CN112476418B

CN112476418B - Exoskeleton power-assisted robot

Info

Publication number: CN112476418B
Application number: CN202011469535.5A
Authority: CN
Inventors: 付成龙; 冷雨泉; 融亦鸣; 李凯林; 梁哲; 郝鸣; 张贶恩; 杨平
Original assignee: Southern University of Science and Technology
Current assignee: Southern University of Science and Technology
Priority date: 2020-12-14
Filing date: 2020-12-14
Publication date: 2024-07-05
Anticipated expiration: 2040-12-14
Also published as: CN112476418A

Abstract

The application provides an exoskeleton power-assisted robot, which comprises: a back carrying mechanism (10) for wearing on a human body (200); the bearing mechanism (20) is used for bearing cargoes, the bearing mechanism (20) is arranged in an extending mode along the horizontal direction, and the front end of the bearing mechanism (20) is connected with the carrying mechanism (10); two mechanical legs (40) connected to the rear end of the carrying mechanism (20); the two sets of driving mechanisms (30) are arranged on the bearing mechanism (20), and the driving mechanisms (30) are in one-to-one correspondence with the mechanical legs (40) and are used for driving the mechanical legs (40) to walk. The exoskeleton power-assisted robot provided by the application has larger load capacity and can adapt to complex and changeable environments.

Description

Exoskeleton power-assisted robot

Technical Field

The application relates to the technical field of robots, in particular to an exoskeleton assisting robot.

Background

The human body enhancement technology is a very popular field in the current scientific technology development, and the exoskeleton power-assisted robot technology belongs to one of branches of the human body enhancement technology. Exoskeleton helping hand robot is the integration equipment that an artificial dress combines people and machinery perfection, and the robot judges through the sensor that people's intention follows and helping hand, alleviates the tired out sense of people's heavy burden and long-time heavy burden.

The exoskeleton power-assisted robot can help a human body bear load and enhance the durability of bearing large load, and has wide market prospect in military and civil aspects. For example, an exoskeleton-assisted robot can help soldiers carry weapons for long distance camping or combat, but also assist wearers in carrying or transporting goods, and improve the daily work capacity of heavy physical workers. The current exoskeleton power-assisted robot is limited by the limitation of the structure, has limited load capacity, and cannot adapt to the use requirements of complex environments such as mountainous regions.

Disclosure of Invention

The exoskeleton power-assisted robot provided by the embodiment of the application has larger load capacity and can adapt to complex and changeable environments.

In a first aspect, an exoskeleton power-assisted robot is provided, comprising: the knapsack mechanism is used for being worn on a human body; the bearing mechanism is used for bearing cargoes, extends in the horizontal direction and is connected with the bearing mechanism at the front end; the two mechanical legs are connected to the rear end of the bearing mechanism; the two sets of driving mechanisms are arranged on the bearing mechanisms, and the driving mechanisms are in one-to-one correspondence with the mechanical legs and are used for driving the mechanical legs to walk.

According to the exoskeleton power-assisted robot provided by the embodiment of the application, the bearing mechanism for bearing the goods is arranged in the horizontal direction in an extending way, the front end of the bearing mechanism is connected with the bearing mechanism, and the rear end of the bearing mechanism is connected with the two mechanical legs, so that when the exoskeleton power-assisted robot is worn on a human body, the whole exoskeleton power-assisted robot can be similar to a humanoid horse structure, the front legs of the humanoid horse structure are two humanoid legs, the rear legs of the humanoid horse structure are two mechanical legs, the bearing mechanism forms a horse back, and the power assistance is realized by utilizing the high load capacity and high environmental adaptability of quadruped animals through the leading of the human body, so that the exoskeleton power-assisted robot provided by the embodiment of the application has larger load capacity. The exoskeleton power-assisted robot provided by the embodiment of the application can adapt to complex and changeable environments under the condition of heavy load, can achieve a power-assisted effect, and can safely and stably move forward.

In addition, the bearing mechanism has a certain length in the horizontal direction, so that a certain distance can be kept between the human legs and the mechanical legs, and the mechanical legs are prevented from interfering with the movement of the human legs in the movement process.

The application has simple structure and novel design, fully improves the load capacity of the booster robot, and simultaneously enhances the adaptability of the booster robot to the rugged road environment.

In one possible design, the carrying mechanism comprises a back plate, the bearing mechanism comprises two parallel spines which are arranged at intervals, the front ends of the spines are connected with the back plate, and the rear ends of the spines are connected with the mechanical legs; the upper ends of the two spines are fixedly connected through the carrying plate, and the lower ends of the two spines are fixedly connected through the bottom plate.

Here, the spine is a plate-like structure, which is the main force-receiving member. The two spines are opposite to each other and are arranged in parallel at intervals, and the interval between the two spines is matched with the interval between the hip joints of the human legs. The upper ends and the lower ends of the two spines are respectively fixedly connected with the loading plate and the bottom plate, so that the whole bearing mechanism has enough mechanical strength, is not easy to deform when bearing heavy objects, can reduce the weight of the two spines, and can further improve the loading capacity.

In one possible design, the bearing mechanism further comprises a first support plate and a second support plate disposed vertically and at intervals between the two spines, the two spines being fixedly connected by the first support plate and the second support plate. Through the arrangement, the two spines can be better positioned, so that the bearing mechanism has better mechanical strength, and is not easy to deform when bearing heavy objects.

In one possible design, the robot further comprises a force sensor, wherein the front end of the force sensor is connected with the back plate through a sensor carrier plate, and the rear end of the force sensor is connected with two spines through a sensor connecting plate.

The force sensor is arranged between the backboard (the sensor carrier plate) and the bearing mechanism (the sensor connecting plate) and can be used for detecting the movement of the human leg, namely, the movement form judgment and movement intention identification are carried out on the human leg, and then the operation of the mechanical leg can be controlled according to the detection result.

Alternatively, the force sensor may be a six-dimensional force sensor.

In one possible design, the robot further comprises a battery mounted in a space defined by the two spines, the base plate and the carrier plate.

In one possible design, the robot further comprises: the force sensor is electrically connected with the controller through the acquisition card; the controller and the acquisition card are fixedly arranged between the two spines through the controller carrier plate and the acquisition card carrier plate respectively.

In one possible design, the outer side of the backbone is fixedly provided with a motor hanging plate, and the driving mechanism comprises a hip joint motor and a knee joint motor; the hip joint motor and the knee joint motor are fixed on the motor hanging plate, and the output shafts of the hip joint motor and the knee joint motor are opposite to each other and the axes of the hip joint motor and the knee joint motor are coincident; the hip joint motor is used for driving the thigh part of the mechanical leg to swing, and the knee joint motor is used for driving the shank part of the mechanical leg to swing.

In one possible design, the motor hanging plate comprises two motor hanging plates which are arranged at intervals and in parallel, the hip joint motor is fixed on a hip joint motor fixing plate, and the hip joint motor fixing plate is fixedly connected with the two motor hanging plates; the knee joint motor is fixed on a knee joint motor fixing plate, and the knee joint motor fixing plate is fixedly connected with the hip joint motor fixing plate through a motor cover plate.

In one possible design, the drive mechanism further comprises a long rod, a shank crank and a hinge joint; the shank crank is fixedly connected with an output shaft of the knee joint motor; one end of the long rod is hinged with the shank crank, and the other end of the long rod is hinged with the upper part of the hinge joint; the middle part of the hinge joint is hinged with the lower part of the thigh part, and the lower part of the hinge joint is hinged with the upper part of the shank part.

In one possible design, the spine includes an inclined portion and a horizontal portion connected to each other, the front end of the inclined portion being connected to the bottom of the back plate, the rear end of the horizontal portion being connected to the mechanical leg, and an obtuse angle being formed between the inclined portion and the horizontal portion.

Drawings

Fig. 1 is a schematic structural view of an exoskeleton assisting robot provided in an embodiment of the present application.

Fig. 2 is a schematic diagram of a structure of an exoskeleton robot worn on a human body according to an embodiment of the present application.

Fig. 3 is an enlarged view of the area a in fig. 1.

Fig. 4 is an exploded view of a carrying mechanism according to an embodiment of the present application.

Fig. 5 is an enlarged view of the area B in fig. 1.

Fig. 6 is an exploded view of a driving mechanism and a mechanical leg according to an embodiment of the present application.

Reference numerals: 10. a carrying mechanism; 11. a back plate; 12. a harness; 13. a waistband; 14. a sensor carrier plate;

20. A carrying mechanism; 21. a spine; 21a, an inclined portion; 21b, a horizontal portion; 22. a carrying plate; 23. a bottom plate; 24a, a first support plate; 24b, a second support plate; 25a, a controller carrier plate; 25b, collecting a card carrier plate; 26. a motor hanging plate; 27. a sensor connection board; 28. a knapsack;

30. A driving mechanism; 31. a hip joint motor; 32. a hip joint motor fixing plate; 33. a knee joint motor; 34. a knee joint motor fixing plate; 35. a motor cover plate; 36. a long rod; 36a, a long rod body; 36b, a long rod upper connector; 36c, a long rod lower connector; 37. shank cranks; 38. a shank link; 39. a hinge;

40. A mechanical leg; 41. thigh sections; 41a, thigh links; 41b, thigh bar upper connector; 41c, thigh bar lower connector; 42. a lower leg portion; 42a, a shank link; 42b, shank connectors; 43. a foot bottom;

50. a force sensor;

60. a storage battery;

70. a controller;

80. A collection card;

100. Exoskeleton assisted robot;

200. And (3) a human body.

Detailed Description

Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary only for explaining the present application and are not to be construed as limiting the present application.

In the description of the present application, it should be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more of the described features. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

In the description of the present application, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted", "connected" and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected or integrally connected; can be mechanically connected, electrically connected or can be communicated with each other; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.

In the description of the present application, it should be understood that the terms "upper," "lower," "side," "front," "rear," and the like indicate an orientation or a positional relationship based on installation, and are merely for convenience of description and simplification of the description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present application.

In the description of the present application, it should be noted that the term "and/or" is merely an association relationship describing an association object, and indicates that three relationships may exist, for example, a and/or B may indicate: a exists alone, A and B exist together, and B exists alone.

It should be further noted that, in the embodiments of the present application, the same reference numerals denote the same components or the same parts, and for the same parts in the embodiments of the present application, reference numerals may be given to only one of the parts or the parts in the drawings, and it should be understood that, for other same parts or parts, the reference numerals are equally applicable.

The exoskeleton power-assisted robot provided by the embodiment of the application has larger load capacity and can adapt to complex and changeable environments. Fig. 1 is a schematic structural diagram of an exoskeleton assistant robot 100 according to an embodiment of the present application. Fig. 2 is a schematic diagram of a structure of the exoskeleton robot 100 according to an embodiment of the present application, which is worn on a human body 200. Fig. 3 is an enlarged view of the area a in fig. 1.

As shown in fig. 1-3, an exoskeleton assistant robot 100 according to an embodiment of the present application includes a carrying mechanism 10, a carrying mechanism 20, two sets of driving mechanisms 30, and two mechanical legs 40. Wherein,

The carrying mechanism 10 is used for being worn on a human body 200, and the carrying mechanism 10 comprises a back plate 11, a carrying strap 12 and a waistband 13. The upper end of the back strap 12 is connected to the upper end of the back plate 11, the lower end is connected to the waistband 13, and the back strap 12 includes two straps respectively disposed on two sides of the back plate 11. Both ends of the waistband 13 are fixed to the lower portion of the back plate 11. By wearing the back strap 12 and the waist belt 13 on the human body 200, the back plate 11 can be carried on the back of the human body 200.

The carrying mechanism 20 is used for carrying goods, the carrying mechanism 20 extends along a horizontal direction, the front end is connected with the back plate 11, and the rear end is fixedly connected with the two mechanical legs 40. The two sets of driving mechanisms 30 are installed on the bearing mechanism 20, and the driving mechanisms 30 are arranged in one-to-one correspondence with the mechanical legs 40 and are used for driving the mechanical legs 40 to walk. The two driving mechanisms 30 and the two mechanical legs 40 are symmetrically disposed at two opposite sides of the carrying mechanism 20.

According to the exoskeleton assisting robot 100 provided by the embodiment of the application, the carrying mechanism 20 for carrying goods is arranged in a horizontal extending manner, the front end of the carrying mechanism is connected with the back plate 11, and the rear end of the carrying mechanism is connected with the two mechanical legs 40, so that when the exoskeleton assisting robot 100 is worn on a human body 200, the whole exoskeleton assisting robot can be similar to a humanoid horse structure, the front legs of the humanoid horse structure are two humanoid legs, the rear legs of the humanoid horse structure are two mechanical legs, the carrying mechanism 20 forms a horse back, and assistance is realized by utilizing the high load capacity and high environmental adaptability of quadruped animals through the dominance of a human, so that the exoskeleton assisting robot provided by the embodiment of the application has larger load capacity. The exoskeleton power-assisted robot 100 provided by the embodiment of the application can adapt to complex and changeable environments under the condition of heavy load, can achieve a power-assisted effect, and can safely and stably move forward.

In addition, since the carrying mechanism 20 has a certain length in the horizontal direction, a certain distance can be maintained between the human leg and the mechanical leg, and the mechanical leg is prevented from interfering with the movement of the human leg during the movement.

As shown in fig. 1-3, the carrying mechanism 20 includes two parallel and spaced spines 21, the front ends of the spines 21 are connected with the back plate 11, and the rear ends are connected with the mechanical legs 40; the upper ends of the two spines 21 are fixedly connected through a carrying plate 22, and the lower ends are fixedly connected through a bottom plate 23.

Here, the spine 21 has a plate-like structure and is a main force receiving member. The two spines 21 are opposite and arranged in parallel at intervals, and the interval between the two spines is matched with the hip joint interval of the human leg. The upper ends and the lower ends of the two spines 21 are respectively fixedly connected through the loading plate 22 and the bottom plate 23, so that the whole bearing mechanism 20 has enough mechanical strength, is not easy to deform when bearing heavy objects, can lighten the weight of the bearing mechanism, and can further improve the loading capacity.

The loading plate 22 is located at the upper ends of the two spines 21 and is capable of loading goods. Optionally, through holes (such as square holes or round holes) may be disposed on the carrier plate 22, so that the weight of the carrying mechanism 20 can be further reduced while the placement of the goods is facilitated.

A bottom plate 23 is positioned at the lower ends of the two spines 21, and a battery, a controller, etc. of the exoskeleton robot 100 can be accommodated on the bottom plate 23, i.e., in a space defined by the two spines 21, the bottom plate 23, and the carrier plate 22.

As shown in fig. 2, the spine 21 includes an inclined portion 21a and a horizontal portion 21b connected to each other, the front end of the inclined portion 21a is connected to the bottom of the back plate 11, the rear end of the horizontal portion 21b is connected to the mechanical leg 40, and an obtuse angle is formed between the inclined portion 21a and the horizontal portion 21 b. By the above arrangement, a certain gap can be kept between the human body 200 and the left bottom of the spine 21, interference between the bearing mechanism 20 and the human body 200 (for example, human legs) can be reduced, and further, the working efficiency of the exoskeleton robot 100 can be improved.

Fig. 4 is an exploded view of the carrying mechanism 20 according to the embodiment of the present application. As shown in fig. 4, the bearing mechanism 20 further includes a first support plate 24a and a second support plate 24b vertically and spaced between the two spines 21, and the two spines 21 are fixedly connected by the first support plate 24a and the second support plate 24 b. Through the arrangement, the two spines 21 can be better positioned, so that the bearing mechanism 20 has better mechanical strength, and is not easy to deform when bearing heavy objects.

As shown in fig. 1 to 4, a first support plate 24a may be provided at the middle of the two spines 21 and at the rear end of the bottom plate 23, and a second support plate 24b may be provided at the rear of the two spines 21.

As shown in fig. 1-4, the exoskeleton power-assisted robot 100 further includes a force sensor 50, and the front end of the force sensor 50 is connected to the back plate 11 through the sensor carrier plate 14, and the rear end is connected to the two spines 21 through the sensor connection plate 27.

That is, the back plate 11 is further fixedly provided with a sensor carrier plate 14, for example, the two are connected by a screw or a bolt, and the force sensor 50 is fixed on the sensor carrier plate 14. The front ends of the two spines 21 are connected by a sensor connecting plate 27, and the sensor connecting plate 27 is fixedly connected with the force sensor 50.

The force sensor 50 can be fixedly connected to the sensor carrier plate 14 and the sensor connecting plate 27 by screws, bolts, or the like. The sensor carrier plate 14 and the sensor connection plate 27 may be directly connected, and the force sensor 50 may be disposed in a connection gap between the two.

The force sensor 50 is disposed between the back plate 11 (sensor carrier 14) and the carrying mechanism 20 (sensor connecting plate 27), and can be used for detecting the movement of the leg, i.e. for performing movement shape judgment and movement intention recognition on the leg, so as to control the operation of the mechanical leg 40 according to the detection result.

Alternatively, force sensor 50 may be a six-dimensional force sensor.

As shown in fig. 4, the exoskeleton power-assisted robot 100 further includes a controller 70 and an acquisition card 80, and the force sensor 50 is electrically connected to the controller 70 through the acquisition card 80. The sensing signal collected by the force sensor 50 is sent to the collection card 80, the collection card 80 amplifies the sensing signal, and then the amplified sensing signal is sent to the controller 70, and the controller 70 controls the mechanical leg 40 through the driving mechanism 30 according to the amplified sensing signal.

As shown in fig. 4, the controller 70 and the acquisition card 80 are fixedly mounted between the two spines 21 through the controller carrier plate 25a and the acquisition card carrier plate 25b, respectively. The controller carrier plate 25a and the acquisition card carrier plate 25b are stacked and arranged between the first support plate 24a and the second support plate 24 b. Through the above arrangement, effective utilization of space can be realized, the volume of the exoskeleton power-assisted robot 100 is reduced, and the beauty is improved.

Alternatively, for easy disassembly, the controller carrier plate 25a, the pickup card carrier plate 25b may be caught between the first support plate 24a and the second support plate 24b by means of pins or the like.

As shown in fig. 4, the exoskeleton assistant robot 100 further includes a battery 60, and the battery 60 can provide power for the driving mechanism 30, the force sensor 50, the controller 70, the acquisition card 80, and the like. The battery 60 is mounted in a space surrounded by the two spines 21, the bottom plate 23 and the carrier plate 22. Through the above arrangement, effective utilization of space can be realized, the volume of the exoskeleton power-assisted robot 100 is reduced, and the beauty is improved.

As shown in fig. 1-4, the carrying mechanism 20 further includes a backpack 28 disposed on the carrier plate 22, thereby facilitating storage of goods. Alternatively, the bladder 28 may be removably attached to the carrier plate 22 to facilitate cleaning and replacement of the bladder 28.

As shown in fig. 3 and 4, a motor hanging plate 26 is fixedly arranged on the outer side of the backbone 21, and the motor hanging plate 26 can be connected to the backbone 21 through bolts or screws for mounting a motor of the driving mechanism 30.

To interact with a human leg, the mechanical leg 40 includes two degrees of freedom, a hip joint and a knee joint. The drive mechanism 30 includes a hip motor 31 and a knee motor 33. The hip motor 31 is in driving connection with the thigh section 41 of the mechanical leg 40 for driving the thigh section 41 to swing. The knee motor 33 is in driving connection with the shank portion 42 of the mechanical leg 40 for driving the shank portion 42 to swing. The controller 70 is electrically connected to the hip motor 31 and the knee motor 33, and is capable of driving the mechanical leg 40 to travel by controlling the cooperation of the two motors.

As shown in fig. 3 and 4, the hip joint motor 31 and the knee joint motor 33 are fixed on the motor hanging plate 26, and the output shafts of the two are opposite and the axes are coincident. With the above arrangement, the driving of the mechanical leg 40 by the driving mechanism 30 can be made smoother and controllable. In addition, moving the knee motor 33 up to the hip joint also reduces the inertia of the mechanical leg 40. The drive control of the mechanical leg 40 can be facilitated as well.

Fig. 5 is an enlarged view of the area B in fig. 1. Fig. 6 is an exploded view of the driving mechanism 30 and the mechanical leg 40 according to the embodiment of the present application.

As shown in fig. 3-6, the motor hanging plate 26 includes two spaced and parallel motor hanging plates, the hip joint motor 31 is fixed on the hip joint motor fixing plate 32, the hip joint motor fixing plate 32 is fixedly connected with the two motor hanging plates 26, and the hip joint motor 31 is fixed in the space enclosed by the hip joint motor fixing plate 32 and the two motor hanging plates 26. The output shaft of the hip joint motor 31 passes through a through hole formed in the hip joint motor fixing plate 32 and is in transmission connection with the thigh portion 41.

The knee joint motor 33 is fixed on the knee joint motor fixing plate 34, and the knee joint motor fixing plate 34 is fixedly connected with the hip joint motor fixing plate 32 through a plurality of motor cover plates 35. The knee motor 33 is fixed between the hip motor fixing plate 32 and the knee motor fixing plate 34, and an output shaft of the knee motor 33 is connected with the lower leg portion 42 by transmission after passing through a through hole formed in the knee motor fixing plate 34.

Optionally, a stopper (not shown) may be installed on the motor fixing plate to limit the movement range of the mechanical leg 40.

As shown in fig. 4 to 6, the thigh section 41 includes a thigh link 41a, and a thigh bar upper connector 41b and a thigh bar lower connector 41c fixedly connected to the upper end and the lower end of the thigh link 41a, respectively. The thigh bar upper connector 41b is in driving connection with the output shaft of the hip joint motor 31.

The lower leg portion 42 includes a lower leg link 42a, a lower leg joint 42b and a sole portion 43 connected to upper and lower ends of the lower leg link 42a, respectively. The sole 43 is spherical and may be supported by an elastic material (e.g., rubber or plastic) to reduce the impact with the ground.

As shown in fig. 4-6, the drive mechanism 30 further includes a long rod 36, a shank crank 37, and a hinge 39. The shank winch 37 is fixedly connected to the output shaft of the knee motor 33 via a shank connecting element 38. The long rod 36 includes a long rod body 36a, and a long rod upper connector 36b and a long rod lower connector 36c fixedly connected to upper and lower ends of the long rod body 36a, respectively. The upper long rod connector 36b is hinged to the shank crank 37, and the lower long rod connector 36c is hinged to the upper part of the hinge 39. The middle part of the joint 39 is hinged with the lower thigh link 41c, and the lower part of the joint 39 is hinged with the lower thigh link 42 b. By the above arrangement, the transmission to the lower leg portion 41 is made to form a parallelogram link mechanism, and the lower leg portion 41 can be reliably and stably driven to swing.

The foregoing is merely illustrative of the present application, and the present application is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. An exoskeleton power-assisted robot, comprising:

A back carrying mechanism (10) for wearing on a human body (200);

The bearing mechanism (20) is used for bearing cargoes, the bearing mechanism (20) is arranged in an extending mode along the horizontal direction, and the front end of the bearing mechanism (20) is connected with the carrying mechanism (10);

two mechanical legs (40) connected to the rear end of the carrying mechanism (20);

the two sets of driving mechanisms (30) are arranged on the bearing mechanism (20), and the driving mechanisms (30) are in one-to-one correspondence with the mechanical legs (40) and are used for driving the mechanical legs (40) to walk;

The bearing mechanism (10) comprises a back plate (11), the bearing mechanism (20) comprises two parallel spines (21) which are arranged at intervals, the front ends of the spines (21) are connected with the back plate (11), and the rear ends of the spines are connected with the mechanical legs (40); the upper ends of the two spines (21) are fixedly connected through a loading plate (22), and the lower ends of the two spines are fixedly connected through a bottom plate (23);

The robot further includes: the storage battery (60) is arranged in a space surrounded by the two spines (21), the bottom plate (23) and the carrying plate (22);

the outer side of the backbone (21) is fixedly provided with a motor hanging plate (26), and the driving mechanism (30) comprises a hip joint motor (31) and a knee joint motor (33);

the hip joint motor (31) and the knee joint motor (33) are fixed on the motor hanging plate (26), and the output shafts of the hip joint motor and the knee joint motor are opposite and the axes of the hip joint motor and the knee joint motor are coincident;

The hip joint motor (31) is used for driving the thigh part (41) of the mechanical leg (40) to swing, and the knee joint motor (33) is used for driving the shank part (42) of the mechanical leg (40) to swing;

The driving mechanism (30) further comprises a long rod (36), a shank crank (37) and a hinge joint (39);

The shank crank (37) is fixedly connected with an output shaft of the knee joint motor (33);

one end of the long rod (36) is hinged with the shank crank (37), and the other end is hinged with the upper part of the hinge joint (39);

The middle part of the hinge (39) is hinged with the lower part of the thigh part (41), and the lower part of the hinge (39) is hinged with the upper part of the shank part (42).

2. The robot according to claim 1, wherein the carrying mechanism (20) further comprises a first support plate (24 a) and a second support plate (24 b) arranged vertically and at a distance between the two spines (21), the two spines (21) being fixedly connected by the first support plate (24 a) and the second support plate (24 b).

3. The robot of claim 1 or 2, further comprising:

the front end of the force sensor (50) is connected with the back plate (11) through a sensor carrier plate (14), and the rear end of the force sensor is connected with the two spines (21) through a sensor connecting plate (27).

4. A robot as claimed in claim 3, further comprising:

the force sensor (50) is electrically connected with the controller (70) through the acquisition card (80);

the controller (70) and the acquisition card (80) are fixedly arranged between the two spines (21) through the controller carrier plate (25 a) and the acquisition card carrier plate (25 b) respectively.

5. The robot according to claim 1, wherein the motor hanging plate (26) comprises two motor hanging plates which are arranged at intervals and in parallel, the hip motor (31) is fixed on a hip motor fixing plate (32), and the hip motor fixing plate (32) is fixedly connected with the two motor hanging plates (26);

The knee joint motor (33) is fixed on a knee joint motor fixing plate (34), and the knee joint motor fixing plate (34) is fixedly connected with the hip joint motor fixing plate (32) through a motor cover plate (35).

6. Robot according to claim 1 or 2, characterized in that the spine (21) comprises an inclined part (21 a) and a horizontal part (21 b) connected to each other, the front end of the inclined part (21 a) being connected to the bottom of the back plate (11), the rear end of the horizontal part (21 b) being connected to the mechanical leg (40), the inclined part (21 a) and the horizontal part (21 b) forming an obtuse angle therebetween.