Mechanical leg, and robot and control method therefor

Abstract

A mechanical leg, and a robot and a control method therefor. The mechanical leg (100) comprises a first leg mechanism (10), a second leg mechanism (20), and a driving mechanism (30), wherein the second leg mechanism (20) can linearly move relative to the first leg mechanism (10), and the driving mechanism (30) is configured to be capable of driving the first leg mechanism (10) and the second leg mechanism (20) to integrally rotate relative to a body (200), and driving the second leg mechanism (20) to linearly move relative to the first leg mechanism (10), so as to assist a robot (1000) in keeping self-balance when traveling or standing.

Description

Mechanical leg, robot and control method thereof Technical Field

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

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

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

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

[0005] Summary of the Invention

[0006] In view of this, the present application proposes a mechanical leg, a robot and a control method thereof.

[0007] A first aspect of the present application provides a mechanical leg for a robot, the mechanical leg comprising:

[0008] a first leg mechanism, configured to be rotatably connected to a body of the robot;

[0009] a second leg mechanism, slidably connected to the first leg mechanism, so that the second leg mechanism can move linearly relative to the first leg mechanism along a first direction, where the first direction is an extension direction of the first leg mechanism;

[0010] A driving mechanism is configured to drive the first leg mechanism and the second leg mechanism to rotate as a whole relative to the body, and to drive the second leg mechanism to move linearly along the first direction relative to the first leg mechanism, so as to assist the robot in maintaining self-balance when walking or standing.

[0011] A second aspect of the present application provides a robot comprising a body and the above-mentioned mechanical legs, wherein the mechanical legs are connected to the body.

[0012] A third aspect of the present application provides a robot control method, which is applied to the above-mentioned robot, wherein the robot further includes a posture sensor provided on the body;

[0013] The control method includes:

[0014] Acquiring posture information of the robot, wherein the posture information includes at least one of pitch angle information and roll angle information;

[0015] According to the posture information, the driving mechanism controls the mechanical leg to rotate relative to the body; and / or, according to the posture information, the driving mechanism controls the second leg mechanism to move linearly relative to the first leg mechanism; so as to change the center of gravity of the robot, thereby allowing the robot to maintain balance on the support surface where the robot is located.

[0016] The robotic leg proposed in this application achieves extension and retraction of the robotic leg through the relative linear motion of the second leg mechanism and the first leg mechanism, thereby achieving sufficient extension and retraction without increasing the lateral volume of the robot, effectively improving the robot's ability to move within a confined space. Furthermore, through the linear extension and retraction setting, the force arm of the load borne by the power source of the drive mechanism remains constant during the extension and retraction of the robotic leg, simplifying the robot's control model and improving the accuracy and response speed of the robot's motion. Furthermore, under normal circumstances, the force arm of the load borne by the power source is relatively short, and the power source power consumption is low. The drive mechanism drives the first leg mechanism to rotate relative to the body, and drives the second leg mechanism to move linearly relative to the first leg mechanism, thereby assisting the robot in maintaining self-balance when moving or standing, thereby facilitating the robot's self-balancing control. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained from these drawings without any creative work.

[0018] FIG1 is a schematic structural diagram of a robot proposed in an embodiment of the present application.

[0019] FIG2 is a schematic diagram of the structure of the mechanical leg proposed in an embodiment of the present application.

[0020] FIG3 is a schematic cross-sectional view of the mechanical leg proposed in an embodiment of the present application.

[0021] FIG4 is a schematic diagram of the connection between the first transmission assembly, the second transmission assembly and the first leg mechanism proposed in an embodiment of the present application. In the figure, the first flexible member is a first belt, and the second flexible member is a second belt.

[0022] FIG5 is a schematic diagram of the connection between the first driving member, the second driving member and the first leg mechanism proposed in an embodiment of the present application. In the figure, the first flexible member is the first transmission rope, and the second flexible member is the second transmission rope.

[0023] FIG6 is a schematic diagram from a first perspective showing that the first transmission rope and the second transmission rope are connected to the first slider and the second slider respectively in the structure shown in FIG5 .

[0024] FIG7 is a schematic diagram from a second perspective showing the structure shown in FIG5 in which the first transmission rope and the second transmission rope are connected to the first slider and the second slider respectively.

[0025] FIG8 is a schematic structural diagram of the first leg mechanism proposed in an embodiment of the present application.

[0026] FIG9 is a schematic structural diagram of a mechanical leg with hidden feet according to an embodiment of the present application.

[0027] FIG10 is a schematic structural diagram of the hidden foot and base of the mechanical leg proposed in an embodiment of the present application.

[0028] FIG11 is a schematic structural diagram of the sliding portion proposed in an embodiment of the present application from a first perspective.

[0029] FIG12 is a schematic structural diagram of the sliding portion proposed in an embodiment of the present application from a second perspective.

[0030] FIG13 is a partially enlarged schematic diagram of the position of the foot of the robotic leg proposed in an embodiment of the present application.

[0031] FIG14 is a schematic structural diagram of the rack proposed in an embodiment of the present application.

[0032] FIG15 is a structural diagram of the deformation method of the mechanical leg proposed in an embodiment of the present application.

[0033] FIG16 is a schematic diagram showing the connection between the transmission assembly and the first leg structure in the structure shown in FIG15 .

[0034] FIG17 is a schematic structural diagram of the hidden foot portion in the structure shown in FIG15 .

[0035] FIG18 is a schematic diagram of the first supporting principle of the mechanical leg in the squatting state proposed in an embodiment of the present application.

[0036] FIG19 is a schematic diagram of the second supporting principle of the mechanical leg in the squatting state proposed in an embodiment of the present application.

[0037] FIG20 is a schematic diagram of the third supporting principle of the mechanical leg in the squatting state proposed in an embodiment of the present application.

[0038] FIG21 is a schematic diagram of a support base connected to the foot provided with auxiliary wheels according to an embodiment of the present application.

[0039] FIG22 is a longitudinal cross-sectional view of the tensioning device proposed in an embodiment of the present application assembled on the first transmission assembly and the second transmission assembly.

[0040] FIG23 is a cross-sectional view of the AA section in FIG22.

[0041] FIG24 is an exploded schematic diagram of the tensioning device proposed in an embodiment of the present application assembled on the first transmission assembly and the second transmission assembly.

[0042] Figure 25 is a structural schematic diagram of the tensioning device proposed in an embodiment of the present application assembled on the first transmission assembly.

[0043] FIG26 is an exploded schematic diagram of the tensioning device proposed in an embodiment of the present application assembled on the first transmission assembly.

[0044] FIG27 is a schematic structural diagram of the support structure proposed in an embodiment of the present application.

[0045] Figure 28 is a schematic structural diagram of the movable shaft of the tensioning device proposed in an embodiment of the present application.

[0046] FIG29 is an exploded schematic diagram of the auxiliary component, the frame, the first motor, and the second motor proposed in an embodiment of the present application.

[0047] Figure 30 is a schematic structural diagram of the second guide member proposed in an embodiment of the present application.

[0048] FIG31 is an exploded schematic diagram of the first guide member proposed in an embodiment of the present application.

[0049] Figure 32 is an exploded schematic diagram of the mechanical leg proposed in an embodiment of the present application.

[0050] FIG33 is a schematic diagram of an elastic member provided in the first leg mechanism according to an embodiment of the present application.

[0051] Figure 34 is a schematic block diagram of the electrical connections of a robot proposed in an embodiment of the present application.

[0052] Figure 35 is a flow chart of a robot control method provided in an embodiment of the present application.

[0053] Figure 36 is a schematic diagram of a flow chart of controlling a robot based on the leg length change speed and rotation angle provided in an embodiment of the present application.

[0054] Figure 37 is a schematic diagram of a flow chart of controlling the steering of a robot provided in an embodiment of the present application.

[0055] Figure 38 is a schematic diagram of a flow chart of controlling a robot based on an inverted pendulum model provided in an embodiment of the present application.

[0056] Figure 39 is a schematic block diagram of a robot provided in an embodiment of the present application.

[0057] Explanation of reference numerals: 100, mechanical leg; 10, first leg mechanism; 10a, first side; 10b, second side; 11, positioning shaft; 111, first bearing; 112, second bearing; 12, supporting structure; 12a, first end; 12b, second end; 121, first supporting plate; 122, second supporting plate; 123, blocking plate; 124, mounting hole; 125, connecting hole; 13, guide structure; 131, guide rod; 131a, first guide rod; 131 b. Second guide rod; 14. Mounting member; 15. Guide wheel; 151. Arc groove; 16. Second stopper; 17. Tensioning device; 171. Movable shaft; 1711. Rotary connection hole; 1712. Rib; 1713. Connecting hole; 172. Linear motion mechanism; 1721. Adjusting screw; 173. Fixing screw; 174. Guide member; 1741. Guide portion; 1742. Guide groove; 101. First guide section; 102. Second guide section. 20. Second leg mechanism; 21. Sliding portion; 21a. Sliding block; 211. First slider; 212. Second slider; 213. First stopper; 214. Base; 2141. Back plate; 2142. Extension plate; 215. Slide; 216. Reinforcement structure; 22. Foot; 221. Wheel; 2211. Wheel seat; 2212. Wheel; 222. Third motor; 23. Support base; 231. Auxiliary wheel; 30. Driving mechanism; 30a. First driving member; 30b. Second driving member; 31. First motor; 32. First transmission assembly; 321. First transmission wheel; 322. Second transmission wheel; 323. First flexible transmission member; 323a. First belt; 323b. First transmission rope; 3231. First rope segment; 3232. Second rope segment; 33. Second motor; 34. Second transmission assembly; 341. Third transmission wheel; 342, fourth transmission wheel; 343, second flexible transmission member; 343a, second belt; 343b, second transmission rope; 3431, third rope segment; 3432, fourth rope segment; 3433, baffle; 35, transmission assembly; 351, lead screw; 352, nut seat; 36, toggle ring; 40, positioning mechanism; 41, contact portion; 42, first switch; 43, second switch; 50, angle detection mechanism; 51, magnetic sensor; 52, connecting rod; 521, extension portion; 60, frame; 61, base plate; 611, through hole; 62, first side panel; 621, first mounting position; 622, first wiring hole; 63, second side panel; 631, second mounting position; 632, second wiring hole; 64, stopper; 70, auxiliary component; 71, first guide member; 711, first guide wheel; 712, second guide wheel; 713, third guide wheel; 714, guide groove; 715, connecting frame; 72, second guide member; 721, guide portion; 722, connecting portion; 80, elastic member; 81, first spring; 82, second spring; 1000, robot; 200, body;210, attitude sensor; 300, circuit unit; 400, processor; 500, memory. DETAILED DESCRIPTION

[0058] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0059] It should be understood that all directional indications in the embodiments of the present application (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0060] It should also be understood that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or there may be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element through an intervening element.

[0061] The terms used in this specification are for the purpose of describing specific embodiments only and are not intended to limit this application. For example, the terms "first," "second," and so on are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, the term "first" or "second" may explicitly or implicitly include at least one of the features.

[0062] It should be further understood that the term "and / or" used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0063] Please refer to Figures 1 to 3. An embodiment of the present application proposes a mechanical leg 100 for a robot 1000. The mechanical leg 100 includes a first leg mechanism 10, a second leg mechanism 20 and a driving mechanism 30. The first leg mechanism 10 is used to rotate and is connected to the body 200 of the robot 1000; the second leg mechanism 20 is slidingly connected to the first leg mechanism 10 so that the second leg mechanism 20 can move linearly in a first direction relative to the first leg mechanism 10, where the first direction is the extension direction of the first leg mechanism 10; the driving mechanism 30 is configured to drive the first leg mechanism 10 and the second leg mechanism 20 to rotate as a whole relative to the body 200, and to drive the second leg mechanism 20 to move linearly in the first direction relative to the first leg mechanism 10, so as to assist the robot 1000 in maintaining self-balance when walking or standing.

[0064] The robotic leg 100 proposed in the embodiment of the present application achieves extension and retraction of the robotic leg 100 through the relative linear motion of the second leg mechanism 20 and the first leg mechanism 10, thereby achieving sufficient extension and retraction without increasing the lateral volume of the robot 1000, effectively improving the robot 1000's ability to move within a confined space. Furthermore, through the linear extension and retraction setting, the force arm of the load on the power source of the drive mechanism 30 remains constant during the extension and retraction process of the robotic leg 100, simplifying the control model and improving the accuracy and response speed of the robot 1000's movement. Furthermore, under normal circumstances, the force arm of the load on the power source is short, and the power source power consumption is low. By driving the first leg mechanism 10 to rotate relative to the body 200 and driving the second leg mechanism 20 to move linearly relative to the first leg mechanism 10, the robot 1000 is assisted in maintaining self-balance when walking or standing, thereby facilitating the self-balancing control of the robot 1000.

[0065] In addition, due to the linear telescopic arrangement between the first leg mechanism 10 and the second leg mechanism 20, the energy efficiency of the robot 1000 at any telescopic position is improved, thereby reducing energy consumption.

[0066] At the same time, due to the linear telescopic movement mode, the lever arm of the mechanical leg 100 remains unchanged during the telescopic process, that is, the load lever arm of the power source remains unchanged, and under normal circumstances, the load lever arm of the power source is shorter, the power source has low power consumption, strong load capacity, and better stability.

[0067] It should be noted that in existing robots with legs that utilize a linkage structure, the linkage angle constantly changes during leg extension and retraction, leading to a constantly changing moment arm for the load acting on the power source and a complex control model. Robots with a linkage structure have relatively short moment arms, except when their legs are at or near their maximum extension. Most of the time, the robot's legs are somewhat extended and never at their maximum, resulting in a relatively long moment arm. This results in a relatively high energy consumption during standing, walking, and retracting.

[0068] Moreover, the linear telescopic setting of the present application makes the appearance of the robot 1000 more compact, provides greater freedom for the appearance design of the robot 1000, and makes the robot 1000 more in line with humanization and aesthetic requirements.

[0069] In some embodiments, the power source of the drive mechanism 30 is disposed on the body 200 of the robot 1000. For example, the power source of the drive mechanism 30 can be a motor, which can be mounted on the body 200 of the robot 1000 via the frame 60. Compared to mounting the power source on the first leg mechanism 10 or the second leg mechanism 20, mounting the power source for controlling the extension and rotation of the robotic leg 100 on the body 200 of the robot 1000 can reduce the moment of inertia, thereby reducing power consumption and lowering operating costs.

[0070] In some embodiments, the driving mechanism 30 has at least one of a first driving state, a second driving state and a third driving state, and the driving mechanism 30 can switch freely between the three states of the first driving state, the second driving state and the third driving state; in the first driving state, the driving mechanism 30 is used to drive the first leg mechanism 10 and the second leg mechanism 20 to rotate as a whole relative to the fuselage 200; in the second driving state, the driving mechanism 30 is used to drive the second leg mechanism 20 to move linearly in the first direction relative to the first leg mechanism 10; in the third driving state, the driving mechanism 30 is used to drive the first leg mechanism 10 and the second leg mechanism 20 to rotate as a whole relative to the fuselage 200, while driving the second leg mechanism 20 to move linearly in the first direction relative to the first leg mechanism 10.

[0071] Thus, the driving mechanism 30 can freely switch between the first driving state, the second driving state and the third driving state, so as to maintain the self-balance of the robot 1000 in different scenarios.

[0072] It should be noted that when the mechanical leg 100 of the robot 1000 is extended or retracted, since the mechanical leg 100 is in contact with the ground, the second leg mechanism 20 remains stationary relative to the ground, and the first leg mechanism 10 moves up and down relative to the second leg mechanism 20 .

[0073] In addition, the robot 1000 of the present application has two mechanical legs 100. Of course, in other embodiments, the robot may also have only one mechanical leg, or even three or four mechanical legs. The number of the robot's mechanical legs is not limited here.

[0074] The following usage scenario takes two robotic legs as an example.

[0075] In some usage scenarios, when the robot needs to adjust its height, the drive mechanism 30 can be controlled to switch to the second drive state. At this time, the drive mechanism 30 only drives the second leg mechanism 20 to move linearly in the first direction relative to the first leg mechanism 10. At this time, since the two mechanical legs 100 are in contact with the ground, the second leg mechanism 20 remains stationary relative to the ground, and the first leg mechanism 10 moves up and down relative to the second leg mechanism 20, so that the two mechanical legs 100 only extend and retract, thereby adjusting the height of the mechanical legs 100 to adjust the height of the fuselage 200.

[0076] In other usage scenarios, when the robot 1000 suddenly accelerates or decelerates while walking, it will adjust the two mechanical legs 100 to rotate backward or forward. In order to keep the height of the body 200 unchanged, the robot 1000 will switch to the third driving state at this time. During the process of the two mechanical legs 100 rotating backward, they will be extended and retracted at the same time.

[0077] Of course, in some other scenarios, the two mechanical legs 100 only rotate but do not extend or retract, and the height of the body 200 changes, and the robot 1000 switches to the first driving state. Of course, one leg can also be controlled to rotate while the other leg is stationary. In this case, the height of the body 200 of the robot 1000 remains unchanged, and the robot 1000 is in the first driving state.

[0078] For example, in other usage scenarios, when the robot 1000 encounters a slope or obstacle during acceleration or deceleration, and one of the two mechanical legs 100 of the robot 1000 walks on the slope or obstacle, since the robot 1000 may decelerate or accelerate in the process of passing the slope or obstacle, the drive mechanism 30 of the mechanical leg 100 located on the slope or obstacle can be controlled to switch to the third drive state, and the height of the fuselage 200 can be kept unchanged.

[0079] When the robot 1000 is walking or overcoming obstacles, the mechanical legs 100 of the robot 1000 can be controlled to rotate and extend at the same time to ensure that the height of the body 200 remains unchanged to ensure the stability of the body 200. Of course, only the mechanical legs 100 can be controlled to extend and extend or rotate to adjust the height of the body 200; of course, the mechanical legs 100 can only rotate to keep the body 200 stationary, depending on how many legs are rotating.

[0080] In other usage scenarios, when the robot 1000 goes up stairs or crosses a large obstacle, the robot 1000 can also control the mechanical leg 100 to perform telescopic movement first, control the driving mechanism 30 to move quickly to drive the second leg mechanism 20 to retract, that is, to lift it relative to the ground. At this time, the robot 1000 is in the second driving state; then control the mechanical leg 100 to rotate and extend at the same time so that the mechanical leg 100 can land on the ground while crossing the steps or obstacles. At this time, the robot 1000 is in the third driving state.

[0081] Of course, the usage scenarios of the robot 1000 are not limited to the above scenarios. In other special scenarios, the driving mechanism 30 can also be freely switched to any one of the first driving state, the second driving state and the third driving state.

[0082] Of course, in other embodiments, the driving mechanism 30 of the robot 1000 can drive the body 200 to rotate relative to the mechanical legs 100, that is, the mechanical legs 100 do not move, the body 200 rotates, or the body 200 and the mechanical legs 100 rotate at the same time to realize various actions of the robot 1000.

[0083] Even in some other embodiments, the two legs of the robot 1000 have different extension lengths, so that the body 200 can be tilted left and right to achieve various actions.

[0084] In some embodiments, the drive mechanism 30 includes a first drive member 30a and a second drive member 30b, which are configured to work together to drive the first leg mechanism 10 and the second leg mechanism 20 to rotate relative to the body 200. The first drive member 30a and the second drive member 30b are also configured to work together to drive the second leg mechanism 20 to move linearly along a first direction relative to the first leg mechanism 10. Thus, the first drive member 30a and the second drive member 30b need to cooperate to drive the robotic leg 100 to rotate or extend independently, or to perform a combined rotation and extension motion. By cooperating with the first drive member 30a and the second drive member 30b to drive the robotic leg 100 to rotate and / or extend, the power sources of the first drive member 30a and the second drive member 30b are connected in parallel, which can reduce the parameters required for the power source drive, reduce errors, increase the operating speed of the robot 1000, and reduce the cost of use.

[0085] In some embodiments, the first drive member 30a includes a first motor 31 and a first transmission assembly 32, and the second drive member 30b includes a second motor 33 and a second transmission assembly 34. The first motor 31 and the second motor 33 are connected to the body 200 and are coaxially arranged with the first motor 31 and the second motor 33. The first transmission assembly 32 is connected to the output shaft of the first motor 31 and is connected to the second leg mechanism 20, and the second transmission assembly 34 is connected to the output shaft of the second motor 33 and is connected to the second leg mechanism 20. The rotation axis of the first leg mechanism 10 is coaxial with the rotation axes of the first motor 31 and the second motor 33. Therefore, by coaxially arranging the rotation axes of the first motor 31 and the second motor 33 with the rotation axis of the first leg mechanism 10, the two motors can be connected in parallel, thereby driving the first transmission assembly 32 and the second transmission assembly 34 to work together to drive the robot leg 100 to rotate and / or extend. This can reduce the parameters required for the motor drive, reduce errors, increase the operating speed of the robot 1000, and reduce the cost of use.

[0086] In some embodiments, as shown in Figures 3-8, the first transmission assembly 32 includes a first transmission wheel 321, a second transmission wheel 322 and a first flexible transmission member 323. The first transmission wheel 321 and the second transmission wheel 322 are rotatably connected to the first leg mechanism 10 and are spaced apart along the first direction. The first transmission wheel 321 is connected to the output shaft of the first motor 31, and the first flexible transmission member 323 is connected between the first transmission wheel 321 and the second transmission wheel 322 and is connected to the second leg mechanism 20.

[0087] In some embodiments, the second transmission assembly 34 includes a third transmission wheel 341, a fourth transmission wheel 342 and a second flexible transmission member 343. The third transmission wheel 341 and the fourth transmission wheel 342 are rotatably connected to the first leg mechanism 10 and are arranged at intervals along the first direction. The third transmission wheel 341 is connected to the output shaft of the second motor 33, and the first transmission wheel 321 and the third transmission wheel 341 are arranged coaxially. The second flexible transmission member 343 is connected between the third transmission wheel 341 and the fourth transmission wheel 342 and is connected to the second leg mechanism 20.

[0088] During operation, the first motor 31 drives the first transmission wheel 321 to rotate, thereby driving the first flexible transmission member 323 to move. At this time, the second transmission wheel 322 rotates accordingly, so that the first flexible transmission member 323 can move between the first transmission wheel 321 and the second transmission wheel 322; at the same time, the second motor 33 drives the third transmission wheel 341 to rotate, thereby driving the second flexible transmission member 343 to move. At this time, the fourth transmission wheel 342 rotates accordingly, so that the second flexible transmission member 343 can move between the third transmission wheel 341 and the fourth transmission wheel 342, thereby driving the first leg mechanism 10 to rotate relative to the fuselage 200 and / or driving the second leg mechanism 20 to move linearly relative to the first leg mechanism 10 through the joint cooperation of the first flexible transmission member 323 and the second flexible transmission member 343.

[0089] Optionally, the first flexible transmission member 323 and the second flexible transmission member 343 can be belts, ropes or other flexible transmission members, which can play a buffering role, reduce the impact of the impact force directly acting on the motor, and increase the durability and operational stability of the drive mechanism 30.

[0090] In some embodiments, the first leg mechanism 10 has a first side 10a and a second side 10b that are opposite each other in a second direction, the second direction being perpendicular to the first direction. A first motor 31 and a second motor 33 are disposed opposite each other and are located on the first side 10a and the second side 10b of the first leg mechanism 10, respectively. A first transmission wheel 321 and a second transmission wheel 322 are disposed on the first side 10a, and a third transmission wheel 341 and a fourth transmission wheel 342 are disposed on the second side 10b. When the first leg mechanism 10 rotates relative to the body 200, the first transmission wheel 321, the first flexible transmission member 323, the second transmission wheel 322, the third transmission wheel 341, the second flexible transmission member 343, and the fourth transmission wheel 342 rotate with the first leg mechanism 10 as a whole relative to the body 200. With this arrangement, the first leg mechanism 10 is disposed between the first motor 31 and the second motor 33, and the first transmission assembly 32 and the second transmission assembly 34 are disposed on either side of the first leg mechanism 10 in the second direction, resulting in a compact structure and reduced size.

[0091] It should be noted that the first motor 31 and the second motor 33 are not limited to being arranged on the first side 10a and the second side 10b relative to each other. For example, in other embodiments, the first motor 31 and the second motor 33 can also be arranged on the same side, that is, the output shafts of the first motor 31 and the second motor 33 face the same direction, and the output shaft of one is inserted through the output shaft of the other and extends out, that is, the output shafts of the first motor 31 and the second motor 33 form a sleeve structure, thereby achieving the coaxial arrangement of the rotation axes of the first motor 31 and the second motor 33.

[0092] In some embodiments, the first leg mechanism 10 includes a positioning shaft 11 disposed between the output shaft of the first motor 31 and the output shaft of the second motor 33. The positioning shaft 11 is rotatably connected to the first transmission wheel 321 and the third transmission wheel 341. The positioning shaft 11 ensures that the rotation axis of the first leg mechanism 10 is coaxial with the rotation axes of the first and second motors 31, 33. The positioning shaft 11 aligns the output shafts of the first and second motors 31, 33, providing a positioning function and facilitating the connection between the first and second motors 31, 33 and the first leg mechanism 10, ensuring that the rotation axis of the first leg mechanism 10 is coaxial with the rotation axes of the first and second motors 31, 33. Furthermore, the positioning shaft 11 also provides support for the first and second motors 31, 33. Since the first and second motors 31, 33 are connected to the body 200, they support the body 200 and enhance the structural stability of the robot 1000.

[0093] In some embodiments, the first leg mechanism 10 further includes a support structure 12 and a guide structure 13. The support structure 12 is configured to be rotatably connected to the body 200 of the robot 1000. Specifically, the support structure 12 and the body 200 are connected via a positioning shaft 11, a first motor 31, and a second motor 33, enabling the support structure 12 to rotate relative to the body 200. The guide structure 13 is connected to the support structure 12 and extends along a first direction. The second leg mechanism 20 is slidably connected to the guide structure 13. The support structure 12 supports the guide structure 13 and other components. The guide structure 13 can guide the second leg mechanism 20 to perform linear motion along the first direction, thereby preventing the second leg mechanism 20 from shifting during movement.

[0094] As an embodiment, as shown in Figures 3, 4 and 8, the support structure 12 can be set as a plate-like structure extending along the first direction, and the support structure 12 can be arranged between the first transmission component 32 and the second transmission component 34, that is, the first transmission wheel 321, the first flexible transmission member 323, and the second transmission wheel are arranged on one side of the support structure 12, and the third transmission wheel 341, the second flexible member and the fourth transmission wheel 342 are arranged on the other side opposite to the support structure 12, with a compact structure and reduced volume.

[0095] As another embodiment, as shown in Figures 5 to 7, the support structure 12 may include a first support plate 121 and a second support plate 122 extending along the first direction and arranged opposite to each other. The first support plate 121 and the second support plate 122 may be connected by a positioning shaft 11. The first support plate 121 may be arranged between the first motor 31 and the first transmission wheel 321, and the second support plate 122 may be arranged between the second motor 33 and the third transmission wheel 341. By setting the first support plate 121 and the second support plate 122, the structure of the first leg mechanism 10 is more stable, and the first transmission wheel 321, the first flexible member, the second transmission wheel 322, the third transmission wheel 341, the second flexible member and the fourth transmission wheel 342 can be surrounded to play a protective role.

[0096] In some embodiments, as shown in Figures 2, 3, and 13, the second leg mechanism 20 includes a sliding portion 21 and a foot 22. The sliding portion 21 is slidably connected to the guide structure 13, enabling the second leg mechanism 20 to move linearly in a first direction relative to the first leg mechanism 10. The foot 22 is connected to the sliding portion 21 and is used to support the robot 1000 when it is moving or standing. The sliding portion 21 is slidably connected to the guide structure 13, thereby driving the second leg mechanism 20 to move linearly in the first direction.

[0097] Of course, in other embodiments, the guide structure 13 may be provided on the second leg mechanism 20, and the sliding portion 21 may be provided on the first leg mechanism 10. That is, the first leg mechanism 10 includes a support structure 12 and a sliding portion 21, wherein the sliding portion 21 is mounted on the support structure 12. The second leg mechanism 20 includes a guide structure 13 and a foot 22, wherein the guide structure 13 is slidably connected to the sliding portion 21, and the foot 22 is connected to the guide structure 13. The first flexible transmission member 323 and the second flexible transmission member 343 are respectively connected to the two sides of the guide structure 13. When the second leg mechanism 20 moves linearly along the first direction, that is, the guide structure 13 moves relative to the sliding portion 21 driven by the first flexible member and the second flexible member. When the second leg mechanism 20 rotates relative to the body 200, it drives the support structure 12, the sliding portion 21, the guide structure 13, and the foot 22 to rotate as a whole.

[0098] In some embodiments, the sliding portion 21 may include a slider 21a, and the guide structure 13 may include a guide rod 131. The slider 21a may be provided with a sliding hole for the guide rod 131 to pass through, so as to achieve a sliding connection through the cooperation between the slider 21a and the guide rod 131. A ball bearing may also be provided between the slider 21a and the guide rod 131 to reduce the friction between the slider 21a and the guide rod 131.

[0099] Exemplarily, as shown in Figure 8, the sliding portion 21 may include a first slider 211 and a second slider 212, the guide structure 13 may include a first guide rod 131a and a second guide rod 131b arranged opposite to each other, the first slider 211 is slidably connected to the first guide rod 131a, the second slider 212 is slidably connected to the second guide rod 131b, the first slider 211 and the second slider 212 can be connected by a first limit block 213, and the support structure 12 is provided with two blocking plates 123 arranged at intervals along the first direction. When the mechanical leg 100 is in a vertical state, the two blocking plates 123 are respectively located on the upper and lower sides of the support structure 12. When the first slider 211 and the second slider 212 move upward to the extreme position, the first limit block 213 abuts against the blocking plate 123 located on the upper side. When the first slider 211 and the second slider 212 move downward to the extreme position, the first limit block 213 abuts against the blocking plate 123 located on the lower side, thereby limiting the extreme position of the upper and lower movement of the second leg mechanism 20 to prevent the second leg mechanism 20 from moving excessively and causing the second leg mechanism 20 to collide with other components and cause damage to parts.

[0100] In other embodiments, the sliding portion 21 may include a slider 21a, and the guide structure 13 may include a guide groove to achieve a sliding connection through the cooperation of the slider 21a and the guide groove. Balls may also be arranged between the slider 21a and the guide groove to reduce the friction between the slider 21a and the guide groove.

[0101] In some embodiments, as shown in Figures 8-10, a mounting member 14 is provided at one end of the support structure 12 close to the second leg mechanism 20, and the guide structure 13 includes a guide rod 131 for guiding the first leg mechanism 10 to move linearly along a first direction. One end of the guide rod 131 in the first direction is mounted to the mounting member 14. Of course, a mounting member 14 may also be provided at the end of the support structure 12 close to the end away from the second leg mechanism 20. In the first direction, the two opposite ends of the guide rod 131 are respectively mounted to two mounting members 14. Thus, the provision of the mounting member 14 facilitates the installation of the guide rod 131 and can be used for the installation of other components on the mechanical leg 100, resulting in a compact structure and improved structural stability.

[0102] In some embodiments, as shown in Figures 2 and 3, the foot 22 is located on one side of the first leg mechanism 10 in the second direction. When the robot 1000 is in a normal walking state, the second direction is the left and right direction of the robot 1000. The foot 22 is arranged on the side of the first leg mechanism 10, which can ensure the telescopic distance between the foot 22 and the first leg mechanism 10 while making the overall model of the robot 1000 lighter.

[0103] In some embodiments, as shown in Figures 10-13, the sliding portion 21 further includes a base 214 connected to the slider 21a. A sliding groove 215 extending along a first direction is provided on a side of the base 214 opposite the guide structure 13. The support structure 12 is partially accommodated in the sliding groove 215 and can move relative to the sliding groove 215. Therefore, the provision of the sliding groove 215 can make the relative sliding of the first leg mechanism 10 and the second leg mechanism 20 more stable.

[0104] In some embodiments, the base 214 includes a back plate 2141 opposite the support structure 12 and extension plates 2142 connected to the back plate 2141 on either side in the third direction. The extension plates 2142 extend toward the first leg mechanism 10 and, together with the base plate, form a slide 215. The base plate can be made of plastic. Reinforcement structures 216 are provided at the angles between the base plate and the extension plates 2142. The reinforcement structures 216 can be made of metal to enhance structural strength. This arrangement reduces the moment of inertia of the robotic leg 100 and improves the durability of the base 214. The first and second directions are perpendicular to the third direction. When the robot 1000 is in a normal walking state, i.e., when the robotic leg 1000 is in an upright position, the first direction aligns with the direction of gravity on the robot 1000, the second direction corresponds to the left-right direction of the robot 1000, and the third direction corresponds to the front-back direction of the robot 1000.

[0105] In some embodiments, the first leg mechanism 10 further includes a guide wheel 15, which is mounted on the mounting member 14 at one end of the support structure 12 near the foot 22. The guide wheel 15 is configured to roll in contact with the second leg mechanism 20 when the second leg mechanism 20 moves linearly relative to the first leg mechanism 10. Specifically, the reinforcement structure 216 between the base plate and the extension plate 2142 can be configured as a rod-shaped structure having at least an arc-shaped outer side surface, and the guide wheel 15 can be configured to match the arc-shaped outer side surface of the rod-shaped structure. For example, the guide wheel 15 can be provided with an arc-shaped groove 151 that matches the arc-shaped outer side surface of the reinforcement structure 216. This allows the arc-shaped outer side surface of the reinforcement structure 216 to be confined within the arc-shaped groove 151 of the guide wheel 15 when the first leg mechanism 10 and the second leg mechanism 20 slide relative to each other, thereby providing guidance and preventing the second leg mechanism 20 from shaking in the third direction when the second leg mechanism 20 moves linearly along the first direction.

[0106] Among them, the guide wheel 15 is rotatably connected to the mounting member 14 at one end of the support structure 12 close to the foot 22, so that there is rolling contact between the guide wheel 15 and the reinforcement structure 216 to reduce friction and avoid relative sliding between the first leg mechanism 10 and the second leg mechanism 20 to cause jamming.

[0107] In some embodiments, as shown in Figures 8-10, the robotic leg 100 further includes a positioning mechanism 40, which is configured to send a signal to the robot 1000 when the second leg mechanism 20 moves to an extreme position along the first direction. Thus, when the second leg mechanism 20 moves to an extreme position along the first direction relative to the first leg mechanism 10, the positioning structure can transmit a signal to the control system of the robot 1000, allowing the robot 1000 to detect the movement position of the second leg mechanism 20.

[0108] In some embodiments, the support structure 12 has a first end 12a and a second end 12b arranged opposite to each other in a first direction, and the positioning mechanism 40 includes a touch portion 41, which is connected to the second leg mechanism 20; the positioning mechanism 40 also includes a first switch 42, which is arranged at the first end 12a of the support structure 12, and the first switch 42 is used to contact the touch portion 41 when the second leg mechanism 20 moves in a straight line to the extreme position toward the first end 12a, so as to send a signal to the robot 1000. Therefore, a first switch 42 is set at the first end 12a of the support structure 12. Through the cooperation between the first switch 42 and the touch part 41, when the second leg mechanism 20 moves to the extreme position relative to the first leg mechanism 10 toward the direction of the first switch 42, the contact between the touch part 41 and the first switch 42 is used to transmit a signal to the control system of the robot 1000, so that the robot 1000 can detect the moving position of the second leg mechanism 20, and thus can control the driving mechanism 30 to adjust the relative sliding between the first leg mechanism 10 and the first leg mechanism 10 according to the moving position of the second leg mechanism 20, thereby adjusting the height of the mechanical leg 100.

[0109] In some embodiments, the positioning mechanism 40 further includes a second switch 43, which is disposed at the second end 12b of the support structure 12. The second switch 43 is configured to contact the contact portion 41 when the second leg mechanism 20 moves linearly to an extreme position toward the second end 12b, thereby sending a signal to the robot 1000. Thus, the second switch 43 may also be disposed at the second end 12b of the support structure 12, such that when the second leg mechanism 20 moves relative to the first leg mechanism 10 toward the direction of the second switch 43 to an extreme position, the contact between the contact portion 41 and the second switch 43 transmits a signal to the control system of the robot 1000, thereby enabling the robot 1000 to detect the movement position of the second leg mechanism 20 and, based on the movement position of the second leg mechanism 20, to control the drive mechanism 30 to adjust the relative sliding between the first leg mechanism 10 and the first leg mechanism 10, thereby adjusting the height of the robotic leg 100.

[0110] It is understood that the support structure 12 is not limited to being provided with the first switch 42 only at the first end 12a of the support structure 12 in the first direction. The second switch 43 may also be provided only at the second end 12b of the support structure 12 in the first direction, or the first switch 42 and the second switch 43 may be provided at both ends of the support structure 12 in the first direction. The first switch 42 and the second switch 43 may be implemented as sensors such as micro switches. Of course, other types of sensors, such as photoelectric sensors, may also be used, as long as they are triggered when the second leg mechanism 20 moves to the extreme position in the first direction, thereby transmitting a signal to the control system of the robot 1000.

[0111] Exemplarily, the first switch 42 and the second switch 43 can be respectively installed on the mounting members 14 at both ends of the support structure 12 in the first direction, thereby facilitating the installation of the first switch 42 and the second switch 43. Specifically, when the second end 12b is the lower end of the support mechanism, the mounting member 14 located at the second end 12b can simultaneously install the second switch 43, the guide rod 131 and the guide wheel 15, making the structure compact, highly integrated, reducing the volume and facilitating assembly.

[0112] In some embodiments, the robotic leg 100 further includes an angle detection mechanism 50, which is configured to detect the rotation angle of the first leg mechanism 10 when the first leg mechanism 10 rotates relative to the body 200. Thus, when the first leg mechanism 10 and the second leg mechanism 20 rotate as a whole relative to the body 200, the angle detection mechanism 50 can detect the rotation angle of the first leg mechanism 10 and transmit a signal to the control system of the robot 1000, allowing the robot 1000 to detect the rotational position of the first leg mechanism 10.

[0113] In some embodiments, the angle detection mechanism 50 includes a magnet sensor 51, a connecting rod 52, and a magnet. The magnet sensor 51 is disposed on the drive mechanism 30. The connecting rod 52 is connected to the first leg mechanism 10 and has an extension portion 521 extending to face the magnet sensor 51. The magnet is disposed on the extension portion 521. When the robot 1000 is powered on, the absolute angle of the first leg mechanism 10 can be read. When the first leg mechanism 10 rotates relative to the body 200, the magnet rotates, and the magnet sensor 51 senses the rotation angle of the magnet to detect the rotation angle of the first leg mechanism 10. Thus, the connection rod 52 can drive the extension portion 521 to rotate with the first leg mechanism 10, thereby driving the magnet disposed on the extension portion 521 to rotate. This allows the magnet sensor 51 to sense the rotation angle of the magnet and transmit a signal to the control system of the robot 1000, allowing the robot 1000 to detect the rotation position of the first leg mechanism 10.

[0114] Of course, in other embodiments, the angle detection mechanism 50 may also use other sensors, such as a capacitive angular displacement sensor, etc., which can detect the rotation angle of the first leg mechanism 10.

[0115] In some embodiments, as shown in FIG13 , the foot 22 includes a wheel 221 and a third motor 222 for driving the wheel 221. The third motor 222 is mounted on the sliding portion 21 or the wheel 221. Thus, the wheel 221 assists the robot 1000 in walking, thereby increasing the robot's 1000 speed. The use of the wheel 221 as the foot 22 combines the characteristics of both wheeled and articulated legs, improving the robot's 1000's ability to adapt to various terrains, such as operating more efficiently in narrow or complex terrain, and enhancing its environmental adaptability.

[0116] When the robot 1000 is walking, it may encounter external disturbances such as obstacles. At this time, the first motor 31, the second motor 33 and the third motor 222 can work together to drive the mechanical legs 100 to extend and / or rotate, and coordinate the rotation of the wheels 221, thereby maintaining the self-balance and stability of the robot 1000, and better improving the dynamic stability of the robot 1000.

[0117] In some embodiments, as shown in Figures 11-13, the wheel 221 includes a wheel seat 2211 and a wheel 2212 rotatably connected to the wheel seat 2211. The wheel seat 2211 is fixedly connected to the sliding part 21 so that the sliding part 21 can drive the wheel 221 to move up and down. The third motor 222 can be installed on the wheel seat 2211 of the wheel 221, that is, the third motor 222 is integrated with the wheel 221 for easy installation. The wheel seat 2211 is provided with a mounting groove for installing the third motor 222. The output shaft of the third motor 222 is connected to the rotating shaft of the wheel 2212 to drive the wheel 2212 to rotate, thereby driving the robot 1000 to walk.

[0118] Of course, in other embodiments, the third motor 222 can also be installed on the sliding part 21 and located above the wheel 221. Installing the third motor 222 on the sliding part 21 can increase the center of gravity of the mechanical leg 100, reduce the moment of inertia of the mechanical leg 100, make the mechanical leg 100 more flexible, and enhance the obstacle surmounting ability of the robot 1000.

[0119] It should be noted that the foot 22 is not limited to the setting of the wheel 221. For example, in other embodiments, the foot 22 can also adopt a structure similar to the sole of the foot to imitate the structure of the human foot. In this case, the walking of the robot 1000 needs to be controlled by the rotation and extension of the mechanical leg 100.

[0120] Of course, in some special cases, the foot 22 can also be a spherical structure, or a regular or irregular shape such as a planar structure directly arranged at the bottom of the second leg mechanism 20, which can abut against the support surface to play a supporting role without affecting the normal operation of the robot 1000.

[0121] In some embodiments, as shown in Figures 13 and 18-21, the robotic leg 100 further includes a support base 23 connected to the foot 22, specifically to the wheel base 2211 of the foot 22. The support base 23 is configured to abut against a support surface when the robot 1000 is in a squatting position, thereby cooperating with the foot 22 to support the robot 1000, thereby stabilizing the robot 1000 and enabling the robot 1000 to maintain balance even in a squatting position, thereby supporting the versatility and adaptability of the robot 1000. Furthermore, the connection between the support base 23 and the foot 22 enables the robot 1000 to move flexibly in different scenarios and maintain a stable standing posture when required.

[0122] Exemplarily, the support surface may be the ground, a wall perpendicular to the ground, a step surface parallel to the ground and having a certain height, or an inclined surface at a certain angle to the ground.

[0123] In some embodiments, please refer to Figure 18, which is a schematic diagram illustrating a first support principle for a robotic leg 100 in a squatting position, as provided in embodiments of the present application. When the robot 1000 is in the squatting position, the fulcrum where the support base 23 contacts the support surface serves as a first fulcrum, and the fulcrum where the foot 22 contacts the ground serves as a second fulcrum. The center of gravity of the robot 1000 is located between the first and second fulcrums.

[0124] When the support surface is horizontal, and the robot 1000 is in a squatting position, relying solely on the feet 22 for support on the ground can easily cause the robot 1000 to fall due to its high center of gravity. Therefore, by providing the support base 23, the present application can add a fulcrum when the robot 1000 is in the squatting position. That is, the robot 1000 now has a first fulcrum with the support surface and a second fulcrum with the support surface. This ensures that the center of gravity of the robot 1000 is located between the first fulcrum and the second fulcrum, allowing the robot 1000 to remain stable in the squatting position, thereby improving the stability and flexibility of the robot 1000.

[0125] For example, by providing the support base 23, the robot 1000 provided by the present application can not only dock on a horizontal ground, but also, when the robot 1000 is in a squatting state, the support surface abutted by the foot 22 and the support surface abutted by the support base 23 may not be the same support surface. For example, the support surface abutted by the foot 22 and the support surface abutted by the support base 23 are perpendicular to each other, or the support surface abutted by the foot 22 and the support surface abutted by the support base 23 are parallel to each other but at different heights. As a result, the robot 1000 using the provided mechanical leg 100 can maintain balance in a squatting state on different terrains, thereby improving the flexibility of the provided robot 1000 and its ability to adapt to complex environments.

[0126] In other embodiments, please refer to FIG19 , which is a schematic diagram illustrating a second support principle for a robotic leg 100 in a squatting position, as proposed in an embodiment of the present application. As shown in FIG19 , when the robot 1000 is in a squatting position, the support base 23 abuts against a first support surface (e.g., a wall), and the foot 22 abuts against a second support surface (e.g., the ground). Furthermore, if the first and second support surfaces are not completely perpendicular but tilted, the support base 23 and foot 22 can still cooperate to support the robot 1000. This improves the flexibility of the robot 1000.

[0127] In other embodiments, please refer to FIG. 20 , which is a schematic diagram illustrating a third support principle for the robot leg 100 in a squatting position, as proposed in an embodiment of the present application. As shown in FIG. 20 , when the robot 1000 is in the squatting position, the support base 23 abuts against a first support surface (e.g., a wall), and the foot 22 abuts against a second support surface (e.g., a step), enabling the robot 1000 to stably dock in more complex environments, thereby enhancing the robot 1000's flexibility.

[0128] It should be noted that, in some embodiments, as shown in FIG21 , an auxiliary wheel 231 is provided at one end of the support base 23 that abuts the support surface. When the robot 1000 is in a squatting state, if the robot 1000 needs to stand up to perform a corresponding task, the friction between the wheel 221 and the support surface may cause the robot 1000 to consume too much power or lose balance when standing up. By providing the auxiliary wheel 231, the auxiliary wheel 231 can slide along the back side of the robot 1000 when the robot 1000 stands up from the squatting state, thereby reducing the friction experienced by the robot 1000. At the same time, the auxiliary wheel 231 can also enable the robot 1000 to slide forward even in the squatting state, thereby improving the flexibility of the robot 1000.

[0129] In some embodiments, as shown in Figures 3-4, one end of the positioning shaft 11 can be rotatably connected to the first transmission wheel 321 via a first bearing 111, and the other end of the positioning shaft 11 can be rotatably connected to the third transmission wheel 341 via a second bearing 112. The support structure 12 is connected to the positioning shaft 11 so that when the first motor 31 and the second motor 33 cooperate to drive the second leg mechanism 20 to move linearly relative to the first leg mechanism 10, the rotation of the first transmission wheel 321 and the third transmission wheel 341 will not affect the rotation of the positioning shaft 11. When the first motor 31 and the second motor 33 cooperate to drive the first leg mechanism 10 to rotate relative to the body 200, the first flexible transmission member 323 and the second flexible transmission member 343 drive the first transmission assembly 32, the second transmission assembly 34, and the first leg mechanism 10 to rotate as a whole.

[0130] Optionally, the positioning shaft 11 can be integrally connected to the support structure 12 to improve structural stability. Of course, the positioning shaft 11 can also be separately connected to the support structure 12 to facilitate assembly and disassembly.

[0131] In other embodiments, the output shaft of the first motor 31 can also be extended so that the output shaft of the first motor 31 passes through the first transmission wheel 321, thereby connecting the output shaft of the first motor 31 to the positioning shaft 11 through a bearing, and / or, the output shaft of the second motor 33 can be extended so that the output shaft of the second motor 33 passes through the second transmission wheel 322, thereby connecting the output shaft of the second motor 33 to the positioning shaft 11 through a bearing.

[0132] In other embodiments, the two ends of the positioning shaft 11 can be fixedly connected to the first transmission wheel 321 and the second transmission wheel 322 respectively, or the two ends of the positioning shaft 11 can be fixedly connected to the output shaft of the first motor 31 and the output shaft of the second motor 33 respectively, and the support structure 12 and the positioning shaft 11 can be rotatably connected through bearings.

[0133] In some usage scenarios, the first direction is the extension direction of the first leg mechanism 10. When the first leg mechanism 10 rotates relative to the body 200, the angle between the first direction and the ground changes accordingly. When the robot 1000 is in a normal walking state, the first leg mechanism 10 is perpendicular to the ground. In this case, the first direction is consistent with the height direction of the robot 1000, that is, the direction of gravity. At this time, the second leg mechanism 20, driven by the first motor 31 and the second motor 33, moves linearly relative to the first leg mechanism 10 in the height direction. Because the lower end of the second leg mechanism 20 abuts the ground, the first leg mechanism 10 moves up and down relative to the second leg mechanism 20. When the robot 1000 is in a normal walking state, the second direction is the left-right direction of the robot 1000, that is, the first motor 31 and the second motor 33 are arranged relative to each other along the left-right direction of the robot 1000. The third direction is the front-back direction of the robot 1000, that is, the first leg mechanism 10 rotates relative to the body 200 along the front-back direction of the robot 1000.

[0134] For example, when the first motor 31 and the second motor 33 are arranged opposite to each other, with the motors themselves as the reference system, due to mirroring reasons, when one motor itself rotates counterclockwise and the other motor itself rotates clockwise, the two motors are regarded as rotating in the same direction; when the two motors themselves rotate counterclockwise or clockwise at the same time, they are regarded as rotating in opposite directions.

[0135] For example, when the first motor 31 and the second motor 33 are arranged on the same side, when the two motors themselves rotate counterclockwise or clockwise at the same time, the two motors are regarded as rotating in the same direction; when one motor itself rotates counterclockwise and the other motor itself rotates clockwise, the two motors are regarded as rotating in opposite directions.

[0136] In some embodiments, in a first driving state, the first motor 31 and the second motor 33 respectively drive the first flexible member and the second flexible member to rotate in the same direction and at the same speed, thereby driving the first leg mechanism 10 and the second leg mechanism 20 to rotate as a whole relative to the body 200. Specifically, the first motor 31 and the second motor 33 rotate in the same direction, that is, with the motors themselves as a reference system, one motor rotates clockwise and the other rotates counterclockwise, and the first motor 31 and the second motor 33 have the same torque, respectively driving the first flexible member and the second flexible member to rotate in the same direction and at the same speed, so that the forces acting on the second leg mechanism 20 in the first direction are opposite in direction and equal in magnitude, thereby locking the linear motion of the second leg mechanism 20 in the first direction. At the same time, the torques acting on the first leg mechanism 10 are in the same direction, thereby driving the first leg mechanism 10 to drive the second leg mechanism 20 to rotate about a third direction relative to the body 200.

[0137] In some embodiments, in the second driving state, the first motor 31 and the second motor 33 respectively drive the first flexible member and the second flexible member to rotate in opposite directions and at the same speed, thereby driving the second leg mechanism 20 to move linearly in the first direction relative to the first leg mechanism 10. Specifically, the opposite rotation of the first motor 31 and the second motor 33, that is, the two motors rotate clockwise or counterclockwise simultaneously with the motor itself as a reference system, and the torques of the first motor 31 and the second motor 33 are the same, respectively driving the first flexible member and the second flexible member to rotate in opposite directions and at the same speed, so that the torques applied to the first leg mechanism 10 are opposite in direction and the same in magnitude, thereby locking the rotational motion of the first leg mechanism 10. At the same time, the force applied to the second leg mechanism 20 in the first direction is the same, thereby driving the second leg mechanism 20 to move linearly in the first direction relative to the first leg mechanism 10.

[0138] In some embodiments, in the third driving state, the first motor 31 and the second motor 33 respectively drive the first flexible member and the second flexible member to rotate in the same direction but at different speeds, thereby driving the second leg mechanism 20 to move linearly in the first direction relative to the first leg mechanism 10 while driving the first leg mechanism 10 and the second leg mechanism 20 to rotate as a whole. Specifically, the first motor 31 and the second motor 33 rotate in the same direction, that is, with the motors themselves as a reference system, one motor rotates clockwise and the other rotates counterclockwise, but with different torques, respectively driving the first flexible member and the second flexible member to rotate in the same direction but at different speeds. This causes the forces acting on the second leg mechanism 20 in the first direction to be opposite in direction but different in magnitude, thereby driving the second leg mechanism 20 to move linearly in the first direction relative to the first leg mechanism 10. At the same time, the torque acting on the first leg mechanism 10 is directed in the same direction, thereby driving the first leg mechanism 10 to drive the second leg mechanism 20 to rotate relative to the body 200 about the third direction.

[0139] In other embodiments, in the third driving state, the first motor 31 and the second motor 33 respectively drive the first flexible member and the second flexible member to rotate in opposite directions and at different speeds, thereby driving the first leg mechanism 10 and the second leg mechanism 20 to rotate as a whole while driving the second leg mechanism 20 to move linearly in the first direction relative to the first leg mechanism 10. Specifically, the first motor 31 and the second motor 33 rotate in opposite directions, that is, with the motor itself as a reference system, the two motors rotate simultaneously clockwise or counterclockwise with different torques, respectively driving the first flexible member and the second flexible member to rotate in opposite directions and at different speeds, so that the torques applied to the first leg mechanism 10 are opposite in direction but different in magnitude, thereby driving the first leg mechanism 10 to drive the second leg mechanism 20 to rotate relative to the body 200 about the third direction. At the same time, the force applied to the second leg mechanism 20 in the first direction is the same, thereby driving the second leg mechanism 20 to move linearly in the first direction relative to the first leg mechanism 10.

[0140] In some embodiments, as shown in FIG4 , the first flexible transmission member 323 includes a first belt 323a, which rotatably surrounds the first and second transmission pulleys 321 and 322 and is connected to the second leg mechanism 20. The second flexible transmission member 343 includes a second belt 343a, which rotatably surrounds the third and fourth transmission pulleys 341 and 342 and is connected to the second leg mechanism 20. The arrangement of the first and second belts 323a and 343a enables the rotation and extension of the robotic leg 100, resulting in a simple structure, low cost, and easy installation and maintenance. Furthermore, the belts are highly elastic, buffering shock and vibration, resulting in smooth operation and low noise. They also mitigate the impact of direct impact forces on the motor and reducer, increasing the durability and operational stability of the drive mechanism 30. Furthermore, the synchronous belt transmission method reduces shearing and exposure to high-speed moving parts, reducing safety risks and improving safety in environments such as homes.

[0141] In some embodiments, the second transmission wheel 322 is coaxially arranged with the fourth transmission wheel 342. For example, the first transmission wheel 321 and the third transmission wheel 341 are axially symmetrical, and the second transmission wheel 322 and the fourth transmission wheel 342 are axially symmetrical. The first transmission wheel 321 and the second transmission wheel 322 can be the same or different in size, and the third transmission wheel 341 and the fourth transmission wheel 342 can be the same or different in size.

[0142] Exemplarily, the first transmission wheel 321, the second transmission wheel 322, the third transmission wheel 341 and the fourth transmission wheel 342 are all pulleys, and the first belt 323a and the second belt 343a can be transmitted through the friction between the pulleys, or the first belt 323a and the second belt 343a can be provided with belt teeth that mesh with the pulleys, and power is transmitted through the meshing of the belt teeth and the tooth grooves of the pulleys to drive the mechanical leg 100 to extend and retract and / or rotate.

[0143] In some embodiments, the first belt 323a and the second belt 343a are arranged in parallel. For example, the first belt 323a and the second belt 343a can be axially symmetrical. That is, the ring structure formed by the first belt 323a when tightened between the first transmission wheel 321 and the second transmission wheel 322 is the same size as the ring structure formed by the second belt 343a when tightened between the third transmission wheel 341 and the fourth transmission wheel 342. The two belts are arranged opposite each other to facilitate the extension and / or rotation of the robotic leg 100 through the dual-belt transmission method.

[0144] In some embodiments, as shown in Figures 8-10, the sliding portion 21 includes a base 214, a first slider 211, and a second slider 212. The foot 22 is connected to the base 214. The first slider 211 and the second slider 212 are connected to both sides of the base 214 in the third direction. The first slider 211 is slidably connected to the first leg mechanism 10 and connected to the side of the first belt 323a near the first slider 211. The second slider 212 is slidably connected to the first leg mechanism 10 and connected to the side of the second belt 343a near the second slider 212. The first direction, the second direction, and the third direction are perpendicular to each other. Therefore, the arrangement of the first belt 323a, the second belt 343a, and the sliding portion 21 can not only replace the complex structure of the existing multi-link structure, but also simplify the overall design of the robot 1000, reduce maintenance costs and operational difficulty, and the compact arrangement allows the robot leg 100 to achieve sufficient extension and retraction without increasing the size of the robot 1000, effectively improving the robot 1000's mobility in a limited space and improving space efficiency.

[0145] For example, the sliding portion 21 is connected to diagonally opposite sides of the first belt 323a and the second belt 343a in the third direction. When the first motor 31 and the second motor 33 cooperate to drive the first belt 323a and the second belt 343a to rotate in the same direction and at the same speed, the forces acting on the diagonally opposite sides of the first belt 323a and the second belt 343a in the first direction are opposite and equal in magnitude, thereby locking the linear motion of the second leg mechanism 20 in the first direction. At this time, the sliding portion 21 and the guide structure 13 are relatively stationary. At the same time, because the movement of the first belt 323a and the second belt 343a in the first direction is restricted, the torque of the first motor 31 and the second motor 33 drives the first belt 323a and the second belt 343a to drive the second leg mechanism 20 to transmit torque to the first leg mechanism 10, thereby aligning the torque acting on the first leg mechanism 10, thereby driving the first leg mechanism 10 to drive the second leg mechanism 20 to rotate relative to the body 200 in the third direction.

[0146] When the first motor 31 and the second motor 33 cooperate to drive the first belt 323a and the second belt 343a to rotate in opposite directions and at the same speed, the force direction and magnitude on both sides of the diagonal sides of the first belt 323a and the second belt 343a in the first direction are the same, so as to drive the sliding part 21 to move along the guide structure 13, so that the second leg mechanism 20 can move linearly in the first direction relative to the first leg mechanism 10.

[0147] When the first motor 31 and the second motor 33 cooperate to drive the first belt 323a and the second belt 343a to rotate in the same direction and at different speeds, the forces on the two diagonal sides of the first belt 323a and the second belt 343a are in opposite directions in the first direction, but in different sizes, so that the sliding part 21 can move along the guide structure 13 to a certain extent, that is, the second leg mechanism 20 can move linearly in the first direction relative to the first leg mechanism 10 while transmitting torque to the first leg mechanism 10, so as to drive the first leg mechanism 10 to drive the second leg mechanism 20 as a whole to rotate around the third direction relative to the fuselage 200.

[0148] When the first motor 31 and the second motor 33 cooperate to drive the first belt 323a and the second belt 343a to rotate in opposite directions and at different speeds, the force directions of the two diagonal sides of the first belt 323a and the second belt 343a in the first direction are the same, but the magnitudes are different, so that the torque directions of the first leg mechanism 10 are opposite, but the magnitudes are different, so that the first leg mechanism 10 can drive the second leg mechanism 20 as a whole to rotate to a certain extent around the third direction relative to the fuselage 200, while allowing the sliding part 21 to move along the guide structure 13, so that the second leg mechanism 20 can move linearly along the first direction relative to the first leg mechanism 10.

[0149] In some embodiments, as shown in Figures 3, 17, and 22, the robotic leg 100 further includes a tensioning device 17, which is used to adjust the tension of the first transmission assembly 32 and / or the second transmission assembly 34. For example, the tensioning device 17 can adjust the tension of the first transmission assembly 32 alone, the tension of the second transmission assembly 34 alone, or the tension of both the first transmission assembly 32 and the second transmission assembly 34 simultaneously.

[0150] In some embodiments, as shown in Figures 22-28, the tensioning device 17 includes a movable shaft 171 and a linear moving mechanism 172, and the movable shaft 171 and the linear moving mechanism 172 are both installed on the support structure 12 of the first leg mechanism 10, and the second transmission wheel 322 of the first transmission assembly 32 and / or the fourth transmission wheel 342 of the second transmission assembly 34 are installed on the support structure 12 through the movable shaft 171, and the first flexible transmission member 323 and the second flexible transmission member 343 are tensioned and the tensioning force is adjusted through the linear moving mechanism 172.

[0151] In some embodiments, the first leg mechanism 10 is provided with a mounting hole 124 and a connecting hole 125 communicating with the mounting hole 124. Specifically, the mounting hole 124 and the connecting hole 125 are provided on the support structure 12. The movable shaft 171 is inserted into the mounting hole 124, and the end of the movable shaft 171 is rotatably connected to the second transmission wheel 322 and / or the fourth transmission wheel 342 on the outside of the first leg mechanism 10. For example, to make the overall structure more compact, the mounting hole 124 is provided along the thickness direction of the support structure 12, i.e., the second direction.

[0152] Illustratively, the tensioning device 17 further includes a fixing screw 173. Accordingly, a connecting hole 1713 is axially defined at the end of the movable shaft 171. The fixing screw 173 is threadedly connected to the connecting hole 1713 to securely and rotationally connect the second transmission wheel 322 and / or the fourth transmission wheel 342 to the movable shaft 171. Of course, in other embodiments, secure connection of the first transmission wheel 321 and / or the fourth transmission wheel 342 may be achieved through other suitable structures.

[0153] In some embodiments, the linear motion mechanism is inserted into the connecting hole 125 and extends into the mounting hole 124 to connect to the movable shaft 171. The linear motion mechanism 172 is configured to rotate and drive the movable shaft 171 and the second transmission wheel 322 and / or the fourth transmission wheel 342 connected thereto to move in the first direction relative to the first leg mechanism 10. It is understood that the linear motion mechanism 172 is disposed on an end of the support structure 12 proximate to the second transmission wheel 322. By moving the second transmission wheel 322 and / or the fourth transmission wheel 342 in the first direction, the spacing between the second transmission wheel 322 and the first transmission wheel 321 and / or between the fourth transmission wheel 342 and the third transmission wheel 341 in the first direction is adjusted. This allows the first flexible transmission member 323 and / or the second flexible transmission member 343 to be tensioned and the tensioning force thereafter to be adjusted. This prevents the first flexible transmission member 323 and / or the second flexible transmission member 343 from loosening, slipping, or jumping, thereby improving transmission efficiency, reliability, and service life.

[0154] Exemplarily, the connecting hole 125 is opened along the length direction (i.e., the first direction) of the support structure 12, and the linear moving mechanism 172 is inserted into the connecting hole 125 along the first direction, with one end extending into the mounting hole 124 and connected to the movable shaft 171, and the other end is exposed to the support structure 12. Taking the tensioning operation as an example, the portion of the linear moving mechanism 172 exposed from the support structure 12 is manually rotated, and the portion of the linear moving mechanism 172 connected to the movable shaft 171 can drive the movable shaft 171 to move in the first direction, for example, away from the first transmission wheel 321. At the same time, the movable shaft 171 can drive the second transmission wheel 322 and / or the fourth transmission wheel 342 connected thereto to move in the first direction, thereby increasing the distance between the second transmission wheel 322 and the first transmission wheel 321 in the first direction and / or increasing the distance between the fourth transmission wheel 342 and the third transmission wheel 341 in the first direction. Therefore, the first flexible transmission member 323 wrapped around the first transmission wheel 321 and the second transmission wheel 322 and / or the second flexible transmission member 343 wrapped around the third transmission wheel 341 and the fourth transmission wheel 342 can be tensioned.

[0155] Therefore, the tensioning adjustment of the tensioning device 17 is very simple and quick, and by sharing the movable shaft 171, the supporting structure 12 and other parts with the first leg mechanism 10, the overall structure of the mechanical leg 100 is greatly simplified.

[0156] In a specific application, the second transmission wheel 322 and the fourth transmission wheel 342 can be installed on the support structure 12 through the same movable shaft 171 to achieve a coaxial arrangement of the second transmission wheel 322 and the fourth transmission wheel 342, and when the linear moving mechanism 172 drives the movable shaft 171 to move along the first direction, the second transmission wheel 322 and the fourth transmission wheel 342 will move simultaneously with the movable shaft 171. In this way, only one tensioning operation is required to achieve tensioning of both the first flexible transmission member 323 and the second flexible transmission member 343, and adjustment of the tensioning force after tensioning, which greatly simplifies the tensioning adjustment operation and structure of the first transmission assembly 32 and the second transmission assembly 34.

[0157] In the first embodiment of the present application, to move the movable shaft 171 along the first direction, the linear motion mechanism 172 includes an adjusting screw 1721 and a screw-on hole 1711. As shown in FIG28 , the screw-on hole 1711 is formed on the movable shaft 171 along the first direction. As shown in FIG25 and FIG26 , the adjusting screw 1721 extends from the connecting hole 125 to the mounting hole 124 and is screwed into the screw-on hole 1711. It is understood that the adjusting screw 1721 is exposed at the head of the support structure 12 by manual rotation. Since the adjusting screw 1721 cannot move linearly, when the adjusting screw 1721 is rotated, the movable shaft 171, which is screwed into the adjusting screw 1721, moves linearly along the adjusting screw 1721, thereby causing the second transmission wheel 322 and / or the fourth transmission wheel 342 to move linearly along the first direction, thereby achieving tensioning of the first flexible transmission member 323 and / or the second flexible transmission member 343 and adjusting the tensioning force after tensioning.

[0158] It should be noted that in order to ensure the reliability of the linear moving mechanism 172, the linear moving mechanism 172 may also include a nut (not shown), wherein the nut is threadedly sleeved on the end of the adjusting screw 1721 to ensure that the adjusting screw 1721 does not move linearly. When the adjusting screw 1721 is rotated, the linear movement of the movable shaft 171 is smoother.

[0159] In embodiment 1 of the present application, as shown in Figure 25, the tensioning device 17 also includes a guide member 174, wherein the guide member 174 is arranged between the movable shaft 171 and the hole wall of the mounting hole 124, and is used to guide the movable shaft 171 inserted into the mounting hole 124 to move along the first direction.

[0160] For example, when the adjusting screw 1721 of the linear moving mechanism 172 drives the movable shaft 171 to move along the adjusting screw 1721 , the guide member 174 can ensure that the movable shaft 171 always moves along the first direction.

[0161] Specifically, as shown in Figures 23 to 28, the guide member 174 includes a guide portion 1741 and a guide groove 1742, wherein one of the outer wall of the movable shaft 171 and the hole wall of the mounting hole 124 is provided with a guide portion 1741 extending along the first direction, and the other is provided with a guide groove 1742. When the movable shaft 171 is inserted into the mounting hole 124, the guide portion 1741 and the guide groove 1742 are matched in a concave and convex manner and can slide relative to each other along the first direction.

[0162] Illustratively, the guide portion 1741 protrudes from the wall of the mounting hole 124 of the support structure 12 and extends linearly along the length of the support structure 12; the guide groove 1742 is formed on the outer wall of the movable shaft 171. Of course, in other embodiments, the guide portion 1741 may also protrude from the outer wall of the movable shaft 171, and the guide groove 1742 may be formed in the wall of the mounting hole 124 of the support structure 12.

[0163] Optionally, two ribs 1712 are radially protruded from the outer wall of the movable shaft 171. The two ribs 1712 are arranged on the same side of the movable shaft 171 along the axial gap of the movable shaft 171 to form the aforementioned guide groove 1742 together with the outer wall of the movable shaft 171. Of course, the guide groove 1742 can also be formed in other ways, such as by being directly recessed into the outer wall of the movable shaft 171.

[0164] Optionally, in order to improve the movement smoothness of the movable shaft 171, the center line of the support structure 12 and the center axis of the movable shaft 171 are located on the same straight line. In addition, two guide parts 1741 and two guide grooves 1742 are provided, wherein the two guide parts 1741 are symmetrically arranged relative to the center line of the support structure 12, and the two guide grooves 1742 are symmetrically arranged relative to the center axis of the movable shaft 171.

[0165] For example, to further improve the smoothness of the linear movement of the movable shaft 171, as shown in Figures 25 and 27, the mounting hole 124 of the support structure 12 is a double-headed keyhole. In addition, the end walls of the two ribs 1712 are arcuate surfaces that adapt to the hole wall of the mounting hole 124 (see Figure 28).

[0166] In some embodiments, as shown in Figures 5-7, the first flexible transmission member 323 includes a first transmission rope 323b, and the first transmission rope 323b includes a first rope segment 3231 and a second rope segment 3232. One end of the first rope segment 3231 and one end of the second rope segment 3232 are both fixed to the first transmission wheel 321, and one end of at least one of the first rope segment 3231 and one end of the second rope segment 3232 is wrapped around the first transmission wheel 321, and the other end of the first rope segment 3231 is connected to the other end of the second rope segment 3232 and surrounds the second transmission wheel 322, so that when the first transmission wheel 321 rotates, it can drive the first transmission rope 323b to rotate, thereby causing the first rope segment 3231 and the second rope segment 3232 to move in opposite directions in the first direction, and one of the first rope segment 3231 and the second rope segment 3232 is connected to the second leg mechanism 20. For example, one end of the first rope segment 3231 and one end of the second rope segment 3232 can be spaced apart by a baffle 3433 and fixed to the first transmission wheel 321, or one end of the first rope segment 3231 and one end of the second rope segment 3232 can be connected and fixed to the first transmission wheel 321. The number of turns of the first rope segment 3231 and the second rope segment 3232 around the first transmission wheel 321 can be set according to the stroke of the linear motion of the second leg mechanism 20. During the forward and reverse rotation of the first motor 31, as the first transmission wheel 321 rotates, the number of turns of the first rope segment 3231 and the second rope segment 3232 around the first transmission wheel 321 will change accordingly, with one turn decreasing and the other increasing, so as to ensure that the first transmission rope 323b can rotate normally during the forward and reverse rotation of the first motor 31.

[0167] It should be noted that, when the mechanical leg 100 of the robot 1000 is extended to the extreme position or shortened to the extreme position, one of the first rope segment 3231 and the second rope segment 3232 can be simply fixed on the first transmission wheel 321 but not wrapped around it. Of course, both rope segments can also be fixed and wrapped around the first transmission wheel 321. When the mechanical leg 100 of the robot 1000 is in the process of extending or shortening, the two rope segments are retracted and released, and both rope segments are wrapped around the first transmission wheel 321.

[0168] In some embodiments, the second flexible transmission member 343 includes a second transmission rope 343b, the second transmission rope 343b includes a third rope segment 3431 and a fourth rope segment 3432, one end of the third rope segment 3431 and one end of the fourth rope segment 3432 are both fixed to the third transmission wheel 341, and one end of at least one of the third rope segment 3431 and one end of the fourth rope segment 3432 is wrapped around the third transmission wheel 341, the other end of the third rope segment 3431 is connected to the other end of the fourth rope segment 3432 and surrounds the fourth transmission wheel 342, so that when the second transmission wheel 322 rotates, it can drive the second transmission rope 343b to rotate, thereby causing the third rope segment 3431 and the fourth rope segment 3432 to move in opposite directions in the first direction, and one of the third rope segment 3431 and the fourth rope segment 3432 is connected to the second leg mechanism 20. For example, one end of the third rope segment 3431 and one end of the fourth rope segment 3432 can be spaced apart by a baffle 3433 and fixed to the third transmission wheel 341, or one end of the third rope segment 3431 and one end of the fourth rope segment 3432 can be connected and fixed to the third transmission wheel 341. The number of turns of the third rope segment 3431 and the fourth rope segment 3432 around the third transmission wheel 341 can be set according to the stroke of the linear motion of the second leg mechanism 20. During the forward and reverse rotation of the second motor 33, as the third transmission wheel 341 rotates, the number of turns of the third rope segment 3431 and the fourth rope segment 3432 around the third transmission wheel 341 will change accordingly, with one turn decreasing and the other increasing, so as to ensure that the second transmission rope 343b can rotate normally during the forward and reverse rotation of the second motor 33.

[0169] It should be noted that, when the mechanical leg 100 of the robot 1000 is extended to the extreme position or shortened to the extreme position, one of the third rope segment 3431 and the fourth rope segment 3432 can be simply fixed on the third transmission wheel 341 but not wrapped around it. Of course, both rope segments can also be fixed and wrapped around the third transmission wheel 341. When the mechanical leg 100 of the robot 1000 is in the process of extending or shortening, the two rope segments are retracted and released, and both rope segments are wrapped around the third transmission wheel 341.

[0170] The first transmission rope 323b and the second transmission rope 343b are arranged to realize the rotation and extension of the mechanical leg 100. The structure is simple, and the cost, volume and maintenance cost of the transmission rope are lower, which greatly reduces the cost. In addition, the transmission rope can also mitigate impact and vibration, run smoothly, and have low noise during operation. It also reduces the impact force directly acting on the motor and reducer, thereby increasing the durability and operational stability of the drive mechanism 30.

[0171] In some embodiments, the sliding portion 21 includes a base body 214, a first slider 211 and a second slider 212, the foot 22 is connected to the base body 214, the first slider 211 and the second slider 212 are connected to both sides of the base body 214 in the third direction, the first slider 211 is slidably connected to the first leg mechanism 10 and is close to the first rope segment 3231, the second slider 212 is slidably connected to the second leg mechanism 20 and is close to the fourth rope segment 3432, the first rope segment 3231 is connected to the first slider 211, the fourth rope segment 3432 is connected to the second slider 212, and the first rope segment 3231 and the fourth rope segment 3432 are diagonally arranged, and the first direction, the second direction and the third direction are perpendicular to each other. Therefore, through the setting of the above-mentioned first transmission rope 323b, the second transmission rope 343b and the sliding part 21, not only can the complex structure of the existing multi-link be replaced, but also the overall design of the robot 1000 is simplified, and the maintenance cost and operation difficulty are reduced. At the same time, the compact setting can allow the mechanical leg 100 to achieve sufficient extension and retraction without increasing the volume of the robot 1000, effectively improving the mobility of the robot 1000 in a limited space and improving space efficiency.

[0172] Among them, when the first motor 31 and the second motor 33 cooperate to drive the first transmission rope 323b and the second transmission rope 343b to rotate in the same direction and at the same speed, in opposite directions and at the same speed, in the same direction and at different speeds, or in opposite directions and at different speeds, the transmission method is similar to the above-mentioned first belt 323a and the second belt 343a, and will not be repeated here.

[0173] In some embodiments, as shown in Figures 2, 3, and 14, the robotic leg 100 further includes a frame 60, which includes a base plate 61 and a first side plate 621 and a second side plate 631 connected to the base plate 61. The base plate 61 is used to be mounted to the body 200 of the robot 1000. The first side plate 621 and the second side plate 631 extend perpendicular to the base plate 61 and are arranged opposite each other. The first side plate 621 has a first mounting position 621 for mounting the first motor 31, and the second side plate 631 has a second mounting position 631 for mounting the second motor 33. The first mounting position 621 and the second mounting position 631 are arranged opposite each other so that the first motor 31 and the second motor 33 are arranged coaxially and oppositely. The provision of the frame 60 facilitates the installation and connection of the first motor 31 and the second motor 33, thereby improving the rotational stability of the first leg mechanism 10. In addition, the frame 60 is installed on the body 200 of the robot 1000, the first motor 31 and the second motor 33 are installed relatively on the first side plate 621 and the second side plate 631, and the output shafts of the first motor 31 and the second motor 33 are coaxially arranged through the positioning shaft 11, so as to stably support the body 200 and improve the structural stability.

[0174] In some embodiments, as shown in Figures 9, 10, and 14, the base plate 61 is provided with a through hole 611 for mounting an auxiliary component 70, which is used to limit the axial movement of the first leg mechanism 10 along the positioning axis 11. Thus, the through hole 611 is provided on the base plate 61 to allow the auxiliary component 70 to be mounted, and extends into the inner side of the base plate 61 to guide the first leg mechanism 10 to rotate along a predetermined direction, resulting in a compact structure and reduced size. For example, when the robot 1000 is in a normal walking state, the predetermined direction can be the front-to-back direction of the robot 1000. In this case, the auxiliary component 70 is used to limit the left-to-right movement of the first leg mechanism 10. This ensures that the first leg mechanism 10 always rotates along a predetermined rotation trajectory, minimizing the risk of the first leg mechanism 10 shaking due to deviation from the predetermined trajectory during rotation, thereby making the robot 1000 more stable during walking.

[0175] In some embodiments, the auxiliary component 70 is connected to the base plate 61, and at least a portion of the auxiliary component 70 is located within the through hole 611. Therefore, the location of the auxiliary component 70 within the through hole 611 can fully utilize the space of the frame 60, making the structure of the robot 1000 more compact. In addition, the provision of the through hole 611 can also reduce the weight of the frame 60, making the body 200 lighter.

[0176] In some embodiments, as shown in Figures 29-31, the auxiliary component 70 includes: a first guide member 71, the first guide member 71 is provided with a guide groove 714; a second guide member 72, the second guide member 72 is provided with a guide portion 721, the guide portion 721 is at least partially located in the guide groove 714, and the outer surface of the guide portion 721 fits with the inner surface of the guide groove 714; wherein, one of the first guide member 71 and the second guide member 72 is connected to the base plate 61, and the other of the first guide member 71 and the second guide member 72 is connected to the first leg mechanism 10, when the first leg mechanism 10 rotates relative to the fuselage 200, the guide portion 721 and the guide groove 714 move relative to each other, and the guide portion 721 is at least partially restricted in the guide groove 714 to limit the axial movement of the first leg mechanism 10 toward the positioning axis 11. Specifically, when the first leg mechanism 10 rotates relative to the body 200, the first guide member 71 and the second guide member 72 move relative to each other, and the guide portion 721 and the guide slot 714 move relative to each other. At this time, the guide portion 721 can slide within the guide slot 714. Because the outer surface of the guide portion 721 fits closely with the inner surface of the guide slot 714, the guide portion 721 fits tightly within the guide slot 714, thereby minimizing the axial movement of the guide portion 721. It should be noted that to enable relative movement between the guide portion 721 and the guide slot 714, a small gap still exists between them.

[0177] As an embodiment, a first guide member 71 is connected to the base plate 61, and a second guide member 72 is connected to the first leg mechanism 10. The first guide member 71 includes a plurality of guide wheels, and a guide groove 714 is provided on the circumferential surface of the guide wheels, and the guide wheels are rotatably connected to the base plate 61. The second guide member 72 also includes a connecting portion 722, wherein the guide portion 721 is connected to the edge of the connecting portion 722, and the connecting portion 722 is connected to the first leg mechanism 10. The guide portion 721 has an arc-shaped structure, and the center of the guide portion 721 is coaxial with the rotation center of the first leg mechanism 10. Specifically, when the first leg mechanism 10 rotates relative to the body 200, the guide portion 721 and the guide groove 714 move relative to each other. Since the guide groove 714 is provided on the circumferential surface of the guide wheel, when the guide portion 721 slides in the guide groove 714, the friction force can drive the guide wheel to roll. As a result, rolling friction is generated between the guide wheel and the guide portion 721, resulting in lower frictional force, which reduces resistance during relative motion between the first guide member and the second guide member, thereby enabling smoother motion of the first leg mechanism 10 when rotating relative to the body 200. In some examples, the guide portion 721 can be integrally formed with the connecting portion 722, or the connecting portion 722 can be welded to the guide portion 721.

[0178] In one embodiment, the first guide member 71 is positioned above the second guide member 72. The plurality of guide wheels includes a first guide wheel 711, a second guide wheel 712, and a third guide wheel 713. The second guide wheel 712 is positioned between the first guide wheel 711 and the second guide wheel 712, with its lowest point higher than the lowest points of the first and second guide wheels 711 and 712. Consequently, the three guide wheels form three guide slots 714. More guide slots 714, in conjunction with the guide portion 721, enhance the restraint on the guide portion 721 and provide more stable guidance. Furthermore, referring to FIG5 , since the first guide member 71 is positioned above the second guide member 72, the arrangement of the first, second, and third guide wheels 711, 712, and 713 allows the line connecting their lowest points to approximate an arc. This allows the first, second, and third guide wheels 711, 712, and 713 to better cooperate with the curved guide portion 721.

[0179] In some examples, two guide wheels can be provided, thereby making the structure of the first guide member 71 simpler and saving costs. It should be noted that when the first guide member 71 is provided with two guide wheels, the two guide wheels can be spaced apart, thereby better matching the arc-shaped guide portion 721, so that the arc-shaped guide portion 721 can partially protrude between the two guide wheels. Of course, in some examples, there can be more than three guide wheels, which is not limited here.

[0180] As an embodiment, the first guide member 71 further includes a connecting frame 715, to which the guide wheels are rotatably connected, and the connecting frame 715 is connected to the base plate 61. Specifically, when installing the first guide member 711, the multiple guide wheels can be first mounted on the connecting frame 715, and then the first connecting frame 715 can be connected to the base plate 61. Therefore, when the guide wheels are relatively small and there are multiple guide wheels, this method of pre-installing some components can save time and reduce the installation difficulty, thereby improving the efficiency of the robot 1000 installation. The connecting frame 715 can be threadedly connected to the base plate 61.

[0181] In some embodiments, as shown in FIG. 14 , the first side panel 621 is provided with a first wiring hole 622 , and the first wiring hole 622 is used for passing the wires of the robot 1000 so as to be electrically connected to the first motor 31 .

[0182] In some embodiments, the second side plate 631 is provided with a second wiring hole 632 , and the second wiring hole 632 is used for passing the wires of the robot 1000 so as to be electrically connected to the second motor 33 .

[0183] The provision of the first wiring hole 622 and the second wiring hole 632 can prevent interference between the wires of the robot 1000 and other components, and facilitates the wiring of the wires.

[0184] In some embodiments, a limit baffle 64 can also be provided on the frame 60, and a corresponding second limit block 16 can be provided on the first leg mechanism 10. When the first leg mechanism 10 rotates to a certain position, the second limit block 16 abuts against the limit baffle 64 to prevent the first leg mechanism 10 from rotating excessively and causing a collision between the first leg mechanism 10 and the frame 60, resulting in damage to parts.

[0185] It should be noted that the robotic leg 100 of the present application is not limited to the first driving member 30a and the second driving member 30b working together to drive the robotic leg 100 to extend or rotate.

[0186] For example, in other embodiments, as shown in Figures 15-17, the drive mechanism 30 includes a first drive member 30a and a second drive member 30b. The first drive member 30a is used to drive the first leg mechanism 10 and the second leg mechanism 20 to rotate as a whole relative to the body 200, and the second drive member 30b is used to drive the second leg mechanism 20 to move linearly along a first direction relative to the first leg mechanism 10. Thus, the first drive member 30a and the second drive member 30b can independently drive the robotic leg 100 to extend or rotate.

[0187] In some embodiments, the first driving member 30a includes a first motor 31, which is connected to the body 200. The first leg mechanism 10 is connected to the output shaft of the first motor 31, so that the first motor 31 can drive the first leg mechanism 10 and the second leg mechanism 20 to rotate relative to the body 200. The second driving member 30b includes a second motor 33 and a transmission assembly 35. The second motor 33 is connected to the body 200. The transmission assembly 35 is connected to the output shaft of the second motor 33 and is connected to the second leg mechanism 20. The second motor 33 is used to drive the transmission assembly 35 to move. The transmission assembly 35 is configured to drive the second leg mechanism 20 to move linearly in a first direction relative to the first leg mechanism 10. Thus, the first motor 31 and the second motor 33 are independently provided, and the axial directions of the output shafts of the first motor 31 and the second motor 33 can be parallel or intersecting. The first motor 31 can be mounted to the body 200 via a frame 60.

[0188] In some embodiments, the transmission assembly 35 is configured to drive the second leg mechanism 20 to move linearly along the first direction relative to the first leg mechanism 10 through a transmission method such as a belt drive, a chain drive, a rope drive, or a screw-nut drive. Thus, the second motor 33 can drive the second leg mechanism 20 to move linearly along the first direction relative to the first leg mechanism 10 through any of the above transmission methods. The second motor 33 can be connected to the output shaft of the first motor 31, so that the first motor 31 can drive the first leg mechanism 10, the second leg mechanism 20, and the second motor 33 to rotate as a whole relative to the body 200, and ensure that the overall rotation of the first leg mechanism 10 and the second leg mechanism 20 and the telescopic movement of the first leg mechanism 10 and the second leg mechanism 20 do not affect each other.

[0189] As an embodiment, the transmission assembly 35 is a screw-nut transmission method. The transmission assembly 35 includes a screw 351 parallel to the first leg mechanism 10 and a nut seat 352 threadedly connected to the screw 351. The screw 351 is connected to the output shaft of the second motor 33, and the second leg mechanism 20 is connected to the nut seat 352, so that the second motor 33 can drive the screw 351 to rotate, thereby driving the nut seat 352 to move linearly along the first direction on the screw 351, thereby driving the second leg mechanism 20 to move linearly along the first direction relative to the first leg mechanism 10.

[0190] In some embodiments, the first leg mechanism 10 includes a support structure 12 and a guide structure 13. The output shaft of the first motor 31 can be connected to the second motor 33 and the support structure 12 through a connecting seat. At this time, the output shaft of the first motor 31 can be set perpendicular to the output shaft of the second motor 33. The support structure 12 can be set on one side of the second direction of the screw rod 351. The guide structure 13 includes a guide rod 131. The guide rod 131 can be set on one side of the third direction of the screw rod 351 and parallel to the screw rod 351. The second leg mechanism 20 includes a slider 21a corresponding to the guide rod 131. The slider 21a is fixedly connected to the nut seat 352 and is slidably connected to the guide rod 131.

[0191] In some embodiments, the second leg mechanism 20 also includes a seat body 214 fixedly connected to the slider 21a and a foot 22 connected to the seat body 214, the foot 22 is used to provide support when the robot 1000 is moving or standing, and the seat body 214 is arranged on the side of the screw rod 351 away from the support structure 12, that is, the seat body 214 and the support structure 12 are arranged on opposite sides of the screw rod 351 in the second direction, and the screw rod 351 and the guide rod 131 are arranged between the seat body 214 and the support structure 12, which has a compact structure and reduces the volume.

[0192] In some embodiments, the seat 214 and the foot 22 can be connected by a toggle ring 36, which extends to the support structure 12 on both sides of the third direction and is slidably connected to the support structure 12 to improve the stability of the second leg mechanism 20 when it moves linearly along the first direction.

[0193] As another embodiment, the transmission assembly 35 is a belt or rope transmission method. The transmission assembly 35 includes two transmission wheels and a belt or rope that is ring-shaped and wrapped around the two transmission wheels. The two transmission wheels can be spaced apart along the first direction and rotatably installed on the first leg mechanism 10. The belt or rope is connected to the second leg mechanism 20. The second motor 33 is connected to one of the transmission wheels to drive the transmission wheel to rotate, thereby driving the belt or rope to rotate, so as to drive the second leg mechanism 20 to move linearly along the first direction relative to the first leg mechanism 10.

[0194] In some embodiments, as shown in Figures 8, 32, and 33, the robot leg 100 further includes an elastic member 80, which is provided on the first leg mechanism 10 and / or the second leg mechanism 20. When the first leg mechanism 10 and the second leg mechanism 20 slide relative to each other to a preset position, the elastic member 80 is compressed. The elastic restoring force of the elastic member 80 is used to assist in supporting the robot 1000 and to assist the second leg mechanism 20 in linear motion along a first direction relative to the first leg mechanism 10. Specifically, when the first leg mechanism 10 and the second leg mechanism 20 slide relative to each other to the preset position, the elastic member 80 is compressed. On the one hand, the elastic restoring force of the elastic member 80 is used to assist in supporting the robot 1000. In particular, when the direction of the elastic restoring force is completely opposite to the direction of gravity of the body 200, the elastic member 80 has the greatest supporting effect, which can significantly reduce the power consumption required by the robotic leg 100 to support the robot 1000, making the robot 1000 more energy-efficient and environmentally friendly. On the other hand, the elastic restoring force of the elastic member 80 can also assist the movement of the first leg mechanism 10 and / or the second leg mechanism 20, so that the first leg mechanism 10 and the second leg mechanism 20 receive assistance from the elastic member 80 when they slide relative to each other, thereby further reducing the power consumption of the robot 1000. In addition, when the elastic member 80 is compressed, it can also have a shock-absorbing effect, which can reduce the impact on the robotic leg 100 caused by bumps and unevenness.

[0195] Through the linear motion setting between the first leg mechanism 10 and the second leg mechanism 20, it is easier to integrate auxiliary force forms such as the elastic member 80, thereby providing additional power support for the robot 1000.

[0196] When the robot 1000 is in a normal walking state, the elastic member 80 is compressed to provide an elastic restoring force to support the robot 1000 and reduce the power consumption of the robot 1000 .

[0197] When the robot 1000 is in a squatting position, the elastic member 80 is compressed to its limit position to reduce the power consumption of the robot 1000. When the robot 1000 needs to stand up, it accelerates the rotation of the wheels 221 to stand up by relying on the inertia of the body 200. After the robot 1000 stands up, the first leg mechanism 10 and the second leg mechanism 20 move relative to each other, causing the robot leg 100 to extend. At this time, the elastic member 80 releases pressure, acting as a booster to assist the extension of the robot leg 100.

[0198] When the robot 1000 is in a normal walking state, the second leg mechanism 20 is used to support the body 200 of the robot 1000 on the ground, and the driving mechanism 30 can rotate at high speed to drive the first leg mechanism 10 to drive the second leg mechanism 20 and the body 200 to move upward away from the ground, so that the robot 1000 switches to a jumping state; the elastic member 80 is used to provide an elastic reset force when the robot 1000 jumps, so as to help extend the jumping height of the robot 1000.

[0199] In some embodiments, as shown in Figures 32 and 33, the first leg mechanism 10 has a first guide section 101 and a second guide section 102, and the second leg mechanism 20 is connected between the first guide section 101 and the second guide section 102; wherein, when the second leg mechanism 20 slides toward the fuselage 200, the length of the first guide section 101 decreases, and the length of the second guide section 102 increases; when the second leg mechanism 20 slides in a direction away from the fuselage 200, the length of the first guide section 101 increases, and the length of the second guide section 102 decreases; the elastic member 80 includes a first spring 81, and the first spring 81 is located in the first guide section 101. When the first guide section 101 is shortened to a preset length, the first spring 81 is compressed.

[0200] Specifically, it can be understood that since the second leg mechanism 20 is slidably connected to the first leg mechanism 10, the point where the second leg mechanism 20 connects to the first leg mechanism 10 can be used as the dividing point, thereby spatially dividing the first leg mechanism 10 into a first guide segment 101 and a second guide segment 102. Therefore, when the second leg mechanism 20 slides toward or away from the fuselage 200, the lengths of the first guide segment 101 and the second guide segment 102 in the first direction will each change differently, but the sum of the lengths of the first guide segment 101 and the second guide segment 102 remains constant. Furthermore, the elastic member 80 includes a first spring 81. In some examples, the ends of the first spring 81 can be connected to the first leg mechanism 10 and the second leg mechanism 20, respectively. When the first leg mechanism 10 and the second leg mechanism 20 slide relative to each other to a predetermined position, the first spring 81 is compressed by the first leg mechanism 10 and the second leg mechanism 20, thereby generating an elastic restoring force to assist in supporting the fuselage 200.

[0201] It can be understood that since the second leg mechanism 20 can move linearly along the first direction relative to the first leg mechanism 10, the second leg mechanism 20 can achieve extension and retraction of the entire mechanical leg 100 when sliding relative to the first leg mechanism 10, thereby adjusting the length of the mechanical leg 100.

[0202] Specifically, when the driving mechanism 30 drives the second leg mechanism 20 to move linearly along the first direction relative to the first leg mechanism 10 to achieve the extension of the mechanical leg 100, the compressed first spring 81 can have an elastic reset force. Under the action of the elastic reset force of the first spring 81, the two ends of the first spring 81 can respectively push the first leg mechanism 10 and the second leg mechanism 20, so as to help the mechanical leg 100 to extend.

[0203] In some examples, the robot 1000 can also have a squatting state, and the elastic member 80 can also assist the robot 1000 when switching from the squatting state to standing. If the robot 1000 compresses the elastic member 80 to a large extent in the squatting state, the first leg mechanism 10 and the second leg mechanism 20 will move relative to each other after the robot 1000 stands up, causing the length of the first guide section 101 to increase. At this time, the elastic restoring force of the elastic member 80 is released, thereby assisting the extension of the robot leg 100, thereby assisting the robot 1000 when switching from the squatting state to standing.

[0204] As an example, when the robot 1000 is in a normal walking state, the length of the first guide segment 101 is less than the length of the first spring 81 in its initial state. It should be noted that the length of the first spring 81 in its initial state is the natural length of the first spring 81 in its uncompressed state without any force acting on it. Therefore, when the robot 1000 is in a normal walking state, the length of the first guide segment 101 is less than the length of the first spring 81 in its initial state. At this time, the first spring 81 is compressed, and the first spring 81 is able to generate an elastic restoring force.

[0205] Specifically, the normal walking state defined in this application refers to the state in which the robot 1000 is most commonly used after startup, during which the first spring 81 is also compressed. For example, in a wheeled robot 1000, when it drives the wheels 221 to complete walking, it is mostly in an upright state when standing and walking, and the direction of the elastic restoring force of the first spring 81 is opposite to the direction of gravity on the body 200. This ensures that the first spring 81 can provide the best possible support for the body 200 in the most commonly used state of the robot 1000, thereby effectively reducing the power consumption required to support the robot 1000 and saving energy.

[0206] In one embodiment, the elastic member 80 includes a second spring 82 located within the second guide section 102. When the second guide section 102 is shortened to a predetermined length, the second spring 82 is compressed. Thus, when the second spring 82 is compressed, it elastically deforms, allowing it to absorb energy such as impact and vibration generated by the robot 1000 during movement. For example, when the robot 1000 is walking on a bumpy surface, the second spring 82 can provide a buffering and vibration-reducing effect, reducing the impact caused by the bumps and vibrations.

[0207] In one embodiment, the first spring 81 is sleeved on the guide rod 131 and located in the first guide section 101. When the first spring 81 is compressed, the two ends of the first spring 81 respectively abut between the mounting member 14 at the end of the support structure 12 facing the body 200 and the slider 21a. The second spring 82 is sleeved on the guide rod 131 and located in the second guide section 102. When the second spring 82 is compressed, the two ends of the second spring 82 respectively abut between the slider 21a and the mounting member 14 at the end of the support structure 12 facing the foot 22. Specifically, the guide rod 131 is detachably connected to the mounting member 14. Therefore, when installing the first spring 81 and the second spring 82, the mounting member 14 can be first removed from the guide rod 131, and the first spring 81 can be inserted into the guide rod 131 at the position located in the first guide section 101, and the second spring 82 can be inserted into the guide rod 131 at the position located in the second guide section 102. Finally, the mounting member 14 can be installed at both ends of the guide rod 131. When the slider 21a slides on the guide rod 131, the lengths of the first guide section 101 and the second guide section 102 change accordingly, and when the slider 21a slides to two different preset positions, the first spring 81 or the second spring 82 can be compressed.

[0208] As an embodiment, the length of the first spring 81 in the initial state is greater than the length of the second spring 82 in the initial state. Therefore, after the robot 1000 is started, the first guide section 101 can be slightly shortened to compress the first spring 81, thereby enabling the first spring 81 to serve as an auxiliary support, thereby achieving energy saving and consumption reduction.

[0209] As an embodiment, when the slider 21a slides until the second spring 82 is compressed to its limit, the length of the first guide section 101 is a first length, which is greater than or equal to the length of the first spring 81 in its initial state. Specifically, when the slider 21a slides until the second spring 82 is compressed to its limit, the length of the first guide section 101 reaches its maximum, and the first length is greater than or equal to the length of the first spring 81 in its initial state. In this state, the first spring 81 is not compressed. However, in order to support the body 200 during normal walking, the robot 1000 needs to be configured to compress the first spring 81 to a certain extent during normal walking. In this case, the elastic return force of the first spring 81 can support the body 200, thereby making the robot 1000 more energy-efficient. It should be noted that as the first spring 81 continues to be compressed, the resistance to compressing the first spring 81 will gradually increase, consuming a certain amount of energy. However, during normal walking, the robot 1000 does not need to be significantly compressed. Therefore, the first length and the setting of the first spring 81 can prevent the first spring 81 from being in a highly compressed state for a long time. Among them, the first length and the length of the first spring 81 in the initial state can be specifically set according to customer needs and are not limited here.

[0210] As another embodiment, when the slider 21a slides until the first spring 81 is compressed to its limit, the length of the second guide segment 102 is a second length, which is greater than or equal to the length of the second spring 82 in its initial state. Specifically, when the slider 21a slides until the first spring 81 is compressed to its limit, the length of the second guide segment 102 reaches its maximum, and the second length is greater than or equal to the length of the second spring 82 in its initial state. In this state, the first spring 81 is not compressed. The relationship between the second length and the second spring 82 is consistent with the relationship between the first length and the first spring 81, and will not be further described here.

[0211] In one embodiment, the length from the axis of the first motor 31 to the end of the support structure 12 facing the foot 22 is a third length, and the initial length of the first spring 81 is greater than the third length. Specifically, because the rotation axis of the first leg mechanism 10 is coaxial with the rotation axes of the first motor 31 and the second motor 33, when the second leg mechanism 20 slides toward the body 200 in the first direction, the second leg mechanism 20 is likely to interfere with the motor shaft, housing, etc. of the first motor 31 and / or the second motor 33. Therefore, setting the initial length of the first spring 81 to be greater than the third length allows the end of the second leg mechanism 20 facing the body 200 to be compressed against the first spring 81 without sliding to the axis of the first motor 31, thereby ensuring that the first spring 81 is compressed.

[0212] 1-3 , the present embodiment further provides a robot 1000, comprising a body 200 and the aforementioned robotic legs 100, wherein the robotic legs 100 are connected to the body 200. The structure and function of the robotic legs 100 in the robot 1000 proposed in the present embodiment are the same as those in the aforementioned embodiment, and the details can be referred to the description of the aforementioned embodiment, which will not be repeated in this embodiment.

[0213] Through the configuration of the above-mentioned mechanical legs 100, the robot 1000 of the present application provides significant improvements in safety, efficiency, ease of operation and adaptability compared to the existing technology.

[0214] In a specific application, the robot 1000 may be provided with two mechanical legs 100 , and the extension and / or rotation of the two mechanical legs 100 may be controlled to assist the robot 1000 in maintaining self-balance when walking or standing.

[0215] During normal walking of the robot 1000, the robotic leg 100 supports the body 200 on a support surface, which can be the ground, a work surface, or other support surfaces, to assist the robot 1000 in walking or standing. During normal walking of the robot 1000, the first leg mechanism 10 is in contact with the support surface. Therefore, when the drive mechanism 30 drives the second leg mechanism 20 to move linearly relative to the first leg mechanism 10, the first leg mechanism 10 moves up and down relative to the support surface, thereby adjusting the height of the robotic leg 100.

[0216] When the robot 1000 is in a lying state or a sitting state, the mechanical leg 100 is parallel to the support surface. At this time, when the driving mechanism 30 drives the second leg mechanism 20 to move linearly relative to the first leg mechanism 10, the second leg mechanism 20 moves horizontally relative to the body 200, thereby adjusting the length of the mechanical leg 100.

[0217] When the robot 1000 is walking or standing, the driving mechanism 30 can be controlled to continuously drive the first leg mechanism 10 to rotate relative to the body 200 and / or drive the second leg mechanism 20 to move linearly relative to the first leg mechanism 10, so as to adjust the center of gravity of the robot 1000, thereby maintaining the self-balance of the robot 1000 and preventing the robot 1000 from tipping over. In this way, the robot 1000 can maintain its balance even when encountering obstacles or uneven ground.

[0218] 1 and 34 , the robot 1000 provided in the embodiment of the present application may further include a circuit board and a battery disposed on the body 200, as well as a posture sensor 210 disposed on the body 200. The circuit board is electrically connected to the battery, and a circuit unit 300 for the circuit control portion of the robot 1000 is disposed on the circuit board. The circuit unit 300 primarily includes a controller. The posture sensor 210, the drive mechanism, and the third motor of the robot 1000 are all electrically connected to the controller. The controller is used to obtain relevant data or instructions and execute various control programs or control instructions, thereby controlling the robot 1000 to perform corresponding actions.

[0219] The following describes the robot control method provided by this application based on the robot 1000 provided in each of the aforementioned embodiments. It should be noted that the robot control method provided by this application can be applied to, but is not limited to, the robot 1000 described in the aforementioned embodiments. This robot control method can be applied to any robot capable of linear and rotational motion, or any robot capable of decoupled control of three axes.

[0220] Please refer to Figure 35, which is a flow chart of a robot control method provided by an embodiment of the present application. As shown in Figure 35, the robot control method includes steps S11 to S12. The control method can be specifically applied to a robot controller.

[0221] Step S11: Acquire the posture information of the robot, where the posture information includes at least one of pitch angle information and roll angle information.

[0222] Specifically, the robot's angular velocity information and acceleration information can be obtained through attitude sensors (such as gyroscopes, accelerometers, visual sensors, etc.) installed on the body, and then the robot's angular velocity information and acceleration information are fused through a preset algorithm to obtain the robot's pitch angle information, roll axis information and other attitude information.

[0223] It should be noted that this application does not limit the preset algorithm, such as Kalman filtering, complementary filtering, quaternion filtering, etc. This application uses Kalman filtering as an example for explanation.

[0224] The Kalman filter is a recursive algorithm that can be used to fuse information from different sensors to obtain more accurate estimates. In the embodiments of this application, the Kalman filter combines information from the gyroscope and accelerometer, taking into account the errors and noise between them. Through continuous iteration, combining prior information with actual measurements, the Kalman filter gradually improves the accuracy of the robot's posture estimation information. It also has the advantages of strong adaptability and good real-time performance.

[0225] In an embodiment of the present application, Kalman filtering can be used to combine the robot's angular velocity information and acceleration information while taking into account sensor errors and noise to obtain a more accurate and stable estimate of the posture information, which can then be used to more accurately control the robot.

[0226] Step S12: Based on the posture information, the driving mechanism controls the rotation of the robot legs relative to the body; and / or, based on the posture information, the driving mechanism controls the second leg mechanism to move linearly relative to the first leg mechanism; so as to change the center of gravity of the robot, thereby allowing the robot to maintain balance on the support surface where the robot is located.

[0227] Since the robot's posture information can be used to indicate the robot's own tilt state, after obtaining the robot's posture information, the driving mechanism can be used to control the mechanical legs to rotate relative to the body; and / or, the driving mechanism can be used to control the second leg mechanism to move linearly relative to the first leg mechanism to adjust the robot's tilt state, thereby changing the robot's center of gravity so that the robot can maintain balance on its support surface.

[0228] In an embodiment of the present application, the movement of the robot can be adjusted according to the current posture information of the robot, so that the robot can adjust its own tilt state in real time to maintain balance on the support surface.

[0229] Optionally, the driving mechanism includes a first driving member and a second driving member. The above-mentioned control of the rotation of the mechanical legs relative to the fuselage by the driving mechanism includes: the first driving member and the second driving member working together to drive the first leg mechanism and the second leg mechanism to rotate relative to the fuselage.

[0230] The above-mentioned control of the second leg mechanism to perform linear motion relative to the first leg mechanism through the driving mechanism includes: the first driving member and the second driving member working together to drive the second leg mechanism to perform linear motion relative to the first leg mechanism along a first direction, where the first direction is the extension direction of the first leg mechanism.

[0231] Specifically, the first and second drive members can work together to drive the first and second leg mechanisms to rotate as a whole relative to the body, thereby enabling the drive mechanism to control the rotation of the mechanical leg relative to the body. Furthermore, the first and second drive members can work together to drive the second leg mechanism to move linearly relative to the first leg mechanism in a first direction, thereby enabling the drive mechanism to control the second leg mechanism to move linearly relative to the first leg mechanism. The first direction is the direction in which the first leg mechanism extends.

[0232] Optionally, the first driving member includes a first flexible transmission member, a first transmission wheel, and a second transmission wheel, the first transmission wheel and the second transmission wheel are used to be rotatably connected to the first leg mechanism and are spaced apart along the first direction, the first flexible transmission member is connected between the first transmission wheel and the second transmission wheel and is used to be connected to the second leg mechanism; the second driving member includes a second flexible transmission member, a third transmission wheel, and a fourth transmission wheel, the third transmission wheel and the fourth transmission wheel are used to be rotatably connected to the first leg mechanism and are spaced apart along the first direction, the second flexible transmission member is connected between the third transmission wheel and the fourth transmission wheel and is used to be connected to the second leg mechanism. The above method includes: controlling the first flexible transmission member and the second flexible transmission member to rotate in opposite directions and at the same speed, thereby driving the second leg mechanism to move linearly in the first direction relative to the first leg mechanism; or controlling the first flexible transmission member and the second flexible transmission member to rotate in the same direction and at the same speed, thereby achieving the rotation of the first leg mechanism and the second leg mechanism as a whole relative to the fuselage.

[0233] Optionally, the first driving component also includes a first motor, the second driving component includes a second motor, the first motor and the second motor are used to be connected to the fuselage, and the first motor and the second motor are coaxially arranged, the first motor is used to drive the first flexible transmission member to rotate, and the second motor is used to drive the second flexible transmission member to rotate; the method includes: controlling the first motor and the second motor to rotate in opposite directions and with the same torque, thereby controlling the first flexible transmission member and the second flexible transmission member to rotate in opposite directions and at the same speed; or, controlling the first motor and the second motor to rotate in the same direction and with the same torque, thereby controlling the first flexible transmission member and the second flexible transmission member to rotate in the same direction and at the same speed.

[0234] Based on the above embodiments, the control method also includes: by controlling the first flexible transmission member and the second flexible transmission member to rotate in opposite directions and at different rotational speeds, thereby driving the second leg mechanism to move linearly in the first direction relative to the first leg mechanism, while also realizing the rotation of the first leg mechanism and the second leg mechanism as a whole relative to the fuselage; or, by controlling the first flexible transmission member and the second flexible transmission member to rotate in the same direction and at different rotational speeds, thereby driving the first leg mechanism and the second leg mechanism as a whole to rotate relative to the fuselage, while also realizing the rotation of the second leg mechanism linearly in the first direction relative to the first leg mechanism.

[0235] Optionally, the first driving component also includes a first motor, the second driving component includes a second motor, the first motor and the second motor are used to be connected to the fuselage, and the first motor and the second motor are coaxially arranged, the first motor is used to drive the first flexible transmission member to rotate, and the second motor is used to drive the second flexible transmission member to rotate; the method includes: controlling the first motor and the second motor to rotate in opposite directions and with different torques, thereby driving the first flexible transmission member and the second flexible transmission member to rotate in opposite directions and with different speeds; or, controlling the first motor and the second motor to rotate in the same direction and with different torques, thereby driving the first flexible transmission member and the second flexible transmission member to rotate in the same direction and with different speeds.

[0236] Please refer to Figure 36, which is a schematic diagram of a process for controlling a robot based on leg length change speed and rotation angle according to an embodiment of the present application. As shown in Figure 36, the robot can also be controlled based on leg length change speed and rotation angle according to steps S21 to S23.

[0237] Step S21: Acquire a first absolute position angle of the first motor and a second absolute position angle of the second motor.

[0238] Optionally, the robot also includes a first limiter and a second limiter, the first limiter is used to limit the rotation angle between the mechanical leg and the fuselage, and the second limiter is used to limit the extension and retraction length of the mechanical leg; before obtaining the first absolute position angle of the first motor and the second absolute position angle of the second motor, the method also includes: controlling the first motor and the second motor to drive the mechanical leg to rotate relative to the fuselage and the extension and retraction movement of the mechanical leg, and when abutting against the first limiter and the second limiter, determining that the first motor and the second motor reach the initial position, the angle corresponding to the initial position is the initial angle of the first motor and the second motor.

[0239] Among them, the first absolute position angle and the second absolute position angle are the angles of the first motor and the second motor relative to the initial position; the initial position is the position of the first motor and the second motor when the rotation of the mechanical legs and the body abuts against the first limit member when the robot is powered on, and the telescopic ground of the mechanical legs abuts against the second limit member.

[0240] Specifically, when the robot is powered on, the first motor and the second motor can be controlled to drive the mechanical legs to rotate relative to the body (gradually reducing the angle between the body and the mechanical legs) and to telescopically move (gradually shortening the length of the mechanical legs). During this process, the mechanical legs will move to the first limiter and the second limiter, and the movement of the mechanical legs will be restricted when they touch the first limiter and the second limiter. Because when the angle between the body and the mechanical legs and the length of the mechanical legs reach the corresponding limits, the motor may stall, that is, stop moving when it cannot continue to rotate. Therefore, by monitoring the current when the motor is stalled, it can be determined whether the angle between the body and the mechanical legs and the length of the mechanical legs have reached the corresponding limits. And when the angle between the body and the mechanical legs and the length of the mechanical legs have reached the corresponding limits, it is determined that the first motor and the second motor have reached the initial position, and the angle corresponding to the initial position is determined as the initial angle of the first motor and the second motor.

[0241] Optionally, based on the above embodiment, obtaining the first absolute position angle of the first motor and the second absolute position angle of the second motor includes: obtaining the first current angle of the first motor and the second current angle of the second motor; determining the first absolute position angle of the first motor and the second absolute position angle of the second motor based on the first current angle, the second current angle and the initial angle.

[0242] Specifically, the first absolute position angle of the first motor can be obtained by subtracting its corresponding initial angle from the first current angle of the first motor. Similarly, the second absolute position angle of the second motor can be obtained by subtracting its corresponding initial angle from the second current angle of the second motor. Thus, the second absolute position angle and the second absolute position angle can be determined.

[0243] The first current angle and the second current angle can be read by the encoder built into the first motor or the second motor, and then the first absolute position angle and the second absolute position angle are calculated. By eliminating the need for an additional external absolute position sensor, system costs are reduced and the need for sensor maintenance and calibration is reduced.

[0244] In an embodiment of the present application, the first absolute position angle and the second absolute position angle can be obtained to determine the leg length of the robotic leg and the rotation angle between the robotic leg and the body, and then used for the movement of the robotic leg.

[0245] Step S22: Determine the length of the robotic leg based on the first absolute position angle, the second absolute position angle, and the radius of the transmission wheel; and / or determine the rotation angle between the robotic leg and the body based on the first absolute position angle, the second absolute position angle, and the radius of the transmission wheel; wherein the transmission wheel is any one of the first transmission wheel, the second transmission wheel, the third transmission wheel, and the fourth transmission wheel.

[0246] Step S23: Determine the leg length change speed and the rotation angle change speed of the robotic leg according to the leg length and the rotation angle, so as to control the linear motion of the robotic leg according to the leg length change speed, and control the rotation of the robotic leg relative to the fuselage according to the rotation angle change speed.

[0247] Specifically, the length of the robotic legs and the angle between the legs and the body can be determined using the following formula:

[0248] Among them, L is the length of the robotic leg; Phi is the rotation angle between the robotic leg and the fuselage; theta1 is the first absolute position angle; theta2 is the second absolute position angle; R is the radius of the transmission wheel.

[0249] Furthermore, after obtaining the leg length and rotation angle, they can be differentiated to determine the leg length change rate and rotation angle change rate of the robotic leg. This allows the robotic leg to be controlled for linear motion based on the leg length change rate and for rotation relative to the body based on the rotation angle change rate, according to a preset control method, to achieve corresponding preset target values.

[0250] It should be noted that this application does not limit the preset target value, which can be set according to actual needs.

[0251] In addition, the above-mentioned preset control method can be a closed-loop control method, an adaptive control method, etc. This application takes the closed-loop control method as an example for explanation.

[0252] Closed-loop control is a control method that measures system output, compares it to the desired output, and then adjusts the system to achieve the desired value. It typically consists of three main components: sensors, controllers, and actuators. Sensors measure the system's output or feedback signals; controllers generate control signals based on sensor feedback and the desired value. Actuators receive signals from the controller and adjust the system, such as driving a motor, performing an action, or adjusting parameters, to achieve the desired state.

[0253] In an embodiment of the present application, the movement of the robot can be continuously adjusted through a closed-loop control algorithm so that it can remain in a desired state in the presence of external disturbances or changes.

[0254] Please refer to Figure 37, which is a schematic diagram of a process flow for controlling the steering of a robot provided in an embodiment of the present application. As shown in Figure 37, the robot control method provided in the present application also includes steps S31 and S32 to achieve steering control of the robot. The posture information may also include yaw angle information.

[0255] Step S31: Acquire the target yaw angle of the robot and determine the current yaw angle of the robot.

[0256] Specifically, the robot's angular velocity information and acceleration information can be obtained through attitude sensors installed on the body (such as gyroscopes, accelerometers, visual sensors, etc.), and then the robot's angular velocity information and acceleration information are fused through a preset algorithm to obtain the robot's current yaw angle.

[0257] In addition, this application does not limit the target yaw angle of the robot, which can be set according to actual needs.

[0258] Step S32: Control the robot's foot steering according to the current yaw angle and the target yaw angle, so that the robot runs according to the target yaw angle.

[0259] After obtaining the current yaw angle and the target yaw angle, the robot's foot steering can be controlled based on the target yaw angle and the robot's current yaw angle through control methods such as closed-loop control algorithms, so that the robot can operate according to the target yaw angle.

[0260] In an embodiment of the present application, the target yaw angle of the robot can be obtained, and the current yaw angle of the robot can be determined, and then the foot steering of the robot can be controlled based on the previous yaw angle and the target yaw angle, so that the robot can run according to the target yaw angle.

[0261] Optionally, the foot includes a wheel and a third motor for driving the wheel to rotate; controlling the steering of the robot's foot according to the current yaw angle and the target yaw angle includes: determining the torque for driving the third motors on the two mechanical legs according to the current yaw angle and the target yaw angle; and controlling the rotation of the third motors on the two mechanical legs by utilizing the motor differential according to the torque of the third motor, so as to enable the robot to operate according to the target yaw angle.

[0262] Specifically, a closed-loop control method can be used to determine the torque required by the third motor to steer the two robotic legs based on the current yaw angle and the target yaw angle. Furthermore, the torque of the third motor can be used to control the rotation of the third motors on the two robotic legs using the motor differential speed, thereby precisely adjusting the robot's yaw angle to the target yaw angle and achieving steering control.

[0263] In an embodiment of the present application, the robot's foot steering can be controlled based on the current yaw angle and the target yaw angle, so that it moves toward the target yaw angle, which helps the robot move in the expected direction in applications such as navigation, path planning or obstacle avoidance.

[0264] Please refer to Figure 38, which is a schematic diagram of a flow chart of controlling a robot based on an inverted pendulum model provided by an embodiment of the present application. As shown in Figure 38, the robot control method provided by the present application further includes steps S41 to S42 to achieve control of the robot based on the inverted pendulum model.

[0265] Step S41: Obtain the leg length of the robot leg, the foot mass and foot moment of inertia, the leg mass and leg moment of inertia of the robot leg, the body mass and body moment of inertia of the body, and establish an inverted pendulum model of the robot.

[0266] Step S42: Control the robot to maintain balance on the support surface according to the inverted pendulum model.

[0267] It's important to note that the inverted pendulum model is a mathematical model that describes the dynamic behavior of an inverted pendulum system. It's often used to study and design control systems or devices that enable the pendulum to maintain balance or perform specific motions. The inverted pendulum model considers factors such as the mass, length, and friction of the pendulum rod, as well as externally applied control forces, to accurately describe the system's equations of motion. The inverted pendulum model has widespread applications in fields such as control theory and robotics.

[0268] Specifically, the robot's leg length, foot mass and moment of inertia, leg mass and moment of inertia, and body mass and moment of inertia directly affect the robot's motion and stability. Therefore, based on these parameters and using dynamic principles such as Newton-Euler, an inverted pendulum model can be established to control the robot's balance or stability.

[0269] Furthermore, after obtaining the inverted pendulum model of the robot, appropriate control strategies, such as closed-loop control and linear control, can be used to control the robot's posture so that the robot maintains balance on the support surface. For example, sensor information (such as gyroscopes and accelerometers) can be used to measure the current robot posture information, and then the robot can be adjusted according to the desired posture.

[0270] Optionally, the robot's acceleration information can be obtained by acquiring the angle and angular velocity of the third motor, and then data fusion can be performed to determine the robot's forward displacement and forward speed. Based on the robot's inverted pendulum model, a full-state controller can be used to fully control the angle between the robot's legs and the body, the corresponding angular velocity, the pitch angle and pitch angular velocity, the forward displacement, and the forward speed. The torque required to drive the legs through the first and second motors is then output, thereby achieving the goal of enabling the robot to stand and balance. Furthermore, the robot's forward and backward movements can be controlled by setting a preset forward speed.

[0271] Optionally, based on the robot's inverted pendulum model, the robot's yaw angle and a preset target yaw angle can be used to output the torque required for the third motor to drive the robot to turn using a traditional closed-loop control method. Then, based on the torque of the third motor, the motor differential is used to control the rotation of the third motors on the two mechanical legs, so that the robot can run according to the target yaw angle and achieve the purpose of controlling the robot's steering.

[0272] Optionally, based on the inverted pendulum model of the robot, a full-state controller can be used to perform full-state control on the pitch angle, pitch angular velocity, etc. of the robot, output the torque required by the first motor and the second motor, and thereby achieve the purpose of keeping the pitch angle of the robot's upper body horizontal.

[0273] Optionally, based on the inverted pendulum model of the robot, a full-state controller can be used to control the roll angle and the preset target roll angle, and the torque required for the first motor and the second motor to control the left and right tilt of the body can be output, thereby achieving the purpose of controlling the left and right tilt of the robot body.

[0274] In an embodiment of the present application, an inverted pendulum model of the robot can be established, and the balance control, steering control and roll control can be decoupled according to the robot's posture information. The robot can be controlled separately according to different control variables and parameters, thereby reducing the complexity and computational complexity of the robot control.

[0275] Optionally, the robot includes one or more of a first control mode, a second control mode, and a third control mode, and the first control mode, the second control mode, and the third control mode can be independently controlled. The first control mode is achieved by controlling the rotation of the robot legs relative to the body based on posture information; the second control mode is achieved by controlling the second leg mechanism to move linearly relative to the first leg mechanism based on posture information; and the third control mode is achieved by controlling the foot movement based on posture information.

[0276] In the embodiments of the present application, the different control modes of the robot can be decoupled to control the robot separately according to actual needs. This helps to improve the accuracy and efficiency of robot control and reduces model complexity and computational burden.

[0277] Optionally, based on the above embodiment, the first control mode, the second control mode and the third control mode are all linear controls.

[0278] In the embodiments of the present application, the robot can be linearly controlled. This makes the robot's control model relatively simple, easy to analyze and design, and can improve the robot's stability and accuracy, allowing the robot to perform tasks according to the preset control mode and quickly respond to changes in the external environment.

[0279] Exemplarily, the above-mentioned method and apparatus may be implemented in the form of a computer program, which may be run on a robot as shown in FIG39 .

[0280] Please refer to Figure 39, which is a schematic diagram of a robot provided in an embodiment of the present application. As shown in Figure 39, the robot 1000 includes a processor 400, a memory 500, and a network interface connected via a system bus. The memory 500 may include a volatile storage medium, a non-volatile storage medium, and an internal memory.

[0281] The non-volatile storage medium can store an operating system and a computer program. The computer program includes program instructions, which, when executed, can enable the processor 400 to execute any one of the risk control methods based on logistics data.

[0282] The processor 400 is used to provide computing and control capabilities to support the operation of the entire robot 1000.

[0283] The internal memory provides an environment for the operation of the computer program in the non-volatile storage medium. When the computer program is executed by the processor, the processor can execute any risk control method based on logistics data.

[0284] The network interface is used for network communication, such as sending assigned tasks, etc. It will be understood by those skilled in the art that the structure of the robot 1000 is merely a block diagram of a portion of the structure related to the solution of the present application, and does not limit the robot 1000 to which the solution of the present application is applied. The specific robot 1000 may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0285] It should be understood that the processor 400 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor.

[0286] In some embodiments, the processor 400 is used to run a computer program stored in the memory to implement the following steps: obtaining the posture information of the robot, the posture information including at least one of pitch angle information and roll angle information; according to the posture information, controlling the mechanical leg to rotate relative to the fuselage through the drive mechanism; and / or, according to the posture information, controlling the second leg mechanism to move linearly relative to the first leg mechanism through the drive mechanism; so as to change the center of gravity of the robot, thereby allowing the robot to maintain balance on the support surface where the robot is located.

[0287] In some embodiments, the processor 400 is further used to obtain the target yaw angle of the robot and determine the current yaw angle of the robot; control the foot steering of the robot according to the current yaw angle and the target yaw angle, so that the robot can operate according to the target yaw angle.

[0288] In some embodiments, the robot includes one or more of a first control mode, a second control mode, and a third control mode, and the processor 400 is also used to independently control the first control mode, the second control mode, and the third control mode; wherein, the first control mode is achieved by controlling the mechanical leg to rotate relative to the body according to the posture information; the second control mode is achieved by controlling the second leg mechanism to move linearly relative to the first leg mechanism according to the posture information; and the third control mode is achieved by controlling the foot movement according to the posture information.

[0289] In some implementations, the processor 400 is further configured to linearly control the first control mode, the second control mode, and the third control mode.

[0290] In some embodiments, the processor 400 is also used to drive the first leg mechanism and the second leg mechanism to rotate as a whole relative to the fuselage through the joint work of the first drive member and the second drive member; and drive the second leg mechanism to move linearly along a first direction relative to the first leg mechanism through the joint work of the first drive member and the second drive member, where the first direction is the extension direction of the first leg mechanism.

[0291] In some embodiments, the processor 400 is also used to drive the second leg mechanism to move linearly along the first direction relative to the first leg mechanism by controlling the first flexible transmission member and the second flexible transmission member to rotate in opposite directions and at the same speed; or, by controlling the first flexible transmission member and the second flexible transmission member to rotate in the same direction and at the same speed, the first leg mechanism and the second leg mechanism are rotated as a whole relative to the fuselage.

[0292] In some embodiments, the processor 400 is also used to control the first flexible transmission member and the second flexible transmission member to rotate in opposite directions and at different speeds, thereby driving the second leg mechanism to move linearly along the first direction relative to the first leg mechanism, while also realizing the first leg mechanism and the second leg mechanism to rotate as a whole relative to the fuselage; or, by controlling the first flexible transmission member and the second flexible transmission member to rotate in the same direction and at different speeds, thereby driving the first leg mechanism and the second leg mechanism to rotate as a whole relative to the fuselage, while also realizing the second leg mechanism to move linearly along the first direction relative to the first leg mechanism.

[0293] In some embodiments, the processor 400 is also used to control the first motor and the second motor to rotate in opposite directions and with the same torque, thereby controlling the first flexible transmission member and the second flexible transmission member to rotate in opposite directions and at the same speed; or, controlling the first motor and the second motor to rotate in the same direction and with the same torque, thereby controlling the first flexible transmission member and the second flexible transmission member to rotate in the same direction and at the same speed.

[0294] In some embodiments, the processor 400 is also used to control the first motor and the second motor to rotate in opposite directions and with different torques, thereby driving the first flexible transmission member and the second flexible transmission member to rotate in opposite directions and at different speeds; or, control the first motor and the second motor to rotate in the same direction and with different torques, thereby driving the first flexible transmission member and the second flexible transmission member to rotate in the same direction and at different speeds.

[0295] In some embodiments, the processor 400 is further used to obtain a first absolute position angle of the first motor and a second absolute position angle of the second motor; determine the leg length of the mechanical leg based on the first absolute position angle, the second absolute position angle and the radius of the transmission wheel; and / or determine the rotation angle between the mechanical leg and the fuselage based on the first absolute position angle, the second absolute position angle and the radius of the transmission wheel; wherein the transmission wheel is any one of the first transmission wheel, the second transmission wheel, the third transmission wheel and the fourth transmission wheel; determine the leg length change speed and the rotation angle change speed of the mechanical leg respectively according to the leg length and the rotation angle, so as to control the linear motion of the mechanical leg according to the leg length change speed, and control the rotation of the mechanical leg relative to the fuselage according to the rotation angle change speed.

[0296] In some embodiments, the processor 400 is also used to control the first motor and the second motor to drive the mechanical leg to rotate relative to the fuselage and to extend and retract the mechanical leg, and when abutting against the first limit member and the second limit member, determine that the first motor and the second motor reach an initial position, and the angle corresponding to the initial position is the initial angle of the first motor and the second motor; obtain the first current angle of the first motor and the second current angle of the second motor; determine the first absolute position angle of the first motor and the second absolute position angle of the second motor based on the first current angle, the second current angle and the initial angle.

[0297] In some embodiments, the processor 400 is also used to obtain the leg length of the mechanical leg, the foot mass and foot moment of inertia of the foot, the leg mass and leg moment of inertia of the mechanical leg, the body mass and body moment of inertia of the fuselage, and establish an inverted pendulum model of the robot; and control the robot to maintain balance on the support surface according to the inverted pendulum model.

[0298] In some embodiments, the processor 400 is further used to determine the torque for driving the third motor on the two mechanical legs based on the current yaw angle and the target yaw angle; and to control the rotation of the third motor on the two mechanical legs by utilizing the motor differential according to the torque of the third motor, so as to enable the robot to operate according to the target yaw angle.

[0299] An embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored. The computer program includes program instructions, and when the program instructions are executed, any one of the robot-based control methods provided in the embodiments of the present application is implemented.

[0300] The computer-readable storage medium may be an internal storage unit of the robot 1000 described in the aforementioned embodiment, such as a hard disk or memory of the robot 1000. The computer-readable storage medium may also be an external storage device of the robot 1000, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc., equipped on the robot 1000.

[0301] Furthermore, the computer-readable storage medium may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function, and the like.

[0302] Those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples without mutual contradiction.

[0303] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present application, and such modifications or substitutions should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

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

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

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

4. The mechanical leg according to claim 1, wherein: The driving mechanism includes a first driving member and a second driving member, wherein the first driving member and the second driving member are used to work together to drive the first leg mechanism and the second leg mechanism to rotate relative to the body; The first driving member and the second driving member are further configured to work together to drive the second leg mechanism to move linearly along the first direction relative to the first leg mechanism.

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

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

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

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

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

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

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

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

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

14. The mechanical leg according to claim 12, wherein: The second transmission wheel and the fourth transmission wheel are coaxially arranged; and / or the first belt and the second belt are arranged in parallel.

15. The mechanical leg according to claim 8, wherein: The mechanical leg further includes a tensioning device, which is used to adjust the tension of the first transmission assembly and / or the second transmission assembly.

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

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

18. The mechanical leg according to claim 17, wherein: The second leg mechanism comprises: The sliding portion includes a base, a first slider and a second slider, the first slider and the second slider being connected to both sides of the base in the third direction, the first slider being slidably connected to the first leg mechanism and close to the first rope segment, the second slider being slidably connected to the second leg mechanism and close to the fourth rope segment, the first rope segment being connected to the first slider, the fourth rope segment being connected to the second slider, and the first rope segment and the fourth rope segment being diagonally arranged, and the first direction and the second direction being perpendicular to the third direction in pairs; The foot is connected to the base and is used for supporting the robot when it is moving or standing.

19. The mechanical leg according to claim 9, wherein: The robot leg further includes a frame, the frame including a base plate and a first side plate and a second side plate connected to the base plate, the base plate being configured to be mounted to the body of the robot; Particularly, the first side panel and the second side panel extend in a direction perpendicular to the base panel and are arranged opposite to each other. The first side panel is provided with a first mounting position for mounting the first motor, and the second side panel is provided with a second mounting position for mounting the second motor. The first mounting position and the second mounting position are arranged opposite to each other so that the first motor and the second motor are arranged opposite to each other coaxially.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

46. The control method according to claim 45, wherein: The control method further includes: By controlling the first flexible transmission member and the second flexible transmission member to rotate in opposite directions and at different speeds, the second leg mechanism is driven to move linearly along the first direction relative to the first leg mechanism, while also achieving the overall rotation of the first leg mechanism and the second leg mechanism relative to the body; or, By controlling the first flexible transmission member and the second flexible transmission member to rotate in the same direction but at different speeds, the first leg mechanism and the second leg mechanism are driven to rotate as a whole relative to the fuselage, while also achieving linear movement of the second leg mechanism along the first direction relative to the first leg mechanism.

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

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

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

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