CN113815745A

CN113815745A - Human walking simulating mechanical leg

Info

Publication number: CN113815745A
Application number: CN202111207626.6A
Authority: CN
Inventors: 卜王辉; 朱昌德; 邓若愚; 徐子晗
Original assignee: Tongji Institute Of Artificial Intelligence Suzhou Co ltd
Current assignee: Tongji Institute Of Artificial Intelligence Suzhou Co ltd
Priority date: 2021-10-18
Filing date: 2021-10-18
Publication date: 2021-12-21
Also published as: CN114291184A

Abstract

The invention relates to a human-simulated walking mechanical leg which comprises a hip support, a thigh support, a shank support, a foot support plate and ankle joint units, wherein each ankle joint unit comprises a plurality of groups of ankle driving mechanisms and ankle connecting supports, each ankle driving mechanism comprises an ankle driving motor, an ankle driving assembly, an ankle sliding assembly and an ankle connecting rod, the output shaft of each ankle driving motor controls the rotation of the foot support plate through the transmission of other components, each ankle connecting rod is connected with the ankle sliding assembly and the corresponding foot support plate through a spherical hinge, and the shank support is connected with the corresponding foot support plate through the ankle connecting supports in a rotating mode; the ankle telescopic piece is arranged on the thigh support, so that the weight of the shank support can be reduced, and the moment required by driving of the hip joint and the knee joint is reduced.

Description

Human walking simulating mechanical leg

Technical Field

The invention belongs to the field of robots, and particularly relates to a human-walking-simulated mechanical leg.

Background

In the prior art, the design of the leg of the robot mostly adopts a scheme that a driving motor is coaxial with the degree of freedom, the driving motor is large in size and occupies a large space, the internal space of the driving motor cannot be reasonably utilized, and the arrangement of other components in the robot is influenced, so that the size and the shape of the robot are greatly limited if the robot is not too large, the problem of limiting the driving power and the like is caused, and the action accuracy and the strength of the robot are influenced. This is particularly true in leg designs, where the legs require a stronger support force and require a larger drive motor.

The hip joint needs 3 degrees of freedom (front and back swing, left and right swing and vertical rotation of thighs), needs three driving motors and occupies a large space. The hip joint is driven in the up-down direction by adopting a coaxial speed reducing mechanism, the up-down direction from the motor to the hip joint is coaxial, the motor is in a vertical state, and the space utilization rate is not high; when the motor is arranged in the thigh, the axial direction of the motor is the width direction of the thigh, so that the length limitation of the motor and the speed reducer is large, and the driving power is limited. Meanwhile, the motor in the existing structure is obviously protruded out of the main structure of the mechanical leg, so that the sitting action of the robot is influenced. The knee joint needs to have 1 degree of freedom (namely the fore-and-aft swing of the crus), a driving motor is arranged on a shaft of the knee joint in the prior art, and if the size of the knee joint part is required to be reduced, the space is small, the driving force is limited, and the space utilization rate is not high; the ankle joint needs to have 2 degrees of freedom (for the front-back rotation and the left-right rotation of the foot), and in the prior art, a motor is arranged on two rotating shafts of the ankle joint or adopts synchronous belt transmission, so that the mechanism is complex and is too bulky, the occupied space is large, and the space utilization rate is not high. If the driving mechanism is arranged in the lower leg, the weight of the lower leg is still increased, and the driving of the degree of freedom of the upper part of the mechanical leg is not facilitated. And because the strength and the size of the volume of the driving force cannot be balanced, the existing robot is controlled in a rigid mode, and flexible control cannot be achieved.

The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.

Disclosure of Invention

The invention aims to provide a human-walking-simulated mechanical leg which is used for providing a mechanical leg with three degrees of freedom at a hip joint, a mechanical leg with one degree of freedom at a knee joint and a mechanical leg with two degrees of freedom at an ankle joint, so that the mechanical leg not only meets the requirement of enough driving force, but also meets the requirement of simple volume and no bulkiness, and realizes the balance between the two.

In order to achieve the purpose, the invention adopts the technical scheme that:

a mechanical leg simulating human walking comprises a hip support, a thigh support, a shank support, a foot support plate and a driving unit, wherein the driving unit comprises a hip joint unit, a knee joint unit and an ankle joint unit,

the ankle joint unit: the ankle driving mechanism comprises an ankle driving motor, an ankle transmission assembly, an ankle sliding assembly and an ankle connecting rod, the ankle driving motor is arranged on the thigh support, an output shaft of the ankle driving motor is in transmission connection with the ankle transmission assembly, the ankle transmission assembly is respectively connected with the thigh support and the shank support, the ankle transmission assembly is in transmission connection with the ankle sliding assembly, the ankle sliding assembly is connected with one end of the ankle connecting rod through a spherical hinge, the other end of the ankle connecting rod is connected with the foot supporting plate through a spherical hinge, the ankle connecting support is in rotational connection with the shank support through a first foot rotating shaft, and the ankle connecting support is in rotational connection with the foot supporting plate through a second foot rotating shaft, an output shaft of the ankle driving motor rotates to drive the foot supporting plate to rotate around the first foot rotating shaft and the second foot rotating shaft;

in an initial state, the first foot rotation shaft extends in a left-right direction of the machine leg, and the second foot rotation shaft extends in a front-rear direction of the machine leg.

Preferably, the ankle sliding assembly comprises a screw rod, a sliding rail and a sliding block with a nut, the screw rod is connected with the ankle transmission assembly, the sliding rail is arranged on the shank support, the sliding block with the nut is movably arranged on the sliding rail, the sliding block with the nut is in threaded connection with the screw rod, and the sliding block with the nut is connected with one end of the ankle connecting rod through a spherical hinge.

Preferably, the upper surface of the foot supporting plate is provided with a foot bracket and a foot connecting rod, the foot bracket is rotatably connected with the ankle connecting bracket through the second foot rotating shaft, and the foot connecting rod is connected with the ankle connecting rod through a spherical hinge.

Preferably, the ankle driving mechanisms are provided in two groups, and when the output shafts of the two groups of ankle driving motors synchronously rotate, the foot supporting plates rotate around the first foot rotating shaft; when the output shafts of the two groups of ankle driving motors rotate asynchronously, the foot supporting plate rotates around the second foot rotating shaft.

Preferably, the hip joint unit is configured to drive the thigh support to rotate relative to the hip support, and includes a first hip support, a second hip support, a first hip drive motor, a second hip drive motor, and a third hip drive motor, where the first hip support and the hip support are rotationally connected through a first hip rotation axis, and the first hip drive motor is in transmission connection with the first hip rotation axis to drive the first hip support to rotate around the first hip rotation axis; an output shaft of the second hip driving motor is fixedly connected with the first hip bracket, and a main body of the second hip driving motor is fixedly connected with the second hip bracket so as to drive the second hip bracket to rotate around the output shaft of the second driving motor; the second hip support and the thigh support are in rotary connection through a second hip rotary shaft, and the third hip driving motor is arranged on the thigh support and is in transmission connection with the second hip rotary shaft so as to drive the thigh support to rotate around the second hip rotary shaft;

in an initial state, the first hip rotating shaft extends in the vertical direction of the mechanical leg, the second hip rotating shaft extends in the front-rear direction of the mechanical leg, and the output shaft of the second hip driving motor extends in the left-right direction of the mechanical leg.

Further preferably, the first hip driving motor is arranged in the hip support, an output shaft of the first hip driving motor extends in the horizontal direction, and the output shaft of the first hip driving motor is in transmission connection with the first hip rotating shaft through a bevel gear.

Preferably, the hip joint unit further includes a hip transmission assembly, the hip transmission assembly includes a hip transmission shaft and a hip synchronous belt, the hip transmission shaft is connected to the thigh support, the hip transmission shaft is in transmission connection with an output shaft of the third hip driving motor, the synchronous belt is sleeved on the hip transmission shaft and the second hip rotation shaft at the same time, and in an initial state, the hip transmission shaft extends along the front-back direction of the mechanical leg.

Still further preferably, the output shaft of the third hip drive motor is perpendicular to the hip drive shaft, and the output shaft of the third hip drive motor is in transmission connection with the hip drive shaft through a bevel gear.

Preferably, the knee joint unit is used for driving the lower leg support to rotate relative to the thigh support, and comprises a knee telescopic part and a knee rotating shaft, one end of the knee telescopic part is connected with the thigh support, the other end of the knee telescopic part is connected with the lower leg support, the thigh support and the lower leg support are rotatably connected through the knee rotating shaft, and the knee telescopic part is telescopic to drive the lower leg support to rotate around the knee rotating shaft;

in an initial state, the knee pivot axis extends in a left-right direction of the mechanical leg.

Further preferably, the knee driving unit further includes a knee connecting rod, the knee connecting rod is fixedly connected to the lower leg support, one end of the knee extension piece is fixedly connected to the upper leg support, the other end of the knee extension piece is rotatably connected to the knee connecting rod, and in an initial state, the knee connecting rod extends along the left and right directions of the mechanical leg.

Further preferably, ankle drive assembly includes first ankle transmission shaft, second ankle transmission shaft, third ankle transmission shaft, ankle hold-in range, first ankle transmission shaft is connected on the thigh support, first ankle transmission shaft with ankle driving motor's output transmission is connected, second ankle transmission shaft with the coaxial setting of knee axis of rotation, second ankle transmission shaft with knee axis of rotation independently rotates respectively, third ankle transmission shaft is connected on the shank support, third ankle transmission shaft with second ankle transmission shaft transmission is connected, third ankle transmission shaft with ankle sliding assembly connects, ankle hold-in range overlaps simultaneously and establishes first ankle transmission shaft with on the second ankle transmission shaft.

Preferably, the knee extension is one of a hydraulic push rod, an air pump push rod or an electric push rod.

Preferably, the thigh support, the shank support, the foot support plate and the driving unit are provided with two groups and are respectively positioned at the left side and the right side of the mechanical leg.

Due to the application of the technical scheme, compared with the prior art, the invention has the following advantages:

according to the ankle joint unit, the ankle connecting rod is driven by the plurality of ankle telescopic pieces, so that a driving or transmission mechanism is not required to be arranged near a rotating shaft of the ankle joint, the complexity of the mechanism is reduced, the weight of the ankle joint is reduced, the driving force for controlling the ankle joint is reduced conveniently, and the sensitivity of the ankle joint is improved; the ankle transmission component and the ankle sliding component ensure that the driving force can be transmitted to the ankle joint from the thigh to drive while the shank rotates around the thigh, and the ankle telescopic part is arranged on the thigh support, so that the weight of the shank support can be reduced, and the torque required by driving of the hip joint and the knee joint is reduced.

Drawings

FIG. 1 is a front perspective view of the present embodiment;

FIG. 2 is a rear perspective view of the present embodiment;

fig. 3 is a schematic view showing a state in which the first hip drive motor is arranged in the present embodiment;

FIG. 4 is a schematic diagram showing the arrangement of the second hip driving motor and the timing belt in this embodiment;

FIG. 5 is a schematic view showing the arrangement state of the third hip drive motor in the present embodiment;

FIG. 6 is a schematic view showing the arrangement state of the knee joint unit in the present embodiment;

FIG. 7 is a schematic view showing a state in which a part of the ankle joint unit is arranged in the embodiment;

fig. 8 is a schematic view showing a state where a part of the ankle unit is arranged in this embodiment.

In the above drawings: 11. a hip mount; 12. a thigh support; 13. a shank support; 14. a foot support plate; 141. a foot support; 142. a foot connecting rod; 211. a first hip mount; 212. a second hip mount; 22. a first hip drive motor; 23. a second hip drive motor; 24. a third hip drive motor; 25. a first hip rotation axis; 26. a second hip rotation axis; 27. a hip drive shaft; 28. a synchronous belt; 31. a knee extension; 32. a knee rotation axis; 33. a knee connecting rod; 41. an ankle connecting bracket; 42. a first foot rotation shaft; 43. a second foot rotation shaft; 44. an ankle driving motor; 451. a first ankle drive shaft; 452. a second ankle drive shaft; 453. a third ankle drive shaft; 454. an ankle synchronous belt; 461. a screw rod; 462. a slide rail; 463. a slider with a nut; 464. a coupling; 465. a bearing seat; 47. an ankle connecting rod.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

As shown in figures 1 and 2, the mechanical leg for simulating human walking comprises a hip support 11, a thigh support 12, a shank support 13, a foot support plate 14 and a driving unit, wherein the driving unit comprises a hip joint unit, a knee joint unit and an ankle joint unit. The hip joint unit is used for driving the thigh support 12 to rotate relative to the hip support 11 and has 3 rotational degrees of freedom, the knee joint unit is used for driving the shank support 13 to rotate relative to the thigh support 12 and has 1 rotational degree of freedom, and the ankle joint unit is used for driving the foot support plate 14 to rotate relative to the shank support 13 and has 2 rotational degrees of freedom.

The mechanical leg adopts a biped walking form (only a left leg is shown in the figure), and comprises a hip support 11, two thigh supports 12, two shank supports 13 and two foot support plates 14, wherein the upper ends of the two thigh supports 12 are respectively connected below the hip support 11 and positioned on the left side and the right side of the mechanical leg, the lower end of each thigh support 12 is connected with the upper end of one shank support 13, the lower end of each shank support 13 is connected with one foot support plate 14, and the foot support plates 14 are used for supporting the mechanical leg on the ground and walking alternately. The hip support 11 is a horizontally arranged plate body, and can be actually made into a structure imitating a human-shaped pelvis. The thigh support 12 has plate bodies on its left and right sides and front side and has side edges of the plate bodies on its left and right sides connected to the left and right sides of the plate body on its front side and has connecting plates connected to the plate bodies on its left and right sides at its upper part on its rear side. The lower leg support 13 has plate bodies on its left and right sides and front side and the sides of the plate bodies on its left and right sides are connected to the left and right sides of the plate body on its front side. The respective plate bodies of the thigh support 12 and the shank support 13 enclose a partial structure with a certain space for arranging the driving unit, and the actual hip support 11, the thigh support 12, the shank support 13 and the foot support plate 14 are not limited to the connection condition of the plate bodies, but all have a humanoid shape structure.

As shown in fig. 3 to 5, the hip joint unit can drive the thigh support 12 to rotate back and forth, right and left, and to rotate about itself in the vertical direction with respect to the hip support 11. The hip joint unit comprises a first hip bracket 211, a second hip bracket 212, a first hip driving motor 22, a second hip driving motor 23 and a third hip driving motor 24, wherein the output end of each driving motor is connected with a speed reducer and then connected with other parts, so that the rotating speed of the motors is reduced, and the torque of the motors is increased. The first hip support 211 and the hip support 11 are rotatably connected through a first hip rotating shaft 25, the second hip support 212 is rotatably connected with the first hip support 211, the second hip support 212 and the thigh support 12 are rotatably connected through a second hip rotating shaft 26, the three rotating directions are different, and the hip joint unit has three rotating degrees of freedom.

The first hip support 211 is located below the hip support 11, the upper end of the first hip rotating shaft 25 extends to the upper part of the bottom plate body of the hip support 11, and the lower end of the first hip rotating shaft passes through the hip support 11 and is fixedly connected with the first hip support 211. The first hip driving motor 22 is connected to the bottom plate of the hip support 11 and arranged in the space of the hip support 11, the first hip driving motor 22 is in transmission connection with the upper end of the first hip rotating shaft 25, and the first hip driving motor 22 works to drive the first hip rotating shaft 25 to rotate so as to drive the first hip support 211 to rotate around the first hip rotating shaft 25. The first hip driving motor 22 is horizontally arranged so that the first hip driving motor can be completely arranged inside the hip support 11, the space utilization rate is improved, the placing space of the speed reducer is increased, the output shaft of the first hip driving motor 22 extends along the horizontal direction, the output shaft of the first hip driving motor 22 is perpendicular to the first hip rotating shaft 25, the output shaft of the first hip driving motor 22 is in transmission connection with the first hip rotating shaft 25 through a 90-degree bevel gear, and the driving moment of the first hip driving motor 22 is converted into the moment coaxial with the first hip rotating shaft 25 through the bevel gear. The first hip driving motors 22 which are respectively in transmission connection with the thigh supports 12 on the left side and the right side are arranged in the hip supports 11, and if the motors are longer, higher space utilization degree can be realized by dislocation placement. In the initial state, the first hip rotation axis 25 extends in the up-down direction of the mechanical leg, so that the first hip drive motor 22 drives the first hip bracket 211 and other structures connected to the lower end thereof to rotate around the first hip rotation axis 25, i.e. the thigh rotates vertically.

The second hip driving motor 23 is located below the first hip bracket 211, an output shaft of the second hip driving motor 23 is fixedly connected with the first hip bracket 211, a main body of the second hip driving motor 23 is fixedly connected with the second hip bracket 212, the second hip bracket 212 can be sleeved outside the main body of the second hip driving motor 23, and since the output shaft of the second hip driving motor 23 is directly connected with the mechanical leg and cannot drive the mechanical leg to integrally rotate, the output shaft is relatively fixed and the main body rotates relatively, so as to drive the second hip bracket 212 to rotate around the output shaft of the second hip driving motor. In the initial state, the output shaft of the second hip drive motor 23 extends along the left-right direction of the mechanical leg, so that the second hip drive motor 23 drives the second hip bracket 212 and other structures connected to the lower end thereof to rotate around the output shaft of the second hip drive motor 23, i.e. the thigh swings back and forth. The back and forth swing of the hip joint relates to the forward lifting or backward movement of the whole mechanical leg, the driving is very frequent, the required driving moment is the maximum of 6 rotational degrees of freedom of the mechanical leg, the problem that the transmission of the transmission mechanism is unreliable or the large-volume driving motor is difficult to place when the transmission mechanism is adopted for transmission can exist, the second hip bracket 212 adopts a box shape, only the second hip driving motor 23 is placed in the box, the space of the second hip driving motor 23 is enough to accommodate the second hip driving motor 23 with higher power, and the control precision is ensured by the fact that the transmission chain of the output shaft of the second hip driving motor 23 is shorter.

The third hip driving motor 24 is arranged on the thigh support 12 and swings together with the thigh support 12, the second hip rotating shaft 26 is fixedly connected with the second hip support 212, the hip joint unit further comprises a hip transmission assembly, and the third hip driving motor 24 and the second hip rotating shaft 26 are in transmission connection through the hip transmission assembly so as to drive the thigh support 12 to rotate around the second hip rotating shaft 26. The hip drive assembly comprises a hip drive shaft 27 and a hip synchronous belt 28, the hip drive shaft 27 is connected on the thigh support 12, the hip drive shaft 27 is in drive connection with an output shaft of the third hip drive motor 24, the hip synchronous belt 28 is sleeved on the hip drive shaft 27 and the second hip rotary shaft 26 at the same time, the hip synchronous belt 28 is positioned at the rear side of the thigh support 12, for the convenience of synchronous belt drive, the hip drive shaft 27 and the second hip rotary shaft 26 are arranged in parallel, the drive torque of the third hip drive motor 24 is transmitted to a torque coaxial with the second hip drive shaft 27 through the hip synchronous belt 28, so as to drive the thigh support 12 to rotate around the second hip drive shaft 27, the third hip drive motor 24 and the hip drive assembly can be moved to a position outside the rotation position of the thigh support 12 and the hip support 11 through the drive of the hip synchronous belt 28, the mechanism complexity of the hip joint position is reduced, the third hip drive motor 24 can be placed on the inner side of the thigh, the placing space of the speed reducer is increased. The output shaft of the third hip driving motor 24 is perpendicular to the hip transmission shaft 27, and the output shaft of the third hip driving motor 24 is in transmission connection with the hip transmission shaft 27 through a 90-degree bevel gear, so that the longer length direction of the body of the third hip driving motor 24 can be consistent with the extending direction of the thigh support 12, and the third hip driving motor 24 can be conveniently hidden in the thigh support 12. In the initial state, the second hip rotation axis 26 and the hip drive shaft 27 extend in the front-rear direction of the mechanical leg, so that the third hip drive motor 24 drives the thigh support 12 and the other structures connected to the lower end thereof to rotate around the second hip rotation axis 26, i.e. the thigh swings left and right. Meanwhile, the second hip driving motor 23 is arranged at the hip joint to drive the thigh support 12 to rotate forwards and backwards, the third hip driving motor 24 is arranged in the thigh support 12 and drives the thigh support 12 to rotate left and right through the hip transmission assembly, so that the driving motors can be prevented from obviously protruding out of the hip of the mechanical leg, the hip distance of the mechanical leg is reduced, and the mechanical leg can conveniently sit down.

As shown in fig. 6, the knee joint unit can drive the lower leg support 13 to rotate in the front-back direction relative to the upper leg support 12. The knee joint unit includes a knee extension 31, a knee rotation shaft 32, and a knee connection rod 33. The knee connecting rod 33 is fixedly connected between the left and right plate bodies of the lower leg support 13. One end of the knee extension piece 31 is connected with the thigh support 12, and the other end is rotatably connected with the knee connecting rod 33, and the knee extension piece 31 itself has a structure capable of extending and contracting, and can adopt a driving device such as a hydraulic push rod, an air pump push rod or an electric push rod. The thigh support 12 and the shank support 13 are rotatably connected through a knee rotating shaft 32, the knee extension piece 31, the thigh support 12 and the shank support 13 can form a triangular structure, and the knee extension piece 31 can extend and retract to drive the shank support 13 to rotate around the knee rotating shaft 32, so that the back lifting and straightening actions of the shank support 13 are realized. Meanwhile, the main body of the knee extension 31 can be hidden in the space of the thigh support 12, and the space for installing the decelerator is large, thereby providing a large driving force. In the initial state, the knee connecting rod 33 and the knee rotating shaft 32 extend in the left-right direction of the mechanical leg, so that the knee extension piece 31 drives the lower leg support 13 and the other structure connected to the lower end thereof to rotate around the knee rotating shaft 32, i.e. the lower leg swings back and forth.

As shown in Figs. 6-8, the ankle joint unit may drive the foot support plate 14 to rotate back and forth and side to side with respect to the lower leg support 13. The ankle joint unit comprises ankle driving mechanisms and ankle connecting brackets 41, and the ankle driving mechanisms are provided with two groups. The ankle link bracket 41 is rotatably connected to the lower leg bracket 13 via a first foot rotating shaft 42, the foot support plate 14 has a foot bracket 141 on the upper surface thereof, and the foot bracket 141 is rotatably connected to the ankle link bracket 41 via a second foot rotating shaft 43. Every group ankle actuating mechanism includes ankle driving motor 44, ankle drive assembly, ankle sliding assembly, ankle connecting rod 47, ankle driving motor 44 sets up on thigh support 12, thigh support 12 has sufficient space to supply ankle driving motor 44's output shaft reduction gear to be connected with other parts again, ankle driving motor 44's output shaft and ankle drive assembly transmission are connected, ankle drive assembly respectively with thigh support 12, shank support 13 is connected, ankle drive assembly and ankle sliding assembly transmission are connected, ankle sliding assembly sets up on shank support 13, ankle sliding assembly passes through the ball joint with ankle connecting rod 47's one end and is connected, foot supporting plate 14 upper surface has foot connecting rod 142, the other end and the foot connecting rod 142 of ankle connecting rod 47 pass through the ball joint and are connected. In the initial state, the first foot rotation shaft 42 extends in the left-right direction of the mechanical leg, and the second foot rotation shaft 43 extends in the front-rear direction of the mechanical leg, so that the output shaft of the ankle driving motor 44 rotates and drives the foot support plate 14 to rotate around the first foot rotation shaft 42 and the second foot rotation shaft 43 through the transmission of the ankle transmission assembly and the ankle sliding assembly. When the output shafts of the two sets of ankle driving motors 44 rotate synchronously, the two sets of ankle connecting rods 47 are controlled to move synchronously, so that the foot supporting plate 14 rotates around the first foot rotating shaft 42; when the two sets of ankle driving motors 44 rotate asynchronously, the two sets of ankle connecting rods 47 are controlled to move asynchronously, so that the foot supporting plate 14 rotates around the second foot rotating shaft 43, and the softer and more stable rotation control can be realized through the spherical hinge connection. The ankle driving motor 44 is arranged inside the thigh support 12, so that the weight of the shank support 13 is reduced, the moment required for driving the hip joint and the knee joint is reduced, and the driving chain ensures that the driving force can be transmitted to the ankle sliding component on the shank support 13 from the ankle driving motor 44 on the thigh support 12 while the shank support 13 rotates around the thigh support 12.

The ankle transmission assembly comprises a first ankle transmission shaft 451, a second ankle transmission shaft 452, a third ankle transmission shaft 453 and an ankle synchronous belt 454, the first ankle transmission shaft 451 is rotatably connected to the thigh support 12, the first ankle transmission shaft 451 extends along the horizontal direction and is perpendicular to the output shaft of the ankle driving motor 44, the output ends of the first ankle transmission shaft 451 and the ankle driving motor 44 are connected through a 90-degree bevel gear transmission, the second ankle transmission shaft 452 is coaxially arranged with the knee rotating shaft 32, but the second ankle transmission shaft 452 and the knee rotating shaft 32 respectively and independently rotate, the ankle synchronous belt 454 is simultaneously sleeved on the first ankle transmission shaft 451 and the second ankle transmission shaft 452 and is positioned at the outer side of the thigh support 12, the first ankle transmission shaft 451 and the second ankle transmission shaft 452 penetrate through the inner side and the outer side of the plate body of the thigh support 12 to facilitate the ankle synchronous belt 454 to be externally arranged and vacate more internal spaces, the third ankle transmission shaft 453 is connected to the shank support 13, third ankle transmission shaft 453 is perpendicular with second ankle transmission shaft 452, and third ankle transmission shaft 453 passes through 90 bevel gear transmission with second ankle transmission shaft 452 and is connected, and third ankle transmission shaft 453 is connected with the ankle slip subassembly that sets up on shank support 13 again, realizes that drive power transmits shank support 13 from thigh support 12.

The ankle sliding assembly comprises a lead screw 461, a sliding rail 462 and a threaded nut slider 463, wherein the lead screw 461 is coaxially connected with a third ankle transmission shaft 453 through a coupler 464, so that the ankle driving motor 44 can drive the lead screw 461 to rotate, the coupler 464 stabilizes the rotating posture of the lead screw 461 following the third ankle transmission shaft 453, the lead screw 461 is arranged on the shank bracket 13 through a bearing seat 465 and can rotate around the axis of the lead screw, the sliding rail 462 is arranged on the shank bracket 13, the threaded nut slider 463 is movably arranged on the sliding rail 462, the threaded nut slider 463 is simultaneously in threaded connection with the lead screw 461, when the lead screw 461 rotates, the threaded nut slider 463 moves along the extending direction of the sliding rail 462 under the joint of the lead screw 461 and the sliding rail 462, the threaded nut slider 463 is connected with one end of the ankle connecting rod 47 through a ball hinge, and one end of the ankle connecting rod 47 moves along the extending direction of the sliding rail 462. The realization is through two sets of lead screws 461 control band nut slider 463, and then control ankle connecting rod 47 for near ankle joint (being ankle linking bridge 41 department) need not to install drive or drive mechanism, has reduced the mechanism complexity, has alleviateed the weight of ankle joint department, and adopts two ankle connecting rod 47 to drive 2 degrees of freedom of ankle joint through the mode of ball pivot connection, can take the nut slider 463 position and then control 2 degrees of freedom of ankle joint through the control. The drive train for the ankle joint is: the ankle driving motor 44-decelerator-first ankle transmission shaft 451 (on the thigh support 12) -ankle synchronous belt 454-second ankle transmission shaft 452 (outside the knee rotation shaft 32) -third ankle transmission shaft 453 (on the shank support 13) -lead screw 461-threaded nut slider 463-ankle connecting rod 47-foot connecting rod 142.

The above embodiments are merely illustrative of the technical ideas and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the protection scope of the present invention. All equivalent changes and modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.

Claims

1. The utility model provides a imitative people's walking machinery leg, includes buttockss support, thigh support, shank support, sufficient backup pad and drive unit, its characterized in that: the driving unit comprises a hip joint unit, a knee joint unit and an ankle joint unit,

2. The human-walking-simulated mechanical leg according to claim 1, wherein: the ankle sliding assembly comprises a screw rod, a sliding rail and a sliding block with a nut, the screw rod is connected with the ankle transmission assembly, the sliding rail is arranged on the shank support, the sliding block with the nut is movably arranged on the sliding rail, the sliding block with the nut is in threaded connection with the screw rod, and the sliding block with the nut is connected with one end of the ankle connecting rod through a spherical hinge.

3. The human-walking-simulated mechanical leg according to claim 1, wherein: the upper surface of the foot supporting plate is provided with a foot support and a foot connecting rod, the foot support is rotatably connected with the ankle connecting support through the second foot rotating shaft, and the foot connecting rod is connected with the ankle connecting rod through a spherical hinge.

4. The human-walking-simulated mechanical leg according to claim 1, wherein: the hip joint unit is used for driving the thigh support to rotate relative to the hip support and comprises a first hip support, a second hip support, a first hip driving motor, a second hip driving motor and a third hip driving motor, the first hip support and the hip support are in rotary connection through a first hip rotary shaft, and the first hip driving motor is in transmission connection with the first hip rotary shaft so as to drive the first hip support to rotate around the first hip rotary shaft; an output shaft of the second hip driving motor is fixedly connected with the first hip bracket, and a main body of the second hip driving motor is fixedly connected with the second hip bracket so as to drive the second hip bracket to rotate around the output shaft of the second driving motor; the second hip support and the thigh support are in rotary connection through a second hip rotary shaft, and the third hip driving motor is arranged on the thigh support and is in transmission connection with the second hip rotary shaft so as to drive the thigh support to rotate around the second hip rotary shaft;

5. The human-walking-simulated mechanical leg according to claim 4, wherein: the first hip driving motor is arranged in the hip support, an output shaft of the first hip driving motor extends in the horizontal direction, and the output shaft of the first hip driving motor is in transmission connection with the first hip rotating shaft through a bevel gear.

6. The human-walking-simulated mechanical leg according to claim 4, wherein: the hip joint unit further comprises a hip transmission assembly, the hip transmission assembly comprises a hip transmission shaft and a hip synchronous belt, the hip transmission shaft is connected to the thigh support, the hip transmission shaft is in transmission connection with an output shaft of the third hip driving motor, the synchronous belt is sleeved on the hip transmission shaft and the second hip rotating shaft at the same time, and in an initial state, the hip transmission shaft extends along the front-back direction of the mechanical leg.

7. The human-walking-simulated mechanical leg according to claim 6, wherein: the output shaft of the third hip driving motor is vertical to the hip transmission shaft, and the output shaft of the third hip driving motor is in transmission connection with the hip transmission shaft through a bevel gear.

8. The human-walking-simulated mechanical leg according to claim 1, wherein: the knee joint unit is used for driving the lower leg support to rotate relative to the thigh support, and comprises a knee telescopic piece and a knee rotating shaft, one end of the knee telescopic piece is connected with the thigh support, the other end of the knee telescopic piece is connected with the lower leg support, the thigh support and the lower leg support are rotatably connected through the knee rotating shaft, and the knee telescopic piece is telescopic to drive the lower leg support to rotate around the knee rotating shaft;

9. The human-walking-simulated mechanical leg according to claim 8, wherein: the knee driving unit further comprises a knee connecting rod which is fixedly connected to the shank support, one end of the knee telescopic piece is fixedly connected to the thigh support, the other end of the knee telescopic piece is rotatably connected with the knee connecting rod, and the knee connecting rod extends along the left and right directions of the mechanical leg in an initial state.

10. The human-walking-simulated mechanical leg according to claim 8, wherein: ankle drive assembly includes first ankle transmission shaft, second ankle transmission shaft, third ankle transmission shaft, ankle hold-in range, first ankle transmission shaft is connected on the thigh support, first ankle transmission shaft with ankle driving motor's output transmission is connected, second ankle transmission shaft with the coaxial setting of knee axis of rotation, second ankle transmission shaft with knee axis of rotation independently rotates respectively, third ankle transmission shaft is connected on the shank support, third ankle transmission shaft with second ankle transmission shaft transmission is connected, third ankle transmission shaft with ankle sliding component connects, ankle hold-in range overlaps simultaneously and establishes first ankle transmission shaft with on the second ankle transmission shaft.