting hole by bolts.

[0016] Furthermore, in the above-mentioned foldable leg-type mobile structure, the second leg-foot unit module includes a second leg-foot, a first drive shaft connecting platform and a second mounting platform, the first drive shaft connecting platform is welded to one side of the upper end of the second leg-foot, the second mounting platform is welded to the bottom of the second leg-foot, a first connecting shaft hole is provided on the first drive shaft connecting platform, the first joint motor output shaft is connected to the first connecting shaft hole by bolts, a second connecting hole is arranged around the second mounting platform, a second recessed groove is provided in the middle of the second mounting platform, and the second joint motor base is embedded in the second recessed groove and fixed to the second connecting hole by bolts.

[0017] Furthermore, in the above-mentioned foldable leg-type mobile structure, the third leg foot unit module includes a third leg foot, a second drive shaft connecting platform and a third mounting platform, the second drive shaft connecting platform is welded to one side of the upper end of the third leg foot, the third mounting platform is welded to the bottom of the third leg foot, a third recessed groove is provided in the middle of the second drive shaft connecting platform, a second connecting shaft hole is provided at the bottom of the third recessed groove, the second joint motor output shaft is inserted into the third recessed groove and connected to the second connecting shaft hole by bolts, a third connecting hole is arranged around the third mounting platform, and the third joint motor base is fixed to the third connecting hole by bolts.

[0018] Furthermore, in the above-mentioned foldable leg-type mobile structure, the fourth leg unit module includes a fourth leg and a third drive shaft connecting platform, the second drive shaft connecting platform is welded to one side of the upper end of the third leg, a fourth groove is provided in the middle of the third drive shaft connecting platform, a third connecting shaft hole is provided at the bottom of the fourth groove, the third joint motor output shaft is inserted into the fourth groove and connected to the third connecting shaft hole by bolts, and a second avoidance groove is provided at the bottom of the fourth leg for avoiding the joint motor.

[0019] The foldable leg type mobile structure of the present invention has the following advantages and beneficial effects:

[0020] The overall structure is simple and changes the arrangement of the rotation joint angles of traditional quadruped robots. While using joint motors to achieve walking, the leg and foot modules can also be changed from a stretched state to a folded state. The prone posture is closer to that of real animals, thereby effectively improving safety when performing tasks. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings in the following descriptions are only used to further understand the embodiments of the present invention and constitute a part of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0022] Figure 1 It is a schematic diagram of the three-dimensional structure of the foldable leg type mobile structure of the present invention;

[0023] Figure 2 It is a schematic diagram of the trunk main body structure of the foldable leg type mobile structure of the present invention;

[0024] Figure 3 It is a schematic diagram of a first equidistant hole distribution structure of the foldable leg type mobile structure of the present invention;

[0025] Figure 4 It is a schematic diagram of the second equidistant hole distribution structure of the foldable leg type mobile structure of the present invention;

[0026] Figure 5 It is a schematic diagram of the leg and foot module structure of the foldable leg type mobile structure of the present invention;

[0027] Figure 6 It is a schematic structural diagram of a first leg-foot unit module of the foldable leg-type mobile structure of the present invention;

[0028] Figure 7 It is a schematic structural diagram of a second leg-foot unit module of the foldable leg-type mobile structure of the present invention;

[0029] Figure 8 It is a schematic structural diagram of a third leg-foot unit module of the foldable leg-type mobile structure of the present invention;

[0030] Fig. 9 It is a schematic structural diagram of a fourth leg-foot unit module of the foldable leg-type mobile structure of the present invention;

[0031] Fig.10 A schematic diagram of the folding process of the leg and foot modules of the foldable leg-type mobile structure of the present invention;

[0032] Fig.11 It is a schematic diagram of the folding structure of the foldable leg type mobile structure of the present invention.

[0033] Description of reference numerals:

[0034] 1: trunk body, 11: first regular tetrahedron module, 12: second regular tetrahedron module;

[0035] 13: third regular tetrahedron module, 14: fourth regular tetrahedron module, 15: fifth regular tetrahedron module, 16: sixth regular tetrahedron module, 17: seventh regular tetrahedron module, 18: first equidistant through hole, 19: second equidistant through hole;

[0036] 2: Leg and foot module;

[0037] 21: first leg and foot unit module, 211: third equidistant through hole, 212: first leg and foot, 213: first mounting platform, 214: first avoidance groove, 215: first connecting hole, 216: first sink groove;

[0038] 22: second leg unit module, 221: second leg, 222: first drive shaft connection platform, 223: first connection shaft hole, 224: second mounting platform, 225: second connection hole, 226: second sink;

[0039] 23: third leg unit module, 231: third leg, 232: second drive shaft connection platform, 233: third mounting platform, 234: third sink, 235: second connection shaft hole, 236: third connection hole;

[0040] 24: fourth leg unit module, 241: fourth leg, 242: third drive shaft connection platform, 243: fourth sink, 244: third connection shaft hole, 245: second avoidance groove;

[0041] 25: Joint motor. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the specific embodiments of the present invention and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0043] like Figures 1 to 9 As shown, the foldable leg-type mobile structure of the present invention comprises a trunk body and four leg-foot modules, wherein the four leg-foot modules are respectively installed at the bottom of the trunk body and are used to drive the trunk body to move, wherein:

[0044] The trunk body includes a first regular tetrahedron module, a second regular tetrahedron module, a third regular tetrahedron module, a fourth regular tetrahedron module, a fifth regular tetrahedron module, a sixth regular tetrahedron module and a seventh regular tetrahedron module, the first regular tetrahedron module is connected to the sixth regular tetrahedron module and the seventh regular tetrahedron module respectively, the sixth regular tetrahedron module is connected to the second regular tetrahedron module and the third regular tetrahedron module respectively, and the seventh regular tetrahedron module is connected to the fourth regular tetrahedron module and the fifth regular tetrahedron module respectively;

[0045] The leg and foot modules include a first leg and foot unit module, a second leg and foot unit module, a third leg and foot unit module, a fourth leg and foot unit module and three joint motors. The first leg and foot unit module and the second leg and foot unit module, the second leg and foot unit module and the third leg and foot unit module, and the third leg and foot unit module and the fourth leg and foot unit module are all connected through joint motors.

[0046] Furthermore, in the foldable leg-type mobile structure of the present invention, the first regular tetrahedron module, the second regular tetrahedron module, the third regular tetrahedron module, the fourth regular tetrahedron module and the fifth regular tetrahedron module have the same structure, and the four sides are all arranged in a triangular shape, and two adjacent surfaces are provided with first equidistant through holes.

[0047] Furthermore, in the foldable leg-type mobile structure of the present invention, the sixth regular tetrahedron module and the seventh regular tetrahedron module have the same structure, and all four sides are arranged in a triangular shape, wherein three adjacent surfaces are provided with second equidistant through holes.

[0048] Furthermore, in the foldable leg-type mobile structure of the present invention, the second equidistant through holes are matched with the first equidistant through holes, and the number of the first equidistant through holes and the second equidistant through holes is 6, which are arranged in a triangular shape on each surface, for example, the first row is 1 equidistant hole, the second row is 2 equidistant holes, and the third row is 3 equidistant holes.

[0049] Further, in the foldable leg type mobile structure of the present invention, the first equidistant through holes on both sides of the first regular tetrahedron module are respectively connected and fixed with the second equidistant through holes on the front side of the sixth regular tetrahedron module and the second equidistant through holes on the rear side of the seventh regular tetrahedron module by bolts;

[0050] The second equidistant through hole on the right front side of the sixth regular tetrahedron module is connected and fixed with the first equidistant through hole on one side of the second regular tetrahedron module by bolts, and the second equidistant through hole on the left front side of the sixth regular tetrahedron module is connected with the first equidistant through hole on one side of the third regular tetrahedron module by bolts;

[0051] The second equidistant through hole on the right rear side of the seventh tetrahedron module is connected to the first equidistant through hole on one side of the fourth regular tetrahedron module by bolts, and the second equidistant through hole on the left rear side of the seventh tetrahedron module is connected to the first equidistant through hole on one side of the fifth regular tetrahedron module by bolts, thereby ensuring the connection of the trunk body.

[0052] Furthermore, in the foldable leg-type mobile structure of the present invention, a third equidistant through hole is arranged on the top of the first leg and foot unit module, and the third equidistant through hole matches the first equidistant through hole. The leg and foot module is respectively connected with the first equidistant through hole on the other side of the second regular tetrahedron module, the first equidistant through hole on the other side of the third regular tetrahedron module, the first equidistant through hole on the other side of the fourth regular tetrahedron module and the first equidistant through hole on one side of the fifth regular tetrahedron module through the third equidistant through hole, thereby ensuring that the leg and foot module is connected and fixed to the trunk body.

[0053] Furthermore, in the foldable leg-type mobile structure of the present invention, the first leg-foot unit module includes a first leg-foot and a first mounting platform, the first mounting platform is welded to the bottom of the first leg-foot, a first avoidance groove is arranged on one side of the bottom of the first leg-foot for avoiding the joint motor, a first connecting hole is arranged around the first mounting platform, a first recessed groove is arranged in the middle of the first mounting platform, and the first joint motor base is embedded in the first recessed groove and is connected and fixed to the first connecting hole by bolts, thereby ensuring the installation of the joint motor.

[0054] Furthermore, in the foldable leg-type mobile structure of the present invention, the second leg-foot unit module includes a second leg-foot, a first drive shaft connecting platform and a second mounting platform. The first drive shaft connecting platform is welded to one side of the upper end of the second leg-foot, and the second mounting platform is welded to the bottom of the second leg-foot. A first connecting shaft hole is arranged on the first drive shaft connecting platform. The output shaft of the first joint motor is connected to the first connecting shaft hole by bolts, so that when the joint motor rotates, the second leg-foot unit module is driven to fold toward the direction of the first leg-foot unit module. A second connecting hole is arranged around the second mounting platform, and a second recessed groove is arranged in the middle of the second mounting platform. The base of the second joint motor is embedded in the second recessed groove and fixed to the second connecting hole by bolts, thereby ensuring the installation of the joint motor.

[0055] Furthermore, in the foldable leg-type mobile structure of the present invention, the third leg-foot unit module includes a third leg-foot, a second drive shaft connecting platform and a third mounting platform. The second drive shaft connecting platform is welded to one side of the upper end of the third leg-foot, and the third mounting platform is welded to the bottom of the third leg-foot. A third recessed groove is provided in the middle of the second drive shaft connecting platform, and a second connecting shaft hole is provided at the bottom of the third recessed groove. The output shaft of the second joint motor is inserted into the third recessed groove and connected to the second connecting shaft hole by bolts, so that when the joint motor rotates, the third leg-foot unit module is driven to fold toward the direction of the second leg-foot unit module. A third connecting hole is arranged around the third mounting platform, and the base of the third joint motor is fixed to the third connecting hole by bolts, thereby ensuring the installation of the joint motor.

[0056] Furthermore, in the foldable leg-type mobile structure of the present invention, the fourth leg-foot unit module includes a fourth leg-foot and a third drive shaft connecting platform, the second drive shaft connecting platform is welded to one side of the upper end of the third leg-foot, a fourth groove is provided in the middle of the third drive shaft connecting platform, a third connecting shaft hole is provided at the bottom of the fourth groove, the output shaft of the third joint motor is inserted into the fourth groove and connected to the third connecting shaft hole by bolts, so that when the joint motor rotates, the fourth leg-foot unit module is driven to fold toward the direction of the third leg-foot unit module, and a second avoidance groove is provided at the bottom of the fourth leg-foot for avoiding the joint motor.

[0057] Specifically, when folding, the joint motor between the first leg-foot unit module and the second leg-foot unit module rotates, driving the second leg-foot unit module to fold toward the first leg-foot unit module, the joint motor between the second leg-foot unit module and the third leg-foot unit module rotates, driving the third leg-foot unit module to fold toward the second leg-foot unit module, and the joint motor between the third leg-foot unit module and the fourth leg-foot unit module rotates, driving the fourth leg-foot unit module to fold toward the third leg-foot unit module. Fig.10 As shown, the second leg-foot unit module, the third leg-foot unit module, and the fourth leg-foot unit module are folded from a coplanar arrangement state to an arrangement state surrounding the first leg-foot unit module, in which the maximum edge length of the leg-foot module is equal to the edge length of the first regular tetrahedron module, the second regular tetrahedron module, the third regular tetrahedron module, the fourth regular tetrahedron module, and the fifth regular tetrahedron module;

[0058] When the four leg modules are folded at the same time, Fig.11 As shown, the leg and foot modules are folded from a coplanar arrangement state to an arrangement state surrounding the first leg and foot unit module, in which state the transition from a standing posture to a prone posture can be achieved.

[0059] To sum up, compared with the prior art, the foldable leg-type mobile structure of the present invention has the following advantages and beneficial effects: the overall structure is simple, and the connection between the joint motor and the leg and foot unit module is adopted, which effectively changes the arrangement of the rotation joint angles of the traditional quadruped robot. While using the joint motor to achieve walking, the leg and foot module can also be changed from a stretched state to a folded state. The prone posture is closer to that of a real animal, thereby effectively improving the safety when performing tasks.

[0060] It should be noted that, in this article, unless otherwise clearly specified and limited, the term "connection" or its synonyms should be understood in a broad sense. For example, "connection" can be a fixed connection or a detachable connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances. Moreover, expressions such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. At the same time, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such a process, method, article or device. In addition, "front", "back", "left", "right", "upper" and "lower" in this article are all referenced to the placement state shown in the accompanying drawings.

[0061] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A foldable leg type mobile structure, characterized in that: The foldable leg-type mobile structure comprises a trunk body and four leg-foot modules, wherein the four leg-foot modules are respectively mounted at the bottom of the trunk body and are used to drive the trunk body to move, wherein: The trunk body includes a first regular tetrahedron module, a second regular tetrahedron module, a third regular tetrahedron module, a fourth regular tetrahedron module, a fifth regular tetrahedron module, a sixth regular tetrahedron module and a seventh regular tetrahedron module, the first regular tetrahedron module is connected to the sixth regular tetrahedron module and the seventh regular tetrahedron module respectively, the sixth regular tetrahedron module is connected to the second regular tetrahedron module and the third regular tetrahedron module respectively, and the seventh regular tetrahedron module is connected to the fourth regular tetrahedron module and the fifth regular tetrahedron module respectively; The leg and foot module includes a first leg and foot unit module, a second leg and foot unit module, a third leg and foot unit module, a fourth leg and foot unit module and three joint motors. The first leg and foot unit module is connected to the second leg and foot unit module, the second leg and foot unit module is connected to the third leg and foot unit module, and the third leg and foot unit module is connected to the fourth leg and foot unit module through the joint motors.

2. The foldable leg type mobile structure according to claim 1, characterized in that: The first regular tetrahedron module, the second regular tetrahedron module, the third regular tetrahedron module, the fourth regular tetrahedron module and the fifth regular tetrahedron module have the same structure, and all four sides are arranged in a triangular shape, wherein two adjacent surfaces are provided with first equidistant through holes.

3. The foldable leg type mobile structure according to claim 2, characterized in that: The sixth regular tetrahedron module has the same structure as the seventh regular tetrahedron module, and all four sides are arranged in a triangular shape, wherein three adjacent surfaces are provided with second equidistant through holes.

4. The foldable leg type mobile structure according to claim 3, characterized in that: The second equidistant through holes match the first equidistant through holes, and the number of the first equidistant through holes and the number of the second equidistant through holes are 6 respectively, which are arranged in a triangle shape on each surface.

5. The foldable leg type mobile structure according to claim 4, characterized in that: The first equidistant through holes on both sides of the first regular tetrahedron module are respectively connected and fixed to the second equidistant through holes on the front side of the sixth regular tetrahedron module and the second equidistant through holes on the rear side of the seventh regular tetrahedron module by bolts; The second equidistant through hole on the right front side of the sixth regular tetrahedron module is connected and fixed with the first equidistant through hole on one side of the second regular tetrahedron module by bolts, and the second equidistant through hole on the left front side of the sixth regular tetrahedron module is connected with the first equidistant through hole on one side of the third regular tetrahedron module by bolts; The second equidistant through holes on the right rear side of the seventh tetrahedron module are connected to the first equidistant through holes on one side of the fourth regular tetrahedron module by bolts, and the second equidistant through holes on the left rear side of the seventh tetrahedron module are connected to the first equidistant through holes on one side of the fifth regular tetrahedron module by bolts.

6. The foldable leg type mobile structure according to claim 5, characterized in that: A third equidistant through hole is arranged on the top of the first leg and foot unit module, and the third equidistant through hole matches the first equidistant through hole. The leg and foot module is respectively connected with the first equidistant through hole on the other side of the second regular tetrahedron module, the first equidistant through hole on the other side of the third regular tetrahedron module, the first equidistant through hole on the other side of the fourth regular tetrahedron module and the first equidistant through hole on one side of the fifth regular tetrahedron module through the third equidistant through hole.

7. The foldable leg type mobile structure according to claim 1, characterized in that: The first leg-foot unit module includes a first leg-foot and a first mounting platform, the first mounting platform is welded to the bottom of the first leg-foot, a first avoidance groove is arranged on one side of the bottom of the first leg-foot for avoiding the joint motor, a first connecting hole is arranged around the first mounting platform, a first recessed groove is arranged in the middle of the first mounting platform, and the first joint motor base is embedded in the first recessed groove and is connected and fixed to the first connecting hole by bolts.

8. The foldable leg type mobile structure according to claim 7, characterized in that: The second leg unit module includes a second leg, a first drive shaft connecting platform and a second mounting platform. The first drive shaft connecting platform is welded to one side of the upper end of the second leg, and the second mounting platform is welded to the bottom of the second leg. A first connecting shaft hole is provided on the first drive shaft connecting platform. The output shaft of the first joint motor is connected to the first connecting shaft hole by bolts. A second connecting hole is arranged around the second mounting platform. A second recessed groove is provided in the middle of the second mounting platform. The second joint motor base is embedded in the second recessed groove and fixed to the second connecting hole by bolts.

9. The foldable leg type mobile structure according to claim 8, characterized in that: The third leg unit module includes a third leg, a second drive shaft connecting platform and a third mounting platform. The second drive shaft connecting platform is welded on one side of the upper end of the third leg, and the third mounting platform is welded on the bottom of the third leg. A third recessed groove is provided in the middle of the second drive shaft connecting platform, and a second connecting shaft hole is provided at the bottom of the third recessed groove. The output shaft of the second joint motor is inserted into the third recessed groove and connected to the second connecting shaft hole by bolts. A third connecting hole is arranged around the third mounting platform, and the third joint motor base is fixed to the third connecting hole by bolts.

10. The foldable leg type mobile structure according to claim 9, characterized in that: The fourth leg unit module includes a fourth leg and a third drive shaft connecting platform, the second drive shaft connecting platform is welded to one side of the upper end of the third leg, a fourth groove is provided in the middle of the third drive shaft connecting platform, a third connecting shaft hole is provided at the bottom of the fourth groove, the third joint motor output shaft is inserted into the fourth groove and connected to the third connecting shaft hole by bolts, and a second avoidance groove is provided at the bottom of the fourth leg for avoiding the joint motor.

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