Robot, control method and device thereof, joint self-locking structure and storage medium

Abstract

The invention relates to a robot and a control method and device thereof, a joint self-locking structure and a storage medium, and the method comprises the steps: in response to a received robot standing instruction, controlling the robot to adjust a leg posture to a preset standing posture, and controlling the joint self-locking structure to lock the degree of freedom of a leg joint in at least one direction, and controlling the leg joints not to be enabled; and in response to a received robot walking instruction, the joint self-locking structures are controlled to relieve freedom degree locking of the leg joints, and the leg joints are controlled to enable and execute walking actions. According to the method, the leg joints of the robot can be locked or released through the joint self-locking structure, the posture can be kept without affecting standing of the robot even if the leg joints are not enabled when the leg joints are locked, and therefore the leg joints can be locked and enabled when the robot stands, energy consumption needed for enabling the joints is saved, and the robot can be more conveniently used. And when the robot walks, locking of the leg joints is relieved, so that walking of the robot is prevented from being affected.

Description

Technical Field

[0001] The present disclosure relates to the field of robotics, and in particular, to a robot and its control method and device, a joint self-locking structure, and a storage medium. Background Art

[0002] In recent years, robotics technology has been continuously developing, becoming more and more intelligent and automated, and the richness, stability, and flexibility of movements have all been improved to varying degrees. Robots can replace users to perform specific operations in the production and life of users, thus bringing convenience to users. Legged robots can imitate animals or humans to walk and stand. For example, bipedal robots can imitate humans to walk and stand, and quadruped robots can imitate animals such as dogs to walk and stand. However, in related technologies, when a legged robot stands, in order to maintain the balance of the whole machine, the relevant joints still need to be in the enabled state, resulting in relatively serious power consumption waste. Summary of the Invention

[0003] To overcome the problems existing in related technologies, embodiments of the present disclosure provide a robot and its control method and device, a joint self-locking structure, and a storage medium to solve the defects in related technologies.

[0004] According to a first aspect of an embodiment of the present disclosure, there is provided a robot control method, the method including:

[0005] In response to receiving a robot standing instruction, controlling the robot to adjust the leg posture to a preset standing posture, controlling the joint self-locking structure to lock the degrees of freedom of the leg joint in at least one direction, and controlling the leg joint to be disabled;

[0006] In response to receiving a robot walking instruction, controlling the joint self-locking structure to release the locking of the degrees of freedom of the leg joint respectively, and controlling the leg joint to be enabled and perform a walking action.

[0007] In an embodiment of the present disclosure, the controlling, in response to receiving a robot standing instruction, the joint self-locking structure to lock the degrees of freedom of the leg joint in at least one direction includes:

[0008] In response to receiving a robot standing instruction, controlling the joint self-locking structure installed on the ankle joint to limit the relative movement between the thigh and the calf in the direction of reducing the included angle, and controlling the joint self-locking structure installed on the knee joint to limit the relative movement between the calf and the foot in the direction of reducing the included angle.

[0009] In an embodiment of the present disclosure, the joint self-locking structure includes:

[0010] A movable limiting member having a shaft hole provided in the middle for sleeving on a rotating shaft of the degree of freedom to be locked of the joint to be locked.

[0011] The telescopic member has a main body and a telescopic rod. The main body is used to connect to the first limb, and the telescopic rod is used to connect to one end of the movable limiting member and drive the movable telescopic member to rotate around the rotation axis through telescoping, so as to change the relative position between the other end of the movable limiting member and the second limb.

[0012] Wherein, the telescopic rod of the telescopic member has a self-locking function. The first limb and the second limb are two limbs connected by the joint to be locked. When the movable limiting member abuts against the second limb, the relative movement between the first limb and the second limb in at least one direction is restricted.

[0013] In an embodiment of the present disclosure, the main body of the telescopic member of the joint self-locking structure installed on the ankle joint is connected to the calf.

[0014] Controlling the joint self-locking structure installed on the ankle joint to restrict the relative movement between the calf and the foot in the direction of reducing the included angle includes:

[0015] Controlling the telescopic rod of the joint self-locking structure installed on the ankle joint to contract into the main body of the telescopic member, so that the other end of the movable limiting member moves towards the foot until it abuts against the foot.

[0016] In an embodiment of the present disclosure, the joint self-locking structure installed on the ankle joint further includes a position marking element provided on the foot and a in-place detection sensor provided at the other end of the movable limiting member. The position marking element is used to mark the position of the foot.

[0017] Controlling the telescopic rod of the joint self-locking structure installed on the ankle joint to contract into the main body of the telescopic member, so that the other end of the movable limiting member moves towards the foot until it abuts against the foot, includes:

[0018] Controlling the telescopic rod of the joint self-locking structure installed on the ankle joint to contract into the main body of the telescopic member, and obtaining the position parameters collected by the in-place detection sensor, until the position parameters indicate that the movable limiting member abuts against the foot, then controlling the telescopic rod to stop contracting and self-lock.

[0019] In an embodiment of the present disclosure, the main body of the telescopic member of the joint self-locking structure installed on the knee joint is connected to the thigh, and the joint self-locking structure installed on the knee joint further includes a fixed limiting member fixedly provided on the calf.

[0020] Controlling the joint self-locking structure installed on the knee joint to restrict the relative movement between the thigh and the calf in the direction of reducing the included angle includes:

[0021] Control the telescopic rod of the joint self-locking structure installed on the knee joint to contract into the main body of the telescopic member, so that the other end of the movable limiting member moves towards the fixed limiting member until it abuts against the fixed limiting member.

[0022] In an embodiment of the present disclosure, the joint self-locking structure installed on the knee joint further includes a position detection sensor provided at the other end of the movable limiting member;

[0023] The control of the telescopic rod of the joint self-locking structure installed on the knee joint to contract into the main body of the telescopic member, so that the other end of the movable limiting member moves towards the fixed limiting member until it abuts against the fixed limiting member, includes:

[0024] Control the telescopic rod of the joint self-locking structure installed on the knee joint to contract into the main body of the telescopic member, and obtain the position parameters collected by the position detection sensor, until the position parameters indicate that the movable limiting member abuts against the fixed limiting member, then control the telescopic rod to stop contracting and self-lock.

[0025] According to the second aspect of the embodiments of the present disclosure, there is provided a robot control method, the method including at least one of the following:

[0026] In response to receiving a joint locking instruction, control the joint self-locking structure to lock the degrees of freedom of the joint targeted by the joint locking instruction in at least one direction, and control the joint targeted by the joint locking instruction to be disabled;

[0027] In response to receiving a joint unlocking instruction, control the joint self-locking structure to release the locking of the degrees of freedom of the joint targeted by the joint unlocking instruction, and control the joint targeted by the joint unlocking instruction to be enabled.

[0028] According to the third aspect of the embodiments of the present disclosure, there is provided a robot control device, the device including at least one of the following:

[0029] A standing module, configured to, in response to receiving a robot standing instruction, control the robot to adjust the leg posture to a preset standing posture, and control the joint self-locking structure to lock the degrees of freedom of the knee joint and the ankle joint of the leg in at least one direction respectively, and control the knee joint and the ankle joint to be disabled;

[0030] A walking module, configured to, in response to receiving a robot walking instruction, control the joint self-locking structure to release the locking of the degrees of freedom of the knee joint and the ankle joint of the leg respectively, and control the knee joint and the ankle joint to be enabled and perform a walking action.

[0031] In an embodiment of the present disclosure, the standing module is used for:

[0032] In response to receiving a robot standing instruction, control the joint self-locking structure installed on the ankle joint to restrict the relative movement between the thigh and the calf in the direction of reducing the included angle, and control the joint self-locking structure installed on the knee joint to restrict the relative movement between the calf and the foot in the direction of reducing the included angle.

[0033] In one embodiment of the present disclosure, the joint self-locking structure includes:

[0034] A movable limiting member having a shaft hole provided in the middle for sleeving on a rotating shaft on the degree of freedom to be locked of the joint to be locked;

[0035] A telescopic member having a main body and a telescopic rod, the main body being used for connecting with the first limb, the telescopic rod being used for connecting with one end of the movable limiting member, and driving the movable telescopic member to rotate around the rotating shaft through telescoping to change the relative position between the other end of the movable limiting member and the second limb;

[0036] Wherein, the telescopic rod of the telescopic member has a self-locking function, the first limb and the second limb are two limbs connected by the joint to be locked, and when the movable limiting member abuts against the second limb, the relative movement between the first limb and the second limb in at least one direction is restricted.

[0037] In one embodiment of the present disclosure, the main body of the telescopic member of the joint self-locking structure installed on the ankle joint is connected to the calf;

[0038] When the standing module is used to control the joint self-locking structure installed on the ankle joint to restrict the relative movement between the calf and the foot in the direction of reducing the included angle, it is used for:

[0039] Control the telescopic rod of the joint self-locking structure installed on the ankle joint to contract into the main body of the telescopic member, so that the other end of the movable limiting member moves towards the foot until it abuts against the foot.

[0040] In one embodiment of the present disclosure, the joint self-locking structure installed on the ankle joint further includes a position marking element provided on the foot and a position detection sensor provided at the other end of the movable limiting member, and the position marking element is used to mark the position of the foot;

[0041] When the standing module is used to control the telescopic rod of the joint self-locking structure installed on the ankle joint to contract into the main body of the telescopic member, so that the other end of the movable limiting member moves towards the foot until it abuts against the foot, it is used for:

[0042] Control the telescopic rod of the joint self-locking structure installed on the ankle joint to contract into the main body of the telescopic member, and obtain the position parameters collected by the in-place detection sensor until the position parameters indicate that the movable limiting member abuts against the foot, then control the telescopic rod to stop contracting and self-lock.

[0043] In an embodiment of the present disclosure, the main body of the telescopic member of the joint self-locking structure installed on the knee joint is connected to the thigh, and the joint self-locking structure installed on the knee joint further includes a fixed limiting member fixedly provided on the calf;

[0044] When the standing module is used to control the joint self-locking structure installed on the knee joint to limit the relative movement between the thigh and the calf in the direction of reducing the included angle, it is used for:

[0045] Control the telescopic rod of the joint self-locking structure installed on the knee joint to contract into the main body of the telescopic member, so that the other end of the movable limiting member moves towards the fixed limiting member until it abuts against the fixed limiting member.

[0046] In an embodiment of the present disclosure, the joint self-locking structure installed on the knee joint further includes an in-place detection sensor provided at the other end of the movable limiting member;

[0047] When the standing module is used to control the telescopic rod of the joint self-locking structure installed on the knee joint to contract into the main body of the telescopic member, so that the other end of the movable limiting member moves towards the fixed limiting member until it abuts against the fixed limiting member, it is used for:

[0048] Control the telescopic rod of the joint self-locking structure installed on the knee joint to contract into the main body of the telescopic member, and obtain the position parameters collected by the in-place detection sensor until the position parameters indicate that the movable limiting member abuts against the fixed limiting member, then control the telescopic rod to stop contracting and self-lock.

[0049] According to the fourth aspect of the embodiments of the present disclosure, a robot control device is provided, and the device includes at least one of the following:

[0050] A locking module, configured to, in response to receiving a joint locking instruction, control the joint self-locking structure to lock the degrees of freedom of the joint targeted by the joint locking instruction in at least one direction, and control the joint targeted by the joint locking instruction to be disabled;

[0051] An unlocking module, configured to, in response to receiving a joint unlocking instruction, control the joint self-locking structure to release the locking of the degrees of freedom of the joint targeted by the joint unlocking instruction, and control the joint targeted by the joint unlocking instruction to be enabled.

[0052] According to a fifth aspect of the embodiments of the present disclosure, a joint self-locking structure of a robot is provided. The structure includes:

[0053] A movable limiting member having a shaft hole provided in the middle for sleeving on a rotating shaft of a to-be-locked degree of freedom of a to-be-locked joint;

[0054] A telescopic member having a main body and a telescopic rod. The main body is used for connecting to a first limb, and the telescopic rod is used for connecting to one end of the movable limiting member and driving the movable telescopic member to rotate around the rotating shaft through telescoping, so as to change the relative position between the other end of the movable limiting member and a second limb;

[0055] Wherein, the telescopic rod of the telescopic member has a self-locking function. The first limb and the second limb are two limbs connected by the to-be-locked joint. When the movable limiting member abuts against the second limb, the relative movement between the first limb and the second limb in at least one direction is restricted.

[0056] According to a sixth aspect of the embodiments of the present disclosure, a robot is provided. The robot includes a memory and a processor. The memory is used for storing computer instructions that can be run on the processor, and the processor is used for implementing the robot control method described in the first aspect or the second aspect when executing the computer instructions.

[0057] According to a seventh aspect of the embodiments of the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored. When the program is executed by a processor, the method described in the first aspect or the second aspect is implemented.

[0058] The technical solutions provided by the embodiments of the present disclosure may include the following beneficial effects:

[0059] The robot control method provided by the embodiments of the present disclosure can respond to receiving a robot standing instruction, control the joint self-locking structure to lock the degrees of freedom of the leg joints in at least one direction, and control the leg joints to be disabled; it can also respond to receiving a robot walking instruction, control the joint self-locking structure to release the locking of the degrees of freedom of the leg joints respectively, and control the leg joints to be enabled and perform a walking action. That is to say, this method can use the joint self-locking structure to lock or release the robot leg joints. When the leg joints are locked, they can maintain the posture even when disabled without affecting the standing of the robot. Therefore, the leg joints can be locked and disabled when the robot stands to save the energy consumption required for joint enabling and reduce energy consumption waste, and the locking of the leg joints can be released when the robot walks to avoid affecting the normal walking of the robot. Description of the Drawings

[0060] The accompanying drawings here are incorporated into the specification and form a part of this specification, showing embodiments consistent with the present invention, and are used together with the specification to explain the principles of the present invention.

[0061] Figure 1 It is a schematic diagram of the joint degrees of freedom of a robot shown in an exemplary embodiment of the present disclosure;

[0062] Figure 2 It is a schematic diagram when the joint self-locking structure does not lock the joint shown in an exemplary embodiment of the present disclosure;

[0063] Figure 3 It is a schematic diagram when the joint self-locking structure locks the joint shown in an exemplary embodiment of the present disclosure;

[0064] Figure 4 It is a flowchart of a motion robot control method shown in an exemplary embodiment of the present disclosure;

[0065] Figure 5 It is a flowchart of a motion robot control method shown in an exemplary embodiment of the present disclosure;

[0066] Figure 6 It is a schematic structural diagram of a motion robot control device shown in an exemplary embodiment of the present disclosure;

[0067] Figure 7 It is a schematic structural diagram of a motion robot control device shown in an exemplary embodiment of the present disclosure;

[0068] Figure 8 It is a structural block diagram of a robot shown in an exemplary embodiment of the present disclosure. Detailed implementation manners

[0069] Here, the exemplary embodiments will be described in detail, and the examples are shown in the accompanying drawings. When the following description relates to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementation manners described in the following exemplary embodiments do not represent all implementation manners consistent with the present disclosure. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0070] The terms used in the present disclosure are only for the purpose of describing specific embodiments and are not intended to limit the present disclosure. The singular forms "a", "the", and "said" used in the present disclosure and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0071] It should be understood that although the terms first, second, third, etc. may be used in this disclosure to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of this disclosure, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "when" or "while" or "in response to a determination".

[0072] In recent years, robot technology has been continuously developing, becoming more and more intelligent and automated, and the richness, stability, and flexibility of movements have all been improved to varying degrees. Robots can perform specific operations on behalf of users in the production and life of users, thus bringing convenience to users. Legged robots can imitate animals or humans to walk and stand. For example, bipedal robots can imitate humans to walk and stand, and quadruped robots can imitate animals such as dogs to walk and stand. However, in related technologies, when a legged robot stands, in order to maintain the balance of the whole machine, the relevant joints still need to be in the enabled state, resulting in relatively serious power consumption waste.

[0073] At least one embodiment of the present disclosure provides a joint self-locking structure for a robot. The joint self-locking structure can lock or release a joint to be locked. When locked, the relative movement between the first limb and the second limb connected to the joint to be locked is restricted in at least one direction, and when released, the movement between the first limb and the second limb returns to normal.

[0074] First, some concepts involved below are explained for easy understanding.

[0075] Degree of freedom of the robot's joint: Please refer to the attached Figure 1 , generally, a robot is composed of three parts: the upper limb, the waist, and the lower limb. In the upper limb, a single arm generally has 4 to 7 degrees of freedom, including at least 3 degrees of freedom of the shoulder joint in the pitch, roll, and yaw directions, 1 degree of freedom of the elbow joint in the pitch direction. In addition, it may also include 3 degrees of freedom of the wrist joint in the yaw, roll, and pitch directions. The waist generally has 0 to 3 degrees of freedom, including 3 degrees of freedom in the roll, pitch, and yaw directions. In the lower limb, a single leg generally has 6 degrees of freedom, including 3 degrees of freedom of the hip joint in the yaw, roll, and pitch directions, 1 degree of freedom of the knee joint in the pitch direction, and 2 degrees of freedom of the ankle joint in the pitch and roll directions. The above yaw, roll, and pitch are the directions of rotation around the Z, X, and Y coordinate axes respectively.

[0076] Joint to be locked: The joint on which this joint self-locking structure is installed, such as the attached Figure 2 、the attached Figure 3The knee joint 500 and ankle joint 600 therein.

[0077] The first limb and the second limb: The two limbs to which the joint to be locked is connected, for example, Figure 2 , Figure 3 For the knee joint 500, the corresponding first limb and second limb are the thigh 200 and the calf 300 respectively, Figure 2 , Figure 3 For the ankle joint 600, the corresponding first limb and second limb are the calf 300 and the foot 400 respectively.

[0078] Next, with reference to Figure 2 , Figure 3 , taking the two joint self-locking structures of the knee joint 500 and the ankle joint 600 installed on the robot leg shown therein as an example, the joint self-locking structure provided by the present disclosure will be specifically introduced. Among them, Figure 2 is a schematic diagram of the joint self-locking structure when the joint is not locked shown in an exemplary embodiment of the present disclosure; Figure 3 is a schematic diagram of the joint self-locking structure when the joint is locked shown in an exemplary embodiment of the present disclosure. It should be understood that the two joint self-locking structures shown in Figure 2 , Figure 3 do not limit the installation position, specific shape and structure, etc. of the joint self-locking structure of the present disclosure.

[0079] The joint self-locking structure includes a movable limiting member 101 and a telescopic member 102.

[0080] The following is the relevant introduction of the movable limiting member 101:

[0081] The movable limiting member 101 has a shaft hole 1011 provided in the middle for sleeving on the rotating shaft of the degree of freedom to be locked of the joint to be locked. Optionally, the movable limiting member 101 can be in a shape that is narrow at both ends and wide in the middle, so as to reduce the size and instructions of the movable limiting member 101, make it lightweight, reduce the increase in the mass of the robot and the space occupation caused by adding this structure, and at the same time facilitate the setting of the shaft hole 1011 in the middle. Optionally, there may be a groove around the rotating shaft of the movable limiting member 101 (such as the circular groove in Figure 2 , Figure 3 ). After the movable limiting member 101 is sleeved on the rotating shaft, an element fixedly connected to the rotating shaft can be provided in the groove to limit the movement of the movable limiting member 101 in the axial direction of the rotating shaft.

[0082] The joint to be locked can have at least one degree of freedom. The joint self-locking structure can lock one or more degrees of freedom of the joint to be locked. When a certain degree of freedom of the joint is locked, the movement of the joint in this degree of freedom is restricted or partially restricted. It should be understood that the rotating shaft on the degree of freedom to be locked is the rotating shaft around which the degree of freedom to be locked is located, for example,Figure 1 The rotation axis in the yaw direction of freedom is the Z-axis, the rotation axis in the roll direction of freedom is the X-axis, and the rotation axis in the pitch direction of freedom is the Y-axis.

[0083] For example, Figure 2 , Figure 3 The joint self-locking structure installed on the knee joint 500 is used to lock the freedom degree of the knee joint 500 in the pitch direction. Therefore, its movable limiting member 101 is sleeved on the rotation axis (i.e., the Y-axis) surrounded by the pitch freedom degree of the knee joint 500. Another example, Figure 2 , Figure 3 The joint self-locking structure installed on the ankle joint 600 is used to lock the freedom degree of the ankle joint 600 in the pitch direction. Therefore, its movable limiting member 101 is sleeved on the rotation axis (i.e., the Y-axis) surrounded by the freedom degree of the knee joint 500 in the pitch direction.

[0084] The following is the relevant introduction of the movable limiting member 101:

[0085] It has a main body 1021 and a telescopic rod 1022. The main body 1021 is used to connect with the first limb, and the telescopic rod 1022 is used to connect with one end of the movable limiting member 101, and drives the movable telescopic member 102 to rotate around the rotation axis through telescoping, so as to change the relative position between the other end of the movable limiting member 101 and the second limb. For example, the telescopic rod 1022 is used to drive the other end of the movable limiting member 101 away from the second limb when it extends out of the main body 1021 of the telescopic member 102, and drives the other end of the movable limiting member 101 closer to the second limb when it retracts into the main body 1021 of the telescopic member 102. Figure 2 , Figure 3 In the joint self-locking structure installed on the knee joint 500, the telescopic rod 1022 is used to drive the other end of the movable limiting member 101 away from the second limb (i.e., the lower leg 300) when it extends out of the main body 1021 of the telescopic member 102. In the joint self-locking structure installed on the ankle joint 600, the telescopic rod 1022 is used to drive the other end of the movable limiting member 101 away from the second limb (i.e., the foot 400) when it extends out of the main body 1021 of the telescopic member 102.

[0086] Optionally, the telescopic member 102 can be an electric telescopic member 102, a hydraulic telescopic member 102, etc. The telescopic rod 1022 of the telescopic member 102 has a self-locking function. The self-locking function means that when the telescopic member 102 does not drive the telescopic rod 1022 to expand or contract, the movement of the telescopic rod 1022 in the telescopic direction is restricted and cannot expand or contract. For example, if the telescopic member 102 drives the telescopic rod 1022 to expand or contract by a lead screw, then when the telescopic member 102 does not drive the telescopic rod 1022 to expand or contract, the lead screw can restrict the expansion or contraction of the telescopic rod 1022.

[0087] Exemplarily, the telescopic rod 1022 is used to be hinged to one end of the movable limiting member 101, so as to adapt to the position change between the two when the telescopic rod 1022 drives the movable limiting member 101 to rotate around the rotation axis through expansion and contraction.

[0088] Exemplarily again, the main body 1021 of the telescopic member 102 is used to be hinged to the first limb, so as to adapt to the position change of the telescopic member 102 when the telescopic rod 1022 drives the movable limiting member 101 to rotate around the rotation axis through expansion and contraction, and avoid the problem that the telescopic member 102 is stuck when the main body 1021 of the telescopic member 102 is fixedly connected to the first limb.

[0089] Since the telescopic rod 1022 of the telescopic member 102 has a self-locking function, when the telescopic rod 1022 is not driven to expand or contract, the rotation of the movable limiting member 101 connected to the telescopic rod 1022 relative to the rotation axis is restricted. It should be understood that if the first limb and the second limb are in contact with the non-rotatable movable limiting member 101 during relative movement, the relative movement between the first limb and the second limb is blocked or restricted. In other words, when the movable limiting member 101 is in contact with the second limb, the relative movement between the first limb and the second limb in at least one direction is restricted, that is, by driving the movable limiting member 101 to be in contact with the second limb through the telescopic rod 1022, the movement of the second limb relative to the first limb in at least one direction is restricted. Specifically, when the movable limiting member 101 is in contact with the second limb, the relative movement between the first limb and the second limb in the direction of reducing the included angle is restricted; when the robot stands, the knee joint 500 and the ankle joint 600 of the leg are continuously enabled to maintain the leg support, precisely to avoid the movement of the thigh 200 and the calf 300 in the direction of reducing the included angle, and avoid the movement of the calf 300 and the foot 400 in the direction of reducing the included angle. This self-locking joint structure can restrict the relative movement between the first limb and the second limb in the direction of reducing the included angle, so that even if the knee joint 500 and the ankle joint 600 are not enabled, the movement of the thigh 200 and the calf 300 in the direction of reducing the included angle can be avoided, and the movement of the calf 300 and the foot 400 in the direction of reducing the included angle can be avoided, thereby reducing the energy consumption caused by enabling.

[0090] Taking the joint self-locking structure installed on the ankle joint 600 in [attached figures] as an example, the movable limiting member 101 can abut against the foot 400 as the second limb to limit the movement between the first limb and the second limb in the direction of reducing the included angle between the two. Figure 2 Attached Figure 3 Taking the joint self-locking structure installed on the ankle joint 600 in [attached figures] as an example, the movable limiting member 101 can abut against the foot 400 as the second limb to limit the movement between the first limb and the second limb in the direction of reducing the included angle between the two.

[0091] In this case, a position marking element can be provided on the second limb for marking the position of the second limb. The position marking element is used to cooperate with the in-place detection sensor 104 provided at the other end of the movable limiting member 101 (i.e., the end for abutting against the second limb). The in-place detection sensor 104 is used to detect the relative position with the above-mentioned position marking element, that is, to detect the relative position with the second limb, so as to determine whether it abuts against the second limb. For example, the position marking element can be a magnetic substance, and the in-place detection sensor 104 can be a Hall sensor. Another example is that the position marking element can be a light-shielding substance, and the in-place detection sensor 104 can be a photoelectric sensor. It should be understood that other substances and sensors that can cooperate with each other can also be used as the position marking element and the in-place detection sensor 104 in the present disclosure respectively.

[0092] Taking the joint self-locking structure installed on the knee joint 500 in [attached figures] as an example Figure 2 Attached Figure 3 Taking the joint self-locking structure installed on the knee joint 500 in [attached figures] as an example, a fixed limiting member 103103 fixedly connected to the second limb can also be provided on the second limb. The fixed limiting member 103103 is used to facilitate the abutment of the movable limiting member 101 against the second limb, that is, the abutment of the movable limiting member 101 against the fixed limiting member 103103 is equivalent to the abutment of the movable limiting member 101 against the second limb because the fixed limiting member 103103 is fixed to the second limb. In other words, the telescopic rod 1022 is used to drive the movable telescopic member 102 to rotate around the rotation axis by telescoping, so as to change the relative position between the other end of the movable limiting member 101 and the fixed limiting member 103103; when the movable limiting member 101 abuts against the fixed limiting member 103103, the relative movement between the first limb and the second limb in at least one direction is limited. Specifically, when the movable limiting member 101 abuts against the fixed limiting member 103103, the relative movement between the first limb and the second limb in the direction of reducing the included angle is limited.

[0093] In this case, a position detection sensor 104 may be provided at the other end of the movable limiting member 101 to detect the relative position between the movable limiting member 101 and the fixed limiting member 103, so as to determine whether the movable limiting member 101 abuts against the fixed limiting member 103. For example, the fixed limiting member 103 may be a magnetic substance, and the position detection sensor 104 may be a Hall sensor. For another example, the fixed limiting member 103 may be a light-shielding substance, and the position detection sensor 104 may be a photoelectric sensor. It should be understood that other substances and sensors that can cooperate with each other may also be used as the fixed limiting member 103 and the position detection sensor 104 in the present disclosure respectively.

[0094] In the joint self-locking structure of the robot provided by the embodiment of the present disclosure, the telescopic member 102 can drive the movable telescopic member 102 to rotate around the rotation axis through the telescopic movement of the telescopic rod 1022, so as to change the relative position between the movable limiting member 101 and the second limb. Specifically, if the movable limiting member 101 abuts against the second limb (and at this time the telescopic rod 1022 is self-locked, that is, the movement of the movable limiting member 101 in the direction away from the second limb is restricted), the relative movement between the first limb and the second limb in at least one direction is restricted. On the contrary, if the movable limiting member 101 does not abut against the second limb (i.e., they are separated from each other), the relative movement between the first limb and the second limb is not restricted. That is to say, this joint self-locking structure can lock or release the joint to be locked. When locked, the relative movement between the first limb and the second limb connected by the joint to be locked in at least one direction is restricted. When released, the movement between the first limb and the second limb returns to normal. If it is applied to joints such as the elbow joint and the ankle joint 600 that still need to be enabled when the robot stands, the joint can be locked by this joint self-locking structure when the robot stands, so that the relative movement between the limbs connected by the joint is restricted, so that when the joint is not enabled, it still does not affect the standing of the robot, so as to save the energy consumption required for joint enabling, reduce energy consumption waste, and release the joint by this joint self-locking structure when the robot stands to avoid affecting the normal walking, operation, etc. of the robot.

[0095] At least one embodiment of the present disclosure further provides a robot control method. Please refer to the attached Figure 4 , which exemplarily shows the flowchart of the method, including step S401 and / or step S402.

[0096] In step S401, in response to receiving a robot standing instruction, control the robot to adjust the leg posture to a preset standing posture, control the joint self-locking structure to lock the degrees of freedom of the leg joint in at least one direction, and control the leg joint not to be enabled.

[0097] Among them, the joint self-locking structure involved in this method can be the joint self-locking structure provided in any embodiment of the first aspect. For example, attached Figure 2 ., attached Figure 3 the joint self-locking structures installed in the knee joint and ankle joint in. Or, the joint self-locking structure involved in this method can be other joint self-locking structures, that is, not the joint self-locking structure provided in the first aspect.

[0098] Among them, the robot standing instruction can be automatically generated by the robot control system. For example, when the robot performs some operations and needs to maintain its position unchanged for a long time and only uses its upper limbs to complete the operations, the robot can generate a standing instruction during the operations. The robot standing instruction can also be generated according to user operations. For example, the user directly operates the robot, or operates the robot's remote control, or operates the terminal device installed with the robot control program, etc.

[0099] Among them, the preset standing posture can be a fixed posture, or a standing posture matching the height required for the current operation of the robot. It should be understood that in the preset standing posture, the calf of the robot can be inclined backward relative to the extension direction of the thigh, so that the included angle between the thigh and the calf in the direction towards the back of the robot is an obtuse angle; the calf of the robot and the foot form an acute angle.

[0100] Optionally, this step can respond to receiving the robot standing instruction, control the joint self-locking structure installed at the ankle joint to limit the relative movement between the thigh and the calf in the direction of reducing the included angle, and control the joint self-locking structure installed at the knee joint to limit the relative movement between the calf and the foot in the direction of reducing the included angle, and control the knee joint and ankle joint to be disabled. Because in the preset standing posture, the robot will generate relative movement between the thigh and the calf in the direction of reducing the included angle between the two under the action of gravity, and will generate relative movement between the calf and the foot in the direction of reducing the included angle between the two. The reason for enabling the knee joint and ankle joint when the robot stands is to avoid the above relative movement. By restricting the above relative movement through the joint self-locking structure, the robot does not need to enable the knee joint and ankle joint when standing.

[0101] Taking the joint self-locking structure provided in any embodiment of the first aspect as an example, the main body of the telescopic member of the joint self-locking structure installed at the ankle joint is connected to the calf; then when this step controls the joint self-locking structure installed at the ankle joint to limit the relative movement between the thigh and the calf in the direction of reducing the included angle, it can control the telescopic rod of the joint self-locking structure installed at the ankle joint to contract into the main body of the telescopic member, so that the other end of the movable limiting member moves towards the foot until it abuts against the foot.

[0102] Further, if the joint self-locking structure installed on the ankle joint further includes a position marking element disposed on the foot and a position detection sensor disposed at the other end of the movable limiting member, and the position marking element is used to mark the position of the foot; then in this step, when controlling the joint self-locking structure installed on the ankle joint to limit the relative movement between the thigh and the calf in the direction of reducing the included angle, the telescopic rod of the joint self-locking structure installed on the ankle joint can be controlled to contract into the main body of the telescopic member, and the position parameters collected by the position detection sensor are obtained until the position parameters indicate that the movable limiting member abuts against the foot, and then the telescopic rod is controlled to stop contracting and self-lock.

[0103] Taking the joint self-locking structure provided in any embodiment of the first aspect as an example, the main body of the telescopic member of the joint self-locking structure installed on the knee joint is connected to the thigh, and the joint self-locking structure installed on the knee joint further includes a fixed limiting member fixedly disposed on the calf; then in this step, when controlling the joint self-locking structure installed on the knee joint to limit the relative movement between the calf and the foot in the direction of reducing the included angle, the telescopic rod of the joint self-locking structure installed on the knee joint can be controlled to contract into the main body of the telescopic member, so that the other end of the movable limiting member moves towards the fixed limiting member until it abuts against the fixed limiting member.

[0104] Further, if the joint self-locking structure installed on the knee joint further includes a position detection sensor disposed at the other end of the movable limiting member; then in this step, when controlling the joint self-locking structure installed on the knee joint to limit the relative movement between the calf and the foot in the direction of reducing the included angle, the telescopic rod of the joint self-locking structure installed on the knee joint can be controlled to contract into the main body of the telescopic member, and the position parameters collected by the position detection sensor are obtained until the position parameters indicate that the movable limiting member abuts against the fixed limiting member, and then the telescopic rod is controlled to stop contracting and self-lock.

[0105] In step S402, in response to receiving a robot walking instruction, the joint self-locking structure is controlled to release the degree-of-freedom lock on the leg joints respectively, and the leg joints are controlled to be enabled and perform a walking action.

[0106] Among them, the robot standing instruction can be automatically generated by the robot control system, or can be generated according to user operations, such as directly operating on the robot by the user, or operating on the remote control of the robot, or operating on the terminal device installed with the robot control program, etc.

[0107] Taking the joint self-locking structure provided in any embodiment of the first aspect as an example, the main body of the telescopic member of the joint self-locking structure installed on the ankle joint is connected to the calf; then in this step, the telescopic rod of the joint self-locking structure installed on the ankle joint can be controlled to extend out of the main body of the telescopic member, so that the other end of the movable limiting member moves away from the foot.

[0108] Further, if the joint self-locking structure installed on the ankle joint further includes a position marking element provided on the foot and a position detection sensor provided at the other end of the movable limiting member, the position marking element is used to mark the position of the foot; then in this step, the telescopic rod of the joint self-locking structure installed on the ankle joint can be controlled to extend out of the main body of the telescopic member, and the position parameters collected by the position detection sensor are obtained, until the position parameters indicate that the distance between the movable limiting member and the foot meets the preset distance requirement, and then the telescopic rod is controlled to stop contracting and self-lock.

[0109] Taking the joint self-locking structure provided in any embodiment of the first aspect as an example, the main body of the telescopic member of the joint self-locking structure installed on the knee joint is connected to the thigh, and the joint self-locking structure installed on the knee joint further includes a fixed limiting member fixedly provided on the calf; then in this step, the telescopic rod of the joint self-locking structure installed on the knee joint can be controlled to extend out of the main body of the telescopic member, so that the other end of the movable limiting member moves away from the fixed limiting member.

[0110] Further, if the joint self-locking structure installed on the knee joint further includes a position detection sensor provided at the other end of the movable limiting member; then in this step, the telescopic rod of the joint self-locking structure installed on the knee joint can be controlled to extend out of the main body of the telescopic member, and the position parameters collected by the position detection sensor are obtained, until the position parameters indicate that the distance between the movable limiting member and the fixed limiting member meets the preset distance requirement, and then the telescopic rod is controlled to stop contracting and self-lock.

[0111] The robot control method provided by the embodiments of the present disclosure can respond to receiving a robot standing instruction, control the joint self-locking structure to lock the degrees of freedom of the leg joints in at least one direction, and control the leg joints to be disabled; it can also respond to receiving a robot walking instruction, control the joint self-locking structure to release the locking of the degrees of freedom of the leg joints respectively, and control the leg joints to be enabled and perform a walking action. That is to say, this method can use the joint self-locking structure to lock or release the leg joints of the robot. When the leg joints are locked, they can maintain their postures without being enabled, which does not affect the standing of the robot. Therefore, the leg joints can be locked and disabled when the robot stands to save the energy consumption required for enabling the joints and reduce energy consumption waste. When the robot walks, the locking of the leg joints is released to avoid affecting the normal walking of the robot.

[0112] At least one embodiment of the present disclosure also provides a robot control method. Please refer to the attached Figure 5 , which exemplarily shows the flowchart of this method, including step S501 and / or step S502.

[0113] In step S501, in response to receiving a joint locking instruction, control the joint self-locking structure to lock the degrees of freedom of the joint targeted by the joint locking instruction in at least one direction, and control the joint targeted by the joint locking instruction to be disabled;

[0114] In step S502, in response to receiving a joint unlocking instruction, control the joint self-locking structure to release the locking of the degrees of freedom of the joint targeted by the joint unlocking instruction, and control the joint targeted by the joint unlocking instruction to be enabled.

[0115] Among them, the joint self-locking structure involved in this method can be the joint self-locking structure provided by any embodiment of the first aspect. Or, the joint self-locking structure involved in this method can be other joint self-locking structures, that is, not the joint self-locking structure provided by the first aspect.

[0116] This method can use the joint self-locking structure to lock the joints in a scenario where the joints are stationary but still need to be enabled to maintain their postures, so that the joints can maintain their postures without being enabled, thereby avoiding energy consumption waste caused by enabling. The above scenarios are, for example: when the robot uses its upper limbs to block an object approaching the robot, the joints of the upper limbs can be locked after the upper limbs resist the object, and the upper limbs are no longer enabled.

[0117] At least one embodiment of the present disclosure also provides a robot control device. Please refer to the attached Figure 6 , and the device includes at least one of the following:

[0118] The standing module 601 is configured to, in response to receiving a robot standing instruction, control the robot to adjust the leg postures to a preset standing posture, control the joint self-locking structure to lock the degrees of freedom of the knee joint and the ankle joint of the leg in at least one direction respectively, and control the knee joint and the ankle joint to be disabled;

[0119] The walking module 602 is configured to, in response to receiving a robot walking instruction, control the joint self-locking structure to release the locking of the degrees of freedom of the knee joint and the ankle joint of the leg respectively, and control the knee joint and the ankle joint to be enabled and perform a walking action.

[0120] In an embodiment of the present disclosure, the standing module is configured to:

[0121] In response to receiving a robot standing instruction, control the joint self-locking structure installed at the ankle joint to limit the relative movement between the thigh and the calf in the direction of reducing the included angle, and control the joint self-locking structure installed at the knee joint to limit the relative movement between the calf and the foot in the direction of reducing the included angle.

[0122] In an embodiment of the present disclosure, the joint self-locking structure includes:

[0123] A movable limiting member having a shaft hole in the middle for sleeving on a rotating shaft of a degree of freedom to be locked of a joint to be locked;

[0124] A telescopic member having a main body and a telescopic rod, the main body of which is configured to be connected to a first limb, the telescopic rod of which is configured to be connected to one end of the movable limiting member, and drive the movable telescopic member to rotate around the rotating shaft through telescoping to change the relative position between the other end of the movable limiting member and the second limb;

[0125] Wherein, the telescopic rod of the telescopic member has a self-locking function, the first limb and the second limb are two limbs connected by the joint to be locked, and when the movable limiting member abuts against the second limb, the relative movement between the first limb and the second limb in at least one direction is restricted.

[0126] In an embodiment of the present disclosure, the main body of the telescopic member of the joint self-locking structure installed at the ankle joint is connected to the calf;

[0127] When the standing module is configured to control the joint self-locking structure installed at the ankle joint to limit the relative movement between the calf and the foot in the direction of reducing the included angle, it is configured to:

[0128] Control the telescopic rod of the joint self-locking structure installed at the ankle joint to contract into the main body of the telescopic member, so that the other end of the movable limiting member moves towards the foot until it abuts against the foot.

[0129] In one embodiment of the present disclosure, the joint self-locking structure installed at the ankle joint further includes a position marking element provided on the foot and a position detection sensor provided at the other end of the movable limiting member. The position marking element is used to mark the position of the foot;

[0130] The standing module is used to control the telescopic rod of the joint self-locking structure installed at the ankle joint to contract into the main body of the telescopic member, so that when the other end of the movable limiting member moves towards the foot until it abuts against the foot, it is used for:

[0131] Control the telescopic rod of the joint self-locking structure installed at the ankle joint to contract into the main body of the telescopic member, and obtain the position parameters collected by the position detection sensor, until the position parameters indicate that the movable limiting member abuts against the foot, then control the telescopic rod to stop contracting and self-lock.

[0132] In one embodiment of the present disclosure, the main body of the telescopic member of the joint self-locking structure installed at the knee joint is connected to the thigh, and the joint self-locking structure installed at the knee joint further includes a fixed limiting member fixedly provided on the lower leg;

[0133] When the standing module is used to control the joint self-locking structure installed at the knee joint to limit the relative movement between the thigh and the lower leg in the direction of reducing the included angle, it is used for:

[0134] Control the telescopic rod of the joint self-locking structure installed at the knee joint to contract into the main body of the telescopic member, so that the other end of the movable limiting member moves towards the fixed limiting member until it abuts against the fixed limiting member.

[0135] In one embodiment of the present disclosure, the joint self-locking structure installed at the knee joint further includes a position detection sensor provided at the other end of the movable limiting member;

[0136] When the standing module is used to control the telescopic rod of the joint self-locking structure installed at the knee joint to contract into the main body of the telescopic member, so that the other end of the movable limiting member moves towards the fixed limiting member until it abuts against the fixed limiting member, it is used for:

[0137] Control the telescopic rod of the joint self-locking structure installed at the knee joint to contract into the main body of the telescopic member, and obtain the position parameters collected by the position detection sensor, until the position parameters indicate that the movable limiting member abuts against the fixed limiting member, then control the telescopic rod to stop contracting and self-lock.

[0138] At least one embodiment of the present disclosure further provides a robot control device. Please refer to the appendix Figure 7 , The device includes at least one of the following:

[0139] The locking module 701 is configured to, in response to receiving a joint locking instruction, control the joint self-locking structure to lock the degrees of freedom of the joint targeted by the joint locking instruction in at least one direction, and control the joint targeted by the joint locking instruction to be disabled;

[0140] The unlocking module 702 is configured to, in response to receiving a joint unlocking instruction, control the joint self-locking structure to release the locking of the degrees of freedom of the joint targeted by the joint unlocking instruction, and control the joint targeted by the joint unlocking instruction to be enabled.

[0141] At least one embodiment of the present disclosure further provides a robot. Please refer to the attached Figure 8 , which shows the structure of the robot. The robot includes a memory and a processor. The memory is used to store computer instructions that can be run on the processor, and the processor is used to control the robot based on the method provided in any of the above embodiments when executing the computer instructions.

[0142] At least one embodiment of the present disclosure further provides a computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, the method provided in any of the above embodiments is implemented.

[0143] At least one embodiment of the present disclosure further provides a robot, which includes the joint self-locking structure provided in any of the above embodiments.

[0144] After considering the specification and practicing the disclosure herein, those skilled in the art will readily conceive of other embodiments of the present disclosure. This application is intended to cover any variations, uses, or adaptations of the present disclosure, which follow the general principles of the present disclosure and include common general knowledge or conventional technical means in the technical field not disclosed in the present disclosure. The specification and embodiments are only regarded as exemplary, and the true scope and spirit of the present disclosure are pointed out by the following claims.

[0145] It should be understood that the present disclosure is not limited to the exact structures described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present disclosure is only limited by the appended claims.

Claims

1. A robot control method, characterized in that, The method includes at least one of the following: In response to receiving a robot standing instruction, controlling the robot to adjust the leg posture to a preset standing posture, controlling the joint self-locking structure to lock the degrees of freedom of the leg joints in at least one direction, and controlling the leg joints to be disabled; In response to receiving a robot walking instruction, controlling the joint self-locking structure to release the locking of the degrees of freedom of the leg joints respectively, and controlling the leg joints to be enabled and perform a walking action.

2. The robot control method according to claim 1, wherein The controlling the joint self-locking structure to lock the degrees of freedom of the leg joints in at least one direction in response to receiving a robot standing instruction includes: In response to receiving a robot standing instruction, controlling the joint self-locking structure installed on the ankle joint to restrict the relative movement between the thigh and the calf in the direction of reducing the included angle, and controlling the joint self-locking structure installed on the knee joint to restrict the relative movement between the calf and the foot in the direction of reducing the included angle.

3. The robot control method according to claim 2, wherein, The joint self-locking structure includes: A movable limiting member having a shaft hole provided in the middle for sleeving on a rotating shaft on the degree of freedom to be locked of the joint to be locked; A telescopic member having a main body and a telescopic rod, the main body is used for connecting with the first limb, the telescopic rod is used for connecting with one end of the movable limiting member, and drives the movable telescopic member to rotate around the rotating shaft through telescoping to change the relative position between the other end of the movable limiting member and the second limb; Wherein, the telescopic rod of the telescopic member has a self-locking function, the first limb and the second limb are two limbs connected by the joint to be locked, and when the movable limiting member abuts against the second limb, the relative movement between the first limb and the second limb in at least one direction is restricted.

4. The robot control method according to claim 3, wherein The main body of the telescopic member of the joint self-locking structure installed on the ankle joint is connected to the calf; The controlling the joint self-locking structure installed on the ankle joint to restrict the relative movement between the calf and the foot in the direction of reducing the included angle includes: Controlling the telescopic rod of the joint self-locking structure installed on the ankle joint to contract into the main body of the telescopic member, so that the other end of the movable limiting member moves towards the foot until it abuts against the foot.

5. The robot control method according to claim 4, characterized in that The joint self-locking structure installed on the ankle joint further includes a position marking element provided on the foot and a in-place detection sensor provided at the other end of the movable limiting member, and the position marking element is used for marking the position of the foot; The controlling the telescopic rod of the joint self-locking structure installed on the ankle joint to contract into the main body of the telescopic member, so that the other end of the movable limiting member moves towards the foot until it abuts against the foot includes: Controlling the telescopic rod of the joint self-locking structure installed on the ankle joint to contract into the main body of the telescopic member, and acquiring the position parameter collected by the in-place detection sensor, until the position parameter indicates that the movable limiting member abuts against the foot, then controlling the telescopic rod to stop contracting and self-lock.

6. The robot control method according to claim 3, characterized in that The main body of the telescopic member of the joint self-locking structure installed on the knee joint is connected to the thigh, and the joint self-locking structure installed on the knee joint further includes a fixed limiting member fixedly provided on the calf; The control for the joint self-locking structure installed on the knee joint restricts the relative movement between the thigh and the calf in the direction of reducing the included angle, and includes: Controlling the telescopic rod of the joint self-locking structure installed on the knee joint to contract into the main body of the telescopic member, so that the other end of the movable limiting member moves towards the fixed limiting member until it abuts against the fixed limiting member.

7. The robot control method according to claim 6, wherein The joint self-locking structure installed on the knee joint further includes a position detection sensor provided at the other end of the movable limiting member; Controlling the telescopic rod of the joint self-locking structure installed on the knee joint to contract into the main body of the telescopic member, so that the other end of the movable limiting member moves towards the fixed limiting member until it abuts against the fixed limiting member, includes: Controlling the telescopic rod of the joint self-locking structure installed on the knee joint to contract into the main body of the telescopic member, and acquiring the position parameters collected by the position detection sensor, until the position parameters indicate that the movable limiting member abuts against the fixed limiting member, then controlling the telescopic rod to stop contracting and self-lock.

8. A robot control method, characterized in that, The method includes at least one of the following: In response to receiving a joint locking instruction, controlling the joint self-locking structure to lock the degrees of freedom of the joint targeted by the joint locking instruction in at least one direction, and controlling the joint targeted by the joint locking instruction to be disabled; In response to receiving a joint unlocking instruction, controlling the joint self-locking structure to release the locking of the degrees of freedom of the joint targeted by the joint unlocking instruction, and controlling the joint targeted by the joint unlocking instruction to be enabled.

9. A robot control device, characterized in that, The device includes at least one of the following: A standing module, configured to, in response to receiving a robot standing instruction, control the robot to adjust the leg posture to a preset standing posture, and control the joint self-locking structure to lock the degrees of freedom of the knee joint and the ankle joint of the leg in at least one direction respectively, and control the knee joint and the ankle joint to be disabled; A walking module, configured to, in response to receiving a robot walking instruction, control the joint self-locking structure to release the locking of the degrees of freedom of the knee joint and the ankle joint of the leg respectively, and control the knee joint and the ankle joint to be enabled and perform a walking action.

10. A robot control device, characterized in that, The device includes at least one of the following: A locking module, configured to, in response to receiving a joint locking instruction, control the joint self-locking structure to lock the degrees of freedom of the joint targeted by the joint locking instruction in at least one direction, and control the joint targeted by the joint locking instruction to be disabled; An unlocking module, configured to, in response to receiving a joint unlocking instruction, control the joint self-locking structure to release the locking of the degrees of freedom of the joint targeted by the joint unlocking instruction, and control the joint targeted by the joint unlocking instruction to be enabled.

11. A joint self-locking structure of a robot, characterized in that, The structure includes: A movable limiting member, having a shaft hole provided in the middle, for sleeving on the rotating shaft of the degree of freedom to be locked of the joint to be locked; A telescopic member, having a main body and a telescopic rod, the main body is used to connect with the first limb, the telescopic rod is used to connect with one end of the movable limiting member, and drives the movable telescopic member to rotate around the rotating shaft through telescoping, so as to change the relative position between the other end of the movable limiting member and the second limb; Among them, the telescopic rod of the telescopic member has a self-locking function. The first limb and the second limb are two limbs connected by the joint to be locked. When the movable limiting member abuts against the second limb, the relative movement between the first limb and the second limb in at least one direction is restricted.

12. A robot, characterized in that, The robot includes a memory and a processor. The memory is used to store computer instructions that can be run on the processor, and the processor is used to implement the method according to any one of claims 1 to 8 when executing the computer instructions.

13. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the method according to any one of claims 1 to 8.

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