Leg structure with vibration reduction function and robot

Abstract

The utility model discloses a leg structure with a vibration reduction function and a robot, and the leg structure comprises a leg assembly and further comprises a vibration reduction assembly; the leg assembly comprises a first rotating disc, a second rotating disc, a first connecting rod, a second connecting rod, a third connecting rod, a triangular plate and a fourth connecting rod, one end of the first rotating disc and one end of the second rotating disc are used for being connected with an external power source, the other end of the first rotating disc is hinged to one end of the first connecting rod, and the other end of the second rotating disc is hinged to one end of the second connecting rod; one end of a third connecting rod parallel to the first connecting rod is hinged to the middle of the second connecting rod, the other end of the third connecting rod is hinged to the first corner end of a triangular plate, the other end of the first connecting rod is hinged to the second corner end of the triangular plate, and the third corner end of the triangular plate is hinged to the middle of a fourth connecting rod. One end of the fourth connecting rod is connected with one end of the damping assembly, and the other end of the damping assembly is connected with the first connecting rod. Through ingenious combination of the damping assembly and the multi-connecting-rod leg assembly, effective hardware support is provided for efficient buffering of the leg structure.

Description

Technical Field

[0001] This utility model relates to a leg structure and robot with vibration reduction function, belonging to the field of robotics. Background Technology

[0002] With the development of robotics technology, the adaptability and mobility of quadruped robots in complex terrain environments have enabled them to be widely used in disaster relief, surveying and mapping, military reconnaissance and other fields. However, when walking on uneven terrain or being subjected to external impacts, traditional quadruped robot platforms may face significant vibration and shock, affecting the stability and control accuracy of the robot body, and may even damage onboard precision equipment. Therefore, how to integrate effective vibration reduction mechanisms into quadruped robot platforms to improve their stability, reliability and environmental adaptability has become a key research issue.

[0003] Currently, common vibration reduction technologies for robots mainly include mechanical elastic elements (such as springs and shock absorbers) and hydraulic / pneumatic buffer systems. However, the application of these designs in quadruped robots still faces many challenges. For example, the stiffness and damping ratio of springs and damping elements are fixed, making it difficult to adapt to different terrains; hydraulic / pneumatic systems are bulky, increasing the robot's structural complexity and energy consumption. Therefore, a novel vibration reduction mechanism is urgently needed to effectively reduce the impact of vibrations and improve the overall stability and motion performance of quadruped robots operating in complex environments.

[0004] A search revealed that the prior art publication number CN220518439U discloses a low-detectability quadruped robot platform. This device relies solely on rubber foot pads to absorb impacts without employing a multi-stage buffer or active shock absorption system, making it difficult to effectively reduce severe vibrations. In particular, the shock absorption effect may be insufficient under high-frequency impacts or complex terrain. Furthermore, due to the limited elastic modulus of rubber materials, deformation, aging, or hardening may occur after long-term use, leading to a decrease in the buffering effect.

[0005] In view of the above, this utility model is hereby proposed. Summary of the Invention

[0006] This invention provides a leg structure with vibration reduction function. Through the ingenious combination of vibration damping components and multi-link leg components, it provides effective hardware support for achieving efficient cushioning of the leg structure.

[0007] The technical solution of this utility model is:

[0008] According to a first aspect of the present invention, a leg structure with vibration damping function is provided, including a leg assembly 3 and a shock-absorbing assembly 4; the leg assembly 3 includes a first rotating disk 31, a second rotating disk 32, a first connecting rod 33, a second connecting rod 34, a third connecting rod 35, a triangular plate 36, and a fourth connecting rod 37. One end of the first rotating disk 31 and one end of the second rotating disk 32 are respectively used to connect to an external power source. The other end of the first rotating disk 31 is hinged to one end of the first connecting rod 33, and the other end of the second rotating disk 32 is hinged to the second connecting rod 34. One end of the second link 34 is hinged to the middle of the first link 33. The other end of the third link 35, which is arranged parallel to the first link 33, is hinged to the middle of the second link 34 at one end and to the first corner end of the triangle plate 36 at the other end. The other end of the first link 33 is hinged to the second corner end of the triangle plate 36. The third triangle end of the triangle plate 36 is hinged to the middle of the fourth link 37. One end of the fourth link 37 is connected to one end of the shock-absorbing component 4, and the other end of the shock-absorbing component 4 is connected to the first link 33.

[0009] Preferably, the shock absorption assembly 4 includes a shock absorption rod 41, a bearing 42, a piston 43, a magnet 44, a hydraulic cylinder 45, a piston 46, a magnet 47, a bearing 48, and a slide rod 411. One end of the shock absorption rod 41 is fitted with a bearing 42 that engages with one end of the fourth connecting rod 37. The other end of the shock absorption rod 41 is connected to one end of the slide rod 411. The other end of the slide rod 411 extends into one end of the hydraulic cylinder 45, and a piston 43 is fitted to the other end of the slide rod 411, engaging with the hydraulic cylinder 45. A magnet 44 is fitted on the side of the piston 43 away from the slide rod 411. A piston 46, spaced apart from the magnet 44, is also installed inside the hydraulic cylinder 45. A magnet 47 is fitted on the side of the piston 46 closest to the magnet 44, and the magnet 47 and magnet 44 are arranged with their magnetic poles repelling each other. A bearing 48 is fitted to the other end of the hydraulic cylinder 45, engaging with the first connecting rod 33.

[0010] Preferably, the outer walls of piston 43 and piston 46 are respectively fitted with a first rubber ring 431 and a second rubber ring 461.

[0011] Preferably, a spring 49 is sleeved on the outer wall of the slide rod 411, one end of the spring 49 abuts against the shock absorber rod 41, and the other end of the spring 49 abuts against one end of the hydraulic cylinder 45.

[0012] Preferably, the leg structure with vibration reduction function further includes a pressure regulating component 5, and the outer wall of the hydraulic cylinder 45 is provided with a connecting port 451, which is arranged in communication with the pressure regulating component 5.

[0013] Preferably, the pressure regulating assembly 5 includes a water storage tank 51, a piston plate 52, a placement plate 53, and a second spring 54. The outer wall of the water storage tank 51 is provided with an extension pipe 511 that communicates with the connecting port 451. The piston plate 52 is slidably connected inside the water storage tank 51, and a fluid medium is installed between the bottom surface of the piston plate 52 and the inner bottom surface of the water storage tank 51. The bottom surface of the placement plate 53 is provided with a plurality of plug rods 531 fitted with the second spring 54 at equal intervals. The plurality of plug rods 531 pass through the top surface of the water storage tank 51 and are fixedly connected to the piston plate 52.

[0014] According to a second aspect of the present invention, a robot is provided, comprising a frame 1 and a leg structure mounted on the frame 1, wherein the leg structure is the leg structure described in any one of the above descriptions.

[0015] The beneficial effects of this utility model are:

[0016] 1. This utility model provides basic cushioning capacity through support feet made of rubber material, and connects to the fourth link through the second connecting shaft, making the movement more stable; the shock-absorbing rod is connected to the second connecting shaft through the first bearing, which can effectively reduce friction loss, improve movement efficiency and device service life; the air buffer cavity formed by pistons one and two in the hydraulic cylinder realizes pneumatic shock absorption; at the same time, the like pole repulsion between magnets one and two provides additional buffer protection, reduces impact transmission, and improves movement stability; the slide bar is fitted with a spring one to further absorb impact and improve the smoothness of robot operation.

[0017] 2. This utility model, through the water storage tank and piston plate in the pressure regulating component, can dynamically adjust the flow rate of silicone oil in the hydraulic cylinder according to the load, change the position of piston two, thereby optimizing the shock absorption effect of spring one and improving adaptability; when a heavy object is added to the plate, spring two is compressed, allowing silicone oil to enter the hydraulic cylinder and enhancing the shock absorption capacity; when the heavy object is removed, spring two is released, allowing the silicone oil to flow back to the water storage tank, restoring the shock absorption system to its initial state, and realizing adaptive adjustment. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the robot structure provided according to an embodiment of the present utility model;

[0019] Figure 2 This is an exploded view of the overall structure of the robot of this utility model;

[0020] Figure 3 This is an exploded view of the drive component structure of this utility model;

[0021] Figure 4 This is a schematic diagram of the leg component structure of this utility model. Figure 1 ;

[0022] Figure 5This is a schematic diagram of the leg component structure of this utility model. Figure 2 ;

[0023] Figure 6 This is a schematic diagram of the shock absorption component structure of this utility model;

[0024] Figure 7 This is an exploded view of the shock-absorbing component structure of this utility model;

[0025] Figure 8 This is a cross-sectional view of the shock absorption component structure of this utility model;

[0026] Figure 9 This is an exploded view of the voltage regulating component structure of this utility model;

[0027] Figure 10 This is a cross-sectional view of the voltage regulating component of this utility model.

[0028] The labels in the diagram are as follows:

[0029] 1. Rack;

[0030] 2. Drive assembly; 21. Connecting cylinder one; 22. Right-angle folding plate; 23. Connecting cylinder two; 24. Mounting plate; 25. Power source; 26. Hip joint motor;

[0031] 3. Leg assembly; 31. Rotating disk one; 32. Rotating disk two; 33. First link; 331. Connecting shaft one; 34. Second link; 35. Third link; 36. Triangular plate; 37. Fourth link; 371. Connecting shaft two; 372. Support foot;

[0032] 4. Shock absorber assembly; 41. Shock absorber rod; 411. Slide rod; 42. Bearing 1; 43. Piston 1; 431. First rubber ring; 44. Magnet 1; 45. Hydraulic cylinder; 451. Connecting pipe; 452. Fixed cylinder; 46. Piston 2; 461. Second rubber ring; 47. Magnet 2; 48. Bearing 2; 49. Spring 1;

[0033] 5. Pressure regulating assembly; 51. Water storage tank; 511. Extension pipe; 512. Insertion pipe; 52. Piston plate; 521. Rubber ring; 53. Placement plate; 531. Insertion rod; 532. Blocking plate; 54. Spring II. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this application can be arbitrarily combined with each other.

[0035] Example 1: As Figures 1-10 As shown, according to a first aspect of the present invention, a leg structure with vibration damping function is provided, including a leg assembly 3 and a shock-absorbing assembly 4; the leg assembly 3 includes a first rotating disk 31, a second rotating disk 32, a first connecting rod 33, a second connecting rod 34, a third connecting rod 35, a triangular plate 36, and a fourth connecting rod 37. One end of the first rotating disk 31 and one end of the second rotating disk 32 are respectively used to connect to an external power source. The other end of the first rotating disk 31 is hinged to one end of the first connecting rod 33, and the other end of the second rotating disk 32 is hinged to the second connecting rod 35. One end of the second link 34 is hinged, and the other end of the second link 34 is hinged to the middle of the first link 33. The third link 35, which is arranged parallel to the first link 33, is hinged to the middle of the second link 34 at one end, and the other end of the third link 35 is hinged to the first corner end of the triangle plate 36. The other end of the first link 33 is hinged to the second corner end of the triangle plate 36. The third triangle end of the triangle plate 36 is hinged to the middle of the fourth link 37. One end of the fourth link 37 is connected to one end of the shock-absorbing component 4, and the other end of the shock-absorbing component 4 is connected to the first link 33.

[0036] Specifically, refer to Figure 3 , Figure 4 , Figure 5The power source 25 is a servo motor. Rotating disk 31 and rotating disk 32 are cam-shaped. One end of rotating disk 31 and rotating disk 32 has a mounting hole for coaxial fixed connection with the rotating shafts of the two servo motors. The other end of rotating disk 31 has a hinge hole a, and the other end of rotating disk 32 has a hinge hole b. The first connecting rod 33 has hinge holes c, d, and e from one end to the other, which mate with hinge hole a. The second connecting rod 34 has hinge holes f, g, and h that mate with hinge hole b, extending from one end to the other. The third connecting rod 35 has a hinge hole i that mates with hinge hole g at one end and a hinge hole j at the other end. The triangular plate 36 has hinge holes k, l, and m at its three angles that mate with hinge hole j. The fourth connecting rod 37 has a hinge hole n in its middle that mates with hinge hole m. A connecting shaft 331 is provided on the first connecting rod 33 between hinge holes d and e. A connecting shaft 371 is provided on one end of the fourth connecting rod 37, and a support foot 372 is installed on the other end of the fourth connecting rod 37. The support foot 372 is made of rubber, which has a certain shock absorption and cushioning effect, and can also increase the friction generated when in contact with the ground.

[0037] Furthermore, the included angle between the second link 34 and the third link 35 is set to Y, 80°≤Y≤170°, while the first link 33 and the third link 35 remain parallel. The included angle between the second link 34 and the first link 33 is set to Z, Z=180°-Y, thereby ensuring the stability of the connection between the first link 33, the second link 34 and the third link 35; the included angle between the fourth link 37 and the triangular plate 36 is set to X, 10°≤X≤110°, thereby ensuring the support stability of the fourth link 37.

[0038] Further, the shock absorption assembly 4 includes a shock absorption rod 41, a bearing 42, a piston 43, a magnet 44, a hydraulic cylinder 45, a piston 46, a magnet 47, a bearing 48, and a slide rod 411; one end of the shock absorption rod 41 is fitted with a bearing 42 that engages with one end of the fourth connecting rod 37, and the other end of the shock absorption rod 41 is connected to one end of the slide rod 411. The other end of the slide rod 411 extends into one end of the hydraulic cylinder 45, and the other end of the slide rod 411... A piston 43 is installed at one end of the hydraulic cylinder 45 and slides in cooperation with it. A magnet 44 is installed on the side of the piston 43 away from the slide rod 411. A piston 46 is also installed in the hydraulic cylinder 45 at a distance from the magnet 44. A magnet 47 is installed on the side of the piston 46 closer to the magnet 44. The magnet 47 and the magnet 44 have the same magnetic poles opposite each other. A bearing 48 is installed at the other end of the hydraulic cylinder 45 and cooperates with the first connecting rod 33.

[0039] Furthermore, the outer walls of piston 1 43 and piston 2 46 are respectively fitted with a first rubber ring 431 and a second rubber ring 461.

[0040] Furthermore, a spring 49 is sleeved on the outer wall of the slide rod 411. One end of the spring 49 abuts against the shock absorber rod 41, and the other end of the spring 49 abuts against one end of the hydraulic cylinder 45.

[0041] refer to Figures 6-8 The shock absorber rod 41 has a groove at one end, the inner wall size of which matches the outer wall size of bearing 42. The groove limits the bearing 42. The inner ring wall of bearing 42 is coaxially connected to connecting shaft 371. The outer wall sizes of piston 43 and piston 46 are both adapted to the inner wall size of hydraulic cylinder 45. A first rubber ring 431 and a second rubber ring 461 are respectively fitted on the outer walls of piston 43 and piston 46. The first rubber ring 431 and the second rubber ring 461 can enhance the sealing performance of piston 43 and piston 46. There is a certain amount of air between piston 43 and piston 46. Based on the compressible and expandable characteristics of air, the piston 43 and piston 46 can... The shock absorption and buffering are achieved by compressed air; the piston 43 and piston 46 are buffered by the repulsion principle of like poles of magnet 44 and magnet 47; the other end of the hydraulic cylinder 45 is provided with a fixed cylinder 452, and a bearing 48 is coaxially fixedly installed inside the fixed cylinder 452. The inner ring wall of the bearing 48 is coaxially fixedly connected to the outer wall of the connecting shaft 331; the bearings 42 and 48 can reduce the frictional loss between the shock absorption assembly 4 and the connecting shafts 331 and 371, thus extending the service life of the device; one end of the spring 49 abuts against the shock absorption rod 41, and the other end of the spring 49 abuts against one end of the hydraulic cylinder 45, thus providing a certain shock absorption effect.

[0042] Furthermore, it also includes a pressure regulating component 5, and the outer wall of the hydraulic cylinder 45 is provided with a connecting port 451, which is arranged in communication with the pressure regulating component 5.

[0043] Further, refer to Figures 9-10 The pressure regulating assembly 5 includes a water storage tank 51, a piston plate 52, a placement plate 53, and a second spring 54. The outer wall of the water storage tank 51 is provided with an extension pipe 511 that communicates with the connecting port 451. The piston plate 52 is slidably connected inside the water storage tank 51. A fluid medium is installed between the bottom surface of the piston plate 52 and the inner bottom surface of the water storage tank 51. The bottom surface of the placement plate 53 is provided with a plurality of plug rods 531 fitted with the second spring 54 at equal intervals. The plurality of plug rods 531 pass through the top surface of the water storage tank 51 and are fixedly connected to the piston plate 52.

[0044] refer to Figures 1-10According to a second aspect of the present invention, a robot is provided based on the leg mechanism of the present invention. The robot includes a frame 1 and four leg mechanisms. The water storage tank 51 of the pressure regulating component 5 is fixedly installed on the top surface of the frame 1 by bolts. The outer wall of the water storage tank 51 is provided with four extension pipes 511, which are respectively connected to the connecting ports 451 of four sets of shock-absorbing components 4 through water pipes. Specifically, the outer wall size of the piston plate 52 is adapted to the inner wall size of the water storage tank 51. A rubber ring 521 is sandwiched between the outer wall of the piston plate 52 and the inner wall of the water storage tank 51. The rubber ring 521 can enhance the airtightness between the piston plate 52 and the inner wall of the water storage tank 51. Silicone oil is filled between the bottom surface of the piston plate 52 and the inner bottom surface of the water storage tank 51 as a fluid medium. Silicone oil has low surface tension, good wettability, and does not easily adhere to other substances, thus having good properties. Release property; A placement plate 53 is installed on the top surface of the water storage tank 51. Several plug-in rods 531 are equidistantly arranged on the bottom circumference of the placement plate 53. Several plug-in pipes 512 are equidistantly arranged on the top circumference of the water storage tank 51. The inner wall size of the plug-in pipe 512 is adapted to the outer wall size of the plug-in rods 531. Several plug-in rods 531 are slidably inserted into the plug-in pipes 512 and fixedly connected to the piston plate 52. Springs 54 are sleeved on the outer wall of several plug-in rods 531. The top end of the springs 54 abuts against the bottom surface of the placement plate 53 and the bottom end of the springs 54 abuts against the top surface of the water storage tank 51. When the springs 54 release their elastic force, the springs 54 can lift the piston plate 52 upward and draw the silicone oil back into the water storage tank 51 through the piston plate 52. Both ends of the top surface of the placement plate 53 are provided with baffle plates 532. The baffle plates 532 are used to fix the items on the top surface of the placement plate 53 and prevent the items from falling off.

[0045] Furthermore, the frame 1 is symmetrically provided with four sets of drive components 2 at its front and rear ends to drive each leg component 3.

[0046] Furthermore, such as Figure 3As shown, the drive assembly 2 includes two hip joint motors 26 and two leg assembly power sources 25. The first hip joint motor 26 is bolted to the inner wall of the frame 1. The shaft of the first hip joint motor 26 is coaxially and fixedly connected to one end of a connecting cylinder 21 located on the outer wall of the frame 1. The first hip joint motor 26 controls the rotation of the connecting cylinder 21 on the outer wall of the frame 1, thereby controlling the lateral swing of the leg assembly 3. A right-angled folding plate 22 is bolted to the other end of the connecting cylinder 21. A second hip joint motor 26 is bolted to one side wall of the right-angled folding plate 22. The shafts of the two hip joint motors 26 are coaxially fixedly connected to one end of the connecting cylinder 23. The hip joint motors 26 control the rotation of the connecting cylinder 23 on the outer wall of the right-angle folding plate 22, thereby controlling the back-and-forth swing of the leg assembly 3. The right-angle folding plate 22 provides support for the connecting cylinder 23. The other end of the connecting cylinder 23 is fixedly mounted with a mounting plate 24 by bolts. Two power sources 25 are respectively fixedly mounted at both ends of the mounting plate 24 by bolts. Specifically, grooves are opened at both ends of the mounting plate 24. The inner wall size of the groove is adapted to the outer wall size of the power source 25. The groove has a limiting function for the power source 25.

[0047] The working principle of this utility model:

[0048] During operation, the device rotates via two servo motors, driving rotating disks 31 and 32. Disk 31 drives the first connecting rod 33, while disk 32 drives the second connecting rod 34 and the third connecting rod 35. Through the coordination of the first connecting rod 33, the third connecting rod 35, and the triangular plate 36, the fourth connecting rod 37 is further driven, thereby enabling the swinging of the supporting foot 372 and completing the gait. During movement, the hip joint motor 26 controls the leg assembly 3 to rotate on the outer wall of the frame 1 to perform lateral swinging motion, thus enhancing the device's performance in different terrains. The stability is ensured by the following: the support foot 372 is made of rubber material, which has a certain buffering capacity, and is connected to the fourth link 37 through the second connecting shaft 371. The shock absorber 41 is connected to the first connecting shaft 331 through the first bearing 42, which reduces friction loss during movement. In the shock absorber assembly, the first magnet 44 and the second magnet 47 are in a state of like pole repulsion, forming an additional elastic buffer. At the same time, the air chamber between the first piston 43 and the second piston 46 realizes the pneumatic shock absorption function based on the compressibility of air. The outer wall of the slide rod 411 is fitted with a spring 49 to further enhance the shock absorption effect.

[0049] Furthermore, the water storage tank 51 is connected to the inlet 451 of the hydraulic cylinder 45 via an extension pipe 511. When a weight is installed on the top surface of the placement plate 53, the second spring 54 is compressed, and the connecting rod 531 drives the piston plate 52 to move downward. Silicone oil is discharged from the extension pipe 511 into the hydraulic cylinder 45, thereby changing the position of the second piston 46 within the hydraulic cylinder 45 and thus improving the shock absorption effect of the first spring 49. When the weight on the top surface of the placement plate 53 is removed, the second spring 54 releases its elastic force, and the second spring 54 drives the piston plate 52 to move upward. The piston plate 52 recovers the silicone oil in the hydraulic cylinder 45 back to the water storage tank 51, thereby changing the position of the second piston 46 within the hydraulic cylinder 45 and thus adjusting the shock absorption effect of the first spring 49.

[0050] As can be seen from the above technical solution, during the robot's movement, the impact force is generated by the contact between the supporting foot 372 in the leg structure and the ground. This impact is gradually attenuated by the shock absorber 41, the hydraulic cylinder 45 and the internal air buffer system; thus, the device completes its work.

[0051] The specific embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A leg structure with vibration damping function, comprising a leg assembly (3), characterized in that, It also includes a shock-absorbing assembly (4); the leg assembly (3) includes a rotating disk one (31), a rotating disk two (32), a first connecting rod (33), a second connecting rod (34), a third connecting rod (35), a triangular plate (36), and a fourth connecting rod (37). One end of the rotating disk one (31) and one end of the rotating disk two (32) are respectively used to connect to an external power source. The other end of the rotating disk one (31) is hinged to one end of the first connecting rod (33), and the other end of the rotating disk two (32) is hinged to one end of the second connecting rod (34). The other end of the second connecting rod (34) is hinged to the first connecting rod (33). The middle of the connecting rod (33) is hinged. One end of the third connecting rod (35), which is arranged parallel to the first connecting rod (33), is hinged to the middle of the second connecting rod (34). The other end of the third connecting rod (35) is hinged to the first corner end of the triangle plate (36). The other end of the first connecting rod (33) is hinged to the second corner end of the triangle plate (36). The third triangle end of the triangle plate (36) is hinged to the middle of the fourth connecting rod (37). One end of the fourth connecting rod (37) is connected to one end of the shock-absorbing assembly (4). The other end of the shock-absorbing assembly (4) is connected to the first connecting rod (33).

2. The leg structure with vibration damping function according to claim 1, characterized in that, The shock absorption assembly (4) includes a shock absorption rod (41), a bearing (42), a piston (43), a magnet (44), a hydraulic cylinder (45), a piston (46), a magnet (47), a bearing (48), and a slide rod (411). One end of the shock absorption rod (41) is fitted with a bearing (42) that engages with one end of the fourth connecting rod (37). The other end of the shock absorption rod (41) is connected to one end of the slide rod (411). The other end of the slide rod (411) extends from one end of the hydraulic cylinder (45) and the other end of the slide rod (411) extends from the other end of the hydraulic cylinder (45). A piston (43) is installed at one end of the hydraulic cylinder (45) and slides in cooperation with it. A magnet (44) is installed on the side of the piston (43) away from the slide rod (411). A piston (46) is also installed in the hydraulic cylinder (45) and is spaced apart from the magnet (44). A magnet (47) is installed on the side of the piston (46) close to the magnet (44). The magnet (47) and the magnet (44) are arranged with their magnetic poles repelling each other. A bearing (48) is installed at the other end of the hydraulic cylinder (45) and cooperates with the first connecting rod (33).

3. The leg structure with vibration damping function according to claim 2, characterized in that, The outer walls of piston one (43) and piston two (46) are respectively fitted with a first rubber ring (431) and a second rubber ring (461).

4. The leg structure with vibration damping function according to claim 2, characterized in that, A spring (49) is sleeved on the outer wall of the slide rod (411). One end of the spring (49) abuts against the shock absorber rod (41), and the other end of the spring (49) abuts against one end of the hydraulic cylinder (45).

5. The leg structure with vibration damping function according to claim 2, characterized in that, The leg structure with vibration reduction function also includes a pressure regulating component (5). The outer wall of the hydraulic cylinder (45) is provided with a connecting port (451), which is connected to the pressure regulating component (5).

6. The leg structure with vibration damping function according to claim 5, characterized in that, The pressure regulating assembly (5) includes a water storage tank (51), a piston plate (52), a placement plate (53), and a second spring (54). The outer wall of the water storage tank (51) is provided with an extension pipe (511) that communicates with the connecting port (451). The piston plate (52) is slidably connected inside the water storage tank (51). A fluid medium is installed between the bottom surface of the piston plate (52) and the bottom surface of the water storage tank (51). The bottom surface of the placement plate (53) is provided with several plug rods (531) equipped with the second spring (54) at equal intervals. The plug rods (531) pass through the top surface of the water storage tank (51) and are fixedly connected to the piston plate (52).

7. A robot, characterized in that, It includes a frame (1) and a leg structure mounted on the frame (1), wherein the leg structure is the leg structure according to any one of claims 1-6.

Images