Robot bionic leg structure with Jansen connecting rod structure

The invention discloses a bionic leg structure of a Jansen connecting rod structure robot. The bionic leg structure comprises a first connecting rod, a second connecting rod hinged to one end of the first connecting rod, a fourth connecting rod hinged to the other end of the first connecting rod and sixth connecting rods arranged on the two sides of the second connecting rod correspondingly. One end of each of the two sixth connecting rods is hinged to one end of a third connecting rod; the other ends of the two sixth connecting rods are hinged to a fifth connecting rod; a foot end rod piece is hinged to the other end of the third connecting rod, and the foot end rod piece is further hinged to a fifth connecting rod and a fourth connecting rod; a crank is arranged at the hinged position of the first connecting rod and the fourth connecting rod. The structure can rotate around the center of the crank fixing piece under the driving of the crank driving mechanism, the connecting rod and the foot end rod piece ar