A magnetic wheel-leg switching rope-driven quadruped robot and its control method

Abstract

The present invention relates to a magnetic wheel-leg switching rope-driven quadruped robot and a control method thereof. The leg structure includes: a thigh, a first end of which is provided with a drive mechanism; a boom, which is used to increase the joint drive torque, and is arranged below the thigh. The boom is provided with a composite hinge, and the boom is connected to the second end of the thigh via the composite hinge; and a calf, which is arranged below the boom, and the first end of the calf is connected to the second end of the thigh via a composite hinge. 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, and reduces its own mass without sacrificing its load-to-weight ratio.

Description

Technical Field

[0001] The present 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 motion. Tether-driven quadruped robots utilize tether drive technology to reduce joint inertia and power consumption. For example, patent publication CN115610554 discloses a fully motorized, tether-driven multi-legged robot based on boom-hinge joints. This boom mechanism significantly increases the driving torque of each joint. However, in practical industrial transportation applications, while the quadruped robot can meet load capacity requirements, its limited speed often fails to meet practical motion requirements. Furthermore, the robot is overweight. 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 provided 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 provided on the suspension arm, and the suspension arm is connected to the second end of the thigh through the composite hinge;

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

[0008] Furthermore, a second fixed pulley and a third fixed pulley are provided on the thigh, the second fixed pulley and the third rotary disk of the third motor of the drive mechanism are provided on the same plane, and the third fixed pulley and the fourth rotary disk of the third motor of the drive mechanism are provided 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 location of the electromagnet. 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 boom.

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

[0012] The proximal end of the boom is provided with a fourth fixed pulley and a fourth tensioning end, 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 turntable connected to the second motor of the driving mechanism, the first fixed pulley of the boom and the second tensioning end are also arranged on the same plane;

[0015] A wheel motor is provided at the lower end of the calf, the output shaft of the wheel motor is connected to a motion wheel, a foot end is provided at the end of the calf, and a pressure sensor is provided on the foot end for monitoring the pressure exerted 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] Furthermore, the second winch includes a first turntable close to the second motor and a second turntable far away from the second motor, wherein the diameter of the first turntable is twice the diameter of the second turntable.

[0019] The first turntable is provided with a first rope, a first end of the first rope is fixed to the first turntable, 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 boom.

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

[0021] Furthermore, the first winch includes a third turntable close to the third motor and a fourth turntable away from the third motor, and the diameter of the third turntable is twice the diameter of the fourth turntable.

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

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

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

[0025] It also includes a loading platform and a plurality of fourth 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 fourth 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. The robot control method includes the following steps:

[0029] S100, in a first configuration, the first motor, the second motor, and the third motor move to preset angles θ1, θ2, and θ3 at preset speeds v1, v2, and v3, respectively;

[0030] S200, when the joint encoder provided at the knee joint detects that the knee joint angle is a preset angle α corresponding to the second configuration, the electromagnet is deenergized, and the calf and thigh are fixed to each other by adsorption between the electromagnet and the iron sheet, thereby achieving the transition from the first configuration to the second configuration;

[0031] S300, in the second configuration, firstly energize the electromagnet to demagnetize it, and disconnect the calf and thigh;

[0032] S400, the first motor, the second motor and the third motor respectively move at a preset speed v1 ′ 、v2 ′ and v3 ′ Move to the preset angle θ1 ′θ2 ′ and θ3 ′ , 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 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. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 This 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 This 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 the folded state according to an embodiment of the present invention.

[0040] Figure 6 Flowchart of a robot control method according to 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; 310 , 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, calf; 410, iron sheet; 420, fifth fixed pulley; 430, sixth fixed pulley; 440, second tensioning end; 450, third tensioning end; 460, wheel motor; 470, moving wheel; 480, foot end; 490, pressure sensor; 500, loading platform; 510, fourth motor; 520, connecting part. 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 unless there is a 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 indirectly fixed or connected to the other feature. Furthermore, terms such as "upper," "lower," "left," "right," "top," and "bottom" used in this disclosure are intended solely to describe the relative positions of the components of the disclosure as shown in the accompanying drawings.

[0044] In addition, unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art. The terms used in this specification are only for describing specific embodiments and are not intended to limit the present invention. The term "and / or" as used herein includes any combination of one or more of the 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, a first element may also be referred to as a second element, and similarly, a second element may also be referred to as a first element without departing from the scope of the present disclosure.

[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 includes:

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

[0048] A suspension arm 300 is used to increase the joint driving torque. The suspension arm 300 is disposed below the thigh 100 and is provided with a composite hinge 310. The suspension arm 300 is connected to the second end of the thigh 100 via 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 addresses existing technical issues by providing a high-load, high-performance, and lightweight magnetic wheel-leg switching cable-driven quadruped robot. The present invention employs a magnetic wheel-leg switching mechanism, comprising an electromagnet 130 and a mechanical locking mechanism. It also includes a thigh 100 and a shank 400 made of carbon fiber and aluminum alloy. The thigh 100 houses the cable-driven fourth motor 510, while the shank 400 houses the foot end 480, wheels, and wheel motor 460. It also includes a boom 300 mechanism for increasing joint drive torque.

[0053] Specifically, the thigh 100, the calf 400 and the suspension arm 300 are connected by a composite hinge 310, ensuring 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 rotary 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 rotary disk 252 of the third motor 240 of the driving mechanism 200 are arranged on the same plane;

[0055] The thigh 100 is further provided with an electromagnet 130 , and the calf 400 is provided with an iron sheet 410 corresponding to the location of the electromagnet 130 . 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, the energized demagnetizing electromagnet 130 is placed on the thigh 100, and the 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 boom 300 is provided with a joint encoder 320 for monitoring the speed of the knee joint.

[0058] A sliding shaft 330 for adjusting the length of the boom 300 is provided at the distal end of the boom 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 the first rotary disk 231 of the second motor 220 of the drive mechanism 200 are provided on the same plane. The first tensioning end 350 and the second rotary disk 232 of the second motor 220 of the drive mechanism 200 are provided on the same plane.

[0059] The proximal end of the boom 300 is provided with a fourth fixed pulley 360 and a fourth tensioning end 370. 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 on the suspension arm 300. The sliding shaft 330 has a first tensioning end 350 and a first fixed pulley 340 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 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.

[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 turntable 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 also arranged on the same plane;

[0063] A wheel motor 460 is provided at the lower end of the calf 400, and the output shaft of the wheel motor 460 is connected to a motion 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 exerted on the foot end 480 when in a foot-type walking state.

[0064] Specifically, a motion 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 winch 230 through a coupling, and the third motor 240 is connected to the first winch 250 through a coupling.

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

[0068] A first rope 233 is provided on the first rotating disk 231. A first end of the first rope 233 is fixed to the first rotating disk 231. 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.

[0069] A second rope 234 is provided on the second rotating disk 232 . A first end of the second rope 234 is fixed to the second rotating disk 232 , and a second end of the second rope 234 is connected to a first tensioning end 350 provided 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, and the second motor 220 is connected to the second winch 230 via a coupling. The first winch 250 and the second winch 230 are both double-layered, with the diameter of one layer being twice that of the other. The first rope 233 (steel wire rope) on the layer with the larger diameter of the second winch 230 is connected to the second tensioning end 440 on the calf 400 via the first fixed pulley 340, and the second rope 234 (steel wire rope) on the layer with the smaller diameter is directly connected to the first tensioning end 350 on the boom 300. Thus, the second motor 220 can achieve leg folding 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 turntable 251 close to the third motor 240 and a fourth turntable 252 away from the third motor 240. The diameter of the third turntable 251 is twice the diameter of the fourth turntable 252.

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

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

[0074] Specifically, the third motor 240 is connected to the first winch 250 via a coupling. The third rope 253 (steel wire rope) on the larger diameter layer of the first winch 250 is connected to the third tensioning end 450 on the calf 400 via the second fixed pulley, the fifth pulley, and the sixth fixed pulley, ensuring that the third rope 253 (steel wire rope) on the calf 400 is inside the calf 400. The fourth rope 254 (steel wire rope) on the smaller diameter layer is connected to the fourth tensioning end 370 on the boom 300 via the third fixed pulley 120, ensuring that the fourth rope 254 (steel wire rope) does not interfere with the leg when the single leg is folded. Thus, the third motor 240 simultaneously controls the movement of the boom 300DB and the calf 400CA to achieve leg deployment.

[0075] Further, refer to Figures 4 and 5The present invention also proposes a robot comprising a plurality of the leg structures described above.

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

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

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

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

[0080] Reference Figure 5 , the robot moves using four motion wheels 470 .

[0081] Reference Figure 3 and Figure 5 , the demagnetizing electromagnet 130 is tightly fitted to 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 includes the following steps:

[0083] S100, in a first configuration, the first motor 210, the second motor 220 and the third motor 240 move to preset angles θ1, θ2 and θ3 at preset speeds v1, v2 and v3 respectively;

[0084] S200: When the joint encoder 320 provided at the knee joint detects that the knee joint angle is the preset angle α corresponding to the second configuration, the electromagnet 130 is de-energized, and the calf 400 and the thigh 100 are fixed to each other by adsorption between the electromagnet 130 and the iron sheet 410, thereby achieving the transition from the first configuration to the second configuration.

[0085] S300: In the second configuration, first, the electromagnet 130 is energized to demagnetize the electromagnet 130, 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 v1 ′ 、v2 ′ and v3 ′ Move to the preset angle θ1 ′ θ2′ and θ3 ′ , realizing the conversion from the second configuration to the first configuration.

[0087] Among them, the first configuration is the upright walking state in the initial state, and the second configuration is the 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 until the energized demagnetizing electromagnet 130 is adsorbed on the iron sheet 410, 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 demagnetize it, and then realizes the unfolding 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 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 entire leg to slowly lift up, and the knee joint is slowly folded under the drive of the second motor 220 and the third motor 240 (the rotation rules of the second motor 220 and the third motor 240 are the same as the above-mentioned 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 and the leg-wheel switching process are reversed.

[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 description is merely a preferred embodiment of the present invention. The present invention is not limited to the aforementioned embodiments. As long as the technical effects of the present invention are achieved by the same means, any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present disclosure shall be included within the scope of protection of the present disclosure. Within the scope of protection of the present invention, its technical solutions and / or implementation methods may be modified and varied in various ways.

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) is used to increase the joint driving torque, the suspension arm (300) is arranged below the thigh (100), a composite hinge (310) is provided 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); a calf (400), the calf (400) being disposed below the suspension arm (300), the first end of the calf (400) being connected to the second end of the thigh (100) via a composite hinge (310); The driving mechanism (200) includes a first motor (210), a second motor (220), a second winch (230), a third motor (240), and a first winch (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 winch (230) through a coupling, and the third motor (240) is connected to the first winch (250) through a coupling; The second winch (230) includes a first rotating disk (231) close to the second motor (220) and a second rotating disk (232) away from the second motor (220), wherein 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 provided 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) provided on the boom (300); The first capstan (250) includes a third rotating disk (251) close to the third motor (240) and a fourth rotating disk (252) away from the third motor (240), wherein the diameter of the third rotating disk (251) is twice the diameter of the fourth rotating disk (252). A third rope (253) is provided 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) 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). A fourth rope (254) is provided 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) provided on the boom (300) via a third fixed pulley (120) provided on the thigh (100).

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 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; The thigh (100) is further 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 boom (300) is provided at the distal end of the boom (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 the second motor (220) of the driving mechanism (200) are provided on the same plane; and the first tensioning end (350) and a second rotating disk (232) of the second motor (220) of the driving mechanism (200) are provided 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 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.

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 turntable (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), the output shaft of the wheel motor (460) is connected to a motion 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 applied to the foot end (480) when the calf is in a foot-type walking state.

5. A robot, characterized in that: comprising a plurality of leg structures as claimed in any one of claims 2, It also includes a loading platform (500) and a plurality of fourth motors (510) for controlling the left and right swings of the corresponding leg structures. Each leg structure is respectively arranged at an end point of the loading platform (500), and each fourth motor (510) is respectively connected to the top of the corresponding leg structure via a corresponding connecting member (520).

6. The robot according to claim 5, characterized in that The number of the leg structures is 4.

7. A robot control method, applied to the robot according to any one of claims 5 to 6, characterized in that: S100, in a first configuration, the first motor (210), the second motor (220), and the third motor (240) move to preset angles θ1, θ2, and θ3 at preset speeds v1, v2, and v3, respectively; S200, when the joint encoder (320) provided at the knee joint detects that the knee joint angle is a preset angle α corresponding to the second configuration, the electromagnet (130) is powered off, and 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 v1 ′ 、v2 ′ and v3 ′ Move to the preset angle θ1 ′ θ2 ′ and θ3 ′ , realizing the conversion from the second configuration to the first configuration.

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