CN110696941B - Redundant hybrid electrohydraulic hybrid driving anthropomorphic mechanical leg - Google Patents
Redundant hybrid electrohydraulic hybrid driving anthropomorphic mechanical leg Download PDFInfo
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- CN110696941B CN110696941B CN201910888857.4A CN201910888857A CN110696941B CN 110696941 B CN110696941 B CN 110696941B CN 201910888857 A CN201910888857 A CN 201910888857A CN 110696941 B CN110696941 B CN 110696941B
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- 210000000544 articulatio talocruralis Anatomy 0.000 claims abstract description 53
- 210000002414 leg Anatomy 0.000 claims abstract description 29
- 210000000629 knee joint Anatomy 0.000 claims abstract description 23
- 210000004394 hip joint Anatomy 0.000 claims abstract description 8
- 210000000689 upper leg Anatomy 0.000 claims description 47
- 210000003423 ankle Anatomy 0.000 claims description 15
- 239000003638 chemical reducing agent Substances 0.000 claims description 13
- 230000007246 mechanism Effects 0.000 abstract description 20
- 230000007547 defect Effects 0.000 description 4
- 210000001503 joint Anatomy 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 210000002683 foot Anatomy 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Abstract
The invention discloses a redundant hybrid electrohydraulic hybrid driving anthropomorphic mechanical leg, which comprises a crotch joint module, a knee joint module, an ankle joint module, a sole and a six-dimensional sensor; the hip joint module is fixed on the body of the robot, the knee joint module is connected below the hip joint, the ankle joint is fixed on the knee joint module, the sole is fixed on the ankle joint, and the six-dimensional force sensor is fixed on the sole; the whole mechanism of the anthropomorphic mechanical leg has seven degrees of freedom, three degrees of freedom of the crotch joint, one degree of freedom of the knee joint and three degrees of freedom of the ankle joint, and accords with the distribution of the degrees of freedom of human motion. The serial-parallel mechanism fully plays the advantages of serial connection and parallel connection, has the advantages of strong bearing capacity, small motion inertia, good dynamic characteristics and the like, has the degree of freedom of position redundancy, and has more flexible motion than non-redundant mechanical legs.
Description
Technical Field
The invention relates to the technical field of anthropomorphic mechanical legs, in particular to a redundant hybrid electrohydraulic hybrid driving anthropomorphic mechanical leg.
Background
With the high-speed development of science and technology, the robot technology is applied to various fields such as life, work and entertainment of people, and the like, and the humanoid robot technology is an important branch of the robot field and is one of hot spots for research of expert scholars in the robot technical field at home and abroad at present. The mechanical leg mechanism is a key for realizing bipedal walking of the humanoid robot, and the performance of the mechanical leg mechanism directly influences the overall performance of the humanoid robot.
At present, most of anthropomorphic mechanical legs adopt a series mechanism or a parallel mechanism, the series mechanism has the defects of large motion load, poor dynamic performance and the like, the parallel mechanism has the defects of small working space and the like, and the series-parallel mechanism has the advantages of both the series mechanism and the parallel mechanism. Most of anthropomorphic mechanical legs are six degrees of freedom or less than six degrees of freedom, movement is inflexible, and an odd ectopic pose exists, so that stable walking of the robot is not facilitated. Most mechanical legs are driven by hydraulic or electric motors, the hydraulic driving moment is large, the self weight is large, and the mass of the electric motors is light, but the driving force is small.
Aiming at the problems of the welding robot, a redundant hybrid electrohydraulic hybrid driving anthropomorphic mechanical leg is designed, and the defects are effectively overcome.
Disclosure of Invention
The invention aims to solve the defects of most of anthropomorphic mechanical legs at present and provides a redundant hybrid electro-hydraulic hybrid driving anthropomorphic mechanical leg which can flexibly and rapidly walk on complex terrains.
The invention realizes the above purpose through the following technical scheme: a redundant hybrid electrohydraulic hybrid driving anthropomorphic mechanical leg comprises a crotch joint module, a knee joint module, an ankle joint module, a sole and a six-dimensional force sensor; the hip joint module is fixed on the body of the robot, the knee joint module is connected below the hip joint, the ankle joint is fixed on the knee joint module, the sole is fixed on the ankle joint, and the six-dimensional force sensor is fixed on the sole;
the crotch joint module comprises a crotch joint fixing platform, a crotch joint turning branched chain, a first middle block, a first main shaft, a first thigh rod, a harmonic reducer, a side connecting plate, a first motor, a first side shaft and a side shaft support; the two side shaft supports are fixed on the crotch joint fixing platform, two ends of the first side shaft are respectively arranged on the two side shaft supports, and the first middle block is sleeved on the first side shaft; the first main shaft passes through the first middle block, and two ends of the first main shaft are respectively embedded in the two first thigh rods; the crotch joint turning branched chain comprises a supporting base plate, a hooke's hingeable base, a second middle block, a second main shaft, a second side shaft, a first hydraulic cylinder, a first hydraulic rod, a first output shaft and an output shaft support; the support base plate is fixed on the crotch joint fixing platform through bolts, the hu-shaped hingeable base is fixed on the support base plate, two ends of the second side shaft are connected to the hu-shaped hingeable base, the middle part of the second side shaft passes through the second middle block and is hinged with the second middle block, the second main shaft passes through the second middle block and the first hydraulic cylinder, one end of the first hydraulic rod extends into the first hydraulic cylinder, the other end of the first hydraulic rod is hinged on the first output shaft, and the first output shaft is supported through two output shaft supports; the side connecting plate is fixed on the inner side of the first thigh rod, the first motor is fixed on the first thigh rod, the harmonic reducer is fixed on the first thigh rod, and an input shaft of the harmonic reducer is connected with an output shaft of the first motor fixed on the first thigh rod through a key; two output shaft supports of one crotch joint phase-change branched chain are fixed on one first thigh rod, and two output shaft supports of the other crotch joint phase-change branched chain are fixed on the outer side surface of the side surface connecting plate, and the outer side surface of the side surface connecting plate is mutually perpendicular to the first thigh rod;
the knee joint module comprises a thigh connecting plate, a second thigh rod, a first connecting shaft support, a first connecting shaft, a second hydraulic cylinder, a third output shaft, a second hydraulic rod, a shank rod, a second connecting shaft support, a second connecting shaft and a shank connecting plate; one end face of the thigh connecting plate is fixedly connected with the output end of the harmonic reducer, two second thigh rods are fixed on the side faces of two sides of the thigh connecting plate, one ends of the two second thigh rods and the two shank rods are hinged on the third output shaft, and the other ends of the two shank rods are fixedly connected through the shank connecting plate; the first connecting shaft support is fixed on the inner side of the second thigh rod, the first connecting shaft penetrates through the base of the second hydraulic cylinder, and two ends of the first connecting shaft penetrate through the two first connecting shaft supports and are supported by the two first connecting shaft supports; one end of the second hydraulic rod extends into the second hydraulic cylinder, the other end of the second hydraulic rod is hinged to the second connecting shaft, two ends of the second connecting shaft penetrate through two second connecting shaft supports and are respectively fixed on two shank rods through the two second connecting shaft supports, and the second connecting shaft supports are fixed on the inner sides of the shank rods;
the ankle joint module electric telescopic base comprises an ankle joint fixed platform electric telescopic base, a six-dimensional force sensor electric telescopic base, a sole, a six-dimensional force sensor electric telescopic base, an ankle joint movable platform electric telescopic base, a supporting club electric telescopic base, a fixed connecting plate and three ankle joint movement branched chains; the ankle joint fixing platform electric telescopic base is fixed on a shank connecting rod of the knee joint module; one end of each of the three ankle movement branched chains is symmetrically distributed on the electric telescopic base of the ankle fixed platform, and the other end of each of the three ankle movement branched chains is symmetrically distributed on the electric telescopic base of the ankle movement platform; the ankle joint movement branched chain comprises a first spherical hinge support electric telescopic base, an electric telescopic club electric telescopic base and a second spherical hinge support electric telescopic base, wherein the first spherical hinge support electric telescopic base is fixed on an ankle joint fixed platform electric telescopic base, the bottom end of the electric telescopic base is matched with the first spherical hinge support electric telescopic base through a spherical hinge, one end of the electric telescopic club electric telescopic base stretches into the electric telescopic base, the other end of the electric telescopic club electric telescopic base is connected with the second spherical hinge support electric telescopic base through a spherical pair, and the second spherical hinge support electric telescopic base is fixed on the ankle joint movable platform electric telescopic base; the utility model discloses a six-dimensional force sensor electric telescopic base, including the electric telescopic base of ankle joint movable platform, the electric telescopic base of support club one end is passed through fixed connection board is fixed at the middle part of the electric telescopic base of ankle joint fixed platform, and the other end of the electric telescopic base of support club passes through the ball pair and is connected with the middle part of the electric telescopic base of ankle joint movable platform, the upper end face of the electric telescopic base of ankle joint movable platform lower extreme fixed connection flange dish, the lower terminal surface of the electric telescopic base of flange dish with sole fixed connection, six-dimensional force sensor electric telescopic base is fixed on the sole.
Furthermore, the front and back surfaces of the first middle block and the second middle block are provided with through holes, and blind holes are formed in the left and right surfaces of the first middle block and the second middle block, so that two vertical degrees of freedom rotation can be completed.
Further, one rotation center of the Hu Kejiao base and the rotation center of the first middle block are on the same straight line.
Further, the first output shaft and the second output shaft are vertically distributed in space, and the first output shaft is arranged above the second output shaft.
Furthermore, the bottom end of the support club is cuboid, so that the support club is convenient to assemble with the fixed connecting plate.
Further, the ankle joint movable platform main body is arranged to be cylindrical, and three long arc-shaped connecting plates are uniformly arranged on the outer side of the upper end of the cylinder.
The crotch joint module three-degree-of-freedom rotary serial-parallel mechanism comprises two rotary degree-of-freedom parallel mechanisms and a rotary serial mechanism, wherein the parallel mechanism is arranged at the upper end and is driven by hydraulic pressure, the load of the joints connected below can be reduced, and the serial mechanism is driven by a motor. Has the advantages of large working space, flexible movement and the like.
The knee joint module is a four-bar mechanism, and is hydraulically driven to form a four-degree-of-freedom series-parallel mechanism in cooperation with the crotch joint, so that the degree of freedom of the position of the anthropomorphic mechanical leg has redundant degrees of freedom, and can avoid singular positions and flexibly move.
The ankle joint module is driven by a linear motor, and the motor loads are all on the ankle joint fixed platform, so that the ankle joint module has compact structure, high rigidity and high bearing capacity, and can realize rotation of three degrees of freedom. The six-dimensional force sensor is arranged on the foot, so that the stress condition of the foot can be accurately measured, and the flexible control of the anthropomorphic mechanical leg is easy to realize.
The invention has the beneficial effects that: the whole mechanism of the anthropomorphic mechanical leg has seven degrees of freedom, three degrees of freedom of the crotch joint, one degree of freedom of the knee joint and three degrees of freedom of the ankle joint, and accords with the distribution of the degrees of freedom of human motion. The serial-parallel mechanism fully plays the advantages of serial connection and parallel connection, has the advantages of strong bearing capacity, small motion inertia, good dynamic characteristics and the like, has the degree of freedom of position redundancy, and has more flexible motion than non-redundant mechanical legs. By adopting electrohydraulic hybrid driving, the hydraulic driver is basically concentrated on the mechanical leg fixing platform, thereby reducing the load of joints and reducing the energy consumption.
Drawings
FIG. 1 is a schematic diagram of a redundant hybrid electrohydraulic hybrid drive anthropomorphic mechanical leg of the present invention.
Fig. 2 is a schematic view of the structure of the crotch joint module of the present invention.
Fig. 3 is a schematic view of the structure of the knee joint module of the present invention.
Fig. 4 is a schematic view of the structure of the ankle module of the present invention.
In the drawing the view of the figure, 1-crotch joint module, 2-knee joint module, 3-ankle joint module, 4-sole, 5-six-dimensional force sensor, 201-crotch joint landing platform, 202-first intermediate block, 203-first spindle, 204-support pad, 205-hooke's hingeable mount, 206-second intermediate block, 207-second spindle, 208-second spindle, 209-first hydraulic cylinder, 210-first hydraulic rod, 211-first thigh rod, 212-harmonic reducer, 213-first output shaft, 214-output shaft mount, 215-side connection plate, 216-first motor, 217-first spindle, 218-spindle mount, 301-thigh connection plate, 302-second thigh rod, 303-first connection spindle mount, 304-first connection spindle, 305-second hydraulic cylinder, 306-third output shaft, 307-second hydraulic rod, 308-shank rod, 309-second connection spindle mount, 310-second connection output shaft, 311-shank connection plate, 401-ankle joint landing platform, 402-first electric ball and socket, 405-second ball and socket, 405-second ball and socket joint landing platform, 405-ball and socket joint landing platform, 405-joint landing platform, and seat-joint landing platform, respectively, and a ball joint landing platform, a 2-foot joint landing platform, a ball and a ball joint landing platform, a thereon
Detailed Description
The invention is further described below with reference to the accompanying drawings:
as shown in fig. 1-4, a redundant hybrid electro-hydraulic hybrid driving anthropomorphic mechanical leg comprises a crotch joint module 1, a knee joint module 2, an ankle joint module 3, a sole 4 and a six-dimensional force sensor 5; the hip joint module 1 is fixed on the body of the robot, the knee joint module 2 is connected below the hip joint, the ankle joint is fixed on the knee joint module 2, the sole 4 is fixed on the ankle joint, and the six-dimensional force sensor 5 is fixed on the sole 4.
The crotch joint module 1 comprises a crotch joint fixing platform 201, a crotch joint steering branched chain, a first middle block 202, a first main shaft 203, a first thigh bar 211, a harmonic reducer 212, a side connecting plate 215, a first motor 216, a first side shaft 217 and a side shaft support 218; the two side shaft supports 218 are fixed on the crotch joint fixing platform 201, two ends of the first side shaft 217 are respectively arranged on the two side shaft supports 218, and the first middle block 202 is sleeved on the first side shaft 217; the first main shaft 203 passes through the first middle block 202, and two ends of the first main shaft 203 are respectively embedded in the two first thigh rods 211; the crotch joint steering branched chain comprises a support base plate 204, a Hu Kejiao base 205, a second middle block 206, a second main shaft 207, a second side shaft 208, a first hydraulic cylinder 209, a first hydraulic rod 210, a first output shaft 213 and an output shaft support 214; the support base plate 204 is fixed on the crotch joint fixing platform 201 through bolts, the Hu Kejiao base 205 is fixed on the support base plate 204, two ends of the second side shaft 208 are connected to the Hu Kejiao base 205, the middle part of the second side shaft 208 passes through the second middle block 206 and is hinged with the second middle block 206, the second main shaft 207 passes through the second middle block 206 and the first hydraulic cylinder 209, one end of the first hydraulic rod 210 extends into the first hydraulic cylinder 209, the other end of the first hydraulic rod 210 is hinged on the first output shaft 213, and the first output shaft 213 is supported through two output shaft supports 214; the side connecting plate 215 is fixed on the inner side of the first thigh bar 211, the first motor 216 is fixed on the first thigh bar 211, the harmonic reducer 212 is fixed on the first thigh bar 211, and an input shaft of the harmonic reducer 212 is connected with an output shaft of the first motor 216 fixed on the first thigh bar 211 through a key; two output shaft supports 214 of one crotch phase-change branched chain are fixed on one first thigh rod 211, and two output shaft supports 214 of the other crotch phase-change branched chain are fixed on the outer side surface of a side connecting plate 215, and the outer side surface of the side connecting plate 215 is mutually perpendicular to the first thigh rod 211.
The knee joint module 2 comprises a thigh connecting plate 301, a second thigh rod 302, a first connecting shaft support 303, a first connecting shaft 304, a second hydraulic cylinder 305, a third output shaft 306, a second hydraulic rod 307, a shank rod 308, a second connecting shaft support 309, a second connecting shaft 310 and a shank connecting plate 311; one end surface of the thigh connecting plate 301 is fixedly connected with the output end of the harmonic reducer 212, two second thigh rods 302 are fixed on the side surfaces of two sides of the thigh connecting plate 301, one ends of the two second thigh rods 302 and two shank rods 308 are hinged on a third output shaft 306, and the other ends of the two shank rods 308 are fixedly connected through shank connecting plates 311; the first connecting shaft support 303 is fixed on the inner side of the second thigh rod 302, the first connecting shaft 304 passes through the base of the second hydraulic cylinder 305, and two ends of the first connecting shaft 304 pass through the two first connecting shaft supports 303 and are supported by the two first connecting shaft supports 303; one end of the second hydraulic rod 307 extends into the second hydraulic cylinder 305, the other end of the second hydraulic rod 307 is hinged to the second connecting shaft 310, two ends of the second connecting shaft 310 pass through two second connecting shaft supports 309 and are respectively fixed on two shank rods 308 through the two second connecting shaft supports 309, and the second connecting shaft supports 309 are fixed on the inner sides of the shank rods 308.
The ankle joint module 3 comprises an ankle joint fixing platform 401, a six-dimensional force sensor 5, a sole 4, a connecting flange 407, an ankle joint moving platform 408, a supporting club 409, a fixed connecting plate 410 and three ankle joint movement branched chains; the ankle fixing platform 401 is fixed on the shank connecting plate 311 of the knee joint module 2; one ends of the three ankle movement branched chains are symmetrically distributed on the ankle fixed platform 401, and the other ends of the three ankle movement branched chains are symmetrically distributed on the ankle movement platform 408; the ankle joint movement branched chain comprises a first spherical hinge support 402, an electric telescopic base 403, an electric telescopic club 404 and a second spherical hinge support 405, wherein the first spherical hinge support 402 is fixed on an ankle joint fixing platform 401, the bottom end of the electric telescopic base 403 is matched with the first spherical hinge support 402 through a spherical hinge, one end of the electric telescopic club 404 stretches into the electric telescopic base 403, the other end of the electric telescopic club 404 is connected with the second spherical hinge support 405 through a ball pair, and the second spherical hinge support 405 is fixed on an ankle joint moving platform 408; one end of the supporting club 409 is fixed at the middle part of the ankle joint fixing platform 401 through the fixed connecting plate 410, the other end of the supporting club 409 is connected with the middle part of the ankle joint moving platform 408 through a ball pair, the lower end of the ankle joint moving platform 408 is fixedly connected with the upper end face of the connecting flange plate 407, the lower end face of the connecting flange plate 407 is fixedly connected with the sole 4, and the six-dimensional force sensor 5 is fixed on the sole 4.
The front and rear sides of the first middle block 202 and the second middle block 206 are provided with through holes, and the left and right sides are provided with blind holes, so that two vertical degrees of freedom rotation can be completed. One of the rotation centers of the Hu Kejiao base 205 and the rotation center of the first intermediate block 202 are on the same line. The first output shaft 213 and the second output shaft are vertically distributed in space, and the first output shaft 213 is disposed above the second output shaft.
The bottom end of the supporting club 409 is rectangular, so that the supporting club is convenient to assemble with the fixed connecting plate 410. The ankle movable platform 408 body is provided with a cylindrical shape, and three long arc-shaped connecting plates are uniformly arranged on the outer side of the upper end of the cylindrical shape.
The working process of the invention is as follows: in the motion process of the anthropomorphic mechanical leg, the force condition of the sole 4 is measured through a six-dimensional force sensor 5 at the sole 4 position and fed back to a control system of the mechanical leg, the analog signals according to the force are converted into digital signals, the pose of the crotch joint 1 is controlled and adjusted through a first hydraulic cylinder 209 and a first motor 216, the rotation angle of the knee joint 2 is controlled and adjusted through a second hydraulic cylinder 305, the pose of the ankle joint 3 is controlled and adjusted through a linear motor 403, and finally, the flexible motion of the mechanical leg is realized.
The above embodiments are only preferred embodiments of the present invention, and are not limiting to the technical solutions of the present invention, and any technical solution that can be implemented on the basis of the above embodiments without inventive effort should be considered as falling within the scope of protection of the patent claims of the present invention.
Claims (4)
1. A redundant hybrid electrohydraulic hybrid driving anthropomorphic mechanical leg is characterized in that: comprises a crotch joint module (1), a knee joint module (2), an ankle joint module (3), a sole (4) and a six-dimensional force sensor (5); the hip joint module (1) is fixed on the body of the robot, the knee joint module (2) is connected below the hip joint, the ankle joint is fixed on the knee joint module (2), the sole (4) is fixed on the ankle joint, and the six-dimensional force sensor (5) is fixed on the sole (4);
the crotch joint module (1) comprises a crotch joint fixing platform (201), a crotch joint turning branched chain, a first middle block (202), a first main shaft (203), a first thigh rod (211), a harmonic reducer (212), a side connecting plate (215), a first motor (216), a first side shaft (217) and a side shaft support (218); the two side shaft supports (218) are fixed on the crotch joint fixing platform (201), two ends of the first side shaft (217) are respectively arranged on the two side shaft supports (218), and the first middle block (202) is sleeved on the first side shaft (217); the first main shaft (203) passes through the first middle block (202) and two ends of the first main shaft (203) are respectively embedded in the two first thigh rods (211); the crotch joint turning branched chain comprises a supporting base plate (204), a Hu Kejiao base (205), a second middle block (206), a second main shaft (207), a second side shaft (208), a first hydraulic cylinder (209), a first hydraulic rod (210), a first output shaft (213) and an output shaft support (214); the support base plate (204) is fixed on the crotch joint fixing platform (201) through bolts, the Hu Kejiao base (205) is fixed on the support base plate (204), two ends of the second side shaft (208) are connected to the Hu Kejiao base (205), the middle part of the second side shaft (208) passes through the second middle block (206) and is hinged with the second middle block (206), the second main shaft (207) passes through the second middle block (206) and the first hydraulic cylinder (209), one end of the first hydraulic rod (210) stretches into the first hydraulic cylinder (209), the other end of the first hydraulic rod (210) is hinged to the first output shaft (213), and the first output shaft (213) is supported through two output shaft supports (214); the side connecting plate (215) is fixed on the inner side of the first thigh rod (211), the first motor (216) is fixed on the first thigh rod (211), the harmonic reducer (212) is fixed on the first thigh rod (211), and an input shaft of the harmonic reducer (212) is connected with an output shaft of the first motor (216) fixed on the first thigh rod (211) through a key; two output shaft supports (214) of one crotch joint phase-change branched chain are fixed on one first thigh rod (211), and two output shaft supports (214) of the other crotch joint phase-change branched chain are fixed on the outer side surface of a side surface connecting plate (215), and the outer side surface of the side surface connecting plate (215) is mutually perpendicular to the first thigh rod (211);
the knee joint module (2) comprises a thigh connecting plate (301), a second thigh rod (302), a first connecting shaft support (303), a first connecting shaft (304), a second hydraulic cylinder (305), a third output shaft (306), a second hydraulic rod (307), a shank rod (308), a second connecting shaft support (309), a second connecting shaft (310) and a shank connecting plate (311); one end face of the thigh connecting plate (301) is fixedly connected with the output end of the harmonic reducer (212), two second thigh rods (302) are fixed on the side faces of two sides of the thigh connecting plate (301), one ends of the two second thigh rods (302) and the two shank rods (308) are hinged to a third output shaft (306), and the other ends of the two shank rods (308) are fixedly connected through shank connecting plates (311); the first connecting shaft support (303) is fixed on the inner side of the second thigh rod (302), the first connecting shaft (304) penetrates through the base of the second hydraulic cylinder (305), and two ends of the first connecting shaft (304) penetrate through the two first connecting shaft supports (303) and are supported through the two first connecting shaft supports (303); one end of the second hydraulic rod (307) extends into the second hydraulic cylinder (305), the other end of the second hydraulic rod (307) is hinged to the second connecting shaft (310), two ends of the second connecting shaft (310) penetrate through two second connecting shaft supports (309) and are respectively fixed on two shank rods (308) through the two second connecting shaft supports (309), and the second connecting shaft supports (309) are fixed on the inner sides of the shank rods (308);
the ankle joint module (3) comprises an ankle joint fixing platform (401), a six-dimensional force sensor (5), a sole (4), a connecting flange plate (407), an ankle joint moving platform (408), a supporting club (409), a fixed connecting plate (410) and three ankle joint movement branched chains; the ankle joint fixing platform (401) is fixed on a shank connecting plate (311) of the knee joint module (2); one end of each of the three ankle movement branched chains is symmetrically distributed on the ankle fixed platform (401), and the other end of each of the three ankle movement branched chains is symmetrically distributed on the ankle movement platform (408); the ankle joint movement branched chain comprises a first spherical hinge support (402), an electric telescopic base (403), an electric telescopic ball rod (404) and a second spherical hinge support (405), wherein the first spherical hinge support (402) is fixed on an ankle joint fixing platform (401), the bottom end of the electric telescopic base (403) is matched with the first spherical hinge support (402) through a spherical hinge, one end of the electric telescopic ball rod (404) stretches into the electric telescopic base (403), the other end of the electric telescopic ball rod (404) is connected with the second spherical hinge support (405) through a ball pair, and the second spherical hinge support (405) is fixed on the ankle joint moving platform (408); one end of the supporting ball rod (409) is fixed at the middle part of the ankle joint fixing platform (401) through the fixed connecting plate (410), the other end of the supporting ball rod (409) is connected with the middle part of the ankle joint moving platform (408) through a ball pair, the lower end of the ankle joint moving platform (408) is fixedly connected with the upper end face of the connecting flange plate (407), the lower end face of the connecting flange plate (407) is fixedly connected with the sole (4), and the six-dimensional force sensor (5) is fixed on the sole (4);
the front and rear surfaces of the first middle block (202) and the second middle block (206) are provided with through holes, and blind holes are formed in the left and right surfaces, so that two vertical degrees of freedom rotation can be completed;
the first output shaft (213) and the second output shaft are vertically distributed in space, and the first output shaft (213) is arranged above the second output shaft.
2. The redundant series-parallel electrohydraulic hybrid driving anthropomorphic mechanical leg of claim 1, wherein: one rotation center of the Hu Kejiao base (205) and the rotation center of the first middle block (202) are on the same straight line.
3. The redundant series-parallel electrohydraulic hybrid driving anthropomorphic mechanical leg of claim 1, wherein: the bottom end of the support ball rod (409) is cuboid, and is convenient to assemble with the fixed connecting plate (410).
4. The redundant series-parallel electrohydraulic hybrid driving anthropomorphic mechanical leg of claim 1, wherein: the ankle joint movable platform (408) main body is cylindrical, and three long arc-shaped connecting plates are uniformly arranged on the outer side of the upper end of the cylinder.
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