Mechanical leg, robot and control method of robot

Abstract

A mechanical leg, a robot and a control method thereof, the mechanical leg (100) comprising a first leg mechanism (10), a second leg mechanism (20) and a driving mechanism (30), the second leg mechanism (20) being capable of linearly moving relative to the first leg mechanism (10), the driving mechanism (30) being configured to be capable of driving the first leg mechanism (10) and the second leg mechanism (20) to integrally rotate relative to a machine body (200), and driving the second leg mechanism (20) to linearly move relative to the first leg mechanism (20) so as to assist the robot (1000) in keeping self-balance during advancing or standing.

Description

Technical Field

[0001] The present application relates to the technical field of intelligent devices, and in particular to a mechanical leg, a robot and a control method thereof. Background Art

[0002] With the advancement of science and technology, the application of robots is becoming more and more common. Among them, robots with retractable legs are widely used in the field of automation.

[0003] Existing robots with retractable legs mainly use a link structure, such as a four-link or five-link multi-link structure, to achieve leg retraction and adjustment, so as to adjust the distance between the body and the legs, enhance its obstacle crossing ability, and realize robot walking.

[0004] However, in order to overcome obstacles, the robot's legs need to extend and retract a large amount, which means that the linkage structure needs to include multiple links and hinges. This not only requires a large space, but also because it is a multi-link structure, when the legs change length, the link angle changes continuously. The complex control model makes it difficult to control the robot's balance. Summary of the invention

[0005] In view of this, the present application proposes a mechanical leg, a robot and a control method thereof.

[0006] A first aspect of the present application provides a mechanical leg for a robot, the mechanical leg comprising: a first leg mechanism, configured to rotate and be connected to a body of the robot; a second leg mechanism, slidably connected to the first leg mechanism, so that the second leg mechanism can move linearly along a first direction relative to the first leg mechanism, the first direction being an extension direction of the first leg mechanism; A driving mechanism, wherein the driving mechanism is configured to be able to drive the first leg mechanism and the second leg mechanism to rotate as a whole relative to the body, and to drive the second leg mechanism to move linearly along the first direction relative to the first leg mechanism, so as to assist the robot in maintaining self-balance when walking or standing.

[0007] A second aspect of the present application provides a robot, comprising a body and the above-mentioned mechanical legs, wherein the mechanical legs are connected to the body.

[0008] A third aspect of the present application provides a robot control method, which is applied to the above-mentioned robot, wherein the robot further comprises a posture sensor disposed on the body; The control method comprises: Acquire posture information of the robot, wherein the posture information includes at least one of pitch angle information and roll angle information; According to the posture information, the driving mechanism controls the mechanical leg to rotate relative to the body; and / or, according to the posture information, the driving mechanism controls the second leg mechanism to move linearly relative to the first leg mechanism; so as to change the center of gravity of the robot, thereby allowing the robot to maintain balance on the supporting surface where the robot is located.

[0009] The mechanical leg proposed in the present application realizes the extension and retraction of the mechanical leg through the relative linear motion of the second leg mechanism and the first leg mechanism, so that sufficient extension and retraction can be achieved without increasing the lateral volume of the robot, effectively improving the robot's mobility in a limited space, and through the setting of linear extension and retraction, the force arm of the load on the power source of the driving mechanism is kept constant during the extension and retraction of the mechanical leg, simplifying the control model of the robot, improving the accuracy and response speed of the robot movement, and in general, the force arm of the load on the power source is short, and the power source power consumption is low. The driving mechanism drives the first leg mechanism to rotate relative to the fuselage, and drives the second leg mechanism to move linearly relative to the first leg mechanism, so as to assist the robot in maintaining self-balance when walking or standing, thereby facilitating the self-balancing control of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained like these drawings without paying any creative work.

[0011] Figure 1 This is a schematic diagram of the structure of the robot proposed in the embodiment of the present application.

[0012] Figure 2 This is a schematic diagram of the structure of the mechanical leg proposed in an embodiment of the present application.

[0013] Figure 3 A schematic cross-sectional view of a mechanical leg proposed in an embodiment of the present application.

[0014] Figure 4 This is a schematic diagram of the connection between the first transmission assembly, the second transmission assembly and the first leg mechanism proposed in an embodiment of the present application. The first flexible member in the figure is a first belt, and the second flexible member is a second belt.

[0015] Figure 5 This is a schematic diagram of the connection between the first driving member, the second driving member and the first leg mechanism proposed in an embodiment of the present application. The first flexible member in the figure is the first transmission rope, and the second flexible member is the second transmission rope.

[0016] Figure 6 for Figure 5 A schematic diagram from a first viewing angle showing a structure in which a first transmission rope and a second transmission rope are connected to a first slider and a second slider respectively.

[0017] Figure 7 for Figure 5 A schematic diagram from a second viewing angle showing the structure in which the first transmission rope and the second transmission rope are connected to the first slider and the second slider respectively.

[0018] Figure 8 This is a schematic structural diagram of the first leg mechanism proposed in an embodiment of the present application.

[0019] Fig. 9 This is a schematic diagram of the structure of the mechanical leg with hidden feet proposed in an embodiment of the present application.

[0020] Fig.10 This is a schematic diagram of the structure of the mechanical leg with hidden feet and base proposed in an embodiment of the present application.

[0021] Fig.11 This is a schematic structural diagram of the sliding portion from a first perspective according to an embodiment of the present application.

[0022] Fig.12 This is a schematic diagram of the second viewing angle structure of the sliding part proposed in the embodiment of the present application.

[0023] Fig.13 This is a partially enlarged schematic diagram of the location of the foot of the mechanical leg proposed in an embodiment of the present application.

[0024] Fig.14 This is a schematic diagram of the structure of the rack proposed in the embodiment of the present application.

[0025] Fig.15 This is a structural schematic diagram of the deformation method of the mechanical leg proposed in an embodiment of the present application.

[0026] Fig.16 for Fig.15 Schematic diagram of the connection between the transmission assembly and the first leg structure in the structure shown.

[0027] Fig.17 for Fig.15 Schematic diagram of the structure with the foot hidden in the structure shown.

[0028] Fig.18 This is a schematic diagram of the first supporting principle of the mechanical leg in the squatting state proposed in an embodiment of the present application.

[0029] Fig.19 Schematic diagram of the second supporting principle of the mechanical leg in the squatting state proposed in an embodiment of the present application.

[0030] Fig. 20Schematic diagram of the third supporting principle of the mechanical leg in the squatting state proposed in an embodiment of the present application.

[0031] Fig.21 A schematic diagram of a support base for foot connection provided with auxiliary wheels according to an embodiment of the present application.

[0032] Fig. 22 This is a longitudinal cross-sectional view of the tensioning device proposed in an embodiment of the present application assembled on the first transmission assembly and the second transmission assembly.

[0033] Fig.23 for Fig. 22 Section view of section AA in the figure.

[0034] Fig.24 This is an exploded schematic diagram of the tensioning device proposed in an embodiment of the present application being assembled on the first transmission assembly and the second transmission assembly.

[0035] Fig.25 This is a schematic structural diagram of the tensioning device proposed in an embodiment of the present application being assembled on the first transmission assembly.

[0036] Fig.26 This is an exploded schematic diagram of the tensioning device proposed in an embodiment of the present application being assembled on the first transmission assembly.

[0037] Fig. 27 This is a schematic diagram of the structure of the support structure proposed in the embodiment of the present application.

[0038] Fig.28 This is a schematic structural diagram of the movable shaft of the tensioning device proposed in an embodiment of the present application.

[0039] Fig.29 An exploded schematic diagram of the auxiliary component, the frame, the first motor and the second motor proposed in the embodiment of the present application.

[0040] Fig.30 This is a schematic structural diagram of the second guide member proposed in an embodiment of the present application.

[0041] Fig.31 This is an exploded schematic diagram of the first guide member proposed in an embodiment of the present application.

[0042] Fig.32 This is an exploded schematic diagram of the mechanical leg proposed in an embodiment of the present application.

[0043] Fig.33 This is a schematic diagram of the elastic member proposed in an embodiment of the present application being arranged on the first leg mechanism.

[0044] Fig.34 A schematic block diagram of the electrical connection of a robot proposed in an embodiment of the present application.

[0045] Fig.35It is a flow chart of a robot control method provided in an embodiment of the present application.

[0046] Fig.36 It is a schematic diagram of a flow chart of controlling a robot according to the leg length change speed and the rotation angle provided in an embodiment of the present application.

[0047] Fig.37 It is a schematic diagram of a flow chart of controlling the steering of a robot provided in an embodiment of the present application.

[0048] Fig.38 It is a schematic diagram of a flow chart of controlling a robot based on an inverted pendulum model provided in an embodiment of the present application.

[0049] Fig.39 It is a schematic block diagram of a robot provided in an embodiment of the present application.

[0050] Description of reference numerals: 100, mechanical leg; 10, first leg mechanism; 10a, first side; 10b, second side; 11, positioning shaft; 111, first bearing; 112, second bearing; 12, supporting structure; 12a, first end; 12b, second end; 121, first supporting plate; 122, second supporting plate; 123, blocking plate; 124, mounting hole; 125, connecting hole; 13, guiding structure; 131, guiding rod; 131a, first guiding rod; 131 b, second guide rod; 14, mounting member; 15, guide wheel; 151, arc groove; 16, second limit block; 17, tensioning device; 171, movable shaft; 1711, screw hole; 1712, convex rib; 1713, connecting hole; 172, linear moving mechanism; 1721, adjusting screw; 173, fixing screw; 174, guide member; 1741, guide part; 1742, guide groove; 101, first guide section; 102, second guide section; 20. second leg mechanism; 21. sliding part; 21a. slider; 211. first slider; 212. second slider; 213. first stop block; 214. seat; 2141. back plate; 2142. extension plate; 215. slide groove; 216. reinforcement structure; 22. foot; 221. wheel; 2211. wheel seat; 2212. wheel; 222. third motor; 23. support seat; 231. auxiliary wheel; 30. Driving mechanism; 30a. First driving member; 30b. Second driving member; 31. First motor; 32. First transmission assembly; 321. First transmission wheel; 322. Second transmission wheel; 323. First flexible transmission member; 323a. First belt; 323b. First transmission rope; 3231. First rope segment; 3232. Second rope segment; 33. Second motor; 34. Second transmission assembly; 341. Third transmission wheel; 342. Fourth transmission wheel; 343. Second flexible transmission member; 343a. Second belt; 343b. Second transmission rope; 3431. Third rope segment; 3432. Fourth rope segment; 3433. Baffle; 35. Transmission assembly; 351. Screw rod; 352. Nut seat; 36. Toggle ring; 40. Positioning mechanism; 41. Touching part; 42. First switch; 43. Second switch; 50. Angle detection mechanism; 51. Magnet sensor; 52. Connecting rod; 521. Extension part; 60. Frame; 61. Base plate; 611. Through hole; 62. First side plate; 621. First mounting position; 622. First wiring hole; 63. Second side plate; 631. Second mounting position; 632. Second wiring hole; 64. Position limiting baffle; 70. Auxiliary component; 71. First guide member; 711. First guide wheel; 712. Second guide wheel; 713. Third guide wheel; 714. Guide groove; 715. Connecting frame; 72. Second guide member; 721. Guide part; 722. Connecting part; 80. Elastic member; 81. First spring; 82. Second spring; 1000. Robot; 200. Body; 210. Posture sensor; 300. Circuit unit; 400. Processor; 500. Memory. DETAILED DESCRIPTION

[0051] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0052] It should be understood that all directional indications in the embodiments of the present application (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0053] It should also be understood that when an element is referred to as being "fixed" or "disposed on" another element, it can be directly on the other element or there may be an intermediate element at the same time. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or it can be indirectly connected to the other element through an intermediate element.

[0054] The terms used in this specification of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. For example, the descriptions of "first", "second", etc. in the present application are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of the features.

[0055] It should be further understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0056] See also Figure 1-Figure 3 As shown, an embodiment of the present application proposes a mechanical leg 100 for a robot 1000, wherein the mechanical leg 100 includes a first leg mechanism 10, a second leg mechanism 20 and a driving mechanism 30, wherein the first leg mechanism 10 is used to rotate and is connected to a body 200 of the robot 1000; the second leg mechanism 20 is slidably connected to the first leg mechanism 10, so that the second leg mechanism 20 can move linearly in a first direction relative to the first leg mechanism 10, wherein the first direction is an extension direction of the first leg mechanism 10; the driving mechanism 30 is configured to be able to drive the first leg mechanism 10 and the second leg mechanism 20 to rotate as a whole relative to the body 200, and to drive the second leg mechanism 20 to move linearly in the first direction relative to the first leg mechanism 10, so as to assist the robot 1000 in maintaining self-balance when walking or standing.

[0057] The mechanical leg 100 proposed in the embodiment of the present application realizes the extension and retraction of the mechanical leg 100 through the relative linear motion of the second leg mechanism 20 and the first leg mechanism 10, so that sufficient extension and retraction can be achieved without increasing the lateral volume of the robot 1000, effectively improving the mobility of the robot 1000 in a limited space, and through the setting of linear extension and retraction, the force arm of the load on the power source of the driving mechanism 30 is kept constant during the extension and retraction process of the mechanical leg 100, simplifying the control model, improving the accuracy and response speed of the movement of the robot 1000, and generally, the force arm of the load on the power source is short, and the power source power consumption is low. The first leg mechanism 10 is driven to rotate relative to the fuselage 200 by the driving mechanism 30, and the second leg mechanism 20 is driven to move linearly relative to the first leg mechanism 10, so as to assist the robot 1000 to maintain self-balance when walking or standing, thereby facilitating the self-balancing control of the robot 1000.

[0058] In addition, due to the linear telescopic arrangement between the first leg mechanism 10 and the second leg mechanism 20, the energy efficiency of the robot 1000 at any telescopic position is improved, thereby reducing energy consumption.

[0059] At the same time, due to the linear telescopic movement mode, the lever arm of the mechanical leg 100 remains unchanged during the telescopic process, that is, the load lever arm of the power source remains unchanged, and under normal circumstances, the load lever arm of the power source is shorter, the power source has low power consumption, strong load capacity and better stability.

[0060] It should be noted that in the prior art, when the legs of robots with connecting rod structures are extended and retracted, the connecting rod angle is constantly changing, the force arm of the load on the power source is constantly changing, and the control model is complex. For robots with connecting rod structures, except when the legs are extended to the longest or close to the longest, the force arm is relatively short. Most of the time, the robot's legs have a certain extension and retraction amount, and are not in the longest state. The force arm is always long, and the robot consumes more energy when standing, walking, and retracting.

[0061] Moreover, the linear telescopic setting of the present application makes the appearance of the robot 1000 more compact, provides greater freedom for the appearance design of the robot 1000, and makes the robot 1000 more in line with humanization and aesthetic requirements.

[0062] In some embodiments, the power source of the driving mechanism 30 is disposed on the body 200 of the robot 1000. Exemplarily, the power source of the driving mechanism 30 may be a motor, which may be mounted on the body 200 of the robot 1000 through the frame 60. Compared with mounting the power source on the first leg mechanism 10 or the second leg mechanism 20, mounting the power source for controlling the extension and rotation of the mechanical leg 100 on the body 200 of the robot 1000 can reduce the moment of inertia, thereby reducing power consumption and reducing the use cost.

[0063] In some embodiments, the driving mechanism 30 has at least one of a first driving state, a second driving state and a third driving state, and the driving mechanism 30 can switch freely among the three states of the first driving state, the second driving state and the third driving state; in the first driving state, the driving mechanism 30 is used to drive the first leg mechanism 10 and the second leg mechanism 20 to rotate as a whole relative to the fuselage 200; in the second driving state, the driving mechanism 30 is used to drive the second leg mechanism 20 to move linearly in a first direction relative to the first leg mechanism 10; in the third driving state, the driving mechanism 30 is used to drive the first leg mechanism 10 and the second leg mechanism 20 to rotate as a whole relative to the fuselage 200, while driving the second leg mechanism 20 to move linearly in the first direction relative to the first leg mechanism 10.

[0064] Thus, the driving mechanism 30 can switch freely between the first driving state, the second driving state and the third driving state, so as to maintain the self-balance of the robot 1000 in different scenarios.

[0065] It should be noted that when the mechanical leg 100 of the robot 1000 is extended or retracted, since the mechanical leg 100 is in contact with the ground, the second leg mechanism 20 remains stationary relative to the ground, and the first leg mechanism 10 moves up and down relative to the second leg mechanism 20 .

[0066] In addition, the robot 1000 of the present application has two mechanical legs 100. Of course, in other embodiments, the robot may also have only one mechanical leg, or even three or four mechanical legs. The number of the robot's mechanical legs is not limited here.

[0067] The following usage scenario takes two robotic legs as an example.

[0068] In some usage scenarios, when the robot needs to adjust its height, the driving mechanism 30 can be controlled to switch to the second driving state. At this time, the driving mechanism 30 only drives the second leg mechanism 20 to move linearly in the first direction relative to the first leg mechanism 10. At this time, since the two mechanical legs 100 are in contact with the ground, the second leg mechanism 20 remains stationary relative to the ground, and the first leg mechanism 10 moves up and down relative to the second leg mechanism 20, so that the two mechanical legs 100 only extend and retract, thereby adjusting the height of the mechanical legs 100 to adjust the height of the fuselage 200.

[0069] In other usage scenarios, when the robot 1000 suddenly accelerates or decelerates while walking, it will adjust the two mechanical legs 100 to rotate backward or forward. In order to keep the height of the body 200 unchanged, the robot 1000 will switch to the third driving state at this time. The two mechanical legs 100 will extend and retract at the same time while rotating backward.

[0070] Of course, in some other scenarios, the two mechanical legs 100 only rotate but do not extend or retract, and the height of the body 200 will change, and the robot 1000 switches to the first driving state. Of course, one of the legs can also be controlled to rotate while the other leg does not move, and the height of the body 200 of the robot 1000 remains unchanged, and the robot 1000 is in the first driving state.

[0071] For example, in other usage scenarios, when the robot 1000 encounters a slope or an obstacle during acceleration or deceleration, and one of the two mechanical legs 100 of the robot 1000 walks on the slope or the obstacle, the robot 1000 may decelerate or accelerate in the process of passing the slope or the obstacle. At this time, the driving mechanism 30 of the mechanical leg 100 located on the slope or the obstacle can be controlled to switch to the third driving state, and the height of the fuselage 200 can be kept unchanged.

[0072] When the robot 1000 is walking or overcoming obstacles, the mechanical legs 100 of the robot 1000 can be controlled to rotate and extend at the same time to ensure that the height of the body 200 remains unchanged to ensure the stability of the body 200. Of course, only the mechanical legs 100 can be controlled to extend and retract or rotate to adjust the height of the body 200. Of course, the mechanical legs 100 can only rotate to keep the body 200 stationary, depending on how many legs are rotating.

[0073] In other usage scenarios, when the robot 1000 goes up stairs or crosses a larger obstacle, the robot 1000 can also control the mechanical leg 100 to perform retracting movement first, and control the driving mechanism 30 to move quickly to drive the second leg mechanism 20 to retract, that is, to lift it relative to the ground. At this time, the robot 1000 is in the second driving state; then control the mechanical leg 100 to rotate and extend at the same time so that the mechanical leg 100 can touch the ground while crossing the steps or obstacles. At this time, the robot 1000 is in the third driving state.

[0074] Of course, the use scenarios of the robot 1000 are not limited to the above scenarios. In other special scenarios, the driving mechanism 30 can also be freely switched to any one of the first driving state, the second driving state and the third driving state.

[0075] Of course, in other embodiments, the driving mechanism 30 of the robot 1000 can drive the body 200 to rotate relative to the mechanical legs 100, that is, the mechanical legs 100 remain stationary and the body 200 rotates, or the body 200 and the mechanical legs 100 rotate at the same time to realize various actions of the robot 1000.

[0076] Even in some other embodiments, the telescopic lengths of the two legs of the robot 1000 are different, so that the body 200 can be tilted left and right to achieve various actions.

[0077] In some embodiments, the driving mechanism 30 includes a first driving member 30a and a second driving member 30b, and the first driving member 30a and the second driving member 30b are used to work together to drive the first leg mechanism 10 and the second leg mechanism 20 to rotate relative to the body 200 as a whole; the first driving member 30a and the second driving member 30b are also used to work together to drive the second leg mechanism 20 to move linearly along the first direction relative to the first leg mechanism 10. Therefore, the first driving member 30a and the second driving member 30b need to cooperate to drive the mechanical leg 100 to rotate or retract independently, or to perform a composite movement of rotation and retraction. The first driving member 30a and the second driving member 30b work together to cooperate to drive the mechanical leg 100 to rotate and / or retract, so that the power sources of the first driving member 30a and the second driving member 30b are connected in parallel, which can reduce the parameters required for the power source drive, reduce errors, improve the running speed of the robot 1000, and reduce the use cost.

[0078] In some embodiments, the first driving member 30a includes a first motor 31 and a first transmission assembly 32, and the second driving member 30b includes a second motor 33 and a second transmission assembly 34; the first motor 31 and the second motor 33 are used to connect to the fuselage 200, and the first motor 31 and the second motor 33 are coaxially arranged; the first transmission assembly 32 is connected to the output shaft of the first motor 31 and connected to the second leg mechanism 20, and the second transmission assembly 34 is connected to the output shaft of the second motor 33 and connected to the second leg mechanism 20; the rotation axis of the first leg mechanism 10 is coaxial with the rotation axis of the first motor 31 and the second motor 33. Therefore, the rotation axis of the first motor 31 and the second motor 33 is coaxially arranged with the rotation axis of the first leg mechanism 10, so that the two motors can be connected in parallel, thereby driving the first transmission assembly 32 and the second transmission assembly 34 to work together to drive the mechanical leg 100 to rotate and / or extend, which can reduce the parameters required for motor driving, reduce errors, improve the running speed of the robot 1000, and reduce the use cost.

[0079] In some embodiments, Figure 3-Figure 8 As shown, the first transmission assembly 32 includes a first transmission wheel 321, a second transmission wheel 322 and a first flexible transmission member 323. The first transmission wheel 321 and the second transmission wheel 322 are rotatably connected to the first leg mechanism 10 and are spaced apart along the first direction. The first transmission wheel 321 is connected to the output shaft of the first motor 31, and the first flexible transmission member 323 is connected between the first transmission wheel 321 and the second transmission wheel 322 and connected to the second leg mechanism 20.

[0080] In some embodiments, the second transmission assembly 34 includes a third transmission wheel 341, a fourth transmission wheel 342 and a second flexible transmission member 343. The third transmission wheel 341 and the fourth transmission wheel 342 are rotatably connected to the first leg mechanism 10 and are arranged at intervals along the first direction. The third transmission wheel 341 is connected to the output shaft of the second motor 33, and the first transmission wheel 321 and the third transmission wheel 341 are arranged coaxially. The second flexible transmission member 343 is connected between the third transmission wheel 341 and the fourth transmission wheel 342 and is connected to the second leg mechanism 20.

[0081] During operation, the first motor 31 drives the first transmission wheel 321 to rotate, thereby driving the first flexible transmission member 323 to move. At this time, the second transmission wheel 322 rotates accordingly, so that the first flexible transmission member 323 can move between the first transmission wheel 321 and the second transmission wheel 322; at the same time, the second motor 33 drives the third transmission wheel 341 to rotate, thereby driving the second flexible transmission member 343 to move. At this time, the fourth transmission wheel 342 rotates accordingly, so that the second flexible transmission member 343 can move between the third transmission wheel 341 and the fourth transmission wheel 342, thereby driving the first leg mechanism 10 to rotate relative to the fuselage 200 and / or driving the second leg mechanism 20 to move linearly relative to the first leg mechanism 10 through the cooperation of the first flexible transmission member 323 and the second flexible transmission member 343.

[0082] Optionally, the first flexible transmission member 323 and the second flexible transmission member 343 can be belts, ropes or other flexible transmission members, which can play a buffering role, reduce the impact of the impact force directly acting on the motor, and increase the durability and operational stability of the drive mechanism 30.

[0083] In some embodiments, the first leg mechanism 10 has a first side 10a and a second side 10b opposite to each other in a second direction, and the second direction is perpendicular to the first direction; the first motor 31 and the second motor 33 are arranged opposite to each other and are respectively located on the first side 10a and the second side 10b of the first leg mechanism 10; the first transmission wheel 321 and the second transmission wheel 322 are arranged on the first side 10a, and the third transmission wheel 341 and the fourth transmission wheel 342 are arranged on the second side 10b. When the first leg mechanism 10 rotates relative to the body 200, the first transmission wheel 321, the first flexible transmission member 323, the second transmission wheel 322, the third transmission wheel 341, the second flexible transmission member 343 and the fourth transmission wheel 342 rotate with the first leg mechanism 10 as a whole relative to the body 200. Through the above arrangement, the first leg mechanism 10 is arranged between the first motor 31 and the second motor 33, and the first transmission assembly 32 and the second transmission assembly 34 are respectively arranged on both sides of the first leg mechanism 10 in the second direction, so that the structure is compact and the volume is reduced.

[0084] It should be noted that the first motor 31 and the second motor 33 are not limited to being arranged on the first side 10a and the second side 10b relative to each other. For example, in other embodiments, the first motor 31 and the second motor 33 can also be arranged on the same side, that is, the output shafts of the first motor 31 and the second motor 33 face the same direction, and the output shaft of one of them passes through the output shaft of the other and extends out, that is, the output shafts of the first motor 31 and the second motor 33 are in a sleeve structure, so that the rotation axes of the first motor 31 and the second motor 33 are arranged coaxially.

[0085] In some embodiments, the first leg mechanism 10 includes a positioning shaft 11, which is disposed between the output shaft of the first motor 31 and the output shaft of the second motor 33, and the positioning shaft 11 is rotatably connected to the first transmission wheel 321 and the third transmission wheel 341; the first leg mechanism 10 makes the rotation axis of the first leg mechanism 10 coaxial with the rotation axis of the first motor 31 and the second motor 33 through the positioning shaft 11. Through the setting of the positioning shaft 11, the output shafts of the first motor 31 and the second motor 33 can be aligned, which plays a positioning role, and is conducive to connecting the first motor 31, the second motor 33 and the first leg mechanism 10, so that the rotation axis of the first leg mechanism 10 is coaxial with the rotation axis of the first motor 31 and the second motor 33. At the same time, through the setting of the positioning shaft 11, the first motor 31 and the second motor 33 can also play a supporting role. Since the first motor 31 and the second motor 33 are connected to the fuselage 200, the fuselage 200 can be supported, thereby improving the structural stability of the robot 1000.

[0086] In some embodiments, the first leg mechanism 10 further includes a support structure 12 and a guide structure 13, wherein the support structure 12 is used to rotate the body 200 connected to the robot 1000. Specifically, the support structure 12 is connected to the body 200 through the positioning shaft 11, the first motor 31 and the second motor 33, so that the support structure 12 can rotate relative to the body 200. The guide structure 13 is connected to the support structure 12, and the guide structure 13 extends along the first direction, and the second leg mechanism 20 is slidably connected to the guide structure 13. The support structure 12 is provided to support the guide structure 13 and other components, and the guide structure 13 can guide the second leg mechanism 20 to perform linear motion along the first direction to avoid the position displacement of the second leg mechanism 20 during the movement.

[0087] As an implementation method, Figure 3 , Figure 4 and Figure 8 As shown, the support structure 12 can be configured as a plate-like structure extending along the first direction, and the support structure 12 can be arranged between the first transmission component 32 and the second transmission component 34, that is, the first transmission wheel 321, the first flexible transmission member 323, and the second transmission wheel are arranged on one side of the support structure 12, and the third transmission wheel 341, the second flexible member and the fourth transmission wheel 342 are arranged on the other side opposite to the support structure 12, with a compact structure and reduced volume.

[0088] As another embodiment, Figure 5-Figure 7As shown, the support structure 12 may include a first support plate 121 and a second support plate 122 extending along the first direction and arranged opposite to each other. The first support plate 121 and the second support plate 122 may be connected via a positioning shaft 11. The first support plate 121 may be arranged between the first motor 31 and the first transmission wheel 321, and the second support plate 122 may be arranged between the second motor 33 and the third transmission wheel 341. By arranging the first support plate 121 and the second support plate 122, the structure of the first leg mechanism 10 is more stable, and the first transmission wheel 321, the first flexible member, the second transmission wheel 322, the third transmission wheel 341, the second flexible member and the fourth transmission wheel 342 may be surrounded to provide protection.

[0089] In some embodiments, Figure 2 , Figure 3 and Fig.13 As shown, the second leg mechanism 20 includes a sliding portion 21 and a foot 22. The sliding portion 21 is slidably connected to the guide structure 13, so that the second leg mechanism 20 can move linearly along the first direction relative to the first leg mechanism 10; the foot 22 is connected to the sliding portion 21 and is used to support the robot 1000 when it is moving or standing. The sliding portion 21 is provided to be slidably connected to the guide structure 13, so that the second leg mechanism 20 can be driven to move linearly along the first direction.

[0090] Of course, in other embodiments, the guide structure 13 may be arranged on the second leg mechanism 20, and the sliding part 21 may be arranged on the first leg mechanism 10. That is, the first leg mechanism 10 includes a support structure 12 and a sliding part 21, the sliding part 21 is installed on the support structure 12, the second leg mechanism 20 includes a guide structure 13 and a foot 22, the guide structure 13 is slidably connected to the sliding part 21, the foot 22 is connected to the guide structure 13, and the first flexible transmission member 323 and the second flexible transmission member 343 are respectively connected to the two sides of the guide structure 13. When the second leg mechanism 20 moves linearly along the first direction, that is, the guide structure 13 moves relative to the sliding part 21 driven by the first flexible member and the second flexible member, and when the second leg mechanism 20 rotates relative to the fuselage 200, the support structure 12, the sliding part 21, the guide structure 13 and the foot 22 are driven to rotate as a whole.

[0091] In some embodiments, the sliding portion 21 may include a slider 21a, and the guide structure 13 may include a guide rod 131. The slider 21a may be provided with a sliding hole for the guide rod 131 to pass through, so as to achieve a sliding connection through the cooperation between the slider 21a and the guide rod 131. A ball bearing may also be arranged between the slider 21a and the guide rod 131 to reduce the friction between the slider 21a and the guide rod 131.

[0092] For example, Figure 8As shown, the sliding portion 21 may include a first slider 211 and a second slider 212, the guide structure 13 may include a first guide rod 131a and a second guide rod 131b arranged opposite to each other, the first slider 211 is slidably connected to the first guide rod 131a, the second slider 212 is slidably connected to the second guide rod 131b, the first slider 211 and the second slider 212 may be connected by a first limit block 213, and the support structure 12 is provided with two blocking plates 123 arranged at intervals along the first direction. When the mechanical leg 100 is in a vertical state, the two blocking plates 123 are respectively located on the upper and lower sides of the supporting structure 12. When the first slider 211 and the second slider 212 move upward to the extreme position, the first limit block 213 abuts against the blocking plate 123 located on the upper side. When the first slider 211 and the second slider 212 move downward to the extreme position, the first limit block 213 abuts against the blocking plate 123 located on the lower side, thereby limiting the extreme position of the upper and lower movement of the second leg mechanism 20 to prevent the second leg mechanism 20 from moving excessively and causing the second leg mechanism 20 to collide with other components and cause damage to parts.

[0093] In other embodiments, the sliding portion 21 may include a slider 21a, and the guide structure 13 may include a guide groove to achieve a sliding connection through the cooperation of the slider 21a and the guide groove. A ball bearing may also be arranged between the slider 21a and the guide groove to reduce the friction between the slider 21a and the guide groove.

[0094] In some embodiments, Figure 8-Figure 10 As shown, a mounting member 14 is provided at one end of the support structure 12 close to the second leg mechanism 20, and the guide structure 13 includes a guide rod 131 for guiding the first leg mechanism 10 to move linearly in a first direction, and one end of the guide rod 131 in the first direction is mounted on the mounting member 14. Of course, a mounting member 14 may also be provided at one end of the support structure 12 close to and away from the second leg mechanism 20, and in the first direction, opposite ends of the guide rod 131 are respectively mounted on two mounting members 14. Thus, by providing the mounting member 14, the installation of the guide rod 131 can be facilitated, and it can be used for the installation of other components on the mechanical leg 100, and the structure is compact and the structural stability is improved.

[0095] In some embodiments, Figure 2 and Figure 3 As shown, the foot 22 is located on one side of the first leg mechanism 10 in the second direction. When the robot 1000 is in a normal walking state, the second direction is the left and right direction of the robot 1000. The foot 22 is arranged on the side of the first leg mechanism 10, which can ensure the telescopic distance between the foot 22 and the first leg mechanism 10 while making the overall model of the robot 1000 lighter.

[0096] In some embodiments, Figure 10-13As shown, the sliding part 21 further includes a seat body 214 connected to the slider 21a, and a slide groove 215 extending along the first direction is provided on one side of the seat body 214 opposite to the guide structure 13, and the support structure 12 is partially accommodated in the slide groove 215 and can move relative to the slide groove 215. Therefore, by providing the slide groove 215, the relative sliding of the first leg mechanism 10 and the second leg mechanism 20 can be made more stable.

[0097] In some embodiments, the seat 214 includes a back plate 2141 opposite to the support structure 12 and extension plates 2142 connected to both sides of the back plate 2141 in the third direction. The extension plates 2142 on both sides extend toward the direction of the first leg mechanism 10 and enclose the bottom plate to form a slide 215. The bottom plate can be made of plastic material, and a reinforcement structure 216 is provided at the angle between the bottom plate and the extension plates 2142 on both sides. The reinforcement structure 216 can be made of metal material to improve the structural strength. The above arrangement can reduce the moment of inertia of the mechanical leg 100 and improve the durability of the seat 214. Among them, the first direction, the second direction and the third direction are perpendicular to each other. When the robot 1000 is in a normal walking state, that is, the mechanical leg 100 of the robot 1000 is in an upright state, the first direction is consistent with the gravity direction of the robot 1000, the second direction is the left and right direction of the robot 1000, and the third direction is the front and back direction of the robot 1000.

[0098] In some embodiments, the first leg mechanism 10 further includes a guide wheel 15, which is mounted on a mounting member 14 at one end of the support structure 12 close to the foot 22, and the guide wheel 15 is used to roll with the second leg mechanism 20 when the second leg mechanism 20 moves linearly relative to the first leg mechanism 10. Specifically, the reinforcing structure 216 between the bottom plate and the extension plate 2142 can be configured as a rod-shaped structure with at least an arc-shaped outer side surface, and the guide wheel 15 can be configured to match the arc-shaped outer side surface of the rod-shaped structure. For example, the guide wheel 15 can be provided with an arc-shaped groove 151 that matches the arc-shaped outer side surface of the reinforcing structure 216, so that when the first leg mechanism 10 and the second leg mechanism 20 slide relative to each other, the arc-shaped outer side surface of the reinforcing structure 216 can be restricted in the arc-shaped groove 151 of the guide wheel 15 to play a guiding role, and when the second leg mechanism 20 moves linearly along the first direction, it is prevented from shaking in the third direction.

[0099] Among them, the guide wheel 15 is rotatably connected to the mounting member 14 at one end of the support structure 12 close to the foot 22, so that there is rolling contact between the guide wheel 15 and the reinforcement structure 216 to reduce friction and avoid relative sliding between the first leg mechanism 10 and the second leg mechanism 20 to cause jamming.

[0100] In some embodiments, Figure 8-Figure 10As shown, the robot leg 100 further includes a positioning mechanism 40, which is used to send a signal to the robot 1000 when the second leg mechanism 20 moves to the extreme position along the first direction. Therefore, when the second leg mechanism 20 moves to the extreme position along the first direction relative to the first leg mechanism 10, the positioning structure can transmit a signal to the control system of the robot 1000, so that the robot 1000 can detect the moving position of the second leg mechanism 20.

[0101] In some embodiments, the support structure 12 has a first end 12a and a second end 12b arranged opposite to each other in a first direction, and the positioning mechanism 40 includes a touch portion 41, which is connected to the second leg mechanism 20; the positioning mechanism 40 also includes a first switch 42, which is arranged at the first end 12a of the support structure 12, and the first switch 42 is used to contact the touch portion 41 when the second leg mechanism 20 moves in a straight line to the extreme position toward the first end 12a, so as to send a signal to the robot 1000. Therefore, a first switch 42 is set at the first end 12a of the supporting structure 12. Through the cooperation between the first switch 42 and the touch part 41, when the second leg mechanism 20 moves to the extreme position relative to the first leg mechanism 10 in the direction of the first switch 42, the contact between the touch part 41 and the first switch 42 is used to transmit a signal to the control system of the robot 1000, so that the robot 1000 can detect the moving position of the second leg mechanism 20, and thus can control the driving mechanism 30 to adjust the relative sliding between the first leg mechanism 10 and the first leg mechanism 10 according to the moving position of the second leg mechanism 20, thereby adjusting the height of the mechanical leg 100.

[0102] In some embodiments, the positioning mechanism 40 further includes a second switch 43, which is disposed at the second end 12b of the support structure 12. The second switch 43 is used to contact the touch portion 41 when the second leg mechanism 20 moves in a straight line to the extreme position toward the second end 12b, so as to send a signal to the robot 1000. Therefore, the second switch 43 can also be disposed at the second end 12b of the support structure 12, so that when the second leg mechanism 20 moves to the extreme position relative to the first leg mechanism 10 toward the direction of the second switch 43, the contact between the touch portion 41 and the second switch 43 transmits a signal to the control system of the robot 1000, so that the robot 1000 can detect the moving position of the second leg mechanism 20, and can control the driving mechanism 30 to adjust the relative sliding between the first leg mechanism 10 and the first leg mechanism 10 according to the moving position of the second leg mechanism 20, so as to adjust the height of the mechanical leg 100.

[0103] It can be understood that the support structure 12 is not limited to setting the first switch 42 only at the first end 12a of the support structure 12 in the first direction, and the second switch 43 can also be set only at the second end 12b of the support structure 12 in the first direction, and the first switch 42 and the second switch 43 can also be set at both ends of the support structure 12 in the first direction. Among them, the first switch 42 and the second switch 43 can use sensors such as micro switches. Of course, other types of sensors, such as photoelectric sensors, can also be used, which can be triggered when the second leg mechanism 20 moves to the extreme position along the first direction to transmit the signal to the control system of the robot 1000.

[0104] Exemplarily, the first switch 42 and the second switch 43 can be respectively installed on the mounting members 14 at both ends of the support structure 12 in the first direction, so as to facilitate the installation of the first switch 42 and the second switch 43. When the second end 12b is the lower end of the support mechanism, the mounting member 14 located at the second end 12b can simultaneously install the second switch 43, the guide rod 131 and the guide wheel 15, so that the structure is compact, the integration is high, the volume is reduced, and the assembly is convenient.

[0105] In some embodiments, the robot leg 100 further includes an angle detection mechanism 50, which is used to detect the rotation angle of the first leg mechanism 10 when the first leg mechanism 10 rotates relative to the body 200. Therefore, when the first leg mechanism 10 and the second leg mechanism 20 rotate relative to the body 200 as a whole, the angle detection mechanism 50 can detect the rotation angle of the first leg mechanism 10 and transmit a signal to the control system of the robot 1000, so that the robot 1000 can detect the rotation position of the first leg mechanism 10.

[0106] In some embodiments, the angle detection mechanism 50 includes a magnet sensor 51, a connecting rod 52 and a magnet. The magnet sensor 51 is arranged on the driving mechanism 30; the connecting rod 52 is connected to the first leg mechanism 10, and the connecting rod 52 has an extension portion 521 extending to be opposite to the magnet sensor 51; the magnet is arranged on the extension portion 521, and the absolute angle of the first leg mechanism 10 can be read when the robot 1000 is turned on. When the first leg mechanism 10 rotates relative to the fuselage 200, the magnet is driven to rotate, and the magnet sensor 51 is used to sense the rotation angle of the magnet to detect the rotation angle of the first leg mechanism 10. Therefore, the setting of the connecting rod 52 can drive the extension portion 521 to rotate with the first leg mechanism 10, thereby driving the magnet arranged on the extension portion 521 to rotate, so that the magnet sensor 51 can sense the rotation angle of the magnet, thereby transmitting a signal to the control system of the robot 1000, so that the robot 1000 can detect the rotation position of the first leg mechanism 10.

[0107] Of course, in other embodiments, the angle detection mechanism 50 may also use other sensors, such as a capacitive angular displacement sensor, etc., which can detect the rotation angle of the first leg mechanism 10.

[0108] In some embodiments, Fig.13 As shown, the foot 22 includes a wheel 221 and a third motor 222 for driving the wheel 221 to rotate, and the third motor 222 is installed on the sliding part 21 or the wheel 221. Therefore, the setting of the wheel 221 assists the robot 1000 in walking, and the travel speed of the robot 1000 can be improved. Setting the foot 22 as the wheel 221 can combine the characteristics of the wheeled and articulated legs, improve the ability of the robot 1000 to adapt to different terrains, such as working efficiency in narrow or complex terrains, and strong environmental adaptability.

[0109] When the robot 1000 is walking, it may encounter external disturbances such as obstacles. At this time, the first motor 31, the second motor 33 and the third motor 222 can work together to drive the mechanical legs 100 to extend and / or rotate, and coordinate the rotation of the wheels 221, so as to maintain the self-balance and stability of the robot 1000, and better improve the dynamic stability of the robot 1000.

[0110] In some embodiments, Figure 11-13 As shown, the wheel 221 includes a wheel seat 2211 and a wheel 2212 rotatably connected to the wheel seat 2211, the wheel seat 2211 is fixedly connected to the sliding part 21, so that the sliding part 21 can drive the wheel 221 to move up and down when it moves up and down, and the third motor 222 can be installed on the wheel seat 2211 of the wheel 221, that is, the third motor 222 and the wheel 221 are integrated to facilitate installation, and the wheel seat 2211 is provided with a mounting groove for installing the third motor 222, and the output shaft of the third motor 222 is connected to the rotating shaft of the wheel 2212 to drive the wheel 2212 to rotate, so as to drive the robot 1000 to walk.

[0111] Of course, in other embodiments, the third motor 222 can also be installed on the sliding part 21 and be located above the wheel 221. Installing the third motor 222 on the sliding part 21 can increase the center of gravity of the mechanical leg 100, reduce the moment of inertia of the mechanical leg 100, make the mechanical leg 100 more flexible, and enhance the obstacle surmounting ability of the robot 1000.

[0112] It should be noted that the foot 22 is not limited to the setting of the wheel 221. For example, in other embodiments, the foot 22 can also adopt a structure similar to the sole of the foot to imitate the structure of the human foot. In this case, the walking of the robot 1000 needs to be controlled by the rotation and extension of the mechanical leg 100.

[0113] Of course, in some special cases, the foot 22 can also be a spherical structure, or a regular or irregular shape such as a planar structure directly arranged at the bottom of the second leg mechanism 20, which can abut against the supporting surface to play a supporting role without affecting the normal operation of the robot 1000.

[0114] In some embodiments, Fig.13 , Figure 18-Figure 21 As shown, the mechanical leg 100 further includes a support seat 23, which is connected to the foot 22, specifically to the wheel seat 2211 of the foot 22. The support seat 23 is used to abut against the support surface when the robot 1000 is in a squatting state, so as to cooperate with the foot 22 to support the robot 1000, thereby stabilizing the robot 1000, so that the robot 1000 can maintain balance even in the squatting state, and provides support for the versatility and adaptability of the robot 1000. At the same time, the connection between the support seat 23 and the foot 22 enables the robot 1000 to move flexibly in different scenarios and maintain a stable standing posture when necessary.

[0115] Exemplarily, the support surface may be the ground, or a wall perpendicular to the ground, or a step surface parallel to the ground and having a certain height, or an inclined surface at a certain angle to the ground.

[0116] In some embodiments, please refer to Fig.18 , Fig.18 This is a schematic diagram of the first support principle of the squatting state of the robot leg 100 proposed in the embodiment of the present application. When the robot 1000 is in the squatting state, the fulcrum where the support seat 23 abuts against the support surface is the first fulcrum, the fulcrum where the foot 22 abuts against the ground is the second fulcrum, and the center of gravity of the robot 1000 is located between the first fulcrum and the second fulcrum.

[0117] When the support surface is horizontal to the ground, when the robot 1000 is in a squatting state and squatting on the horizontal ground, if it is supported only by the feet 22 and the ground, it is easy to cause the robot 1000 to fall due to the high center of gravity. Therefore, the present application can add a fulcrum when the robot 1000 is in a squatting state by setting the support seat 23, that is, at this time, the robot 1000 has a first fulcrum with the support surface and a second fulcrum with the support surface. In this way, it can ensure that the center of gravity of the robot 1000 is located between the first fulcrum and the second fulcrum, so that the robot 1000 can remain stable in the squatting state, thereby improving the stability and flexibility of the robot 1000.

[0118] Exemplarily, by setting the support seat 23, the robot 1000 provided in the present application can not only dock on the horizontal ground, that is, when the robot 1000 is in a squatting state, the support surface abutted by the foot 22 and the support surface abutted by the support seat 23 may not be the same support surface. For example, the support surface abutted by the foot 22 and the support surface abutted by the support seat 23 are perpendicular to each other, or the support surface abutted by the foot 22 and the support surface abutted by the support seat 23 are parallel to each other but at different heights. In addition, the robot 1000 using the provided mechanical leg 100 can maintain balance in a squatting state in different terrains, thereby improving the flexibility of the provided robot 1000 and its ability to adapt to complex environments.

[0119] In other embodiments, please refer to Fig.19 , Fig.19 This is a schematic diagram of the second supporting principle of the mechanical leg 100 in the squatting state proposed in the embodiment of the present application. Fig.19 As shown, when the robot 1000 is in a squatting state, the support seat 23 abuts against the first support surface (such as a wall), and the foot 22 abuts against the second support surface (such as the ground). At the same time, if the first support surface and the second support surface are not completely vertical and are tilted, the support seat 23 and the foot 22 can also cooperate to support the robot 1000. The flexibility of the robot 1000 is improved.

[0120] In other embodiments, please refer to Fig. 20 , Fig. 20 This is a schematic diagram of the third supporting principle of the mechanical leg 100 in the squatting state proposed in the embodiment of the present application. Fig. 20 As shown, when the robot 1000 is in a squatting state, the support seat 23 abuts against a first support surface (such as a wall), and the foot 22 abuts against a second support surface (such as a step), so that the robot 1000 can be stably docked in more complex environments, thereby improving the flexibility of the robot 1000.

[0121] It should be noted that, in some embodiments, Fig.21 As shown, an auxiliary wheel 231 is provided at one end of the support seat 23 that abuts against the support surface. When the robot 1000 is in a squatting state, if the robot 1000 needs to stand up to perform a corresponding task, the robot 1000 may consume too much power or lose balance when standing up due to the friction between the wheel 221 and the support surface. By setting the auxiliary wheel 231, the auxiliary wheel 231 can slide along the rear side of the robot 1000 when the robot 1000 stands up from the squatting state, thereby reducing the friction force on the robot 1000. At the same time, the auxiliary wheel 231 can also enable the robot 1000 to slide forward in the squatting state, thereby improving the flexibility of the robot 1000.

[0122] In some embodiments, Figure 3-Figure 4 As shown, one end of the positioning shaft 11 can be rotatably connected to the first transmission wheel 321 through the first bearing 111, and the other end of the positioning shaft 11 can be rotatably connected to the third transmission wheel 341 through the second bearing 112. The support structure 12 is connected to the positioning shaft 11, so that when the first motor 31 and the second motor 33 cooperate to drive the second leg mechanism 20 to move linearly relative to the first leg mechanism 10, the rotation of the first transmission wheel 321 and the third transmission wheel 341 will not affect the rotation of the positioning shaft 11. When the first motor 31 and the second motor 33 cooperate to drive the first leg mechanism 10 to rotate relative to the fuselage 200, at this time, due to the action of the first flexible transmission member 323 and the second flexible transmission member 343, the first transmission assembly 32, the second transmission assembly 34 and the first leg mechanism 10 are driven to rotate as a whole.

[0123] Optionally, the positioning shaft 11 can be integrally connected with the support structure 12 to improve the structural stability. Of course, the positioning shaft 11 can also be separately connected with the support structure 12 to facilitate disassembly and assembly.

[0124] In other embodiments, the output shaft of the first motor 31 may be extended so that the output shaft of the first motor 31 passes through the first transmission wheel 321, thereby connecting the output shaft of the first motor 31 to the positioning shaft 11 via a bearing, and / or, the output shaft of the second motor 33 may be extended so that the output shaft of the second motor 33 passes through the second transmission wheel 322, thereby connecting the output shaft of the second motor 33 to the positioning shaft 11 via a bearing.

[0125] In other embodiments, the two ends of the positioning shaft 11 can be fixedly connected to the first transmission wheel 321 and the second transmission wheel 322 respectively, or the two ends of the positioning shaft 11 can be fixedly connected to the output shaft of the first motor 31 and the output shaft of the second motor 33 respectively, and the support structure 12 and the positioning shaft 11 are rotatably connected through bearings.

[0126] In some usage scenarios, the first direction is the extension direction of the first leg mechanism 10. When the first leg mechanism 10 rotates relative to the body 200, the angle between the first direction and the ground changes accordingly. When the robot 1000 is in a normal walking state, the first leg mechanism 10 is arranged perpendicular to the ground. At this time, the first direction is consistent with the height direction of the robot 1000, that is, the gravity direction. At this time, the second leg mechanism 20 moves linearly along the height direction relative to the first leg mechanism 10 under the drive of the first motor 31 and the second motor 33. Since the lower end of the second leg mechanism 20 abuts the ground, the first leg mechanism 10 moves up and down relative to the second leg mechanism 20. When the robot 1000 is in a normal walking state, the second direction is the left-right direction of the robot 1000, that is, the first motor 31 and the second motor 33 are arranged relative to each other along the left-right direction of the robot 1000, and the third direction is the front-back direction of the robot 1000, that is, the first leg mechanism 10 rotates relative to the body 200 along the front-back direction of the robot 1000.

[0127] Exemplarily, when the first motor 31 and the second motor 33 are arranged opposite to each other, with the motors themselves as reference systems, due to mirroring reasons, when one of the motors rotates counterclockwise and the other rotates clockwise, the two motors are regarded as rotating in the same direction; when the two motors rotate counterclockwise or clockwise at the same time, they are regarded as rotating in opposite directions.

[0128] For example, when the first motor 31 and the second motor 33 are arranged on the same side, when the two motors themselves rotate counterclockwise or clockwise at the same time, the two motors are regarded as rotating in the same direction, and when one motor itself rotates counterclockwise and the other motor itself rotates clockwise, the two motors are regarded as rotating in opposite directions.

[0129] In some embodiments, in the first driving state, the first motor 31 and the second motor 33 respectively drive the first flexible member and the second flexible member to rotate in the same direction and at the same speed, thereby driving the first leg mechanism 10 and the second leg mechanism 20 to rotate relative to the fuselage 200 as a whole. Specifically, the first motor 31 and the second motor 33 rotate in the same direction, that is, with the motor itself as a reference system, one motor rotates clockwise and the other motor rotates counterclockwise, and the torque of the first motor 31 and the second motor 33 is the same, respectively driving the first flexible member and the second flexible member to rotate in the same direction and at the same speed, so that the force directions of the second leg mechanism 20 in the first direction are opposite and the same in magnitude, thereby locking the linear motion of the second leg mechanism 20 in the first direction. At the same time, the torque direction of the first leg mechanism 10 is the same, thereby driving the first leg mechanism 10 to drive the second leg mechanism 20 to rotate relative to the fuselage 20 around the third direction.

[0130] In some embodiments, in the second driving state, the first motor 31 and the second motor 33 respectively drive the first flexible member and the second flexible member to rotate in opposite directions and at the same speed, thereby driving the second leg mechanism 20 to move linearly along the first direction relative to the first leg mechanism 10. Specifically, the first motor 31 and the second motor 33 rotate in opposite directions, that is, the two motors rotate clockwise or counterclockwise at the same time with the motor itself as the reference system, and the torque of the first motor 31 and the second motor 33 is the same, respectively driving the first flexible member and the second flexible member to rotate in opposite directions and at the same speed, so that the torques on the first leg mechanism 10 are opposite in direction and the same in magnitude, thereby locking the rotational motion of the first leg mechanism 10. At the same time, the force direction of the second leg mechanism 20 in the first direction is the same, thereby driving the second leg mechanism 20 to move linearly along the first direction relative to the first leg mechanism 10.

[0131] In some embodiments, in the third driving state, the first motor 31 and the second motor 33 respectively drive the first flexible member and the second flexible member to rotate in the same direction and at different speeds, thereby driving the second leg mechanism 20 to move linearly in the first direction relative to the first leg mechanism 10, and driving the first leg mechanism 10 and the second leg mechanism 20 to rotate as a whole. Specifically, the first motor 31 and the second motor 33 rotate in the same direction, that is, with the motor itself as a reference system, one motor rotates clockwise and the other motor rotates counterclockwise, but with different torques, respectively driving the first flexible member and the second flexible member to rotate in the same direction and at different speeds, so that the force directions of the second leg mechanism 20 in the first direction are opposite, but different in magnitude, thereby driving the second leg mechanism 20 to move linearly in the first direction relative to the first leg mechanism 10. At the same time, the torque direction of the first leg mechanism 10 is the same, thereby driving the first leg mechanism 10 to drive the second leg mechanism 20 to rotate around the third direction relative to the fuselage 200.

[0132] In some other embodiments, in the third driving state, the first motor 31 and the second motor 33 respectively drive the first flexible member and the second flexible member to rotate in opposite directions and at different speeds, thereby driving the first leg mechanism 10 and the second leg mechanism 20 to rotate as a whole, and driving the second leg mechanism 20 to move linearly along the first direction relative to the first leg mechanism 10. Specifically, the first motor 31 and the second motor 33 rotate in opposite directions, that is, the two motors rotate clockwise or counterclockwise at the same time with different torques with the motor itself as the reference system, respectively driving the first flexible member and the second flexible member to rotate in opposite directions and at different speeds, so that the torque force on the first leg mechanism 10 is opposite in direction but different in magnitude, thereby driving the first leg mechanism 10 to drive the second leg mechanism 20 to rotate relative to the fuselage 200 around the third direction. At the same time, the force direction of the second leg mechanism 20 in the first direction is the same, thereby driving the second leg mechanism 20 to move linearly along the first direction relative to the first leg mechanism 10.

[0133] In some embodiments, Figure 4 As shown, the first flexible transmission member 323 includes a first belt 323a, which is rotatably wrapped around the first transmission wheel 321 and the second transmission wheel 322 and connected to the second leg mechanism 20, and the second flexible transmission member 343 includes a second belt 343a, which is rotatably wrapped around the third transmission wheel 341 and the fourth transmission wheel 342 and connected to the second leg mechanism 20. The first belt 323a and the second belt 343a are arranged to realize the rotation and extension of the mechanical leg 100, which has a simple structure, low cost, and convenient installation and maintenance. The belt is elastic, can mitigate impact and vibration, and runs smoothly. The noise is low during operation, and the impact force directly acting on the motor and the reducer is reduced, thereby increasing the durability and operational stability of the driving mechanism 30. In addition, the transmission method of the synchronous belt also reduces the exposure of shearing action and high-speed moving parts, reduces the safety risks when used in environments such as homes, and improves safety.

[0134] In some embodiments, the second transmission wheel 322 is coaxially arranged with the fourth transmission wheel 342. For example, the first transmission wheel 321 and the third transmission wheel 341 are in an axisymmetric structure, the second transmission wheel 322 and the fourth transmission wheel 342 are in an axisymmetric structure, the first transmission wheel 321 and the second transmission wheel 322 may have the same or different sizes, and the third transmission wheel 341 and the fourth transmission wheel 342 may have the same or different sizes.

[0135] Exemplarily, the first transmission wheel 321, the second transmission wheel 322, the third transmission wheel 341 and the fourth transmission wheel 342 are all pulleys, and the first belt 323a and the second belt 343a can transmit power through the friction between the pulleys, or the first belt 323a and the second belt 343a can be provided with belt teeth meshing with the pulleys, and power is transmitted through the meshing of the belt teeth and the tooth grooves of the pulleys to drive the mechanical leg 100 to extend and retract and / or rotate.

[0136] In some embodiments, the first belt 323a and the second belt 343a are arranged in parallel. For example, the first belt 323a and the second belt 343a can be in an axisymmetric structure, that is, the ring structure of the first belt 323a after being tightened around the first transmission wheel 321 and the second transmission wheel 322 is the same size as the ring structure of the second belt 343a after being tightened around the third transmission wheel 341 and the fourth transmission wheel 342, and they are arranged relative to each other, so as to facilitate the mechanical leg 100 to be extended and / or rotated by the double belt transmission method.

[0137] In some embodiments, Figure 8-Figure 10As shown, the sliding part 21 includes a seat body 214, a first slider 211 and a second slider 212, the foot 22 is connected to the seat body 214, the first slider 211 and the second slider 212 are connected to both sides of the seat body 214 in the third direction, the first slider 211 is slidably connected to the first leg mechanism 10 and connected to the side of the first belt 323a close to the first slider 211, the second slider 212 is slidably connected to the first leg mechanism 10 and connected to the side of the second belt 343a close to the second slider 212, and the first direction, the second direction and the third direction are perpendicular to each other. Therefore, through the above-mentioned first belt 323a, the second belt 343a and the sliding part 21, not only can the complex structure of the existing multi-link be replaced, but also the overall design of the robot 1000 is simplified, the maintenance cost and the difficulty of operation are reduced, and the compact setting can allow the mechanical leg 100 to achieve sufficient telescopic amount without increasing the volume of the robot 1000, effectively improving the mobility of the robot 1000 in a limited space and improving the space efficiency.

[0138] For example, the sliding part 21 is connected to the two diagonal sides of the first belt 323a and the second belt 343a in the third direction respectively. When the first motor 31 and the second motor 33 cooperate to drive the first belt 323a and the second belt 343a to rotate in the same direction and at the same speed, the forces on the two diagonal sides of the first belt 323a and the second belt 343a in the first direction are opposite and equal in magnitude, so that the linear motion of the second leg mechanism 20 in the first direction is locked, and the sliding part 21 and the guide structure 13 are relatively stationary. At the same time, since the motion of the first belt 323a and the second belt 343a in the first direction is restricted, under the action of the torque of the first motor 31 and the second motor 33, the first belt 323a and the second belt 343a are driven to drive the second leg mechanism 20 to transfer the torque to the first leg mechanism 10, so that the torque direction of the first leg mechanism 10 is the same, so as to drive the first leg mechanism 10 to drive the second leg mechanism 20 to rotate relative to the fuselage 20 around the third direction.

[0139] When the first motor 31 and the second motor 33 cooperate to drive the first belt 323a and the second belt 343a to rotate in opposite directions and at the same speed, the force direction and magnitude on both sides of the diagonal lines of the first belt 323a and the second belt 343a in the first direction are the same, so as to drive the sliding part 21 to move along the guide structure 13, so that the second leg mechanism 20 can move linearly in the first direction relative to the first leg mechanism 10.

[0140] When the first motor 31 and the second motor 33 cooperate to drive the first belt 323a and the second belt 343a to rotate in the same direction and at different speeds, the forces on both sides of the diagonal lines of the first belt 323a and the second belt 343a are in opposite directions in the first direction, but in different magnitudes, so that the sliding portion 21 can move along the guide structure 13 to a certain extent, that is, the second leg mechanism 20 can move linearly in the first direction relative to the first leg mechanism 10 while transmitting torque to the first leg mechanism 10, so as to drive the first leg mechanism 10 to drive the second leg mechanism 20 as a whole to rotate around the third direction relative to the fuselage 200.

[0141] When the first motor 31 and the second motor 33 cooperate to drive the first belt 323a and the second belt 343a to rotate in opposite directions and at different speeds, the forces on both sides of the diagonal lines of the first belt 323a and the second belt 343a in the first direction are in the same direction but different in magnitude, so that the torques on the first leg mechanism 10 are in opposite directions but different in magnitude, so that the first leg mechanism 10 can drive the second leg mechanism 20 as a whole to rotate to a certain extent around the third direction relative to the body 200, while allowing the sliding part 21 to move along the guide structure 13, so that the second leg mechanism 20 can move linearly along the first direction relative to the first leg mechanism 10.

[0142] In some embodiments, Figure 3 , Fig.17 and Fig. 22 As shown, the mechanical leg 100 further includes a tensioning device 17, which is used to adjust the tension of the first transmission assembly 32 and / or the second transmission assembly 34. Exemplarily, the tensioning device 17 can adjust the tension of the first transmission assembly 32 alone, or adjust the tension of the second transmission assembly 34 alone, or adjust the tension of both the first transmission assembly 32 and the second transmission assembly 34 at the same time.

[0143] In some embodiments, Figure 22-Figure 28 As shown, the tensioning device 17 includes a movable shaft 171 and a linear moving mechanism 172, and the movable shaft 171 and the linear moving mechanism 172 are both installed on the supporting structure 12 of the first leg mechanism 10, and the second transmission wheel 322 of the first transmission assembly 32 and / or the fourth transmission wheel 342 of the second transmission assembly 34 are installed on the supporting structure 12 through the movable shaft 171, and the first flexible transmission member 323 and the second flexible transmission member 343 are tensioned and the tensioning force is adjusted through the linear moving mechanism 172.

[0144] In some embodiments, the first leg mechanism 10 is provided with a mounting hole 124 and a connecting hole 125 communicating with the mounting hole 124. Specifically, the mounting hole 124 and the connecting hole 125 are provided on the support structure 12, the movable shaft 171 is plugged into the mounting hole 124, and the end of the movable shaft 171 is rotatably connected to the second transmission wheel 322 and / or the fourth transmission wheel 342 on the outside of the first leg mechanism 10. Exemplarily, in order to make the overall structure more compact, the mounting hole 124 is provided along the thickness direction of the support structure 12, that is, the second direction.

[0145] Exemplarily, the tensioning device 17 further includes a fixing screw 173, and correspondingly, a connecting hole 1713 is axially opened at the end of the movable shaft 171, wherein the fixing screw 173 is threadedly connected to the connecting hole 1713, so as to firmly and rotationally connect the second transmission wheel 322 and / or the fourth transmission wheel 342 to the movable shaft 171. Of course, in other embodiments, the first transmission wheel 321 and / or the fourth transmission wheel 342 can also be firmly connected by other suitable structures.

[0146] In some embodiments, the linear moving structure is inserted into the connecting hole 125 and extends to the mounting hole 124 to be connected to the movable shaft 171, so as to drive the movable shaft 171 and the second transmission wheel 322 and / or the fourth transmission wheel 342 connected thereto to move relative to the first leg mechanism 10 in the first direction by rotating. It can be understood that the linear moving mechanism 172 is arranged on one end of the supporting structure 12 close to the second transmission wheel 322, so as to adjust the distance between the second transmission wheel 322 and the first transmission wheel 321 and / or between the fourth transmission wheel 342 and the third transmission wheel 341 in the first direction by moving the second transmission wheel 322 and / or the fourth transmission wheel 342 in the first direction, thereby achieving the tensioning of the first flexible transmission member 323 and / or the second flexible transmission member 343, and adjusting the tensioning force after tensioning, so as to prevent the first flexible transmission member 323 and / or the second flexible transmission member 343 from loosening, sliding, jumping teeth, etc., so as to improve the transmission efficiency, reliability and service life.

[0147] Exemplarily, the connecting hole 125 is opened along the length direction (ie, the first direction) of the supporting structure 12 , the linear moving mechanism 172 is inserted into the connecting hole 125 along the first direction, and one end extends into the mounting hole 124 to be connected to the movable shaft 171 , and the other end is exposed to the supporting structure 12 . Taking the tensioning operation as an example, the part of the linear moving mechanism 172 exposed at the support structure 12 is manually rotated, and the part of the linear moving mechanism 172 connected to the movable shaft 171 can drive the movable shaft 171 to move along the first direction, for example, away from the first transmission wheel 321. At the same time, the movable shaft 171 can drive the second transmission wheel 322 and / or the fourth transmission wheel 342 connected thereto to move along the first direction, so that the distance between the second transmission wheel 322 and the first transmission wheel 321 in the first direction and / or the distance between the fourth transmission wheel 342 and the third transmission wheel 341 in the first direction can be increased. Therefore, the first flexible transmission member 323 surrounding the first transmission wheel 321 and the second transmission wheel 322 and / or the second flexible transmission member 343 surrounding the third transmission wheel 341 and the fourth transmission wheel 342 can be tensioned.

[0148] Therefore, the tensioning adjustment of the tensioning device 17 is very simple and quick, and by sharing the movable shaft 171, the supporting structure 12 and other parts with the first leg mechanism 10, the overall structure of the mechanical leg 100 is greatly simplified.

[0149] In a specific application, the second transmission wheel 322 and the fourth transmission wheel 342 can be installed on the support structure 12 through the same movable shaft 171 to realize the coaxial setting of the second transmission wheel 322 and the fourth transmission wheel 342, and when the linear moving mechanism 172 drives the movable shaft 171 to move along the first direction, the second transmission wheel 322 and the fourth transmission wheel 342 will move with the movable shaft 171 at the same time. In this way, only one tensioning operation is needed to realize the tensioning of both the first flexible transmission member 323 and the second flexible transmission member 343, and the adjustment of the tensioning force after tensioning, which greatly simplifies the tensioning adjustment operation and structure of the first transmission component 32 and the second transmission component 34.

[0150] In the first embodiment of the present application, in order to make the movable shaft 171 move along the first direction, the linear movement mechanism 172 includes an adjusting screw 1721 and a screw hole 1711, wherein Fig.28 As shown, the screw hole 1711 is opened on the movable shaft 171 along the first direction. Fig.25 and Fig.26As shown, the adjusting screw 1721 extends from the connecting hole 125 to the mounting hole 124 and is spirally connected to the screw hole 1711. Understandably, the adjusting screw 1721 is manually rotated to be exposed at the head of the supporting structure 12. Since the adjusting screw 1721 cannot move linearly, when the adjusting screw 1721 rotates, the movable shaft 171 screwed to the adjusting screw 1721 moves linearly along the adjusting screw 1721, so that the second transmission wheel 322 and / or the fourth transmission wheel 342 move linearly along the first direction, thereby realizing the tensioning of the first flexible transmission member 323 and / or the second flexible transmission member 343, and adjusting the tensioning force after tensioning.

[0151] It should be noted that, in order to ensure the reliability of the linear moving mechanism 172, the linear moving mechanism 172 may also include a nut (not shown), wherein the nut is threadedly sleeved on the end of the adjusting screw 1721 to ensure that the adjusting screw 1721 does not move linearly. When the adjusting screw 1721 is rotated, the linear movement of the movable shaft 171 is smoother.

[0152] In the first embodiment of the present application, Fig.25 As shown, the tensioning device 17 further includes a guide member 174, wherein the guide member 174 is disposed between the movable shaft 171 and the hole wall of the mounting hole 124, and is used to guide the movable shaft 171 inserted in the mounting hole 124 to move along the first direction.

[0153] Exemplarily, when the adjusting screw 1721 of the linear moving mechanism 172 drives the movable shaft 171 to move along the adjusting screw 1721 , the guide member 174 can ensure that the movable shaft 171 always moves along the first direction.

[0154] Specifically, Figure 23 to Figure 28 As shown, the guide member 174 includes a guide portion 1741 and a guide groove 1742, wherein one of the outer wall of the movable shaft 171 and the hole wall of the mounting hole 124 is provided with a guide portion 1741 extending along a first direction, and the other is provided with a guide groove 1742. When the movable shaft 171 is inserted into the mounting hole 124, the guide portion 1741 and the guide groove 1742 are matched in a concave-convex manner and can slide relative to each other along the first direction.

[0155] Exemplarily, the guide portion 1741 is protruded from the hole wall of the mounting hole 124 of the support structure 12, and the guide portion 1741 extends linearly along the length direction of the support structure 12; the guide groove 1742 is formed on the outer wall of the movable shaft 171. Of course, in other embodiments, the guide portion 1741 can also be protruded from the outer wall of the movable shaft 171, and the guide groove 1742 is formed on the hole wall of the mounting hole 124 of the support structure 12.

[0156] Optionally, two convex ribs 1712 are radially protruded from the outer wall of the movable shaft 171, and the two convex ribs 1712 are arranged on the same side of the movable shaft 171 along the axial gap of the movable shaft 171 to form the above-mentioned guide groove 1742 together with the outer wall of the movable shaft 171. Of course, the guide groove 1742 can also be formed in other ways, such as being directly formed by being recessed on the outer wall of the movable shaft 171.

[0157] Optionally, in order to improve the movement stability of the movable shaft 171, the center line of the support structure 12 and the center axis of the movable shaft 171 are located on the same straight line. In addition, two guide parts 1741 and two guide grooves 1742 are provided, wherein the two guide parts 1741 are symmetrically arranged relative to the center line of the support structure 12, and the two guide grooves 1742 are symmetrically arranged relative to the center axis of the movable shaft 171.

[0158] For example, in order to further improve the smoothness of the linear movement of the movable shaft 171, Fig.25 and Fig. 27 As shown, the mounting hole 124 of the support structure 12 is a double round key hole. In addition, the end wall surfaces of the two ribs 1712 are arc surfaces that match the hole wall of the mounting hole 124 (see Fig.28 ).

[0159] In some embodiments, Figure 5-Figure 7As shown, the first flexible transmission member 323 includes a first transmission rope 323b, and the first transmission rope 323b includes a first rope segment 3231 and a second rope segment 3232. One end of the first rope segment 3231 and one end of the second rope segment 3232 are both fixed to the first transmission wheel 321, and one end of at least one of the first rope segment 3231 and one end of the second rope segment 3232 is wound around the first transmission wheel 321, and the other end of the first rope segment 3231 is connected to the other end of the second rope segment 3232 and surrounds the second transmission wheel 322, so that when the first transmission wheel 321 rotates, it can drive the first transmission rope 323b to rotate, so that the first rope segment 3231 and the second rope segment 3232 move in opposite directions in the first direction, and one of the first rope segment 3231 and the second rope segment 3232 is connected to the second leg mechanism 20. For example, one end of the first rope segment 3231 and one end of the second rope segment 3232 can be spaced apart by the baffle 3433 and fixed to the first transmission wheel 321 respectively, or one end of the first rope segment 3231 and one end of the second rope segment 3232 can be connected and fixed to the first transmission wheel 321. The number of turns of the first rope segment 3231 and the second rope segment 3232 wound on the first transmission wheel 321 can be set according to the stroke of the linear motion of the second leg mechanism 20. During the forward and reverse rotation of the first motor 31, as the first transmission wheel 321 rotates, the number of turns of the first rope segment 3231 and the second rope segment 3232 wound on the first transmission wheel 321 will change accordingly, with one turn becoming less and the other turning more, so as to meet the requirement that the first transmission rope 323b can rotate normally during the forward and reverse rotation of the first motor 31.

[0160] It should be noted that, when the mechanical leg 100 of the robot 1000 is extended to the extreme position or shortened to the extreme position, one of the first rope segment 3231 and the second rope segment 3232 can be simply fixed on the first transmission wheel 321 but not wrapped around it, and of course, both rope segments can be fixed and wrapped around the first transmission wheel 321; when the mechanical leg 100 of the robot 1000 is in the process of extending or shortening, the two rope segments are retracted and released, and both rope segments are wrapped around the first transmission wheel 321.

[0161] In some embodiments, the second flexible transmission member 343 includes a second transmission rope 343b, the second transmission rope 343b includes a third rope segment 3431 and a fourth rope segment 3432, one end of the third rope segment 3431 and one end of the fourth rope segment 3432 are both fixed to the third transmission wheel 341, and one end of at least one of the third rope segment 3431 and one end of the fourth rope segment 3432 is wrapped around the third transmission wheel 341, the other end of the third rope segment 3431 is connected to the other end of the fourth rope segment 3432 and surrounds the fourth transmission wheel 342, so that when the second transmission wheel 322 rotates, it can drive the second transmission rope 343b to rotate, so that the third rope segment 3431 and the fourth rope segment 3432 move in opposite directions in the first direction, and one of the third rope segment 3431 and the fourth rope segment 3432 is connected to the second leg mechanism 20. For example, one end of the third rope segment 3431 and one end of the fourth rope segment 3432 can be spaced apart by the baffle 3433 and fixed to the third transmission wheel 341 respectively, or one end of the third rope segment 3431 and one end of the fourth rope segment 3432 can be connected and fixed to the third transmission wheel 341. The number of turns of the third rope segment 3431 and the fourth rope segment 3432 wound around the third transmission wheel 341 can be set according to the stroke of the linear motion of the second leg mechanism 20. During the forward and reverse rotation of the second motor 33, as the third transmission wheel 341 rotates, the number of turns of the third rope segment 3431 and the fourth rope segment 3432 wound around the third transmission wheel 341 will change accordingly, with one of the turns becoming less and the other becoming more, so as to meet the requirement that the second transmission rope 343b can rotate normally during the forward and reverse rotation of the second motor 33.

[0162] It should be noted that, when the mechanical leg 100 of the robot 1000 is extended to the extreme position or shortened to the extreme position, one of the third rope segment 3431 and the fourth rope segment 3432 can be simply fixed on the third transmission wheel 341 but not wrapped around it. Of course, both rope segments can also be fixed and wrapped around the third transmission wheel 341. When the mechanical leg 100 of the robot 1000 is in the process of extending or shortening, the two rope segments are retracted and released respectively, and both rope segments are wrapped around the third transmission wheel 341.

[0163] By setting the first transmission rope 323b and the second transmission rope 343b, the rotation and extension of the mechanical leg 100 can be achieved. The structure is simple, and the cost, volume and maintenance cost of the transmission rope are lower, which greatly reduces the cost. The transmission rope can also mitigate impact and vibration, run smoothly, and have low noise during operation. It also reduces the impact force directly acting on the motor and the reducer, thereby increasing the durability and operational stability of the drive mechanism 30.

[0164] In some embodiments, the sliding portion 21 includes a seat body 214, a first slider 211 and a second slider 212, the foot 22 is connected to the seat body 214, the first slider 211 and the second slider 212 are connected to both sides of the seat body 214 in the third direction, the first slider 211 is slidably connected to the first leg mechanism 10 and is close to the first rope segment 3231, the second slider 212 is slidably connected to the second leg mechanism 20 and is close to the fourth rope segment 3432, the first rope segment 3231 is connected to the first slider 211, the fourth rope segment 3432 is connected to the second slider 212, and the first rope segment 3231 and the fourth rope segment 3432 are diagonally arranged, and the first direction, the second direction and the third direction are perpendicular to each other. Therefore, through the setting of the above-mentioned first transmission rope 323b, the second transmission rope 343b and the sliding part 21, not only can the existing complex structure of the multi-link be replaced, but also the overall design of the robot 1000 is simplified, the maintenance cost and the operation difficulty are reduced, and at the same time, the compact setting can allow the mechanical leg 100 to achieve sufficient extension and retraction without increasing the volume of the robot 1000, effectively improving the mobility of the robot 1000 in a limited space and improving the space efficiency.

[0165] Among them, when the first motor 31 and the second motor 33 cooperate to drive the first transmission rope 323b and the second transmission rope 343b to rotate in the same direction and at the same speed, in opposite directions and at the same speed, in the same direction and at different speeds, or in opposite directions and at different speeds, the transmission method is similar to the above-mentioned first belt 323a and the second belt 343a, and will not be repeated here.

[0166] In some embodiments, Figure 2 , Figure 3 and Fig.14 As shown, the mechanical leg 100 also includes a frame 60, the frame 60 includes a base plate 61 and a first side plate 621 and a second side plate 631 connected to the base plate 61, the base plate 61 is used to be installed on the body 200 of the robot 1000; wherein the first side plate 621 and the second side plate 631 extend in a direction perpendicular to the base plate 61 and are arranged oppositely, the first side plate 621 is provided with a first mounting position 621 for mounting the first motor 31, the second side plate 631 is provided with a second mounting position 631 for mounting the second motor 33, the first mounting position 621 and the second mounting position 631 are arranged oppositely, so that the first motor 31 and the second motor 33 are arranged oppositely on the same axis. Through the arrangement of the frame 60, it is convenient to install the first motor 31 and the second motor 33 arranged in parallel, thereby facilitating the improvement of the stability of the rotation of the first leg mechanism 10. In addition, the frame 60 is installed on the body 200 of the robot 1000, the first motor 31 and the second motor 33 are relatively installed on the first side plate 621 and the second side plate 631, and the output shafts of the first motor 31 and the second motor 33 are coaxially arranged through the positioning shaft 11, so as to stably support the body 200 and improve the structural stability.

[0167] In some embodiments, Fig. 9 , Fig.10 and Fig.14 As shown, the substrate 61 is provided with a through hole 611, and the through hole 611 is used to install the auxiliary component 70, and the auxiliary component 70 is used to limit the axial movement of the first leg mechanism 10 along the positioning axis 11. Therefore, the through hole 611 is provided on the substrate 61 so that the auxiliary component 70 can be installed, and extends into the inner side of the substrate 61 to guide the first leg mechanism 10 to rotate along the preset direction, with a compact structure and reduced volume. Exemplarily, when the robot 1000 is in a normal walking state, the preset direction can be the front and rear direction of the robot 1000, at which time, the auxiliary component 70 is used to limit the shaking of the first leg mechanism 10 in the left and right directions. As a result, the first leg mechanism 10 can always rotate on the preset rotation trajectory, so as to avoid the shaking of the first leg mechanism 10 due to deviation from the preset trajectory when rotating as much as possible, so that the robot 1000 is more stable when walking.

[0168] In some embodiments, the auxiliary component 70 is connected to the base plate 61, and the auxiliary component 70 is at least partially located in the through hole 611. Therefore, the auxiliary component 70 is located in the through hole 611, which can fully utilize the space of the frame 60, so that the structure of the robot 1000 can be more compact. In addition, the provision of the through hole 611 can also reduce the weight of the frame 60, which can make the body 200 lighter.

[0169] In some embodiments, Figure 29-Figure 31As shown, the auxiliary component 70 includes: a first guide member 71, the first guide member 71 is provided with a guide groove 714; a second guide member 72, the second guide member 72 is provided with a guide portion 721, the guide portion 721 is at least partially located in the guide groove 714, and the outer surface of the guide portion 721 fits with the inner surface of the guide groove 714; wherein, one of the first guide member 71 and the second guide member 72 is connected to the substrate 61, and the other of the first guide member 71 and the second guide member 72 is connected to the first leg mechanism 10, when the first leg mechanism 10 rotates relative to the fuselage 200, the guide portion 721 and the guide groove 714 move relative to each other, and the guide portion 721 is at least partially restricted in the guide groove 714 to limit the axial movement of the first leg mechanism 10 toward the positioning axis 11. Specifically, when the first leg mechanism 10 rotates relative to the body 200, the first guide member 71 and the second guide member 72 move relative to each other, and the guide portion 721 and the guide groove 714 move relative to each other. At this time, the guide portion 721 can slide in the guide groove 714. Since the outer surface of the guide portion 721 fits with the inner surface of the guide groove 714, the guide portion 721 fits more tightly in the guide groove 714, thereby limiting the movement of the guide portion 721 on the axis as much as possible. It should be noted that in order to enable the guide portion 721 and the guide groove 714 to move relative to each other, there is still a small gap between the guide portion 721 and the guide groove 714.

[0170] As an embodiment, the first guide member 71 is connected to the base plate 61, and the second guide member 72 is connected to the first leg mechanism 10; the first guide member 71 includes a plurality of guide wheels, and the guide groove 714 is provided on the circumferential surface of the guide wheel, and the guide wheel is rotatably connected to the base plate 61; the second guide member 72 also includes a connecting portion 722, the guide portion 721 is connected to the edge of the connecting portion 722, and the connecting portion 722 is connected to the first leg mechanism 10, wherein the guide portion 721 is an arc-shaped structure, and the center of the guide portion 721 is coaxial with the rotation center of the first leg mechanism 10. Specifically, when the first leg mechanism 10 rotates relative to the fuselage 200, the guide portion 721 and the guide groove 714 move relative to each other, and since the guide groove 714 is provided on the circumferential surface of the guide wheel, when the guide portion 721 slides in the guide groove 714, the guide wheel can be driven to roll under the action of friction. As a result, rolling friction is generated between the guide wheel and the guide portion 721, and the friction force is smaller, so that the resistance when the first guide member and the second guide member move relative to each other is smaller, so that the first leg mechanism 10 can move more smoothly when rotating relative to the fuselage 200. In some examples, the guide portion 721 can be integrally formed with the connecting portion 722, and the connecting portion 722 can also be welded to the guide portion 721.

[0171] As an embodiment, the first guide member 71 is located above the second guide member 72; the plurality of guide wheels include a first guide wheel 711, a second guide wheel 712 and a third guide wheel 713, the second guide wheel 712 is located between the first guide wheel 711 and the second guide wheel 712, and the lowest point of the second guide wheel 712 is higher than the lowest point of the first guide wheel 711 and the lowest point of the second guide wheel 712. Thus, the arrangement of the three guide wheels also forms three guide grooves 714, and more guide grooves 714 cooperate with the guide portion 721 to enhance the restriction on the guide portion 721 and make the guidance more stable. In addition, referring to Figure 5 Since the first guide member 71 is located above the second guide member 72, the arrangement of the first guide wheel 711, the second guide wheel 712 and the third guide wheel 713 can make the line connecting the lowest points of the three close to an arc, thereby, the first guide wheel 711, the second guide wheel 712 and the third guide wheel 713 can better cooperate with the guide part 721 with an arc-shaped structure.

[0172] In some examples, the guide wheels may also be provided in two, thereby making the structure of the first guide member 71 simpler and saving costs. It should be noted that when the first guide member 71 is provided with two guide wheels, the two guide wheels may be provided at intervals, thereby making it more compatible with the guide portion 721 having an arc-shaped structure, so that the guide portion 721 having an arc-shaped structure can partially protrude between the two guide wheels. Of course, in some examples, the guide wheels may also be provided in three or more, which is not limited here.

[0173] As an embodiment, the first guide member 71 further includes a connecting frame 715, the guide wheel is rotatably connected to the connecting frame 715, and the connecting frame 715 is connected to the base plate 61. Specifically, when the first guide member 71 is installed, multiple guide wheels can be first installed on the connecting frame 715, and then the first connecting frame 715 is connected to the base plate 61. Therefore, when the guide wheel is small in size and multiple guide wheels are provided, this method of pre-installing some parts can save more time, reduce the difficulty of installation, and improve the work efficiency of the installation of the robot 1000. Among them, the connecting frame 715 can be threadedly connected to the base plate 61.

[0174] In some embodiments, Fig.14 As shown, the first side plate 621 is provided with a first wiring hole 622 , and the first wiring hole 622 is used for allowing the wires of the robot 1000 to pass through so as to be electrically connected to the first motor 31 .

[0175] In some embodiments, the second side plate 631 is provided with a second wiring hole 632 , and the second wiring hole 632 is used for passing the wires of the robot 1000 so as to be electrically connected to the second motor 33 .

[0176] By setting the first wiring hole 622 and the second wiring hole 632, it is possible to avoid interference between the wires of the robot 1000 and other components, and it is convenient for wiring the wires.

[0177] In some embodiments, a limit baffle 64 may also be provided on the frame 60, and a corresponding second limit block 16 may be provided on the first leg mechanism 10. When the first leg mechanism 10 rotates to a certain position, the second limit block 16 abuts against the limit baffle 64 to prevent the first leg mechanism 10 from rotating excessively and causing a collision between the first leg mechanism 10 and the frame 60, resulting in damage to parts.

[0178] It should be noted that the mechanical leg 100 of the present application is not limited to driving the mechanical leg 100 to extend or rotate by the first driving member 30a and the second driving member 30b working together.

[0179] For example, in other embodiments, Figure 15-17 As shown, the driving mechanism 30 includes a first driving member 30a and a second driving member 30b, the first driving member 30a is used to drive the first leg mechanism 10 and the second leg mechanism 20 to rotate relative to the body 200, and the second driving member 30b is used to drive the second leg mechanism 20 to move linearly along a first direction relative to the first leg mechanism 10. Thus, the first driving member 30a and the second driving member 30b can independently drive the mechanical leg 100 to extend or rotate.

[0180] In some embodiments, the first driving member 30a includes a first motor 31, the first motor 31 is used to connect to the fuselage 200, and the first leg mechanism 10 is connected to the output shaft of the first motor 31, so that the first motor 31 can drive the first leg mechanism 10 and the second leg mechanism 20 to rotate relative to the fuselage 200 as a whole; the second driving member 30b includes a second motor 33 and a transmission assembly 35, the second motor 33 is used to connect to the fuselage 200, the transmission assembly 35 is connected to the output shaft of the second motor 33 and connected to the second leg mechanism 20, the second motor 33 is used to drive the transmission assembly 35 to move, and the transmission assembly 35 is configured to drive the second leg mechanism 20 to move linearly along the first direction relative to the first leg mechanism 10. Therefore, the first motor 31 and the second motor 33 are independently arranged, and the axial direction of the output shaft of the first motor 31 and the output shaft of the second motor 33 can be parallel or intersecting. Among them, the first motor 31 can be installed to the fuselage 20 through the frame 60.

[0181] In some embodiments, the transmission assembly 35 is configured to drive the second leg mechanism 20 to move linearly along the first direction relative to the first leg mechanism 10 through a transmission method such as belt transmission, chain transmission, rope transmission or screw nut transmission. Therefore, the second motor 33 can drive the second leg mechanism 20 to move linearly along the first direction relative to the first leg mechanism 10 through any of the above transmission methods, and the second motor 33 can be connected to the output shaft of the first motor 31, so that the first motor 31 can drive the first leg mechanism 10, the second leg mechanism 20 and the second motor 33 to rotate as a whole relative to the fuselage 200, and the rotation of the first leg mechanism 10 and the second leg mechanism 20 as a whole and the telescopic movement between the first leg mechanism 10 and the second leg mechanism 20 do not affect each other.

[0182] As an embodiment, the transmission assembly 35 is a screw-nut transmission method, and the transmission assembly 35 includes a screw 351 parallel to the first leg mechanism 10 and a nut seat 352 threadedly connected to the screw 351. The screw 351 is connected to the output shaft of the second motor 33, and the second leg mechanism 20 is connected to the nut seat 352, so that the second motor 33 can drive the screw 351 to rotate, so as to drive the nut seat 352 to move linearly along the first direction on the screw 351, thereby driving the second leg mechanism 20 to move linearly along the first direction relative to the first leg mechanism 10.

[0183] In some embodiments, the first leg mechanism 10 includes a support structure 12 and a guide structure 13. The output shaft of the first motor 31 can be connected to the second motor 33 and the support structure 12 through a connecting seat. At this time, the output shaft of the first motor 31 can be set perpendicular to the output shaft of the second motor 33. The support structure 12 can be set on one side of the second direction of the screw rod 351. The guide structure 13 includes a guide rod 131. The guide rod 131 can be set on one side of the third direction of the screw rod 351 and be parallel to the screw rod 351. The second leg mechanism 20 includes a slider 21a corresponding to the guide rod 131. The slider 21a is fixedly connected to the nut seat 352 and is slidably connected to the guide rod 131.

[0184] In some embodiments, the second leg mechanism 20 also includes a seat body 214 fixedly connected to the slider 21a and a foot 22 connected to the seat body 214, the foot 22 is used to provide support when the robot 1000 is moving or standing, the seat body 214 and the side of the screw rod 351 facing away from the support structure 12, that is, the seat body 214 and the support structure 12 are arranged on opposite sides of the screw rod 351 in the second direction, and the screw rod 351 and the guide rod 131 are arranged between the seat body 214 and the support structure 12, the structure is compact, and the volume is reduced.

[0185] In some embodiments, the seat 214 and the foot 22 can be connected by a toggle ring 36, which extends to the support structure 12 on both sides of the third direction and is slidably connected to the support structure 12 to improve the stability of the second leg mechanism 20 when it moves linearly along the first direction.

[0186] As another embodiment, the transmission assembly 35 is a belt or rope transmission method. The transmission assembly 35 includes two transmission wheels and a belt or rope that is ring-shaped and wrapped around the two transmission wheels. The two transmission wheels can be arranged at intervals along the first direction and rotatably installed on the first leg mechanism 10. The belt or rope is connected to the second leg mechanism 20. The second motor 33 is connected to one of the transmission wheels to drive the transmission wheels to rotate, thereby driving the belt or rope to rotate, so as to drive the second leg mechanism 20 to move linearly along the first direction relative to the first leg mechanism 10.

[0187] In some embodiments, Figure 8 , Fig.32 and Fig.33 As shown, the robot leg 100 further includes an elastic member 80, which is disposed on the first leg mechanism 10 and / or the second leg mechanism 20. When the first leg mechanism 10 and the second leg mechanism 20 slide relative to each other to a preset position, the elastic member 80 is compressed. The elastic restoring force of the elastic member 80 is used to assist in supporting the robot 1000 and to assist the second leg mechanism 20 to move linearly along the first direction relative to the first leg mechanism 10. When the first leg mechanism 10 and the second leg mechanism 20 slide relative to each other to a preset position, the elastic member 80 is compressed. On the one hand, the elastic restoring force of the elastic member 80 is used to assist in supporting the robot 1000. In particular, when the direction of the elastic restoring force is completely opposite to the gravity direction of the body 200, the elastic member 80 has the greatest supporting effect, which can significantly reduce the power consumption of the mechanical leg 100 used to support the robot 1000, making the robot 1000 more energy-efficient and environmentally friendly. On the other hand, the elastic restoring force of the elastic member 80 can also assist the movement of the first leg mechanism 10 and / or the second leg mechanism 20, so that the first leg mechanism 10 and the second leg mechanism 20 can obtain the assistance of the elastic member 80 when they slide relative to each other, thereby further reducing the power consumption of the robot 1000. In addition, when the elastic member 80 is compressed, it can also play a shock-absorbing effect, which can reduce the impact on the mechanical leg 100 caused by bumps and unevenness.

[0188] Through the linear motion setting between the first leg mechanism 10 and the second leg mechanism 20 , it is easier to integrate auxiliary force forms such as the elastic member 80 , thereby providing additional power support for the robot 1000 .

[0189] When the robot 1000 is in a normal walking state, the elastic member 80 is compressed to provide an elastic restoring force to support the robot 1000 and reduce the power consumption of the robot 1000 .

[0190] When the robot 1000 is in a squatting state, the elastic member 80 is compressed to the extreme position to reduce the power consumption of the robot 1000. When the robot 1000 needs to stand up, the wheels 221 are accelerated to stand up by relying on the inertia of the body 200. After the robot 1000 stands up, the first leg mechanism 10 and the second leg mechanism 20 move relative to each other to extend the mechanical leg 100. At this time, the elastic member 80 releases pressure and plays a boosting role to assist the mechanical leg 100 in extending.

[0191] When the robot 1000 is in a normal walking state, the second leg mechanism 20 is used to support the body 200 of the robot 1000 on the ground, and the driving mechanism 30 can rotate at high speed to drive the first leg mechanism 10 to drive the second leg mechanism 20 and the body 200 to move upward away from the ground, so that the robot 1000 switches to a bouncing state; the elastic member 80 is used to provide an elastic restoring force when the robot 1000 jumps, so as to help extend the jumping height of the robot 1000.

[0192] In some embodiments, Fig.32 and Fig.33 As shown, the first leg mechanism 10 has a first guide section 101 and a second guide section 102, and the second leg mechanism 20 is connected between the first guide section 101 and the second guide section 102; wherein, when the second leg mechanism 20 slides toward the direction of the fuselage 200, the length of the first guide section 101 decreases accordingly, and the length of the second guide section 102 increases accordingly; when the second leg mechanism 20 slides in the direction away from the fuselage 200, the length of the first guide section 101 increases accordingly, and the length of the second guide section 102 decreases accordingly; the elastic member 80 includes a first spring 81, the first spring 81 is located in the first guide section 101, and the first spring 81 is compressed when the first guide section 101 is shortened to a preset length.

[0193] Specifically, it can be understood that, since the second leg mechanism 20 is slidably connected to the first leg mechanism 10, the point where the second leg mechanism 20 is connected to the first leg mechanism 10 can be used as the dividing point, thereby the first leg mechanism 10 is spatially divided into the first guide section 101 and the second guide section 102. Therefore, when the second leg mechanism 20 slides toward the direction close to the fuselage 200 or away from the fuselage 200, the length of the first guide section 101 and the length of the second guide section 102 in the first direction will each produce different changes, but the sum of the length of the first guide section 101 and the length of the second guide section 102 is unchanged. In addition, the elastic member 80 includes a first spring 81. In some examples, the two ends of the first spring 81 can be connected to the first leg mechanism 10 and the second leg mechanism 20 respectively. When the first leg mechanism 10 and the second leg mechanism 20 slide relatively to a preset position, the first spring 81 is compressed by the first leg mechanism 10 and the second leg mechanism 20, so that the first spring 81 generates an elastic reset force to assist in supporting the fuselage 200.

[0194] It is understandable that, since the second leg mechanism 20 can move linearly along the first direction relative to the first leg mechanism 10 , the entire mechanical leg 100 can be extended and retracted when the second leg mechanism 20 slides relative to the first leg mechanism 10 , thereby adjusting the length of the mechanical leg 100 .

[0195] Specifically, when the driving mechanism 30 drives the second leg mechanism 20 to move linearly along the first direction relative to the first leg mechanism 10 to achieve the extension of the mechanical leg 100, the compressed first spring 81 can have an elastic restoring force. Under the action of the elastic restoring force of the first spring 81, the two ends of the first spring 81 can respectively push the first leg mechanism 10 and the second leg mechanism 20 to achieve the effect of assisting the extension of the mechanical leg 100.

[0196] In some examples, the robot 1000 may also have a squatting state, and the elastic member 80 may also assist when the robot 1000 switches from the squatting state to the standing state. For example, when the robot 1000 is in the squatting state, the compression amount of the elastic member 80 is relatively large, and after the robot 1000 stands up, the first leg mechanism 10 and the second leg mechanism 20 move relative to each other, so that the length of the first guide section 101 becomes longer, and the elastic restoring force of the elastic member 80 is released, thereby assisting the extension of the mechanical leg 100, so as to assist the robot 1000 when switching from the squatting state to the standing state.

[0197] As an embodiment, when the robot 1000 is in a normal walking state, the length of the first guide section 101 is less than the length of the first spring 81 in the initial state. It should be noted that the length of the first spring 81 in the initial state is the natural length of the first spring 81 in an uncompressed state without any force. Therefore, when the robot 1000 is in a normal walking state, the length of the first guide section 101 is less than the length of the first spring 81 in the initial state, and at this time the first spring 81 is compressed, and the first spring 81 can generate an elastic reset force.

[0198] Specifically, the normal walking state defined in the present application refers to the state in which the robot 1000 is most often used after startup, and the first spring 81 is also in a compressed state. For example, in the wheeled robot 1000, when it completes walking by driving the wheels 221, it is mostly in an upright state when standing and walking, and the direction of the elastic reset force of the first spring 81 is opposite to the direction of gravity of the body 200. In this way, it can be ensured that the first spring 81 can support the body 200 as much as possible in the most commonly used state of the robot 1000, thereby better reducing the power consumption required to support the robot 1000 and saving more energy.

[0199] As an embodiment, the elastic member 80 includes a second spring 82, and the second spring 82 is located in the second guide section 102. When the second guide section 102 is shortened to a preset length, the second spring 82 is compressed. Therefore, when the second spring 82 is compressed, the second spring 82 is elastically deformed. At this time, the second spring 82 can absorb the energy such as impact and vibration generated by the robot 1000 during movement. For example, when the robot 1000 walks on a bumpy ground, the second spring 82 can achieve a buffering and vibration reduction effect, reducing the impact caused by bumps and vibrations.

[0200] As an embodiment, the first spring 81 is sleeved on the guide rod 131 and located in the first guide section 101. When the first spring 81 is compressed, the two ends of the first spring 81 respectively abut between the mounting member 14 and the slider 21a at one end of the support structure 12 facing the fuselage 200; the second spring 82 is sleeved on the guide rod 131 and located in the second guide section 102. When the second spring 82 is compressed, the two ends of the second spring 82 respectively abut between the slider 21a and the mounting member 14 at one end of the support structure 12 facing the foot 22. Specifically, the guide rod 131 is detachably connected to the mounting member 14. When installing the first spring 81 and the second spring 82, the mounting member 14 can be firstly detached from the guide rod 131, and the first spring 81 is sleeved into the position of the guide rod 131 located in the first guide section 101, and the second spring 82 is sleeved into the position of the guide rod 131 located in the second guide section 102, and then the mounting member 14 is installed at both ends of the guide rod 131. When the slider 21a slides on the guide rod 131, the lengths of the first guide section 101 and the second guide section 102 change accordingly, and when the slider 21a slides to two different preset positions, the first spring 81 or the second spring 82 can be compressed.

[0201] As an embodiment, the length of the first spring 81 in the initial state is greater than the length of the second spring 82 in the initial state. Therefore, after the robot 1000 is started, the first guide section 101 is slightly shortened to allow the first spring 81 to be compressed, so that the first spring 81 can play the role of auxiliary support, thereby achieving energy saving and consumption reduction.

[0202] As an embodiment, when the slider 21a slides to the second spring 82 being compressed to the limit state, the length of the first guide section 101 is the first length, and the first length is greater than or equal to the length of the first spring 81 in the initial state. Specifically, when the slider 21a slides to the second spring 82 being compressed to the limit state, the length of the first guide section 101 reaches the longest, and the first length is greater than or equal to the length of the first spring 81 in the initial state, then in this state, the first spring 81 is not compressed. However, when the robot 1000 is in the normal walking state, in order to achieve support for the fuselage 200, it is necessary to set the robot 1000 to have a certain compression on the first spring 81 in the normal walking state, at which time the elastic reset force of the first spring 81 can support the fuselage 200, so that the robot 1000 is more energy-efficient. It should be noted that when the first spring 81 continues to be compressed, the resistance to compressing the first spring 81 will gradually increase, and a certain amount of energy will also be consumed, but it is not necessary to compress the first spring 81 to a large extent in the normal walking state of the robot 1000. Therefore, the first length and the setting of the first spring 81 can prevent the first spring 81 from being in a highly compressed state for a long time. Among them, the first length and the length of the first spring 81 in the initial state can be specifically set according to customer needs and are not limited here.

[0203] As another embodiment, when the slider 21a slides until the first spring 81 is compressed to the limit state, the length of the second guide section 102 is the second length, and the second length is greater than or equal to the length of the second spring 82 in the initial state. Specifically, when the slider 21a slides until the first spring 81 is compressed to the limit state, the length of the second guide section 102 reaches the longest, and the second length is greater than or equal to the length of the second spring 82 in the initial state, then in this state, the first spring 81 is not compressed. Among them, the matching relationship between the second length and the second spring 82 is consistent with the matching relationship between the first length and the first spring 81, and will not be repeated here.

[0204] As an embodiment, the length from the axis of the first motor 31 to the end of the support structure 12 facing the foot 22 is the third length, and the initial length of the first spring 81 is greater than the third length. Specifically, since the rotation axis of the first leg mechanism 10 is coaxial with the rotation axis of the first motor 31 and the second motor 33, when the second leg mechanism 20 slides toward the fuselage 200 along the first direction, the second leg mechanism 20 is likely to interfere with the motor shaft, housing, etc. of the first motor 31 and / or the second motor 33. Therefore, setting the initial length of the first spring 81 to be greater than the third length can enable the end of the second leg mechanism 20 facing the fuselage 200 to be compressed to the first spring 81 without sliding to the axis of the first motor 31, thereby ensuring that the first spring 81 is compressed.

[0205] See also Figure 1-Figure 3As shown, the embodiment of the present application further provides a robot 1000, including a body 200 and the above-mentioned mechanical legs 100, wherein the mechanical legs 100 are connected to the body 200. The structure and function of the mechanical legs 100 in the robot 1000 proposed in the embodiment of the present application are the same as those in the above-mentioned embodiment, and the specific description can be referred to the description in the above-mentioned embodiment, which will not be repeated in this embodiment.

[0206] Through the configuration of the above-mentioned mechanical legs 100, the robot 1000 of the present application provides a significant improvement in safety, efficiency, ease of operation and adaptability compared to the prior art.

[0207] In a specific application, the robot 1000 may be provided with two mechanical legs 100, and the extension and / or rotation of the two mechanical legs 100 may be controlled to assist the robot 1000 in maintaining self-balance when walking or standing.

[0208] When the robot 1000 walks normally, the mechanical leg 100 supports the body 200 on the support surface to assist the robot 1000 in walking or standing. The support surface can be the ground, a work surface, or a support surface of other scenes. During the normal walking process of the robot 1000, since the first leg mechanism 10 is in contact with the support surface, when the driving mechanism 30 drives the second leg mechanism 20 to move linearly relative to the first leg mechanism 10, the first leg mechanism 10 will move up and down relative to the support surface, thereby adjusting the height of the mechanical leg 100.

[0209] When the robot 1000 is in a lying state or a sitting state, the mechanical leg 100 is parallel to the supporting surface. At this time, when the driving mechanism 30 drives the second leg mechanism 20 to move linearly relative to the first leg mechanism 10, the second leg mechanism 20 moves horizontally relative to the body 200, thereby adjusting the length of the mechanical leg 100.

[0210] When the robot 1000 is walking or standing, the driving mechanism 30 can be controlled to continuously drive the first leg mechanism 10 to rotate relative to the body 200 and / or drive the second leg mechanism 20 to move linearly relative to the first leg mechanism 10, so as to adjust the center of gravity of the robot 1000, thereby maintaining the self-balance of the robot 1000 and preventing the robot 1000 from tipping over. Thus, when the robot 1000 encounters an obstacle or an uneven ground, the robot 1000 can also maintain its balance.

[0211] See also Figure 1 and Fig.34As shown, the robot 1000 provided in the embodiment of the present application may also include a circuit board and a battery arranged on the fuselage 200, and a posture sensor 210 arranged on the fuselage 200, the circuit board is electrically connected to the battery, and a circuit unit 300 for the circuit control part of the robot 1000 is arranged on the circuit board, and the circuit unit 300 mainly includes a controller. Among them, the posture sensor 210, the driving mechanism and the third motor of the robot 1000 are all electrically connected to the controller. The controller is used to obtain relevant data or instructions, and execute various control programs or control instructions, and then control the robot 1000 to perform corresponding actions.

[0212] The robot control method provided by the present application will be introduced below based on the robot 1000 provided in the above-mentioned embodiments. It should be noted that the robot control method provided by the present application can be applied to but not limited to the robot 1000 mentioned in the above-mentioned embodiments. The robot control method can be applied to any robot with linear motion and rotational motion, or a robot with decoupled control of three axes.

[0213] See also Fig.35 , Fig.35 1 is a flow chart of a robot control method provided in an embodiment of the present application. Fig.35 As shown, the robot control method includes steps S11 to S12. The control method can be specifically applied to the controller of the robot.

[0214] Step S11: Acquire the posture information of the robot, where the posture information includes at least one of pitch angle information and roll angle information.

[0215] Specifically, the robot's angular velocity information and acceleration information can be obtained through attitude sensors (such as gyroscopes, accelerometers, visual sensors, etc.) installed on the body, and then the angular velocity information and acceleration information of the robot are fused through a preset algorithm to obtain the robot's pitch angle information, roll axis information and other attitude information.

[0216] It should be noted that the present application does not limit the preset algorithm, such as Kalman filtering, complementary filtering, quaternion filtering, etc. The present application takes Kalman filtering as an example for explanation.

[0217] Kalman filtering is a recursive algorithm that can be used to fuse information from different sensors to obtain a more accurate estimate. In the embodiment of the present application, the Kalman filter combines the information of the gyroscope and the accelerometer, taking into account the error and noise between the two, and then through continuous iteration, combining prior information and actual measurements, gradually improves the estimation accuracy of the robot's posture information, and has the advantages of strong adaptability and good real-time performance.

[0218] In an embodiment of the present application, a more accurate and stable estimation of the posture information can be obtained by combining the robot's angular velocity information and acceleration information with Kalman filtering while taking into account sensor errors and noise, which can then be used to more accurately control the robot.

[0219] Step S12: According to the posture information, the driving mechanism controls the rotation of the mechanical legs relative to the body; and / or, according to the posture information, the driving mechanism controls the second leg mechanism to move linearly relative to the first leg mechanism; so as to change the center of gravity of the robot, thereby allowing the robot to maintain balance on the support surface where the robot is located.

[0220] Since the robot's posture information can be used to indicate the robot's own tilt state, after obtaining the robot's posture information, the driving mechanism can be used to control the mechanical legs to rotate relative to the body; and / or, the driving mechanism can be used to control the second leg mechanism to move in a straight line relative to the first leg mechanism, so as to adjust the robot's tilt state, thereby changing the robot's center of gravity, so that the robot can maintain balance on its support surface.

[0221] In the embodiment of the present application, the movement of the robot can be adjusted according to the current posture information of the robot, so that the robot can adjust its own tilt state in real time to maintain balance on the support surface.

[0222] Optionally, the driving mechanism includes a first driving member and a second driving member. The above-mentioned controlling the mechanical leg to rotate relative to the fuselage through the driving mechanism includes: driving the first leg mechanism and the second leg mechanism to rotate relative to the fuselage as a whole through the first driving member and the second driving member working together.

[0223] The above-mentioned control of the second leg mechanism to make linear motion relative to the first leg mechanism by the driving mechanism includes: the first driving member and the second driving member work together to drive the second leg mechanism to move linearly relative to the first leg mechanism along a first direction, and the first direction is the extension direction of the first leg mechanism.

[0224] Specifically, the first driving member and the second driving member can work together to drive the first leg mechanism and the second leg mechanism to rotate relative to the body, thereby realizing the control of the mechanical leg to rotate relative to the body through the driving mechanism. In addition, the first driving member and the second driving member can work together to drive the second leg mechanism to move linearly along the first direction relative to the first leg mechanism, thereby realizing the control of the second leg mechanism to move linearly relative to the first leg mechanism through the driving mechanism. The first direction is the extension direction of the first leg mechanism.

[0225] Optionally, the first driving member includes a first flexible transmission member, a first transmission wheel and a second transmission wheel, the first transmission wheel and the second transmission wheel are used to be rotatably connected to the first leg mechanism and are spaced apart along the first direction, the first flexible transmission member is connected between the first transmission wheel and the second transmission wheel and is used to be connected to the second leg mechanism; the second driving member includes a second flexible transmission member, a third transmission wheel and a fourth transmission wheel, the third transmission wheel and the fourth transmission wheel are used to be rotatably connected to the first leg mechanism and are spaced apart along the first direction, the second flexible transmission member is connected between the third transmission wheel and the fourth transmission wheel and is used to be connected to the second leg mechanism. The above method includes: by controlling the first flexible transmission member and the second flexible transmission member to rotate in opposite directions and at the same speed, the second leg mechanism is driven to move linearly along the first direction relative to the first leg mechanism; or, by controlling the first flexible transmission member and the second flexible transmission member to rotate in the same direction and at the same speed, the first leg mechanism and the second leg mechanism are rotated as a whole relative to the fuselage.

[0226] Optionally, the first driving component also includes a first motor, and the second driving component includes a second motor. The first motor and the second motor are used to be connected to the fuselage, and the first motor and the second motor are coaxially arranged. The first motor is used to drive the first flexible transmission member to rotate, and the second motor is used to drive the second flexible transmission member to rotate; the method includes: controlling the first motor and the second motor to rotate in opposite directions and with the same torque, thereby controlling the first flexible transmission member and the second flexible transmission member to rotate in opposite directions and at the same speed; or, controlling the first motor and the second motor to rotate in the same direction and with the same torque, thereby controlling the first flexible transmission member and the second flexible transmission member to rotate in the same direction and at the same speed.

[0227] On the basis of the above embodiments, the control method also includes: by controlling the first flexible transmission member and the second flexible transmission member to rotate in opposite directions and at different rotation speeds, thereby driving the second leg mechanism to move linearly in a first direction relative to the first leg mechanism, and also realizing the rotation of the first leg mechanism and the second leg mechanism as a whole relative to the fuselage; or, by controlling the first flexible transmission member and the second flexible transmission member to rotate in the same direction and at different rotation speeds, thereby driving the first leg mechanism and the second leg mechanism to rotate as a whole relative to the fuselage, and also realizing the rotation of the second leg mechanism relative to the first leg mechanism in a linear direction.

[0228] Optionally, the first driving component also includes a first motor, the second driving component includes a second motor, the first motor and the second motor are used to be connected to the fuselage, and the first motor and the second motor are coaxially arranged, the first motor is used to drive the first flexible transmission member to rotate, and the second motor is used to drive the second flexible transmission member to rotate; the method includes: controlling the first motor and the second motor to rotate in opposite directions and with different torques, thereby driving the first flexible transmission member and the second flexible transmission member to rotate in opposite directions and with different rotation speeds; or, controlling the first motor and the second motor to rotate in the same direction and with different torques, thereby driving the first flexible transmission member and the second flexible transmission member to rotate in the same direction and with different rotation speeds.

[0229] See also Fig.36 , Fig.36 1 is a flow chart of controlling a robot according to the leg length change speed and the rotation angle provided by an embodiment of the present application. Fig.36 As shown, the robot can also be controlled according to the leg length change speed and the rotation angle according to steps S21 to S23.

[0230] Step S21: Acquire a first absolute position angle of the first motor and a second absolute position angle of the second motor.

[0231] Optionally, the robot also includes a first limiter and a second limiter, the first limiter is used to limit the rotation angle between the mechanical leg and the body, and the second limiter is used to limit the extension and retraction length of the mechanical leg; before obtaining the first absolute position angle of the first motor and the second absolute position angle of the second motor, the method also includes: controlling the first motor and the second motor to drive the mechanical leg to rotate relative to the body and the extension and retraction movement of the mechanical leg, and when abutting against the first limiter and the second limiter, determining that the first motor and the second motor reach an initial position, and the angle corresponding to the initial position is the initial angle of the first motor and the second motor.

[0232] Among them, the first absolute position angle and the second absolute position angle are the angles of the first motor and the second motor relative to the initial position; the initial position is the position of the first motor and the second motor when the rotation of the mechanical legs and the body abuts against the first limit piece when the robot is powered on, and the telescopic ground of the mechanical legs abuts against the second limit piece.

[0233] Specifically, when the robot is powered on, the first motor and the second motor can be controlled to drive the mechanical legs to rotate relative to the body (gradually reduce the angle between the body and the mechanical legs) and telescopic movement (gradually shorten the length of the mechanical legs). In this process, the mechanical legs will move to the first limiter and the second limiter, and the movement of the mechanical legs will be restricted when touching the first limiter and the second limiter. Because when the angle between the body and the mechanical legs and the length of the mechanical legs reach the corresponding limits, the motor may be blocked, that is, stop moving when it cannot continue to rotate. Therefore, by monitoring the current when the motor is blocked, it can be determined whether the angle between the body and the mechanical legs and the length of the mechanical legs have reached the corresponding limits. And when the angle between the body and the mechanical legs and the length of the mechanical legs have reached the corresponding limits, it is determined that the first motor and the second motor have reached the initial position, and the angle corresponding to the initial position is determined as the initial angle of the first motor and the second motor.

[0234] Optionally, based on the above embodiment, obtaining the first absolute position angle of the first motor and the second absolute position angle of the second motor includes: obtaining the first current angle of the first motor and the second current angle of the second motor; determining the first absolute position angle of the first motor and the second absolute position angle of the second motor based on the first current angle, the second current angle and the initial angle.

[0235] Specifically, the first current angle of the first motor can be subtracted from its corresponding initial angle to obtain the first absolute position angle of the first motor; similarly, the second current angle of the second motor can be subtracted from its corresponding initial angle to obtain the second absolute position angle of the second motor. Thus, the second absolute position angle and the second absolute position angle can be determined.

[0236] The first current angle and the second current angle can be read by the encoder built into the first motor or the second motor, and then the first absolute position angle and the second absolute position angle can be calculated. Since an additional external absolute position sensor is omitted, the system cost is reduced, and the need for sensor maintenance and calibration is reduced.

[0237] In the embodiment of the present application, the first absolute position angle and the second absolute position angle can be obtained to determine the leg length of the mechanical leg and the rotation angle between the mechanical leg and the body, and then used for the movement of the mechanical leg.

[0238] Step S22: determining the length of the mechanical leg according to the first absolute position angle, the second absolute position angle and the radius of the transmission wheel; and / or determining the rotation angle between the mechanical leg and the fuselage according to the first absolute position angle, the second absolute position angle and the radius of the transmission wheel; wherein the transmission wheel is any one of the first transmission wheel, the second transmission wheel, the third transmission wheel and the fourth transmission wheel.

[0239] Step S23: Determine the leg length change speed and the rotation angle change speed of the mechanical leg according to the leg length and the rotation angle respectively, so as to control the linear motion of the mechanical leg according to the leg length change speed, and control the rotation of the mechanical leg relative to the fuselage according to the rotation angle change speed.

[0240] Specifically, the length of the mechanical leg and the rotation angle between the mechanical leg and the fuselage can be determined by the following formula: *R; ; Where, L is the length of the mechanical leg; ; is the first absolute position angle; is the second absolute position angle; R is the radius of the transmission wheel.

[0241] Furthermore, after obtaining the leg length and the rotation angle, they can be differentiated to determine the leg length change speed and the rotation angle change speed of the mechanical leg. Thus, according to the preset control method, the linear motion of the mechanical leg can be controlled according to the leg length change speed, and the rotation of the mechanical leg relative to the fuselage can be controlled according to the rotation angle change speed, so that the mechanical leg reaches the corresponding preset target value.

[0242] It should be noted that the present application does not impose any limitation on the preset target value, which can be set according to actual needs.

[0243] In addition, the above-mentioned preset control method can be a closed-loop control method, an adaptive control method, etc. This application takes the closed-loop control method as an example for explanation.

[0244] The closed-loop control method is a control method that measures the system output and compares it with the expected output, and then adjusts the system to make it close to the expected value. It usually includes three main components: sensors, controllers, and actuators. Among them, the sensor is used to measure the output or feedback signal of the system; the controller is used to generate the corresponding control signal based on the information fed back by the sensor and the set expected value. The actuator is used to receive the signal from the controller and adjust the system, such as driving the motor, performing actions, or adjusting parameters, so that the system reaches the desired state.

[0245] In the embodiment of the present application, the movement of the robot can be continuously adjusted through a closed-loop control algorithm so that it can remain in a desired state in the presence of external disturbances or changes.

[0246] See also Fig.37 , Fig.37 1 is a schematic diagram of a flow chart of controlling the steering of a robot provided in an embodiment of the present application. Fig.37As shown, the robot control method provided by the present application further includes steps S31 to S32 to realize the control of the robot turning. The posture information may also include yaw angle information.

[0247] Step S31: Obtain the target yaw angle of the robot, and determine the current yaw angle of the robot.

[0248] Specifically, the robot's angular velocity information and acceleration information can be obtained through attitude sensors (such as gyroscopes, accelerometers, visual sensors, etc.) installed on the body, and then the angular velocity information and acceleration information of the robot are fused through a preset algorithm to obtain the robot's current yaw angle.

[0249] In addition, the present application does not limit the target yaw angle of the robot, which can be set according to actual needs.

[0250] Step S32: Control the foot steering of the robot according to the current yaw angle and the target yaw angle, so that the robot runs according to the target yaw angle.

[0251] After obtaining the current yaw angle and the target yaw angle, the robot's foot steering can be controlled based on the target yaw angle and the robot's current yaw angle through control methods such as closed-loop control algorithms, so that the robot can run according to the target yaw angle.

[0252] In an embodiment of the present application, the target yaw angle of the robot can be obtained, and the current yaw angle of the robot can be determined, and then the foot steering of the robot can be controlled based on the previous yaw angle and the target yaw angle, so that the robot can run according to the target yaw angle.

[0253] Optionally, the foot includes a wheel and a third motor for driving the wheel to rotate; the foot steering of the robot is controlled according to the current yaw angle and the target yaw angle, including: determining the torque for driving the third motor on the two mechanical legs according to the current yaw angle and the target yaw angle; controlling the rotation of the third motors on the two mechanical legs by utilizing the motor differential according to the torque of the third motor, so as to enable the robot to operate according to the target yaw angle.

[0254] Specifically, the torque required for the third motor to drive the two mechanical legs to turn can be obtained based on the current yaw angle and the target yaw angle through a closed-loop control method. Furthermore, the third motors on the two mechanical legs can be controlled to rotate according to the torque of the third motor and the motor differential can be used to achieve precise adjustment of the robot's yaw angle so that it can run according to the target yaw angle to achieve the purpose of controlling the robot's steering.

[0255] In an embodiment of the present application, the robot's foot steering can be controlled based on the current yaw angle and the target yaw angle, so that it moves in the direction of the target yaw angle, which helps the robot move in the desired direction in applications such as navigation, path planning or obstacle avoidance.

[0256] See also Fig.38 , Fig.38 FIG. 1 is a flow chart of controlling a robot according to an inverted pendulum model provided in an embodiment of the present application. Fig.38 As shown, the robot control method provided in the present application also includes steps S41 to S42 to realize controlling the robot according to the inverted pendulum model.

[0257] Step S41: Obtain the leg length of the mechanical leg, the foot mass and foot moment of inertia of the foot, the leg mass and leg moment of inertia of the mechanical leg, the body mass and body moment of inertia of the fuselage, and establish an inverted pendulum model of the robot.

[0258] Step S42: Control the robot to maintain balance on the support surface according to the inverted pendulum model.

[0259] It should be noted that the inverted pendulum model is a mathematical model that describes the dynamic behavior of an inverted pendulum system. It is usually used to study and design control systems or devices to enable the inverted pendulum to maintain balance or perform specific movements. The inverted pendulum model involves factors such as the mass, length, friction of the pendulum rod, and the external control force to accurately describe the system's motion equations. The inverted pendulum model has a wide range of applications in fields such as control theory and robotics.

[0260] Specifically, since the length of the robot's mechanical legs, the foot mass and foot moment of inertia, the leg mass and leg moment of inertia, and the body mass and body moment of inertia directly affect the robot's motion and stability, an inverted pendulum model of the robot can be established based on the above parameters using Newton-Euler and other dynamic principles to control the balance or stability of the robot.

[0261] Furthermore, after obtaining the inverted pendulum model of the robot, the robot's posture can be controlled by an appropriate control strategy, such as closed-loop control, linear control, etc., so that the robot can maintain balance on the support surface. For example, sensor information (such as a gyroscope, accelerometer, etc.) can be used to measure the current robot posture information, and then the robot can be adjusted according to the desired posture.

[0262] Optionally, the angle and angular velocity information of the third motor can be obtained to obtain the acceleration information of the robot, and then the data fusion can be performed to obtain the forward displacement and forward speed of the robot. Therefore, according to the inverted pendulum model of the robot, the full-state controller can be used to perform full-state control on the rotation angle between the mechanical leg and the fuselage and the corresponding angular velocity, pitch angle and pitch angular velocity, forward displacement, forward speed, etc., and output the torque required by the first motor and the second motor to drive the mechanical leg to move, thereby achieving the purpose of making the robot stand and balance. In addition, the robot can also be controlled to move forward and backward by giving the robot a preset forward speed.

[0263] Optionally, the robot's inverted pendulum model can be used to obtain the torque required for the third motor to drive the robot to turn by comparing the robot's yaw angle with a preset target yaw angle, using a traditional closed-loop control method. The third motor on the two mechanical legs can then be controlled to rotate according to the torque of the third motor by using the motor differential, so that the robot can run according to the target yaw angle and the purpose of controlling the robot's turning can be achieved.

[0264] Optionally, based on the inverted pendulum model of the robot, a full-state controller can be used to perform full-state control on the pitch angle, pitch angular velocity, etc. of the robot, output the torque required by the first motor and the second motor, and thereby achieve the purpose of keeping the pitch angle of the robot's upper body horizontal.

[0265] Optionally, based on the inverted pendulum model of the robot, a full-state controller can be used to control the roll angle and the preset target roll angle, and the torque required for the first motor and the second motor to control the left and right tilt of the body can be output, thereby achieving the purpose of controlling the left and right tilt of the robot body.

[0266] In an embodiment of the present application, an inverted pendulum model of the robot can be established, and the balance control, steering control and roll control can be decoupled according to the robot's posture information. The robot can be controlled separately according to different control variables and parameters, thereby reducing the complexity and computational complexity of the robot control.

[0267] Optionally, the robot includes one or more of a first control mode, a second control mode and a third control mode, and the first control mode, the second control mode and the third control mode can be controlled independently. Among them, the first control mode is realized by controlling the mechanical leg to rotate relative to the body according to the posture information; the second control mode is realized by controlling the second leg mechanism to move linearly relative to the first leg mechanism according to the posture information; and the third control mode is realized by controlling the foot movement according to the posture information.

[0268] In the embodiment of the present application, different control modes of the robot can be decoupled to control the robot separately according to actual needs, thereby helping to improve the accuracy and efficiency of robot control and reducing model complexity and computational burden.

[0269] Optionally, based on the above embodiment, the first control mode, the second control mode and the third control mode are all linear controls.

[0270] In the embodiment of the present application, the robot can be linearly controlled, thereby making the control model of the robot relatively simple, easy to analyze and design, and improving the stability and accuracy of the robot, so that the robot can perform tasks according to the preset control mode and quickly respond to changes in the external environment.

[0271] Exemplarily, the above method and apparatus may be implemented in the form of a computer program. The computer program may be implemented in the form of a computer program. Fig.39 Run on the robot shown.

[0272] See also Fig.39 , Fig.39 is a schematic diagram of a robot provided in an embodiment of the present application. Fig.39 As shown, the robot 1000 includes a processor 400, a memory 500 and a network interface connected via a system bus, wherein the memory 500 may include a volatile storage medium, a non-volatile storage medium and an internal memory.

[0273] The non-volatile storage medium can store an operating system and a computer program. The computer program includes program instructions, and when the program instructions are executed, the processor 400 can execute any risk control method based on logistics data.

[0274] The processor 400 is used to provide computing and control capabilities to support the operation of the entire robot 1000.

[0275] The internal memory provides an environment for the operation of the computer program in the non-volatile storage medium. When the computer program is executed by the processor, the processor can execute any risk control method based on logistics data.

[0276] The network interface is used for network communication, such as sending assigned tasks, etc. Those skilled in the art can understand that the structure of the robot 1000 is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the robot 1000 to which the solution of the present application is applied. The specific robot 1000 may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0277] It should be understood that the processor 400 may be a central processing unit (CPU), and the processor 400 may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Among them, the general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0278] Among them, in some embodiments, the processor 400 is used to run a computer program stored in a memory to implement the following steps: obtaining posture information of the robot, the posture information including at least one of pitch angle information and roll angle information; according to the posture information, controlling the mechanical leg to rotate relative to the fuselage through the drive mechanism; and / or, according to the posture information, controlling the second leg mechanism to move in a straight line relative to the first leg mechanism through the drive mechanism; so as to change the center of gravity of the robot, thereby allowing the robot to maintain balance on the support surface where the robot is located.

[0279] In some embodiments, the processor 400 is also used to obtain the target yaw angle of the robot and determine the current yaw angle of the robot; control the foot steering of the robot according to the current yaw angle and the target yaw angle, so that the robot can operate according to the target yaw angle.

[0280] In some embodiments, the robot includes one or more of a first control mode, a second control mode, and a third control mode, and the processor 400 is also used to independently control the first control mode, the second control mode, and the third control mode; wherein the first control mode is achieved by controlling the mechanical leg to rotate relative to the body according to the posture information; the second control mode is achieved by controlling the second leg mechanism to move in a straight line relative to the first leg mechanism according to the posture information; and the third control mode is achieved by controlling the foot movement according to the posture information.

[0281] In some implementations, the processor 400 is further configured to linearly control the first control mode, the second control mode, and the third control mode.

[0282] In some embodiments, the processor 400 is also used to drive the first leg mechanism and the second leg mechanism to rotate as a whole relative to the fuselage through the cooperation of the first driving member and the second driving member; and drive the second leg mechanism to move linearly along a first direction relative to the first leg mechanism through the cooperation of the first driving member and the second driving member, where the first direction is the extension direction of the first leg mechanism.

[0283] In some embodiments, the processor 400 is also used to drive the second leg mechanism to move linearly along the first direction relative to the first leg mechanism by controlling the first flexible transmission member and the second flexible transmission member to rotate in opposite directions at the same speed; or, by controlling the first flexible transmission member and the second flexible transmission member to rotate in the same direction at the same speed, the first leg mechanism and the second leg mechanism can rotate as a whole relative to the fuselage.

[0284] In some embodiments, the processor 400 is also used to control the first flexible transmission member and the second flexible transmission member to rotate in opposite directions and at different rotation speeds, thereby driving the second leg mechanism to move linearly along the first direction relative to the first leg mechanism, while also realizing the first leg mechanism and the second leg mechanism to rotate as a whole relative to the fuselage; or, control the first flexible transmission member and the second flexible transmission member to rotate in the same direction and at different rotation speeds, thereby driving the first leg mechanism and the second leg mechanism to rotate as a whole relative to the fuselage, while also realizing the second leg mechanism to move linearly along the first direction relative to the first leg mechanism.

[0285] In some embodiments, the processor 400 is also used to control the first motor and the second motor to rotate in opposite directions and with the same torque, thereby controlling the first flexible transmission member and the second flexible transmission member to rotate in opposite directions and at the same speed; or, controlling the first motor and the second motor to rotate in the same direction and with the same torque, thereby controlling the first flexible transmission member and the second flexible transmission member to rotate in the same direction and at the same speed.

[0286] In some embodiments, the processor 400 is also used to control the first motor and the second motor to rotate in opposite directions and with different torques, thereby driving the first flexible transmission member and the second flexible transmission member to rotate in opposite directions and with different rotation speeds; or, control the first motor and the second motor to rotate in the same direction and with different torques, thereby driving the first flexible transmission member and the second flexible transmission member to rotate in the same direction and with different rotation speeds.

[0287] In some embodiments, the processor 400 is also used to obtain a first absolute position angle of the first motor and a second absolute position angle of the second motor; determine the leg length of the mechanical leg according to the first absolute position angle, the second absolute position angle and the radius of the transmission wheel; and / or determine the rotation angle between the mechanical leg and the fuselage according to the first absolute position angle, the second absolute position angle and the radius of the transmission wheel; wherein the transmission wheel is any one of the first transmission wheel, the second transmission wheel, the third transmission wheel and the fourth transmission wheel; according to the leg length and the rotation angle, determine the leg length change speed and the rotation angle change speed of the mechanical leg respectively, so as to control the linear motion of the mechanical leg according to the leg length change speed, and control the rotation of the mechanical leg relative to the fuselage according to the rotation angle change speed.

[0288] In some embodiments, the processor 400 is also used to control the first motor and the second motor to drive the mechanical leg to rotate relative to the fuselage and to extend and retract the mechanical leg, and when abutting against the first limit member and the second limit member, determine that the first motor and the second motor reach an initial position, and the angle corresponding to the initial position is the initial angle of the first motor and the second motor; obtain the first current angle of the first motor and the second current angle of the second motor; determine the first absolute position angle of the first motor and the second absolute position angle of the second motor based on the first current angle, the second current angle and the initial angle.

[0289] In some embodiments, the processor 400 is also used to obtain the leg length of the mechanical leg, the foot mass and foot moment of inertia of the foot, the leg mass and leg moment of inertia of the mechanical leg, the body mass and body moment of inertia of the fuselage, and establish an inverted pendulum model of the robot; and control the robot to maintain balance on the support surface according to the inverted pendulum model.

[0290] In some embodiments, the processor 400 is further used to determine the torque for driving the third motor on the two mechanical legs according to the current yaw angle and the target yaw angle; and to control the rotation of the third motor on the two mechanical legs by utilizing the motor differential according to the torque of the third motor, so as to enable the robot to operate according to the target yaw angle.

[0291] An embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored. The computer program includes program instructions, and when the program instructions are executed, any one of the robot-based control methods provided in the embodiments of the present application is implemented.

[0292] The computer-readable storage medium may be an internal storage unit of the robot 1000 described in the foregoing embodiment, such as a hard disk or memory of the robot 1000. The computer-readable storage medium may also be an external storage device of the robot 1000, such as a plug-in hard disk, a smart memory card (SmartMedia Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc., equipped on the robot 1000.

[0293] Furthermore, the computer-readable storage medium may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function, and the like.

[0294] Those skilled in the art may combine and associate different embodiments or examples and features of different embodiments or examples described in this specification without mutual contradiction.

[0295] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A mechanical leg for a robot, characterized in that: The mechanical leg comprises: a first leg mechanism, configured to rotate and be connected to a body of the robot; a second leg mechanism, slidably connected to the first leg mechanism, so that the second leg mechanism can move linearly along a first direction relative to the first leg mechanism, the first direction being an extension direction of the first leg mechanism; A driving mechanism, wherein the driving mechanism is configured to be able to drive the first leg mechanism and the second leg mechanism to rotate as a whole relative to the body, and to drive the second leg mechanism to move linearly along the first direction relative to the first leg mechanism, so as to assist the robot in maintaining self-balance when moving or standing.

2. The mechanical leg according to claim 1, characterized in that: The power source of the driving mechanism is arranged on the body of the robot.

3. The mechanical leg according to claim 1, characterized in that: The driving mechanism has at least one driving state among a first driving state, a second driving state and a third driving state, and the driving mechanism can freely switch between the first driving state, the second driving state and the third driving state; In the first driving state, the driving mechanism is used to drive the first leg mechanism and the second leg mechanism to rotate as a whole relative to the fuselage; In the second driving state, the driving mechanism is used to drive the second leg mechanism to move linearly along the first direction relative to the first leg mechanism; In the third driving state, the driving mechanism is used to drive the first leg mechanism and the second leg mechanism to rotate as a whole relative to the body, and drive the second leg mechanism to move linearly along the first direction relative to the first leg mechanism.

4. The mechanical leg according to claim 1, characterized in that: The driving mechanism comprises a first driving member and a second driving member, wherein the first driving member and the second driving member are used to work together to drive the first leg mechanism and the second leg mechanism to rotate as a whole relative to the fuselage; The first driving member and the second driving member are further configured to work together to drive the second leg mechanism to move linearly along the first direction relative to the first leg mechanism.

5. The mechanical leg according to claim 4, characterized in that: The first driving member includes a first motor and a first transmission assembly, and the second driving member includes a second motor and a second transmission assembly; The first motor and the second motor are used to be connected to the fuselage, and the first motor and the second motor are coaxially arranged; The first transmission assembly is connected to the output shaft of the first motor and connected to the second leg mechanism, and the second transmission assembly is connected to the output shaft of the second motor and connected to the second leg mechanism; The rotation axis of the first leg mechanism is coaxial with the rotation axes of the first motor and the second motor.

6. The mechanical leg according to claim 5, characterized in that: The first transmission assembly includes a first transmission wheel, a second transmission wheel and a first flexible transmission member. The first transmission wheel and the second transmission wheel are rotatably connected to the first leg mechanism and are spaced apart along the first direction. The first transmission wheel is connected to the output shaft of the first motor. The first flexible transmission member is connected between the first transmission wheel and the second transmission wheel and is connected to the second leg mechanism.

7. The mechanical leg according to claim 6, characterized in that: The second transmission assembly includes a third transmission wheel, a fourth transmission wheel and a second flexible transmission member. The third transmission wheel and the fourth transmission wheel are rotatably connected to the first leg mechanism and are arranged at intervals along the first direction. The third transmission wheel is connected to the output shaft of the second motor, and the first transmission wheel and the third transmission wheel are arranged coaxially. The second flexible transmission member is connected between the third transmission wheel and the fourth transmission wheel and is connected to the second leg mechanism.

8. The mechanical leg according to claim 7, characterized in that: The first leg structure has a first side and a second side opposite each other in a second direction, the second direction being perpendicular to the first direction; The first motor and the second motor are arranged opposite to each other and are respectively located on a first side and a second side of the first leg mechanism; The first transmission wheel and the second transmission wheel are arranged on the first side, and the third transmission wheel and the fourth transmission wheel are arranged on the second side.

9. The mechanical leg according to claim 8, characterized in that: The first leg mechanism comprises a positioning shaft, the positioning shaft is arranged between the output shaft of the first motor and the output shaft of the second motor and the positioning shaft is rotatably connected with the first transmission wheel and the third transmission wheel; The first leg mechanism has a rotation axis coaxial with rotation axes of the first motor and the second motor through the positioning shaft.

10. The mechanical leg according to claim 7, characterized in that: In the first driving state, the first motor and the second motor respectively drive the first flexible member and the second flexible member to rotate in the same direction and at the same speed, thereby driving the first leg mechanism and the second leg mechanism to rotate as a whole relative to the fuselage; In the second driving state, the first motor and the second motor respectively drive the first flexible member and the second flexible member to rotate in opposite directions and at the same speed, thereby driving the second leg mechanism to move linearly along the first direction relative to the first leg mechanism.

11. The mechanical leg according to claim 7, characterized in that: In the third driving state, The first motor and the second motor respectively drive the first flexible member and the second flexible member to rotate in the same direction and at different speeds, thereby driving the second leg mechanism to move linearly along the first direction relative to the first leg mechanism while driving the first leg mechanism and the second leg mechanism to rotate as a whole; or, the first motor and the second motor respectively drive the first flexible member and the second flexible member to rotate in opposite directions and at different speeds, thereby driving the first leg mechanism and the second leg mechanism to rotate as a whole while driving the second leg mechanism to move linearly along the first direction relative to the first leg mechanism.

12. The mechanical leg according to claim 8, characterized in that: The first flexible transmission member includes a first belt, which is rotatably wrapped around the first transmission wheel and the second transmission wheel and connected to the second leg mechanism. The second flexible transmission member includes a second belt, which is rotatably wrapped around the third transmission wheel and the fourth transmission wheel and connected to the second leg mechanism.

13. The mechanical leg according to claim 12, characterized in that: The second leg mechanism comprises: The sliding part includes a seat, a first slider and a second slider, wherein the first slider and the second slider are connected to two sides of the seat in a third direction, the first slider is slidably connected to the first leg mechanism and to a side of the first belt close to the first slider, the second slider is slidably connected to the first leg mechanism and to a side of the second belt close to the second slider, and the first direction and the second direction are perpendicular to the third direction in pairs; The foot is connected to the seat and is used for supporting the robot when it is walking or standing.

14. The mechanical leg according to claim 12, characterized in that: The second transmission wheel is coaxially arranged with the fourth transmission wheel; and / or the first belt is parallelly arranged with the second belt.

15. The mechanical leg according to claim 8, characterized in that: The mechanical leg also includes a tensioning device, and the tensioning device is used to adjust the tensioning force of the first transmission assembly and / or the second transmission assembly.

16. The mechanical leg according to claim 15, characterized in that: The first leg mechanism is provided with a mounting hole and a connecting hole communicating with the mounting hole, and the tensioning device comprises: A movable shaft is inserted into the mounting hole, and an end of the movable shaft is rotatably connected to the second transmission wheel and / or the fourth transmission wheel on the outer side of the first leg mechanism; A linear moving structure is inserted into the connecting hole and extends to the mounting hole to be connected to the movable shaft, so as to drive the movable shaft and the second transmission wheel and / or the fourth transmission wheel connected thereto to move along the first direction relative to the first leg mechanism through rotation.

17. The mechanical leg according to claim 8, characterized in that: The first flexible transmission member includes a first transmission rope, the first transmission rope includes a first rope segment and a second rope segment, one end of the first rope segment and one end of the second rope segment are both fixed to the first transmission wheel, and one end of at least one of the first rope segment and the second rope segment is wound around the first transmission wheel, and the other end of the first rope segment is connected to the other end of the second rope segment and is wrapped around the second transmission wheel, so that when the first transmission wheel rotates, the first transmission rope can be driven to rotate, so that the first rope segment and the second rope segment move in opposite directions in the first direction, and one of the first rope segment and the second rope segment is connected to the second leg mechanism; The second flexible transmission member includes a second transmission rope, the second transmission rope includes a third rope segment and a fourth rope segment, one end of the third rope segment and one end of the fourth rope segment are both fixed to the third transmission wheel, and one end of at least one of the third rope segment and one end of the fourth rope segment is wound around the third transmission wheel, the other end of the third rope segment is connected to the other end of the fourth rope segment and surrounds the fourth transmission wheel, so that when the second transmission wheel rotates, the second transmission rope can be driven to rotate, so that the third rope segment and the fourth rope segment move in opposite directions in the first direction, and one of the third rope segment and the fourth rope segment is connected to the second leg mechanism.

18. The mechanical leg according to claim 17, characterized in that: The second leg mechanism comprises: The sliding part includes a seat body, a first slider and a second slider, wherein the first slider and the second slider are connected to two sides of the seat body in the third direction, the first slider is slidably connected to the first leg mechanism and close to the first rope segment, the second slider is slidably connected to the second leg mechanism and close to the fourth rope segment, the first rope segment is connected to the first slider, the fourth rope segment is connected to the second slider, and the first rope segment and the fourth rope segment are arranged diagonally, and the first direction, the second direction and the third direction are perpendicular to each other; The foot is connected to the seat and is used for supporting the robot when it is walking or standing.

19. The mechanical leg according to claim 9, characterized in that: The mechanical leg further comprises a frame, the frame comprising a base plate and a first side plate and a second side plate connected to the base plate, the base plate being used for being mounted to the body of the robot; Among them, the first side plate and the second side plate extend in a direction perpendicular to the substrate and are arranged opposite to each other, the first side plate is provided with a first mounting position for installing the first motor, and the second side plate is provided with a second mounting position for installing the second motor, and the first mounting position and the second mounting position are arranged opposite to each other, so that the first motor and the second motor are arranged opposite to each other coaxially.

20. The mechanical leg according to claim 19, characterized in that: The base plate is provided with a through hole, the through hole is used to install an auxiliary component, and the auxiliary component is used to limit the axial movement of the first leg mechanism along the positioning axis; and / or, The first side plate is provided with a first wiring hole, and the first wiring hole is used for passing the wires of the robot so as to be electrically connected to the first motor; and / or, The second side plate is provided with a second wiring hole, and the second wiring hole is used for passing the wires of the robot so as to be electrically connected to the second motor.

21. The mechanical leg according to any one of claims 2 to 3, characterized in that: The driving mechanism includes a first driving member and a second driving member, the first driving member is used to drive the first leg mechanism and the second leg mechanism to rotate as a whole relative to the fuselage, and the second driving member is used to drive the second leg mechanism to move linearly along the first direction relative to the first leg mechanism.

22. The mechanical leg according to claim 21, characterized in that: The first driving member includes a first motor, the first motor is used to be connected to the fuselage, and the first leg mechanism is connected to an output shaft of the first motor, so that the first motor can drive the first leg mechanism and the second leg mechanism to rotate as a whole relative to the fuselage; The second driving member includes a second motor and a transmission assembly, the second motor is used to be connected to the fuselage, the transmission assembly is connected to the output shaft of the second motor and is connected to the second leg mechanism, the second motor is used to drive the transmission assembly to move, and the transmission assembly is configured to drive the second leg mechanism to move linearly along the first direction relative to the first leg mechanism.

23. The mechanical leg according to claim 22, characterized in that: The transmission assembly is configured to drive the second leg mechanism to move linearly along the first direction relative to the first leg mechanism through belt transmission, chain transmission, rope transmission or screw nut transmission.

24. The mechanical leg according to claim 1, characterized in that: The first leg mechanism comprises: a support structure for rotationally connecting to a body of the robot; A guide structure is connected to the support structure and extends along the first direction. The second leg mechanism is slidably connected to the guide structure.

25. The mechanical leg of claim 24, wherein: The second leg mechanism comprises: a sliding portion, slidably connected to the guide structure, so that the second leg mechanism can move linearly along the first direction relative to the first leg mechanism; The foot is connected to the sliding part and is used for supporting the robot when the robot is walking or standing.

26. The mechanical leg of claim 25, wherein: The foot is located at one side of the guide structure in a second direction, and the second direction is perpendicular to the first direction.

27. The mechanical leg of claim 26, wherein: A sliding groove extending along the first direction is provided on a side of the sliding portion opposite to the guide structure, and the supporting structure is partially accommodated in the sliding groove and can move relative to the sliding groove.

28. The mechanical leg of claim 25, wherein: The foot includes a wheel and a third motor for driving the wheel to rotate, and the third motor is installed on the sliding part or the wheel.

29. The mechanical leg of claim 25, wherein: The mechanical leg also includes: A support base is connected to the foot, and is used to abut against a support surface when the robot is in a squatting state, so as to cooperate with the foot to support the robot.

30. The mechanical leg of claim 29, wherein: When the robot is in a squatting state, the fulcrum where the support seat abuts against the support surface is the first fulcrum, the fulcrum where the foot abuts against the support surface is the second fulcrum, and the center of gravity of the robot is located between the first fulcrum and the second fulcrum.

31. The mechanical leg of claim 24, wherein: The mechanical leg further includes a positioning mechanism, which is used to send a signal to the robot when the second leg mechanism moves to an extreme position along the first direction.

32. The mechanical leg of claim 31, wherein: The support structure has a first end and a second end arranged opposite to each other in the first direction, and the positioning mechanism includes a touch portion, and the touch portion is connected to the second leg mechanism; The positioning mechanism also includes a first switch, which is arranged at the first end of the supporting structure, and the first switch is used to contact the touch part when the second leg mechanism moves in a straight line to the extreme position toward the first end, so as to send a signal to the robot; and / or, the positioning mechanism also includes a second switch, which is arranged at the second end of the supporting structure, and the second switch is used to contact the touch part when the second leg mechanism moves in a straight line to the extreme position toward the second end, so as to send a signal to the robot.

33. The mechanical leg of claim 32, wherein: The guide structure comprises a guide rod, and a mounting piece is provided at one end of the support structure close to the second leg mechanism, and the guide rod and the second switch are mounted on the mounting piece.

34. The mechanical leg of claim 33, wherein: The first leg mechanism further comprises: A guide wheel is mounted on the mounting member, and the guide wheel is used to roll in contact with the second leg mechanism when the second leg mechanism moves linearly relative to the first leg mechanism.

35. The mechanical leg of claim 1, wherein: The mechanical leg further includes an angle detection mechanism, and the angle detection mechanism is used to detect a rotation angle of the first leg mechanism when the first leg mechanism rotates relative to the fuselage.

36. The mechanical leg of claim 35, wherein: The angle detection mechanism comprises: A magnet sensor, arranged on the driving mechanism; a connecting rod connected to the first leg mechanism, the connecting rod having an extension portion extending to be opposite to the magnet sensor; The magnet is arranged on the extension part, and the absolute angle of the first leg mechanism can be read when the robot is turned on. When the first leg mechanism rotates relative to the body, the magnet is driven to rotate. The magnet sensor is used to sense the rotation angle of the magnet to detect the rotation angle of the first leg mechanism.

37. The mechanical leg of claim 1, wherein: The mechanical leg also includes: An elastic member is provided on the first leg mechanism and / or the second leg mechanism. When the first leg mechanism and the second leg mechanism slide relative to each other to a preset position, the elastic member is compressed. The elastic restoring force of the elastic member is used to assist in supporting the robot and to help the second leg mechanism to move linearly in a first direction relative to the first leg mechanism.

38. The mechanical leg of claim 37, wherein: The first leg mechanism has a first guide segment and a second guide segment, and the second leg mechanism is connected between the first guide segment and the second guide segment; When the second leg mechanism slides toward the fuselage, the length of the first guide segment decreases and the length of the second guide segment increases; when the second leg mechanism slides away from the fuselage, the length of the first guide segment increases and the length of the second guide segment decreases; The elastic member includes a first spring, the first spring is located in the first guide section, and the first spring is compressed when the first guide section is shortened to a preset length.

39. A robot, characterized in that: It comprises a fuselage and a mechanical leg as described in any one of claims 1 to 38, wherein the mechanical leg is connected to the fuselage.

40. A robot control method, characterized in that: As applied to the robot as claimed in claim 39, the robot further comprises a posture sensor disposed on the body; The control method comprises: Acquire posture information of the robot, wherein the posture information includes at least one of pitch angle information and roll angle information; According to the posture information, the driving mechanism controls the mechanical leg to rotate relative to the body; and / or, according to the posture information, the driving mechanism controls the second leg mechanism to move linearly relative to the first leg mechanism; so as to change the center of gravity of the robot, thereby allowing the robot to maintain balance on the supporting surface where the robot is located.

41. The control method according to claim 40, characterized in that: The mechanical leg further includes a foot, which is connected to the second leg mechanism and is used for supporting the robot when it is walking or standing. The posture information may also include yaw angle information. The control method further includes: Acquiring a target yaw angle of the robot, and determining a current yaw angle of the robot; The foot steering is controlled according to the current yaw angle and the target yaw angle, so that the robot can run according to the target yaw angle.

42. The control method according to claim 40, characterized in that: The robot includes one or more of a first control mode, a second control mode and a third control mode, wherein the first control mode, the second control mode and the third control mode can be controlled independently; Among them, the first control mode is achieved by controlling the mechanical leg to rotate relative to the fuselage according to the posture information; the second control mode is achieved by controlling the second leg mechanism to move linearly relative to the first leg mechanism according to the posture information; and the third control mode is achieved by controlling the foot movement according to the posture information.

43. The control method according to claim 42, characterized in that: The first control mode, the second control mode and the third control mode are all linear controls.

44. The control method according to any one of claims 40 to 43, characterized in that: The drive mechanism comprises a first drive member and a second drive member; The controlling the mechanical leg to rotate relative to the body by the driving mechanism comprises: driving the first leg mechanism and the second leg mechanism as a whole to rotate relative to the body by the first driving member and the second driving member working together; Controlling the second leg mechanism to perform linear motion relative to the first leg mechanism through the driving mechanism includes: driving the second leg mechanism to perform linear motion relative to the first leg mechanism along the first direction through the cooperation of the first driving member and the second driving member.

45. The control method according to claim 44, characterized in that: The first driving member includes a first flexible transmission member, a first transmission wheel and a second transmission wheel, the first transmission wheel and the second transmission wheel are used to be rotatably connected to the first leg mechanism and are spaced apart along the first direction, the first flexible transmission member is connected between the first transmission wheel and the second transmission wheel and is used to be connected to the second leg mechanism; the second driving member includes a second flexible transmission member, a third transmission wheel and a fourth transmission wheel, the third transmission wheel and the fourth transmission wheel are used to be rotatably connected to the first leg mechanism and are spaced apart along the first direction, the second flexible transmission member is connected between the third transmission wheel and the fourth transmission wheel and is used to be connected to the second leg mechanism; the control method includes: By controlling the first flexible transmission member and the second flexible transmission member to rotate in opposite directions with the same rotation speed, the second leg mechanism is driven to move linearly along the first direction relative to the first leg mechanism; or, By controlling the first flexible transmission member and the second flexible transmission member to rotate in the same direction and at the same speed, the first leg mechanism and the second leg mechanism can be rotated as a whole relative to the fuselage.

46. ​​The control method according to claim 45, characterized in that: The control method further comprises: By controlling the first flexible transmission member and the second flexible transmission member to rotate in opposite directions with different rotation speeds, the second leg mechanism is driven to move linearly along the first direction relative to the first leg mechanism, and the first leg mechanism and the second leg mechanism are rotated as a whole relative to the fuselage; or, By controlling the first flexible transmission member and the second flexible transmission member to rotate in the same direction but at different rotation speeds, the first leg mechanism and the second leg mechanism are driven to rotate as a whole relative to the fuselage, and the second leg mechanism is also enabled to move linearly along the first direction relative to the first leg mechanism.

47. The control method according to claim 45, characterized in that: The first driving member further includes a first motor, and the second driving member further includes a second motor, the first motor and the second motor are used to be connected to the body, and the first motor and the second motor are coaxially arranged, the first motor is used to drive the first flexible transmission member to rotate, and the second motor is used to drive the second flexible transmission member to rotate; The control method comprises: Control the first motor and the second motor to rotate in opposite directions and with the same torque, thereby controlling the first flexible transmission member and the second flexible transmission member to rotate in opposite directions and with the same speed; or, The first motor and the second motor are controlled to rotate in the same direction and with the same torque, thereby controlling the first flexible transmission member and the second flexible transmission member to rotate in the same direction and at the same speed.

48. The control method according to claim 46, characterized in that: The first driving member further includes a first motor, and the second driving member includes a second motor, the first motor and the second motor are used to be connected to the body, and the first motor and the second motor are coaxially arranged, the first motor is used to drive the first flexible transmission member to rotate, and the second motor is used to drive the second flexible transmission member to rotate; The control method comprises: Control the first motor and the second motor to rotate in opposite directions and with different torques, thereby driving the first flexible transmission member and the second flexible transmission member to rotate in opposite directions and at different speeds; or, The first motor and the second motor are controlled to rotate in the same direction and with different torques, thereby driving the first flexible transmission member and the second flexible transmission member to rotate in the same direction and with different rotation speeds.

49. The control method according to claim 47, characterized in that: The control method comprises: Acquire a first absolute position angle of the first motor and a second absolute position angle of the second motor; Determine the leg length of the mechanical leg according to the first absolute position angle, the second absolute position angle and the radius of the transmission wheel; and / or determine the rotation angle between the mechanical leg and the fuselage according to the first absolute position angle, the second absolute position angle and the radius of the transmission wheel; wherein the transmission wheel is any one of the first transmission wheel, the second transmission wheel, the third transmission wheel and the fourth transmission wheel; According to the leg length and the rotation angle, the leg length change speed and the rotation angle change speed of the mechanical leg are determined respectively, so as to control the linear motion of the mechanical leg according to the leg length change speed, and control the rotation of the mechanical leg relative to the fuselage according to the rotation angle change speed.

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