CN114313056A

CN114313056A - Human-walking-simulating mechanical leg

Info

Publication number: CN114313056A
Application number: CN202210167313.0A
Authority: CN
Inventors: 王军
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: 2022-02-23
Publication date: 2022-04-12
Also published as: CN113815744A

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 a driving unit, wherein the driving unit comprises a hip joint unit for driving the thigh support to rotate relative to the hip support, a knee joint unit for driving the shank support to rotate relative to the thigh support, and an ankle joint unit for driving the foot support plate to rotate relative to the shank support, so that three degrees of freedom of the hip joint unit, one degree of freedom of the knee joint unit and two degrees of freedom of the ankle joint unit can be realized; the knee extension piece can be arranged on the inner side of the thigh to provide larger and more stable driving force; the drive or transmission mechanism is not required to be arranged near the ankle joint rotating shaft, the mechanism complexity is reduced, the weight is reduced, and the sensitivity is improved.

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. 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. 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 at least one of a hip joint unit, a knee joint unit and an ankle joint unit,

the hip joint unit: the hip joint driving device comprises a thigh support, a hip driving motor and a hip driving motor, wherein the thigh support is used for driving the thigh support to rotate relative to the hip support and comprises a first hip support, a second hip support, the first hip driving motor, the second hip driving motor and a third hip driving motor; 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;

the knee joint unit: the knee telescopic piece 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 stretched to drive the lower leg support to rotate around the knee rotating shaft;

the ankle joint unit: the ankle joint unit comprises ankle driving mechanisms and ankle connecting supports, the ankle driving mechanisms are provided with a plurality of groups, each ankle driving mechanism comprises an ankle telescopic part and an ankle connecting rod, one end of each ankle telescopic part is connected with the corresponding shank support, the other end of each ankle telescopic part is connected with one end of each ankle connecting rod through a spherical hinge, the other end of each ankle connecting rod is connected with the corresponding foot supporting plate through a spherical hinge, the ankle connecting supports are rotatably connected with the corresponding shank supports through first foot rotating shafts, the ankle connecting supports are rotatably connected with the corresponding foot supporting plates through second foot rotating shafts, and the ankle telescopic parts stretch to drive the foot supporting plates to rotate around the first foot rotating shafts and rotate around the second foot rotating shafts;

in an initial state, the first hip rotation shaft extends in the vertical direction of the mechanical leg, the output shaft of the second hip drive motor and the second foot rotation shaft extend in the front-rear direction of the mechanical leg, and the second hip rotation shaft, the knee rotation shaft and the first foot rotation shaft extend in the left-right direction of the mechanical leg.

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 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 the hip transmission shaft extends along the left and right directions of the mechanical leg in an initial state.

Further preferably, an output shaft of the third hip driving motor is perpendicular 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.

Preferably, the knee driving unit further includes a first knee connecting rod and a second knee connecting rod, the first knee connecting rod is fixedly connected to the thigh support, the second knee connecting rod is fixedly connected to the shank support, one end of the knee extension member is rotatably connected to the first knee connecting rod, the other end of the knee extension member is rotatably connected to the second knee connecting rod, and in an initial state, the first knee connecting rod and the second knee connecting rod extend in a left-right direction of the mechanical leg.

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 two groups of ankle telescopic members are synchronously telescopic, the foot supporting plates rotate around the first foot rotating shaft; when the two groups of ankle extension pieces are not synchronously extended and retracted, the foot supporting plate rotates around the second foot rotating shaft.

Preferably, the knee extension piece and the ankle extension piece adopt one or more 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.

Preferably, the lower surface of the foot supporting plate is provided with a plurality of mechanical sensors, and each mechanical sensor is used for sensing the contact pressure of the corresponding area of the lower surface of the foot supporting plate.

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

compared with coaxial transmission, the driving scheme of the invention has the advantages that the first hip driving motor and the first hip transmission shaft can be completely arranged in the pelvis, so that the space utilization rate is improved; the scheme of the third hip driving motor with the hip joint swinging back and forth can place the driving motor at the inner side of the thigh, improve the placing space of the speed reducing mechanism and reduce the mechanism complexity of the hip joint; the knee joint can place the knee extension piece on the inner side of the thigh to provide larger installation space for the speed reducing mechanism, thereby providing larger and more stable driving force; the ankle joint passes through a plurality of ankle extensible members drive ankle connecting rod for near ankle joint's pivot need not to install drive or drive mechanism, has reduced the mechanism complexity, has alleviateed ankle joint's weight, is convenient for reduce the drive power size of controlling ankle joint, improves ankle joint's sensitivity.

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 an arrangement state of an ankle joint unit in the present embodiment;

FIG. 8 is a bottom perspective view of the foot support plate of the present 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; 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 first knee connecting link; 34. a second knee connecting link; 41. an ankle connecting bracket; 42. a first foot rotation shaft; 43. a second foot rotation shaft; 44. an ankle extension; 45. an ankle connecting rod; 5. a mechanical sensor.

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 design structure of mechanical leg adopts the form of biped walking, including a buttockss support 11, two thigh supports 12, two shank supports 13, two foot supporting plates 14, the upper end of two thigh supports 12 is connected respectively below buttockss support 11 and is located the left and right sides of mechanical leg, the upper end of a shank support 13 is connected to the lower extreme of every thigh support 12, a foot supporting plate 14 is connected to the lower extreme of every shank support 13, foot supporting plate 14 is used for supporting mechanical leg subaerial and walk in turn. The hip bracket 11 has a shape of a pelvis style imitating a human shape, and has a plate body at the bottom thereof and plate bodies vertically attached to the upper surface of the plate body at the bottom thereof at the side portions thereof. The thigh support 12 has plate bodies on its left and right sides and front side and the side edges of the plate bodies on its left and right sides are connected to the left and right side edges of the plate body on its front side. The lower leg support 13 has plate bodies on both left and right sides thereof and is connected at the front side of the plate bodies thereof by a connecting block. The respective plate bodies of the hip frame 11, the thigh frame 12, and the lower leg frame 13 enclose a portion (particularly, a power source for driving) for installing a driving unit with a certain space, and the hip frame 11, the thigh frame 12, the lower leg frame 13, and the foot support plate 14 may have a structure in a shape of a humanoid figure, without being limited to the connection of the plate bodies.

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 is realized through dislocation placement.

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.

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 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 a third hip drive motor 24, the synchronous belt 28 is sleeved on the hip drive shaft 27 and a second hip rotary shaft 26 at the same time, the synchronous belt 28 is positioned at the outer side of the thigh support 12, the hip drive shaft 27 and the second hip rotary shaft 26 are arranged in parallel for facilitating the drive of the synchronous belt 28, 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 synchronous belt 28, so that the thigh support 12 is driven 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 synchronous belt 28, the mechanism complexity of the hip joint position is reduced, and 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 first hip rotation shaft 25 extends in the vertical direction of the leg, the output shaft of the second hip drive motor 23 extends in the front-rear direction of the leg, and the second hip rotation shaft 26 and the hip drive shaft 27 extend in the left-right direction of the leg. So that the first hip driving motor 22 drives the first hip support 211 and other structures connected to the lower end thereof to rotate around the first hip rotation axis 25, i.e. the thigh vertically rotates, the second hip driving motor 23 drives the second hip support 212 and other structures connected to the lower end thereof to rotate around the output shaft of the second hip driving motor 23, i.e. the thigh swings left and right, and the third hip driving motor 24 drives the thigh support 12 and other structures connected to the lower end thereof to rotate around the second hip rotation axis 26, i.e. the thigh swings back and forth.

As shown in fig. 6, the knee joint unit can drive the lower leg link 13 to rotate in the front-rear direction with respect to the thigh link 12. The knee joint unit includes a knee extension 31, a knee rotation shaft 32, a first knee connection rod 31, and a second knee connection rod 34. The first knee connecting rod 31 is fixedly connected between the plate bodies on the left and right sides of the thigh support 12, and the second knee connecting rod 34 is fixedly connected between the plate bodies on the left and right sides of the shank support 13. One end of the knee extension piece 31 is rotatably connected with the first knee connecting rod 31, and the other end is rotatably connected with the second knee connecting rod 34, the knee extension piece 31 has a structure capable of extending and contracting, and can adopt a hydraulic push rod, an air pump push rod or an electric push rod and other driving devices. 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 first knee link 31, the second knee link 34, and the knee pivot shaft 32 extend in the lateral direction of the mechanical leg, i.e., the lower leg swings back and forth.

As shown in fig. 7, the ankle joint unit can drive the foot support plate 14 to rotate back and forth and right and left 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 connecting bracket 41 is rotatably connected with the lower leg bracket 13 through a first foot rotating shaft 42, the ankle connecting bracket 41 is rotatably connected with the foot supporting plate 14 through a second foot rotating shaft 43, the upper surface of the foot supporting plate 14 is provided with a foot bracket 141, and the second foot rotating shaft 43 is rotatably connected with the foot bracket 141. Every group ankle actuating mechanism includes ankle extensible 44, ankle connecting rod 45, the one end and the shank support 13 fixed connection of ankle extensible 44, the other end of ankle extensible 44 is passed through the ball pivot with the one end of ankle connecting rod 45 and is connected, foot supporting plate 14 upper surface has sufficient connecting rod, the other end of foot connecting rod and ankle connecting rod 45 passes through the ball pivot and is connected, ankle extensible 44 self has the structure that can extend and contract, can adopt hydraulic push rod, drive arrangement such as air pump push rod or electric putter, ankle extensible 44 is flexible to rotate around first foot axis of rotation 42 in order to drive foot supporting plate 14, second foot axis of rotation 43 rotates. In the initial state, the first foot rotation shaft 42 extends in the left-right direction of the machine leg, and the second foot rotation shaft 43 extends in the front-rear direction of the machine leg, that is, the foot swings back and forth and left and right. When the two sets of ankle braces 44 are simultaneously flexed, the foot support plate 14 rotates about the first foot axis of rotation 42; when the two sets of ankle extensions 44 are not telescoped in unison, foot support plate 14 rotates about second foot axis of rotation 43. The rotation angle of the foot support plate 14 in the front-rear direction and the left-right direction is controlled by the cooperation of the telescopic actions of the two adjustment group ankle telescopic members 44. The drive or transmission mechanism is not required to be arranged near the ankle joint, the mechanism complexity is reduced, and the weight of the ankle joint is reduced.

As shown in fig. 8, the lower surface of the foot supporting plate 14 is provided with a plurality of mechanical sensors 5, and each of the mechanical sensors 5 is configured to sense a contact pressure of a corresponding region of the lower surface of the foot supporting plate 14. And providing data for a control program, and realizing flexible control on the driving unit according to the contact pressure to reduce rigid collision as much as possible.

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 at least one of a hip joint unit, a knee joint unit and an ankle joint unit,

the hip joint unit: the hip joint driving device comprises a thigh support, a hip driving motor and a hip driving motor, wherein the thigh support is used for driving the hip support to rotate relative to the hip support and comprises a first hip support, a second hip support, the first hip driving motor, the second hip driving motor and a third hip driving motor; 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;

2. The human-walking-simulated mechanical leg according to claim 1, 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.

3. The human-walking-simulated mechanical leg according to claim 1, wherein: the hip joint unit further comprises a hip transmission assembly, the hip transmission assembly comprises a hip transmission shaft and a 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 left and right directions of the mechanical legs.

4. The human-walking-simulated mechanical leg according to claim 3, 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.

5. The human-walking-simulated mechanical leg according to claim 1, wherein: the knee drive unit further comprises a first knee connecting rod and a second knee connecting rod, the first knee connecting rod is fixedly connected to the thigh support, the second knee connecting rod is fixedly connected to the shank support, one end of the knee extensible member is rotatably connected to the first knee connecting rod, the other end of the knee extensible member is rotatably connected to the second knee connecting rod, and the first knee connecting rod and the second knee connecting rod are extended in the left-right direction of the mechanical leg in the initial state.

6. 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.

7. The human-walking-simulated mechanical leg according to claim 1, wherein: the ankle driving mechanisms are provided with two groups, and when the two groups of ankle telescopic parts are synchronously stretched, the foot supporting plates rotate around the first foot rotating shaft; when the two groups of ankle extension pieces are not synchronously extended and retracted, the foot supporting plate rotates around the second foot rotating shaft.

8. The human-walking-simulated mechanical leg according to claim 1, wherein: the knee extension piece and the ankle extension piece adopt one or more of a hydraulic push rod, an air pump push rod or an electric push rod.

9. The human-walking-simulated mechanical leg according to claim 1, wherein: the thigh support, the shank support, the foot support plate and the driving unit are arranged in two groups and are respectively positioned on the left side and the right side of the mechanical leg.

10. The human-walking-simulated mechanical leg according to claim 1, wherein: the lower surface of the foot supporting plate is provided with a plurality of mechanical sensors, and each mechanical sensor is used for sensing the contact pressure of the corresponding area of the lower surface of the foot supporting plate.