Magnetic type wheel-leg switching rope-driven quadruped robot and control method thereof

Abstract

The invention relates to a magnetic type wheel-leg switching rope-driven quadruped robot and a control method thereof, a leg structure comprises a thigh, and a driving mechanism is arranged at the first end of the thigh; the suspension arm is used for lifting the joint driving torque, the suspension arm is arranged below the thigh, a composite hinge is arranged on the suspension arm, and the suspension arm is connected with the second end of the thigh through the composite hinge; the shank is arranged below the suspension arm, and the first end of the shank is connected with the second end of the thigh through a composite hinge. The magnetic type wheel-leg switching rope-driven quadruped robot has the characteristics of high load, high movement performance and light weight, the movement performance of the rope-driven quadruped robot is improved, and the weight of the rope-driven quadruped robot is reduced under the condition that the load ratio of the rope-driven quadruped robot is not sacrificed.

Description

Technical Field

[0001] The invention relates to the field of robots, and in particular to a magnetic wheel-leg switching rope-driven quadruped robot and a control method thereof. Background Art

[0002] Traditional electric-driven quadruped robots use motors to directly drive joint movement. Rope-driven quadruped robots reduce joint inertia and power consumption through rope drive technology. For example, the patent document with publication number CN115610554 discloses a fully motorized rope-driven multi-legged robot based on boom hinge joints. The boom mechanism greatly improves the driving torque of each joint. However, in actual industrial transportation applications, although the quadruped robot can meet the load capacity requirements, the movement speed is limited and often cannot meet the actual movement requirements. There is also the problem of excessive robot mass. Summary of the invention

[0003] The present invention provides a magnetic wheel-leg switching rope-driven quadruped robot and a control method thereof, aiming to solve at least one of the technical problems existing in the prior art.

[0004] The technical solution of the present invention is a leg structure, comprising:

[0005] A thigh, wherein a driving mechanism is disposed at a first end of the thigh;

[0006] A suspension arm, the suspension arm is used to increase the joint driving torque, the suspension arm is arranged below the thigh, a composite hinge is arranged on the suspension arm, and the suspension arm is connected to the second end of the thigh through the composite hinge;

[0007] A calf is arranged below the suspension arm, and a first end of the calf is connected to a second end of the thigh through a composite hinge.

[0008] Further, a second fixed pulley and a third fixed pulley are arranged on the thigh, the second fixed pulley and the third rotating disk of the third motor of the driving mechanism are arranged on the same plane, and the third fixed pulley and the fourth rotating disk of the third motor of the driving mechanism are arranged on the same plane;

[0009] The thigh is also provided with an electromagnet, and the calf is provided with an iron sheet corresponding to the setting position of the electromagnet, and both the electromagnet and the iron sheet include a mechanical locking structure.

[0010] Furthermore, a joint encoder for monitoring the speed of the knee joint is provided on the composite hinge of the suspension arm.

[0011] A sliding shaft for adjusting the length of the boom is provided at the distal end of the boom, a first fixed pulley and a first tensioning end are provided on the sliding shaft, the first fixed pulley and the first rotating disk of the second motor of the driving mechanism are provided on the same plane, and the first tensioning end and the second rotating disk of the second motor of the driving mechanism are provided on the same plane;

[0012] A fourth fixed pulley and a fourth tensioning end are provided at the proximal end of the boom, the fourth fixed pulley and the third turntable of the third motor of the drive mechanism are arranged on the same plane, and the fourth tensioning end and the fourth turntable of the third motor of the drive mechanism are arranged on the same plane.

[0013] Furthermore, the calf is provided with a fifth fixed pulley, a sixth fixed pulley, a second tensioning end and a third tensioning end.

[0014] The second fixed pulley of the thigh, the fifth fixed pulley, the sixth fixed pulley and the third tensioning end are arranged on the same plane, and the first rotating disk connected to the second motor of the driving mechanism, the first fixed pulley of the suspension arm and the second tensioning end are arranged on the same plane;

[0015] A wheel motor is arranged at the lower end of the calf, the output shaft of the motor is connected to a moving wheel, a foot end is arranged at the end of the calf, and a pressure sensor is arranged on the foot end for monitoring the pressure on the foot end when the calf is in a foot-type walking state.

[0016] Furthermore, the driving mechanism includes a first motor, a second motor, a second winch, a third motor, and a first winch.

[0017] The first motor is used to drive the hip joint of the leg structure to swing forward and backward, the second motor is connected to the second winch through a coupling, and the third motor is connected to the first winch through a coupling.

[0018] Further, the second winch includes a first rotating disk close to the second motor and a second rotating disk far from the second motor, and the diameter of the first rotating disk is twice the diameter of the second rotating disk.

[0019] The first rotating disk is provided with a first rope, a first end of the first rope is fixed on the first rotating disk, and a second end of the first rope is connected to a second tensioning end provided on the calf through a first fixed pulley provided on the suspension arm.

[0020] A second rope is arranged on the second rotating disk, a first end of the second rope is fixed on the second rotating disk, and a second end of the second rope is connected to a first tensioning end arranged on the boom.

[0021] Further, the first winch includes a third rotating disk close to the third motor and a fourth rotating disk far from the third motor, and the diameter of the third rotating disk is twice the diameter of the fourth rotating disk.

[0022] The third rotating disk is provided with a third rope, a first end of the third rope is fixed on the third rotating disk, and a second end of the third rope is connected to a third tensioning end provided on the calf through a second fixed pulley provided on the thigh, a fourth fixed pulley provided on the suspension arm, a fifth fixed pulley provided on the calf, and a sixth fixed pulley provided on the calf in sequence.

[0023] A fourth rope is arranged on the fourth rotating disk, a first end of the fourth rope is fixed on the fourth rotating disk, and a second end of the fourth rope is connected to a fourth tensioning end arranged on the boom through a third fixed pulley arranged on the thigh.

[0024] Furthermore, the present invention also provides a robot, comprising a plurality of the leg structures described above,

[0025] It also includes a loading platform and a plurality of motors for controlling the left and right swings of the corresponding leg structures.

[0026] Each leg structure is respectively arranged on an end point of the loading platform, and each motor is respectively connected to the top of the corresponding leg structure through a corresponding connecting piece.

[0027] Furthermore, the number of the leg structures is 4.

[0028] Furthermore, the present invention also provides a robot control method, which is applied to the leg structure, and the robot control method comprises the following steps:

[0029] S100: In the first configuration, the first motor, the second motor, and the third motor are respectively driven at a preset speed. , and Move to the preset angle , and ;

[0030] S200, when the joint encoder disposed at the knee joint detects that the knee joint angle is a preset angle corresponding to the second configuration When the electromagnet is powered off, the calf and thigh are fixed to each other by the adsorption between the electromagnet and the iron sheet, thereby realizing the conversion from the first configuration to the second configuration;

[0031] S300, in the second configuration, firstly, the electromagnet is energized to make the electromagnet lose its magnetism, and the calf and the thigh are disconnected;

[0032] S400, the first motor, the second motor and the third motor are respectively driven at a preset speed , and Move to the preset angle , and , realizing the conversion from the second configuration to the first configuration.

[0033] The beneficial effects of the present invention are:

[0034] The present invention provides a high-load, high-motion-performance and lightweight magnetic wheel-leg switching rope-driven quadruped robot. The robot adopts thighs and calves made of carbon fiber and aluminum alloy materials, and a magnetic wheel-leg switching mechanism, thereby realizing a high-load, high-motion-performance and lightweight magnetic wheel-leg switching rope-driven quadruped robot. The motion performance of the rope-driven quadruped robot is improved, and its own mass is reduced without sacrificing its load-to-weight ratio. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a structural diagram of one side of the initial state of the leg structure in an embodiment of the present invention.

[0036] Figure 2 It is a structural diagram of the other side of the initial state of the leg structure in an embodiment of the present invention.

[0037] Figure 3 Schematic diagram of the structure of the leg structure in the folded state in an embodiment of the present invention.

[0038] Figure 4 Schematic diagram of the overall structure of the robot in the initial state in an embodiment of the present invention.

[0039] Figure 5 Schematic diagram of the overall structure of the robot in a folded state according to an embodiment of the present invention.

[0040] Figure 6 Flow chart of the robot control method in an embodiment of the present invention.

[0041] Reference numerals: 100, thigh; 110, second fixed pulley; 120, third fixed pulley; 130, electromagnet; 200, drive mechanism; 210, first motor; 220, second motor; 230, second winch; 231, first turntable; 232, second turntable; 233, first rope; 234, second rope; 240, third motor; 250, first winch; 251, third turntable; 252, fourth turntable; 253, third rope; 254, fourth rope; 300, boom; 31 0. Compound hinge; 320. Joint encoder; 330. Sliding shaft; 340. First fixed pulley; 350. First tensioning end; 360. Fourth fixed pulley; 370. Fourth tensioning end; 400. Lower leg; 410. Iron sheet; 420. Fifth fixed pulley; 430. Sixth fixed pulley; 440. Second tensioning end; 450. Third tensioning end; 460. Wheel motor; 470. Sport wheel; 480. Foot end; 490. Pressure sensor; 500. Loading platform; 510. Motor; 520. Connector. DETAILED DESCRIPTION

[0042] The following will be combined with the embodiments and drawings to clearly and completely describe the concept, specific structure and technical effects of the present invention, so as to fully understand the purpose, scheme and effect of the present invention. It should be noted that the embodiments and features in the embodiments of this application can be combined with each other without conflict.

[0043] It should be noted that, unless otherwise specified, when a feature is referred to as being "fixed" or "connected" to another feature, it may be directly fixed or connected to the other feature, or it may be indirectly fixed or connected to the other feature. In addition, the descriptions of up, down, left, right, top, bottom, etc. used in the present invention are only relative to the relative positional relationship of the components of the present invention in the drawings.

[0044] In addition, unless otherwise defined, all technical and scientific terms used herein have the same meaning as those generally understood by those skilled in the art. The terms used in this specification are only for describing specific embodiments, not for limiting the present invention. The term "and / or" used herein includes any combination of one or more related listed items.

[0045] It should be understood that, although the terms first, second, third, etc. may be used to describe various elements in the present disclosure, these elements should not be limited to these terms. These terms are only used to distinguish elements of the same type from each other. For example, without departing from the scope of the present disclosure, the first element may also be referred to as the second element, and similarly, the second element may also be referred to as the first element.

[0046] Reference Figures 1 to 6In some embodiments, the technical solution of the present invention is a leg structure, referring to Figures 1 to 3 , the leg structure comprises:

[0047] A thigh 100, wherein a driving mechanism 200 is disposed at a first end of the thigh 100;

[0048] A suspension arm 300, the suspension arm 300 is used to increase the joint driving torque, the suspension arm 300 is arranged below the thigh 100, a composite hinge 310 is arranged on the suspension arm 300, and the suspension arm 300 is connected to the second end of the thigh 100 through the composite hinge 310;

[0049] The calf 400 is disposed below the suspension arm 300 , and a first end of the calf 400 is connected to a second end of the thigh 100 via a composite hinge 310 .

[0050] The beneficial effects of the present invention are:

[0051] The high-load, high-motion-performance and lightweight magnetic wheel-leg switching rope-driven quadruped robot adopts the thigh 100 and the calf 400 made of carbon fiber and aluminum alloy materials, and the magnetic wheel-leg switching mechanism, realizing a magnetic wheel-leg switching rope-driven quadruped robot with high load, high motion performance and lightweight characteristics, improving the motion performance of the rope-driven quadruped robot, and reducing its own mass without sacrificing its load-to-weight ratio.

[0052] Specifically, the present invention solves the existing technical problems by providing a high-load, high-performance and lightweight magnetic wheel-leg switching rope-driven quadruped robot. The technical solution adopted by the present invention is a magnetic wheel-leg switching mechanism, including an electromagnet 130 and a mechanical locking mechanism, and also includes a thigh 100 and a calf 400 made of carbon fiber and aluminum alloy materials, wherein the thigh 100 is used to place a rope drive motor 510, and the calf 400 is used to place a foot end 480, a wheel and a wheel motor 460. It also includes a suspension arm 300 mechanism for increasing the joint drive torque.

[0053] Specifically, the thigh 100, the calf 400 and the suspension arm 300 are connected by a composite hinge 310, so that the thigh 100, the calf 400 and the suspension arm 300 can move independently.

[0054] Further, refer to Figures 1 to 3 The thigh 100 is provided with a second fixed pulley 110 and a third fixed pulley 120, the second fixed pulley 110 and the third rotating disk 251 of the third motor 240 of the driving mechanism 200 are arranged on the same plane, and the third fixed pulley 120 and the fourth rotating disk 252 of the third motor 240 of the driving mechanism 200 are arranged on the same plane;

[0055] The thigh 100 is also provided with an electromagnet 130 , and the calf 400 is provided with an iron sheet 410 corresponding to the setting position of the electromagnet 130 , and both the electromagnet 130 and the iron sheet 410 include a mechanical locking structure.

[0056] Specifically, the electromagnet 130 is an energized demagnetizing electromagnet 130, which is placed on the thigh 100, and an iron sheet 410 is placed on the calf 400. A mechanical locking mechanism is provided on the outer shell that fixes the energized demagnetizing electromagnet 130 and the iron sheet 410, so that the energized demagnetizing electromagnet 130 on the thigh 100 and the iron sheet 410 on the calf 400 can be better adsorbed.

[0057] Further, refer to Figures 1 to 3 The composite hinge 310 of the suspension arm 300 is provided with a joint encoder 320 for monitoring the speed of the knee joint.

[0058] The distal end of the boom 300 is provided with a sliding shaft 330 for adjusting the length of the boom 300, and the sliding shaft 330 is provided with a first fixed pulley 340 and a first tensioning end 350, the first fixed pulley 340 and the first rotating disk 231 of the second motor 220 of the driving mechanism 200 are arranged on the same plane, and the first tensioning end 350 and the second rotating disk 232 of the second motor 220 of the driving mechanism 200 are arranged on the same plane;

[0059] A fourth fixed pulley 360 and a fourth tensioning end 370 are provided at the proximal end of the boom 300. The fourth fixed pulley 360 and the third turntable 251 of the third motor 240 of the drive mechanism 200 are arranged on the same plane, and the fourth tensioning end 370 and the fourth turntable 252 of the third motor 240 of the drive mechanism 200 are arranged on the same plane.

[0060] Specifically, a slidable sliding shaft 330 is placed at the suspension arm 300, and a first tensioning end 350 and a first fixed pulley 340 are provided on the sliding shaft 330 for adjusting the length of the suspension arm 300. A joint encoder 320 is placed on the composite hinge 310 for monitoring the speed of the knee joint.

[0061] Further, refer to Figures 1 to 3 The lower leg 400 is provided with a fifth fixed pulley 420, a sixth fixed pulley 430, a second tensioning end 440 and a third tensioning end 450.

[0062] The second fixed pulley 110, the fifth fixed pulley 420, the sixth fixed pulley 430 and the third tensioning end 450 of the thigh 100 are arranged on the same plane, and the first rotating disk 231 connected to the second motor 220 of the driving mechanism 200, the first fixed pulley 340 and the second tensioning end 440 of the boom 300 are arranged on the same plane;

[0063] A wheel motor 460 is provided at the lower end of the calf 400, the output shaft of the motor 510 is connected to a moving wheel 470, a foot end 480 is provided at the end of the calf 400, and a pressure sensor 490 is provided on the foot end 480 for monitoring the pressure on the foot end 480 when in a foot-type walking state.

[0064] Specifically, a moving wheel 470 and its wheel motor 460 and a foot end 480 are placed at the calf 400, and a pressure sensor 490 is placed in the foot end 480 to monitor the pressure on the foot end 480 when the quadruped robot walks in a foot-type state.

[0065] Further, refer to Figures 1 to 3 The driving mechanism 200 includes a first motor 210, a second motor 220, a second capstan 230, a third motor 240, and a first capstan 250.

[0066] The first motor 210 is used to drive the hip joint of the leg structure to swing forward and backward, the second motor 220 is connected to the second capstan 230 via a coupling, and the third motor 240 is connected to the first capstan 250 via a coupling.

[0067] Further, refer to Figures 1 to 3 The second winch 230 includes a first rotating disk 231 close to the second motor 220 and a second rotating disk 232 far from the second motor 220, and the diameter of the first rotating disk 231 is twice the diameter of the second rotating disk 232.

[0068] The first rotating disk 231 is provided with a first rope 233, a first end of the first rope 233 is fixed on the first rotating disk 231, and a second end of the first rope 233 is connected to a second tensioning end 440 provided on the calf 400 through a first fixed pulley 340 provided on the suspension arm 300.

[0069] A second rope 234 is disposed on the second rotating disk 232 . A first end of the second rope 234 is fixed on the second rotating disk 232 , and a second end of the second rope 234 is connected to a first tensioning end 350 disposed on the boom 300 .

[0070] Specifically, the first motor 210, the second motor 220 and the third motor 240 are all arranged on the thigh 100. The first motor 210 is used to drive the hip joint to swing forward and backward, the second motor 220 is connected to the second winch 230 through a coupling, and the first winch 250 and the second winch 230 are both double-layered, and the diameter of one layer is twice that of the other layer. The first rope 233 (steel wire rope) on the layer with a larger diameter in the second winch 230 is connected to the second tensioning end 440 on the calf 400 through the first fixed pulley 340, and the second rope 234 (steel wire rope) on the layer with a smaller diameter is directly connected to the first tensioning end 350 on the boom 300. Therefore, the second motor 220 can realize the folding of the leg by simultaneously controlling the movement of the boom 300 and the calf 400.

[0071] Further, refer to Figures 1 to 3 The first capstan 250 includes a third rotating disk 251 close to the third motor 240 and a fourth rotating disk 252 far from the third motor 240, and the diameter of the third rotating disk 251 is twice the diameter of the fourth rotating disk 252,

[0072] The third rotating disk 251 is provided with a third rope 253, a first end of the third rope 253 is fixed to the third rotating disk 251, and a second end of the third rope 253 is connected to a third tensioning end 450 provided on the calf 400 through a second fixed pulley 110 provided on the thigh 100, a fourth fixed pulley 360 provided on the boom 300, a fifth fixed pulley 420 provided on the calf 400, and a sixth fixed pulley 430 provided on the calf 400 in sequence.

[0073] A fourth rope 254 is disposed on the fourth turntable 252 , a first end of the fourth rope 254 is fixed to the fourth turntable 252 , and a second end of the fourth rope 254 is connected to a fourth tensioning end 370 disposed on the boom 300 via a third fixed pulley 120 disposed on the thigh 100 .

[0074] Specifically, the third motor 240 is connected to the first winch 250 through a coupling, and the third rope 253 (steel wire rope) on the first winch 250 with a larger diameter is connected to the third tensioning end 450 on the calf 400 through the second fixed pulley, the fifth pulley and the sixth pulley to ensure that the third rope 253 (steel wire rope) at the calf 400 is inside the calf 400. The fourth rope 254 (steel wire rope) on the layer with a smaller diameter is connected to the fourth tensioning end 370 on the boom 300 through the third fixed pulley 120 to keep the fourth rope 254 (steel wire rope) from interfering with the leg when the single leg is folded. Thus, the third motor 240 realizes the unfolding of the leg by simultaneously controlling the movement of the boom 300DB and the calf 400CA.

[0075] Further, refer to Figures 4 to 5The present invention also provides a robot, comprising a plurality of leg structures as described above,

[0076] It also includes a loading platform 500 and a plurality of motors 510 for controlling the left and right swings of the corresponding leg structures.

[0077] Each leg structure is disposed at an end point of the loading platform 500 , and each motor 510 is connected to the top of the corresponding leg structure via a corresponding connecting member 520 .

[0078] Further, refer to Figures 4 to 5 , the number of the leg structures is 4.

[0079] Reference Figure 4 The robot moves with four foot ends 480. Among them, the motor 510 is used to control the left and right swing of a single leg.

[0080] Reference Figure 5 The robot moves using four moving wheels 470.

[0081] Reference Figure 3 and Figure 5 The energized demagnetizing electromagnet 130 is tightly fitted with the iron sheet 410 through a mechanical locking mechanism.

[0082] Further, refer to Figure 6 The present invention also provides a robot control method, which is applied to the leg structure. The robot control method comprises the following steps:

[0083] S100: In the first configuration, the first motor 210, the second motor 220 and the third motor 240 are respectively driven at a preset speed. , and Move to the preset angle , and ;

[0084] S200, when the joint encoder 320 disposed at the knee joint detects that the knee joint angle is a preset angle corresponding to the second configuration When the electromagnet 130 is powered off, the calf 400 and the thigh 100 are fixed to each other by the adsorption between the electromagnet 130 and the iron sheet 410, thereby realizing the conversion from the first configuration to the second configuration;

[0085] S300, in the second configuration, firstly, the electromagnet 130 is energized to make the electromagnet 130 lose its magnetism, and the calf 400 and the thigh 100 are disconnected;

[0086] S400, the first motor 210, the second motor 220 and the third motor 240 are respectively driven at a preset speed. , and Move to the preset angle , and , realizing the conversion from the second configuration to the first configuration.

[0087] Among them, the first configuration is an upright walking state of the initial state, and the second configuration is a folded state. In the first configuration, the robot realizes the folding of each leg by the coordinated rotation of the first motor 210, the second motor 220 and the third motor 240 in the single leg. At this time, the energized demagnetizing electromagnet 130 is not energized, so that each leg moves to the energized demagnetizing electromagnet 130 and the iron sheet 410 are adsorbed, thereby realizing the conversion of the robot from the first configuration to the second configuration. In the second configuration, the robot first energizes the energized demagnetizing electromagnet 130 to make it lose its magnetism, and then through the coordinated rotation of the first motor 210, the second motor 220 and the third motor 240 in the single leg, each leg can be unfolded until the foot end 480 touches the ground, thereby realizing the conversion of the robot from the second configuration to the first configuration.

[0088] In one embodiment, in order to achieve the smoothness of the above process, the first motor 210 at the hip joint drives the whole leg to be slowly lifted, and the knee joint is slowly folded under the drive of the second motor 220 and the third motor 240 (the rotation law of the second motor 220 and the third motor 240 is the same as the above knee joint control part). The rotation speed of the hip joint is <= v, and the movement speed of the knee joint is related to v. When the knee joint angle reaches β1 (at time T1), the motion wheel 470 and the foot end 480 touch the ground at the same time. After time T1, the first motor 210, the second motor 220 and the third motor 240 continue to rotate at the previous speed, and the wheel motor 460 rotates in coordination with the angular velocity w of the calf 400 being folded. When the angle value of the joint encoder 320 set at the knee joint reaches the preset value θ, the electromagnet 130 is powered on to complete the leg folding, thereby achieving the purpose of leg-wheel form switching. The wheel-leg switching process is reversed from the leg-wheel switching process.

[0089] The present invention realizes a magnetic wheel-leg switching rope-driven quadruped robot with high load, high motion performance and lightweight characteristics, improves the motion performance of the rope-driven quadruped robot, reduces its own mass without sacrificing its load-to-weight ratio, and has broad application prospects.

[0090] The above is only a preferred embodiment of the present invention. The present invention is not limited to the above implementation. As long as the technical effect of the present invention is achieved by the same means, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present disclosure shall be included in the scope of protection of the present disclosure. All should belong to the protection scope of the present invention. Within the protection scope of the present invention, its technical scheme and / or implementation method can have various modifications and changes.

Claims

1. A leg structure, characterized in that: include: A thigh (100), wherein a driving mechanism (200) is provided at a first end of the thigh (100); A suspension arm (300), the suspension arm (300) being used to increase the joint driving torque, the suspension arm (300) being arranged below the thigh (100), a composite hinge (310) being arranged on the suspension arm (300), and the suspension arm (300) being connected to the second end of the thigh (100) via the composite hinge (310); A calf (400) is disposed below the suspension arm (300), and a first end of the calf (400) is connected to a second end of the thigh (100) via a composite hinge (310).

2. The leg structure according to claim 1, characterized in that: The thigh (100) is provided with a second fixed pulley (110) and a third fixed pulley (120); the second fixed pulley (110) and a third rotating disk (251) of a third motor (240) of the driving mechanism (200) are arranged on the same plane; and the third fixed pulley (120) and a fourth rotating disk (252) of a third motor (240) of the driving mechanism (200) are arranged on the same plane; The thigh (100) is also provided with an electromagnet (130), and the calf (400) is provided with an iron sheet (410) corresponding to the setting position of the electromagnet (130), and both the electromagnet (130) and the iron sheet (410) include a mechanical locking structure.

3. The leg structure according to claim 1, characterized in that: The composite hinge (310) of the suspension arm (300) is provided with a joint encoder (320) for monitoring the speed of the knee joint. A sliding shaft (330) for adjusting the length of the lifting arm (300) is provided at the far end of the lifting arm (300); a first fixed pulley (340) and a first tensioning end (350) are provided on the sliding shaft (330); the first fixed pulley (340) and a first rotating disk (231) of a second motor (220) of the driving mechanism (200) are arranged on the same plane; and the first tensioning end (350) and a second rotating disk (232) of a second motor (220) of the driving mechanism (200) are arranged on the same plane; A fourth fixed pulley (360) and a fourth tensioning end (370) are provided at the proximal end of the boom (300); the fourth fixed pulley (360) and the third rotating disk (251) of the third motor (240) of the drive mechanism (200) are arranged on the same plane; and the fourth tensioning end (370) and the fourth rotating disk (252) of the third motor (240) of the drive mechanism (200) are arranged on the same plane.

4. The leg structure according to claim 1, characterized in that: The calf (400) is provided with a fifth fixed pulley (420), a sixth fixed pulley (430), a second tensioning end (440) and a third tensioning end (450). The second fixed pulley (110), the fifth fixed pulley (420), the sixth fixed pulley (430) and the third tensioning end (450) of the thigh (100) are arranged on the same plane, and the first rotating disk (231) connected to the second motor (220) of the driving mechanism (200), the first fixed pulley (340) and the second tensioning end (440) arranged on the boom (300) are also arranged on the same plane; A wheel motor (460) is provided at the lower end of the calf (400); an output shaft of the motor (510) is connected to a moving wheel (470); a foot end (480) is provided at the end of the calf (400); and a pressure sensor (490) is provided on the foot end (480) for monitoring the pressure on the foot end (480) when the foot is in a walking state.

5. The leg structure according to claim 1, characterized in that: The driving mechanism (200) comprises a first motor (210), a second motor (220), a second capstan (230), a third motor (240), and a first capstan (250). The first motor (210) is used to drive the hip joint of the leg structure to swing forward and backward, the second motor (220) is connected to the second capstan (230) via a coupling, and the third motor (240) is connected to the first capstan (250) via a coupling.

6. The leg structure according to claim 5, characterized in that: The second winch (230) comprises a first rotating disk (231) close to the second motor (220) and a second rotating disk (232) far from the second motor (220); the diameter of the first rotating disk (231) is twice the diameter of the second rotating disk (232). A first rope (233) is provided on the first rotating disk (231), a first end of the first rope (233) is fixed on the first rotating disk (231), and a second end of the first rope (233) is connected to a second tensioning end (440) provided on the calf (400) via a first fixed pulley (340) provided on the boom (300). A second rope (234) is arranged on the second rotating disk (232), a first end of the second rope (234) is fixed on the second rotating disk (232), and a second end of the second rope (234) is connected to a first tensioning end (350) arranged on the boom (300).

7. The leg structure according to claim 5, characterized in that: The first capstan (250) comprises a third rotating disk (251) close to the third motor (240) and a fourth rotating disk (252) far from the third motor (240); the diameter of the third rotating disk (251) is twice the diameter of the fourth rotating disk (252); A third rope (253) is arranged on the third rotating disk (251), a first end of the third rope (253) is fixed on the third rotating disk (251), and a second end of the third rope (253) is connected to a third tensioning end (450) arranged on the calf (400) via a second fixed pulley (110) arranged on the thigh (100), a fourth fixed pulley (360) arranged on the boom (300), a fifth fixed pulley (420) arranged on the calf (400), and a sixth fixed pulley (430) in sequence. A fourth rope (254) is arranged on the fourth rotating disk (252), a first end of the fourth rope (254) is fixed on the fourth rotating disk (252), and a second end of the fourth rope (254) is connected to a fourth tensioning end (370) arranged on the boom (300) via a third fixed pulley (120) arranged on the thigh (100).

8. A robot, characterized in that: comprising a plurality of leg structures according to any one of claims 1 to 7, It also includes a loading platform (500) and a plurality of motors (510) for controlling the left and right swinging of corresponding leg structures. Each leg structure is respectively arranged at an end point of the object carrier (500), and each motor (510) is respectively connected to the top of the corresponding leg structure via a corresponding connecting piece (520).

9. The robot according to claim 8, characterized in that: The number of the leg structures is 4.

10. A robot control method, applied to the robot according to any one of claims 8 to 9, characterized in that: S100: In the first configuration, the first motor (210), the second motor (220), and the third motor (240) are respectively driven at a preset speed. , and Move to the preset angle , and ; S200, when the joint encoder (320) disposed at the knee joint detects that the knee joint angle is a preset angle corresponding to the second configuration When the electromagnet (130) is powered off, the calf (400) and the thigh (100) are fixed to each other through adsorption between the electromagnet (130) and the iron sheet (410), thereby realizing the conversion from the first configuration to the second configuration; S300, in the second configuration, firstly energize the electromagnet (130), so that the electromagnet (130) loses its magnetism, and the calf (400) and the thigh (100) are disconnected; S400, the first motor (210), the second motor (220) and the third motor (240) are respectively driven at a preset speed , and Move to the preset angle , and , realizing the conversion from the second configuration to the first configuration.

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