CN115402442A

CN115402442A - Full motor driving rope drives mechanical leg based on davit hinge formula joint

Info

Publication number: CN115402442A
Application number: CN202211169533.3A
Authority: CN
Inventors: 徐文福; 张重阳; 闫磊; 康鹏; 杨逸南
Original assignee: Shenzhen Graduate School Harbin Institute of Technology
Current assignee: Shenzhen Graduate School Harbin Institute of Technology
Priority date: 2022-09-23
Filing date: 2022-09-23
Publication date: 2022-11-29
Anticipated expiration: 2042-09-23
Also published as: CN115402442B

Abstract

The invention relates to a full motor drive rope-driven mechanical leg based on a suspension arm hinge joint, which comprises a base plate; the first end of the thigh frame is rotatably connected with the substrate; the first end of the lower leg frame is rotatably connected to the second end of the upper leg frame; the suspension arm is coaxially and rotatably connected with the first end of the lower leg frame and the second end of the upper leg frame, and the suspension arm is provided with a first end and a second end; the thigh driving mechanism comprises a first rope, a second rope and a first stranded rope assembly, wherein the first rope and the second rope are respectively connected with the first end and the second end of the base plate, and the first stranded rope assembly is used for winding and unwinding the first rope and the second rope; the suspension arm driving mechanism comprises a third rope and a fourth rope which are respectively connected with the first end and the second end of the suspension arm, and a second stranded rope assembly used for winding and unwinding the third rope and the fourth rope; the shank driving mechanism comprises a fifth rope and a sixth rope which are respectively connected with the first end and the second end of the suspension arm, and a third stranded rope assembly for winding and unwinding the fifth rope and the sixth rope; a foot connected to the second end of the calf support; the swing direction of the lower leg frame is parallel to the swing direction of the upper leg frame.

Description

Full motor driving rope drives mechanical leg based on davit hinge formula joint

Technical Field

The invention relates to the technical field of mobile robots, in particular to a full-motor drive rope-driven mechanical leg based on a suspension arm hinge type joint.

Background

The motion mechanism of the current mobile robot mainly adopts the forms of a wheel type mechanism, a crawler type mechanism, a foot type (or leg type) mechanism, a composite mechanism of the wheel type mechanism, the crawler type mechanism and the leg type mechanism. However, in the field of aerospace or military transportation, it is difficult for a wheeled robot to sufficiently meet application requirements under complex environmental conditions, and performance in obstacle crossing is extremely poor. The crawler-type robot has strong environment adaptability, but has quite large energy consumption and quite limited application range. Therefore, the legged robot gradually shows the superiority, has lower requirements on the environment, has stronger obstacle-crossing capability and moderate energy consumption, but has certain complexity in the aspect of motion control.

With the continuous development of mobile robot technology, foot robots are quite diverse in types, such as a light-weight ultra-long space mechanical arm capable of being folded by 360 degrees or a hydraulic drive mechanical leg applied to a load, but in the two mechanical arm forms, a joint folded by 360 degrees of the light-weight ultra-long space mechanical arm cannot bear large shearing force and is not suitable for a robot with heavy load requirements, and the hydraulic drive mechanical leg is too large in size and weight, poor in obstacle crossing capability and complicated in energy charging process due to non-pure electric power, only can realize slow-speed movement of the robot, and undoubtedly greatly limits the application scene of the foot robot.

In consideration of the functional requirements of a mobile robot system for load operation in a complex environment, the load can cross obstacles and simultaneously can keep a certain flexible moving speed, so that a more universal mechanical leg structure is needed, and obstacle crossing and load are more conveniently realized.

Disclosure of Invention

The invention provides a full-motor driving rope-driven mechanical leg based on a suspension arm hinge type joint, and aims to at least solve one of technical problems in the prior art.

The technical scheme of the invention is that a full motor drive rope drives the mechanical leg based on the hinge type joint of the suspension arm, including: a substrate; the first end of the thigh frame is rotatably connected with the substrate; the first end of the lower leg frame is rotatably connected to the second end of the upper leg frame; the suspension arm and the first end of the lower leg frame are coaxially and rotatably connected to the second end of the upper leg frame, and the suspension arm is provided with a first end and a second end along the swinging direction of the second end of the upper leg frame; the thigh driving mechanism comprises a first rope, a second rope and a first stranded rope assembly, wherein the first rope and the second rope are respectively connected with a first end and a second end of the base plate along the swinging direction of the thigh frame, the first stranded rope assembly is used for winding and unwinding the first rope and the second rope, and the first rope winding assembly is arranged on the thigh frame; the suspension arm driving mechanism comprises a third rope and a fourth rope which are respectively connected with the first end and the second end of the suspension arm, and a second stranded rope assembly used for retracting the third rope and the fourth rope, and the second stranded rope assembly is arranged on the thigh frame; the shank driving mechanism comprises a fifth rope and a sixth rope which are respectively connected with the first end and the second end of the suspension arm, and a third stranded rope assembly for retracting the fifth rope and the sixth rope, and the third stranded rope assembly is arranged on the shank frame; a foot section connected to the second end of the calf frame; the swinging direction of the lower leg frame is parallel to the swinging direction of the upper leg frame on the same plane.

Further, the first strand assembly includes: a first motor with a first winch on an output shaft, wherein the first motor is connected to the thigh frame, and the end part of the first rope is fixed on the first winch and is connected to the first end of the base plate after being wound; a second motor having a second winch on an output shaft, the second motor being connected to the thigh frame, and an end of the second rope being fixed to the second winch and being wound and connected to a second end of the base plate; the second ragger rope assembly includes: a third motor with a third winch on an output shaft, wherein the third motor is connected to the thigh frame, and the end part of the third rope is fixed on the third winch and is connected to the first end of the suspension arm after being wound; a fourth motor with a fourth winch on an output shaft, wherein the fourth motor is connected to the thigh frame, and the end part of the fourth rope is fixed on the fourth winch and is connected to the second end of the suspension arm after being wound; the third stranded rope assembly comprises: a fifth motor with a fifth winch on an output shaft, wherein the fifth motor is connected to the lower leg frame, and the end of the fifth rope is fixed on the fifth winch and is connected to the first end of the suspension arm after being wound; and the output shaft is provided with a sixth motor of a sixth winch, the sixth motor is connected to the lower leg frame, and the end part of the sixth rope is fixed on the sixth winch and is connected to the second end of the suspension arm after being wound.

Furthermore, the output shaft of the first motor and the output shaft of the second motor are coaxially arranged, and the first motor and the second motor are both connected to the second end of the thigh frame; an output shaft of the third motor and an output shaft of the fourth motor are coaxially arranged, and the third motor and the fourth motor are both connected to the first end of the thigh frame; and an output shaft of the fifth motor and an output shaft of the sixth motor are coaxially arranged, and the fifth motor and the sixth motor are both connected to the second end of the shank frame.

The thigh driving mechanism further comprises two first fixed pulley blocks which are respectively arranged at the first end and the second end of the base plate, the first rope bypasses the first fixed pulley block at the first end of the base plate and then is fixedly connected with the first fixed part at the second end of the thigh frame, and the second rope bypasses the first fixed pulley block at the second end of the base plate and then is fixedly connected with the second fixed part at the second end of the thigh frame; the lifting arm driving mechanism further comprises two second fixed pulley blocks which are respectively arranged at the first end and the second end of the lifting arm, the third rope bypasses the second fixed pulley block at the first end of the lifting arm and is then fixedly connected with a third fixed part at the first end of the thigh frame, and the fourth rope bypasses the second fixed pulley block at the second end of the lifting arm and is then fixedly connected with a fourth fixed part at the first end of the thigh frame; the shank driving mechanism further comprises two first fixed pulley blocks which are respectively arranged at the first end and the second end of the suspension arm, the fifth rope bypasses the first fixed pulley block at the first end of the suspension arm and then is fixedly connected with the fifth fixed part at the second end of the shank frame, and the sixth rope bypasses the first fixed pulley block at the second end of the suspension arm and then is fixedly connected with the second fixed part at the second end of the shank frame.

Further, a pulley seat is respectively arranged at the first end and the second end of the base plate, a first pulley shaft is arranged on the pulley seat, and the first fixed pulley block is rotatably connected to the first pulley shaft; the first end and the second end of the suspension arm are respectively provided with a second pulley shaft, and the first fixed pulley block and the second fixed pulley block on the first end and the second end of the suspension arm are rotatably connected to the second pulley shaft; the axial directions of the first pulley shaft and the second pulley shaft are the same as the axial direction of the thigh frame swinging shaft.

Furthermore, a first ring groove is formed in the first pulley shaft, and three second ring grooves are formed in the second pulley shaft in the axial direction; the first fixed pulley group comprises: the first fixed pulley bracket is rotationally connected with the first annular groove or the middle second annular groove through the first ring part, and a first fixed pulley arranged on the first fixed pulley bracket is rotationally arranged; the second fixed pulley group comprises: the two second fixed pulley supports are rotatably connected with the head and the tail of the two second ring grooves through the two second ring parts, and the two second fixed pulleys are rotatably arranged on the second fixed pulley supports and are distributed along the axial direction of a second pulley shaft; wherein the first fixed pulley and the second fixed pulley have the same outer diameter.

Further, the rotation directions of the first winch, the second winch, the third winch, the fourth winch, the fifth winch and the sixth winch are parallel to the swinging direction of the swing thigh frame and the swing direction of the swing shank frame of the thigh frame on the same plane; the rotating directions of the first fixed pulley and the second fixed pulley are vertical to the swinging directions of the thigh frame and the lower leg frame on the same plane.

Further, the distance between the first winch and the second winch is equal to the distance between the fifth winch and the sixth winch; the distance between the first winch and the second winch is smaller than the distance between the third winch and the fourth winch.

Further, a rotating seat is arranged on the substrate; a thigh shaft is arranged on the rotating seat, and the first end of the thigh frame is rotatably connected with the thigh shaft; be equipped with hinge portion between thigh frame and the shank frame, hinge portion includes: the hinge shaft is arranged on the suspension arm; the first end of the thigh frame is rotatably connected with a thigh hinge and a shank hinge on the hinge shaft respectively, the second end of the thigh frame is fixedly connected with the thigh hinge, and the first end of the shank frame is fixedly connected with the shank hinge.

Furthermore, an anti-torsion support is fixedly connected to the suspension arm, and two ends of the hinge shaft are fixedly connected with the anti-torsion support through hinge shaft covers respectively; the suspension arm is also provided with a reinforcing rib, and two sides of the anti-torsion support are matched with the reinforcing rib through matching grooves; and two sides of the anti-torsion support are locked and fixed with the suspension arm through anti-torsion fixing pieces.

The invention has the beneficial effects that:

through thigh drive structure, the cooperation of hank rope subassembly position and rope in davit drive structure and the shank drive structure, and the setting of davit structure, the whole load of effectively disperseing the mechanical leg, increase each joint moment output of mechanical leg, the load of effectively promoting the mechanical leg hinders the ability more, and hank rope subassembly keeps away the setting of switch position, promote the utilization efficiency of motor moment of torsion, can change the maintenance fast conveniently, simplify the joint structure of mechanical leg, improve the anti shear property of joint, and the driving method durability that the rope drove is high, thereby make the application scene that can adapt to more of sufficient robot.

Drawings

Fig. 1 is a perspective view of embodiment 1 of the present invention.

Fig. 2 is a partial perspective view of a thigh frame and a base plate having a thigh drive structure in embodiment 1 of the invention.

Fig. 3 is a partial perspective view of the thigh frame and the base plate having the thigh drive structure in another visual sense in embodiment 1 of the invention.

Fig. 4 is a partial perspective view of the thigh and the boom having the boom driving structure in embodiment 1 of the invention.

Fig. 5 is a partial perspective view of the boom and the thigh having the boom driving structure in embodiment 1 of the present invention in another visual sense.

Fig. 6 is a partial perspective view of the calf support and boom having the calf drive structure in embodiment 1 of the invention.

Fig. 7 is a partial perspective view of the calf support and boom with calf driving structure in another vision in embodiment 1 of the invention.

Fig. 8 is a perspective view of a substrate portion in examples 1 and 2 of the present invention.

Fig. 9 is a partial exploded view of the suspension arm and the hinge in the embodiments 1 and 2 of the present invention.

Fig. 10 is a perspective view of a first stator block in embodiments 1 and 2 of the present invention.

Fig. 11 is a perspective view of the second block of crown blocks in embodiments 1 and 2 of the present invention.

Fig. 12 is a perspective view of the first elastic compensating movable pulley block in embodiment 2 of the present invention.

Fig. 13 is a perspective view of a second elastic compensating movable pulley block in embodiment 2 of the present invention.

Fig. 14 is a perspective view of embodiment 2 of the present invention.

Fig. 15 is a partial perspective view of a thigh frame and a base plate having a thigh drive structure in embodiment 2 of the invention.

Fig. 16 is a partial perspective view of the thigh frame and the base plate having the thigh drive structure in embodiment 2 of the invention in another visual sense.

Fig. 17 is a partial perspective view of the thigh frame and the boom having the boom driving structure in embodiment 2 of the invention.

Fig. 18 is a partial perspective view of the boom and the thigh having the boom driving structure in embodiment 2 of the present invention in another visual sense.

Fig. 19 is a partial perspective view of the calf support and boom having a calf driving structure in embodiment 2 of the invention.

FIG. 20 is a partial perspective view of the calf support and boom with calf driving structure in embodiment 2 of the invention in another visual sense.

Detailed Description

The conception, the specific structure and the technical effects of the present invention will be clearly and completely described in conjunction with the embodiments and the accompanying drawings to fully understand the objects, the schemes and the effects of the present invention. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.

It should be noted that, unless otherwise specified, when a feature is referred to as being "fixed" or "connected" to another feature, it may be directly fixed or connected to the other feature or indirectly fixed or connected to the other feature. Furthermore, the descriptions of upper, lower, left, right, top, bottom, etc. used in the present invention are only relative to the positional relationship of the components of the present invention with respect to each other in the drawings.

Furthermore, unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used in the description herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any combination of one or more of the associated listed items.

It will be understood that, although the terms first, second, third, etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element of the same type from another. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, without departing from the scope of the present disclosure.

Referring to fig. 1 to 7, in embodiment 1 of the present invention, an all-motor-driven rope-driven mechanical leg based on a boom hinge joint according to the present invention includes: a substrate 100; a thigh frame 200, a first end of the thigh frame 200 is rotatably connected to the base plate 100; a lower leg 300, a first end of the lower leg 300 is rotatably connected to a second end of the upper leg 200; a suspension arm 400, wherein the suspension arm 400 is coaxially and rotatably connected with the first end of the lower leg frame 300 at the second end of the lower leg frame 200, and the suspension arm 400 has a first end and a second end along the swinging direction of the second end of the lower leg frame 200; a thigh driving mechanism 500, the thigh driving mechanism 500 including a first rope 540 and a second rope 594 connected to a first end and a second end of the base plate 100 in the swing direction of the thigh frame 200, respectively, and a first winching assembly for winching the first rope 540 and the second rope 594, the first winching assembly being provided on the thigh frame 200; a boom driving mechanism 600, the boom driving mechanism 600 including a third rope 640 and a fourth rope 694 connected to the first end and the second end of the boom 400, respectively, and a second stranded rope assembly for storing the third rope 640 and the fourth rope 694, the second stranded rope assembly being provided on the thigh frame 200; the lower leg driving mechanism 700 comprises a fifth rope 740 and a sixth rope 791 which are respectively connected with the first end and the second end of the suspension arm 400, and a third stranded rope assembly for retracting the fifth rope 740 and the sixth rope 791, wherein the third stranded rope assembly is arranged on the lower leg frame 300; a foot section 900, the foot section 900 being connected to a second end of the calf shelf 300; wherein, the swing direction of the lower leg frame 300 is parallel to the swing direction of the upper leg frame 200 on the same plane. Through thigh drive structure, the cooperation of hank rope subassembly position and rope in davit 400 drive structure and the shank drive structure, and the setting of davit 400 structure, the whole load of effective dispersion mechanical leg, thereby enlarge the output torque of each hank rope subassembly, increase the output of each joint moment of mechanical leg, the load ability of obstacle crossing of effectively promoting the mechanical leg, and hank rope subassembly keeps away the setting of switch festival position, can change the maintenance fast conveniently, simplify the joint structure of mechanical leg, improve articular anti-shear performance, and the driving method durability that the rope was driven is high, thereby make the application scene that can adapt to more of sufficient robot.

Specifically, when the mechanical leg works, the first twisted rope assembly can maintain the first rope 540 and the second rope 594 to be in a tight state, the second twisted rope assembly maintains the third rope 640 and the fourth rope 694 to be in a tight state, the third twisted rope assembly can maintain the fifth rope 740 and the sixth rope 791 to be in a tight state, the stretching process degrees of all the ropes are consistent, accurate amplitude swing of the thigh frame 200 and the shank frame 300 is ensured, fine operation of the robot is facilitated, and due to the fact that the ropes have certain extending and buffering performance, when the mechanical leg is in contact with the ground, all the ropes on the mechanical leg can absorb ground impact, the effect of shock absorption is provided, and electronic equipment is ensured to be maintained in a stable working environment.

In the present embodiment, the first end and the second end of the base plate 100 are arranged symmetrically along the swing axis of the first end of the thigh frame 200 rotatably connected with the base plate 100, so that the same moment is outputted when the thigh mechanism is driven to swing on the base plate 100 in the forward and reverse directions, the first end and the second end of the boom 400 are arranged symmetrically along the swing axis of the first end of the shank frame 300 rotatably connected with the second end of the thigh frame 200, the same moment is outputted when the boom driving mechanism 600 is driven to swing on the second end of the thigh frame 200 in the forward and reverse directions, and the same moment is outputted when the shank driving mechanism 700 is driven to swing on the second end of the thigh frame 200 in the forward and reverse directions, thereby ensuring the linear swing of the thigh frame 200 and the shank frame 300 and ensuring the smooth loading of the object.

It should be mentioned that the foot 900 can be disassembled and replaced according to the usage scenario of the mechanical leg, so as to adapt to different usage scenarios.

Referring to fig. 2 and 3, in order to precisely control the tightness of each section of rope, the first rope winch assembly comprises: a first motor 510 having a first capstan 520 on an output shaft thereof, wherein the first motor 510 is connected to the thigh frame 200, and an end of the first rope 540 is fixed to the first capstan 520 and is wound and connected to a first end of the base plate 100; a second motor 570 having a second capstan 580 on an output shaft, the second motor 570 being connected to the thigh frame 200, and an end of the second rope 594 fixed to the second capstan 580 and wound around and connected to a second end of the base plate 100; referring to fig. 4 and 5, the second ragger rope assembly includes: a third motor 610 having a third winch 620 on an output shaft, wherein the third motor 610 is connected to the thigh frame 200, and an end of the third rope 640 is fixed to the third winch 620 and is wound and connected to the first end of the boom 400; a fourth motor 670 having a fourth winch 680 on an output shaft, wherein the fourth motor 670 is connected to the thigh frame 200, and an end of the fourth rope 694 is fixed to the fourth winch 680 and is wound to be connected to the second end of the boom 400; referring to fig. 6 and 7, the third stranded rope assembly includes: a fifth motor 710 having a fifth capstan 720 on its output shaft, said fifth motor 710 being connected to the lower leg 300, and the end of said fifth rope 740 being fixed to the fifth capstan 720 and being wound and connected to the first end of said boom 400; a sixth motor 750 having a sixth winch 760 on an output shaft, wherein the sixth motor 750 is connected to the lower leg frame 300, and an end of the sixth rope 791 is fixed to the sixth winch 760 and is wound to be connected to the second end of the boom 400. Specifically, each section of rope is controlled by a single motor, so that the sections of rope are kept in a tight state at any angle in a folding swing range of the thigh frame 200, the suspension arm 400 and the shank frame 300 of the mechanical leg, when one motor in each group of stranded rope assemblies rotates in a first hour hand direction to recover the rope, the other motor in each group of stranded rope assemblies rotates in a second opposite hour hand direction to release the rope in the other swing direction, the total length of the rope is compensated, and the ropes on both sides of the swing direction are kept tight in the process, so that the running stability is improved. And through the drive design of the pure electric module, the faults can be rapidly checked, maintained and replaced, and the working efficiency is improved.

Referring to fig. 1 to 7, in order to increase the output torque of the motors in each set of stranded rope assemblies without changing the output power of the motors in each set of stranded rope assemblies, the output shaft of the first motor 510 and the output shaft of the second motor 570 are coaxially arranged, and the first motor 510 and the second motor 570 are both connected to the second end of the thigh frame 200, and the swing shaft of the first end far away from the thigh frame 200 on the base plate 100 maximizes the torque output of the first motor 510 and the second motor 570; the output shaft of the third motor 610 and the output shaft of the fourth motor 670 are coaxially arranged, and the third motor 610 and the fourth motor 670 are both connected to the first end of the thigh frame 200 and far away from the swing shaft of the boom 400 at the second end of the thigh frame 200, so that the torque output of the third motor 610 and the fourth motor 670 is maximized; the output shaft of the fifth motor 710 and the output shaft of the sixth motor 750 are coaxially disposed, and the fifth motor 710 and the sixth motor 750 are both connected to the second end of the calf frame 300, away from the swing shaft of the first end of the calf frame 300, so that the torque output of the third motor 610 and the fourth motor 670 is maximized, and the first rope 540 and the third rope 640 are interlaced, and the second rope 594 and the fourth rope 694 are interlaced. Particularly, two motors which are coaxially designed in each group of stranded rope assemblies can ensure that the output torque of the two motors in the group of stranded rope assemblies is balanced and consistent, so that the stress of each section of rope is more uniform, and the service life of the whole rope is prolonged.

In order to make the ropes more easily bent for being stored, referring to fig. 2 and 3, the thigh driving mechanism 500 further includes two first fixing blocks 550 respectively disposed at the first end and the second end of the base plate 100, the first rope 540 passes around the first fixing block 550 at the first end of the base plate 100 and is fixedly connected to the first fixing portion 210 at the second end of the thigh frame 200, and the second rope 594 passes around the first fixing block 550 at the second end of the base plate 100 and is fixedly connected to the second fixing portion 220 at the second end of the thigh frame 200; referring to fig. 4 and 5, the boom driving mechanism 600 further includes two second fixed pulley blocks 650 respectively disposed at the first end and the second end of the boom 400, the third rope 640 passes through the second fixed pulley block 650 at the first end of the boom 400 and is then fixedly connected to the third fixing portion 230 at the first end of the thigh frame 200, and the fourth rope 694 passes through the second fixed pulley block 650 at the second end of the boom 400 and is then fixedly connected to the fourth fixing portion 240 at the first end of the thigh frame 200; referring to fig. 6 and 7, the lower leg driving mechanism 700 further includes two first pulley blocks 550 respectively disposed at the first end and the second end of the suspension arm 400, the fifth rope 740 bypasses the first pulley block 550 at the first end of the suspension arm 400 and is then fixedly connected to the fifth fixing portion 310 at the second end of the lower leg frame 300, and the sixth rope 791 bypasses the first pulley block 550 at the second end of the suspension arm 400 and is then fixedly connected to the second fixing portion 220 at the second end of the lower leg frame 300. Specifically, the first crown block 550 can reduce the acting force on the first rope 540, the second rope 594, the fifth rope 740 and the sixth rope 791 by half, and the second crown block 650 can reduce the acting force on the third rope 640 and the fourth rope 694 by half, so as to reduce the diameter of the required rope.

Referring to fig. 2 to 9, the first end and the second end of the base plate 100 are respectively provided with a pulley seat 120, the pulley seat 120 is provided with a first pulley shaft 150, and the first fixed pulley block 550 is rotatably connected to the first pulley shaft 150; the first end and the second end of the boom 400 are respectively provided with a second pulley shaft 410, and the first fixed pulley block 550 and the second fixed pulley block 650 on the first end and the second end of the boom 400 are rotatably connected to the second pulley shaft 410; the axial directions of the first pulley shaft 150 and the second pulley shaft 410 are the same as the axial direction of the swing shaft of the thigh frame 200, so that the extension line of the rope passing through the first fixed pulley block 550 is intersected with the axial line of the first pulley shaft 150 or the second pulley shaft 410, and the extension line of the rope passing through the second fixed pulley block 650 is intersected with the axial line of the second pulley shaft 410, so that the rope is more linearly wound and unwound, the stability of the swing of the thigh frame 200 and the shank frame 300 is improved, and the mechanical leg is convenient to carry more electronic devices in an auxiliary manner.

Referring to fig. 9 to 11, a first ring groove 151 is formed in the first pulley shaft 150, and three second ring grooves 411 are formed in the second pulley shaft 410 in an axial direction; the first pulley block 550 includes: a first stator pulley support 552 rotatably coupled to the first ring groove 151 or the intermediate second ring groove 411 by a first ring portion 553, and a first stator pulley 551 rotatably provided on the first stator pulley support 552; the second block of crown blocks 650 includes: the second fixed pulley bracket 652 connected with the head and the tail of the second ring grooves 411 is rotated through the two second ring parts 653, the two second fixed pulleys 651 arranged on the second fixed pulley bracket 652 are rotated, and the two second fixed pulleys 651 are distributed along the axial direction of the second pulley shaft 410; wherein the first fixed pulley 551 and the second fixed pulley 651 have the same outer diameter, and the distance between the first capstan 520 and the second capstan 580 is the same as the distance between the fifth capstan 720 and the sixth capstan 760; the distance between the first capstan 520 and the second capstan 580 is smaller than the distance between the third capstan 620 and the fourth capstan 680. Specifically, the first and second

annular grooves

151 and 411 are matched with the first and second

annular portions

553 and 653 to prevent the first and second fixed

pulley blocks

550 and 650 from being displaced in the axial direction, the diameter of the first fixed pulley 551 is matched with the distance between the first and

second capstans

520 and 580 having a narrow distance, the two second fixed pulleys 651 designed along the second pulley shaft 410 are matched with the wider distance between the third and

fourth capstans

620 and 680 to allow the first rope 540 to be positioned in the third rope 640 in an interlaced state and the second rope 594 to be positioned in the fourth rope 694 in an interlaced state, thereby preventing interference.

In addition, the boom 400 is rotatably installed at both axial ends of the swing shaft between the thigh frame 200 and the lower leg frame 300, and further avoids interference with the folded thigh frame 200 and the folded lower leg frame 300, so that the maximum angle folding between the thigh frame 200 and the lower leg frame 300 is achieved, and the concealment of the robot and the mechanical leg during folding is improved.

Referring to fig. 1 to 7, the rotation directions of the first winch 520, the second winch 580, the third winch 620, the fourth winch 680, the fifth winch 720 and the sixth winch 760 are parallel to the swing directions of the swing upper leg frame 200 and the swing lower leg frame 300 of the upper leg frame 200 on the same plane, so that the output moments of the winches are perpendicular to the substrate 100 or the suspension arm 400; the rotation directions of the first fixed pulley 551 and the second fixed pulley 651 are perpendicular to the swinging directions of the swing thigh frame 200 and the lower leg frame 300 of the thigh frame 200 on the same plane, so that the rope passing around the inlet end and the outlet end of the first fixed pulley 551 and the second fixed pulley 651 is kept parallel to the swinging axis of the lower leg frame 300 on the same plane, and interference between the ropes or interference between the ropes and folding between the thigh frame 200 and the lower leg frame 300 is further avoided.

Referring to fig. 8, a rotating base 110 is disposed on the substrate 100; the rotating base 110 is provided with a thigh shaft 140, and the first end of the thigh frame 200 is rotatably connected with the thigh shaft 140, so that the rotation smoothness of the thigh frame 200 is improved. Referring to fig. 9, in order to improve the joint strength between thigh frame 200 and calf shank, in the present embodiment, a hinge portion 800 is provided between thigh frame 200 and calf shank 300, and hinge portion 800 includes: a hinge shaft 830 disposed on the boom 400; the first ends of the thigh hinges 810 and the shank hinges 820 are respectively connected to the hinge shafts 830 in a rotating mode, the second end of the thigh frame 200 is fixedly connected with the thigh hinges 810, the first end of the shank frame 300 is fixedly connected with the shank hinges 820, the hinge shafts 830 are located in the folding direction of the thigh frame 200 and the shank frame 300, the situation that the thigh frame 200 and the shank frame 300 are excessively unfolded when the load is excessive is effectively avoided, and the stability is improved.

Referring to fig. 9, in order to further improve the shear force bearing performance of the hinge portion 800, an anti-torsion bracket 430 is further fixedly connected to the suspension arm 400, and two ends of the hinge shaft 830 are respectively and fixedly connected to the anti-torsion bracket 430 through hinge shaft covers 840; reinforcing ribs 420 are further arranged on the suspension arm 400, two sides of the anti-torsion support 430 are matched with the reinforcing ribs 420 through matching grooves, and the reinforcing ribs 420 improve the shearing force bearing capacity between the suspension arm 400 and the anti-torsion support 430; the anti-twisting bracket 430 is also locked and fixed on two sides of the suspension arm 400 through the anti-twisting fixing piece 440, and the anti-twisting fixing piece 440 prevents the connection between the anti-twisting bracket 430 and the suspension arm 400 from loosening.

Referring to fig. 14 to 20, in embodiment 2 of the present invention, an all-motor-driven rope-driven mechanical leg based on a boom hinge joint according to the present invention includes: a substrate 100; a thigh frame 200, a first end of the thigh frame 200 is rotatably connected to the base plate 100; a lower leg 300, a first end of the lower leg 300 is rotatably connected to a second end of the upper leg 200; a suspension arm 400, wherein the suspension arm 400 is coaxially and rotatably connected with the first end of the lower leg frame 300 on the second end of the upper leg frame 200, and the suspension arm 400 is provided with a first end and a second end which are arranged at two ends of the second end of the upper leg frame 200 in the swinging direction; the thigh driving mechanism 500 comprises a first motor 510 arranged on the thigh frame 200, a first winch 520 connected to an output shaft of the first motor 510, first fixed pulley blocks 550 respectively arranged at a first end and a second end of the base plate 100 along the swinging direction of the thigh frame 200, and a first rope 540 wound around the first winch 520, wherein two ends of the first rope 540 respectively bypass the two first fixed pulley blocks 550 at the first end and the second end of the base plate 100 and are respectively connected to two ends of the swinging direction of the first end of the thigh frame 200; a boom driving mechanism 600, wherein the boom driving mechanism 600 comprises a third motor 610 arranged on the thigh frame 200, a third winch 620 connected to an output shaft of the second motor 570, second fixed pulley blocks 650 respectively arranged on the first end and the second end of the boom 400, and a second rope 594 wound around the third winch 620, and two ends of the second rope 594 respectively bypass the two second fixed pulley blocks 650 on the first end and the second end of the boom 400 and are connected to two sides of the swing of the second end of the thigh frame 200; a shank driving mechanism 700, the shank driving mechanism 700 comprising a fifth motor 710 disposed on the shank frame 300, a fifth winch 720 connected to an output shaft of the fifth motor 710, a first fixed pulley block 550 disposed on the first end and the second end of the boom 400, respectively, and a fifth rope 740 wound around the fifth winch 720, wherein two ends of the fifth rope 740 bypass the two first fixed pulley blocks 550 on the first end and the second end of the boom 400, respectively, and are connected to two sides of the second end of the shank frame 300 to swing; a foot section 900, the foot section 900 being connected to a second end of the lower leg frame 300; wherein, the swing direction of the lower leg frame 300 is parallel to the swing direction of the upper leg frame 200 on the same plane. Through the matching of a large-torque motor, a rope and a fixed pulley structure in a thigh driving structure, a suspension arm 400 driving structure and a shank driving structure and the arrangement of the suspension arm 400 structure, the whole load of a mechanical leg is effectively dispersed, the torque output of each joint of the mechanical leg is increased, the load obstacle crossing capability of the mechanical leg is effectively improved, the load capability of a single mechanical leg is 2.78 times that of a hydraulic driving mechanical leg with the same size, the durability of a rope driving mode is high, and therefore the legged robot can adapt to more application scenes.

In the present embodiment, the first end and the second end of the base plate 100 are arranged to be symmetrical along the swing axis of the first end of the thigh frame 200 rotatably connected to the base plate 100, so that the same torque is outputted when the thigh mechanism is driven to swing in the forward and reverse directions on the base plate 100, the same center symmetry is outputted when the first end and the second end of the boom 400 are connected to the swing axis of the second end of the thigh frame 200 rotatably connected to the first end of the shank frame 300, the same torque is outputted when the boom driving mechanism 600 is driven to swing in the forward and reverse directions on the second end of the thigh frame 200, and the same torque is outputted when the shank driving mechanism 700 is driven to swing in the forward and reverse directions on the second end of the thigh frame 200, thereby ensuring the linear swing of the thigh frame 200 and the shank frame 300 and ensuring the smooth loading.

Specifically, the first motor 510 is disposed at a position close to the first end of the thigh frame 200, the third motor 610 is disposed at a position close to the second end of the thigh frame 200, and the fifth motor 710 is disposed at a position close to the second end of the shank frame 300, that is, the first rope 540 and the second rope 594 are disposed at two ends of the swing direction of the thigh frame 200 in a staggered manner, so that the motor is disposed at a position far from the fixed pulley group, thereby reducing the workload of the first motor 510, the third motor 610 and the fifth motor 710, and ensuring that the mechanical leg can maintain long-term operation under limited energy supply.

In addition, the foot 900 can be disassembled and replaced according to the use scene of the mechanical leg, so that the mechanical leg can be adapted to different use occasions.

Referring to fig. 15 and 16, the thigh drive mechanism 500 further includes: a first rotation shaft 591 axially provided on the thigh frame 200 along the output shaft of the first motor 510; two first rotary discs 530 connected to the first rotary shaft 591 are axially rotated along the first rotary shaft 591; a first elastic compensation movable pulley block 560 provided on the thigh frame 200; a second rotation shaft 592 provided on the thigh frame 200; a first rotary wheel 593 rotatably provided on the second rotary shaft 592; the first end of the first rope 540 goes around the first fixed pulley block 550 on the second end of the base plate 100 and is connected to one end of the swing direction of the second end of the thigh frame 200 (i.e. the swing force direction of the robot leg warrior); the second end of the first rope 540 sequentially passes around the first rotating wheel 593, the first rotating disc 530 close to the first winch 520, the first elastic compensation movable pulley block 560, the first rotating disc 530 far away from the first winch 520 and the first fixed pulley block 550 at the first end of the base plate 100 and is connected to one end of the swinging direction of the second end of the thigh frame 200 (i.e. the mechanical leg folding swinging direction), so that when the first motor 510 drives the first winch 520 to rotate in the first hour hand direction, the first rotating wheel 593 changes the direction of the first rope 540 entering the first rotating disc 530 close to the first winch 520, the first rope 540 drives the first rotating disc 530 to rotate in a second hour hand direction opposite to the first hour hand direction, and the first elastic compensation movable pulley block 560 changes the moving direction of the first rope 540 entering the first rotating disc 530 far away from the first winch 520 again, so that the first rotating disc 530 far away from the first winch 520 rotates in the first hour hand direction, and the other rope returns to the base plate 100 from the first winch 540; the first elastic compensation movable pulley block 560 reciprocates along the winding direction of the rope, the first elastic compensation movable pulley block 560 is stressed when the mechanical leg advances to stir the thigh frame 200 and gradually moves towards the winding direction of the rope, the first motor 510 of the compensation rope is used for compensating the length of the first rope 540 stirred by the first winch 520, the influence of nonlinear change of the length of the first rope 540 in the motion stress process is reduced, the axial direction of the first elastic compensation movable pulley block 560 is perpendicular to the axial direction of the output shaft of the second motor 570, the axial direction of the second rotating shaft 592 is perpendicular to the axial direction of the output shaft of the second motor 570, the axial direction of the first fixed pulley block 550 is perpendicular to the axial direction of the output shaft of the second motor 570, so that the rotation directions of the first rotating wheel 593, the first fixed pulley block 550 and the first elastic compensation movable pulley block 560 are perpendicular to the rotation directions of the first winch 520 and the first rotating disc 530, and cross interference of the first rope 540 bypassing is avoided.

Referring to fig. 17 and 18, the boom driving mechanism 600 further includes: a third rotating shaft 691 axially disposed on the thigh frame 200 along the output shaft of the third motor 610, and two second rotating discs 630 axially and respectively rotatably connected to the output shaft of the third motor 610 and the third rotating shaft 691 along the third rotating shaft 691; a second elastic compensation movable pulley block 660 arranged on the thigh frame 200; a fourth rotating shaft 692 provided on the thigh frame 200; a second rotating wheel 693 rotatably provided on the fourth rotating shaft 692; a first end of a second rope 594 passes through the second crown block 650 at the first end of the boom 400 and is connected to one end of the first end of the thigh frame 200 in the swinging direction (i.e., the mechanical leg folding swinging direction); a second end of the second rope 594 sequentially bypasses the second rotating wheel 693, the second rotating disc 630 on the output shaft of the third motor 610, the second elastic compensation movable pulley block 660, the second rotating disc 630 on the third rotating shaft 691 and the second fixed pulley block 650 on the second end of the boom 400 and is connected to one end of the swing direction of the first end of the thigh frame 200 (i.e. the pulling force direction when the mechanical leg is extended), so that when the third motor 610 drives the third winch 620 to rotate in the first needle direction, the second rotating wheel 693 changes the direction of the second rope 594 entering the second rotating disc 630 on the output shaft of the third motor 610, so that the second rope 594 drives the second rotating disc 630 to rotate in a second clockwise direction opposite to the first needle direction, and the second elastic compensation movable pulley block 660 changes the moving direction of the second rope 594 entering the second rotating disc 630 on the third rotating shaft 691 from the second rotating disc 630 on the output shaft of the third motor 610 again, so that the second rope 630 on the third rotating shaft rotates in the first needle direction, and the second rope 594 returns to the second rotating disc 650; the second elastic compensation movable pulley block 660 reciprocates along the winding direction of the rope, the second elastic compensation movable pulley block 660 is stressed when the mechanical leg moves forwards to stir the thigh frame 200 and gradually moves towards the winding direction of the rope, the third motor 610 of the compensation rope is used for reducing the influence of nonlinear change of the length of the second rope 594 in the motion stress process through the length of the second rope 594 stirred by the third winch 620, the axial direction of the second elastic compensation movable pulley block 660 is perpendicular to the axial direction of the output shaft of the third motor 610, the axial direction of the fourth rotating shaft 692 is perpendicular to the axial direction of the output shaft of the third motor 610, the axial direction of the second fixed pulley block 650 is perpendicular to the axial direction of the output shaft of the third motor 610, so that the rotating directions of the second rotating wheel 693, the second fixed pulley block 650 and the second elastic compensation movable pulley block 660 are perpendicular to the rotating directions of the third winch 620 and the second rotating disc 630, and the cross interference of the second rope 594 bypassing the above structures is avoided.

Referring to fig. 19 and 20, the lower leg drive mechanism 700 further includes: a fifth rotating shaft 770 provided on the lower leg frame 300 in the axial direction of the output shaft of the fifth motor 710; two third rotary discs 730 which are axially and rotatably connected to a fifth rotary shaft 770 along the output shaft of the fifth motor 710; a first elastic compensation movable pulley block 560 provided on the lower leg frame 300; a sixth rotation shaft 780 provided on the calf stand 300; the third rotary wheel 790 rotatably provided on a sixth rotary shaft 780; a first end of a fifth rope 740 is passed around the first fixed pulley block 550 on the first end of the boom 400 and connected to one end of the swing direction of the second end of the lower leg rest 300 (i.e., the mechanical leg folding swing direction); a second end of the fifth rope 740 sequentially bypasses the third rotating wheel 790, the third rotating disc 730 close to the fifth winch 720, the first elastic compensation movable pulley block 560, the third rotating disc 730 far away from the fifth winch 720 and the first fixed pulley block 550 at the second end of the boom 400 and is connected to one end of the swing direction of the second end of the calf frame 300 (i.e. the direction of the pulling force when the mechanical leg is extended), so that when the fifth motor 710 drives the fifth winch 720 to rotate in the first hour hand direction, the third rotating wheel 790 changes the direction of the fifth rope 740 entering the third rotating disc 730 on the output shaft of the fifth motor 710, so that the fifth rope 740 drives the third rotating disc 730 to rotate in a second hour hand direction opposite to the first hour hand direction, and the first elastic compensation movable pulley block 560 changes the movement direction of the fifth rope 740 entering the third rotating disc 730 on the fifth rotating shaft 770 from the third rotating disc 730 on the output shaft of the fifth motor 710 again, so that the second rotating disc 630 on the fifth rotating shaft rotates in the first hour hand direction, and the fifth rope 740 returns to the second rotating disc 550 and is sent to the second end of the boom 400; the first elastic compensation movable pulley block 560 reciprocates along the winding direction of the rope, the first elastic compensation movable pulley block 560 is stressed when the mechanical leg advances to stir the calf frame 300 and gradually moves towards the winding direction of the rope, the fifth motor 710 for compensating the rope reduces the influence of the nonlinear change of the length of the fifth rope 740 in the movement stress process through the length of the fifth rope 740 stirred by the fifth capstan 720, the axial direction of the first elastic compensation movable pulley block 560 is perpendicular to the axial direction of the output shaft of the fifth motor 710, the axial direction of the sixth rotating shaft 780 is perpendicular to the axial direction of the output shaft of the fifth motor 710, the axial direction of the first fixed pulley block 550 is perpendicular to the axial direction of the output shaft of the fifth motor 710, so that the rotating directions of the third rotating wheel 790, the first fixed pulley block 550 and the first elastic compensation movable pulley block 560 are perpendicular to the rotating directions of the fifth capstan 720 and the third rotating disc 730, and the fifth rope 740 bypassing the above structure is prevented from cross interference.

It should be mentioned that, through the above structure, the number of motors of the robotic leg of this embodiment is controlled to be three, and the load of the robotic leg is effectively maintained, so that the manufacturing cost of the robotic leg is effectively reduced by reducing the number of motors, and the overall weight of the robotic leg is effectively reduced, thereby improving the obstacle crossing capability of the multi-legged robot having the robotic leg of this application.

Referring to fig. 10, the first pulley block 550 includes: a first fixed pulley support 552 attached to the base plate 100 and the boom 400, respectively; by turning the first stator pulley 551 provided on said first stator pulley support 552, the first rope 540 or the fifth rope 740 is passed around the first stator pulley 551 in cooperation with this, completing the turning of the first rope 540 or the fifth rope 740.

Referring to fig. 12, the first elastic compensating movable pulley block 560 includes: a first connection block 561 connected to the thigh frame 200; a first movable pulley bracket 563 connected to the first connection block 561 by a first spring 562; and, the first movable pulley 564 that is connected to said first movable pulley bracket 563 is rotated, the first rope 540 fits around the first movable pulley 564, the re-turning of the first rope 540 or the fifth rope 740 is completed, and the first spring 562 compensates the length of the first rope 540 or the fifth rope 740 by the instant the first rope 540 or the fifth rope 740 is subjected to the pulling force enhancing tension, reducing the influence of the rope non-linear change on the mechanical leg.

Referring to fig. 11, the second block of fixed pulleys 650 includes: a second fixed pulley support 652 connected to the boom 400; rotating a second fixed pulley 651 arranged on the second fixed pulley bracket 652, and passing a second rope 594 around the second fixed pulley 651, thereby completing the turning of the second rope 594;

referring to fig. 13, the second elastic compensating pulley block 660 comprises: a second connecting block 661 connected to the thigh frame 200; a second movable pulley support 663 connected to the second connecting block 661 by a second spring 662; the second movable pulley 664 arranged on the second movable pulley support 663 is rotated, the second rope 594 passes around the second movable pulley 664, the second direction changing of the second rope 594 is completed, and the second spring 662 is subjected to the pulling force at the moment of the second rope 594 to enhance the stretching compensation of the length of the second rope 594, so that the influence of the nonlinear change of the rope on the mechanical leg is reduced.

Referring to fig. 8, the first end and the second end of the substrate 100 are respectively provided with a pulley seat 120, and the pulley seat 120 is provided with a first pulley shaft 150; referring to fig. 9, a second pulley shaft 410 is respectively disposed on the first end and the second end of the boom 400; wherein, the axial direction of the first pulley shaft 150 is the same as the swing axis of the thigh frame 200, and the axial direction of the second pulley shaft 410 is the same as the swing axis of the shank frame 300; wherein, a first ring groove 151 is annularly arranged on the first pulley shaft 150; the second pulley shaft 410 is annularly provided with a second annular groove 411, the first fixed pulley support 552 is rotatably connected with the first annular groove 151 on the first pulley shaft 150 or the second annular groove 411 on the second pulley shaft 410 through a first annular portion 553, the second fixed pulley support 652 is rotatably connected with the second annular groove 411 on the second pulley shaft 410 through a second annular portion 653, so that a fault caused by displacement of the first fixed pulley block 550 and the second fixed pulley block 650 in working is effectively avoided, the rope outlet directions of the first fixed pulley 551 and the second fixed pulley 651 on the first fixed pulley block 550 and the second fixed pulley block 650 can be kept towards the rope collecting and releasing direction of the rope, and the length of the rope cannot change the telescopic length due to the swinging of the thigh frame 200, the boom frame 400 or the calf frame 300.

Referring to fig. 11, 13, 15 and 20, the diameter of the first fixed pulley 551 is equal to the distance between the first capstan 520 and the first turntable 530 distant from the first capstan 520 or the diameter of the first fixed pulley 551 is equal to the distance between the fifth capstan 720 and the third turntable 730 distant from the fifth capstan 720; the diameter of the first movable pulley 564 is equal to the distance between the two first turntables 530 or the two third turntables 730; two second fixed pulleys 651 are arranged along the axial direction of the second pulley shaft 410, and the outer circumferential distance of the two second fixed pulleys 651 along the axial direction of the second pulley shaft 410 is equal to the distance between the third capstan 620 and the second turntable 630 far away from the third capstan 620; two second movable pulleys 664 are arranged along the swinging axial direction of the thigh frame 200, and the peripheral distance of the two second movable pulleys 664 along the swinging direction of the thigh frame 200 is equal to the distance between the third winch 620 and the second rotating disc 630 far away from the third winch 620, so that the plurality of sections of the first rope 540, the second rope 594 and the fifth rope 740 which are turned backwards in a multi-winding mode are kept in parallel, and the situation of interference with adjacent ropes when the mechanical leg swings is avoided.

Referring to fig. 8, a rotating base 110 is disposed on the substrate 100; the rotating base 110 is provided with a thigh shaft 140, and the first end of the thigh frame 200 is rotatably connected with the thigh shaft 140, so that the rotation smoothness of the thigh frame 200 is improved.

Referring to fig. 9, in order to improve the joint connection strength between the thigh frame 200 and the shank a, the present embodiment further includes a hinge portion 800, and the hinge portion 800 includes: a hinge shaft 830 disposed on the boom 400; the thigh hinge 810 and the shank hinge 820 which are respectively connected to the hinge shaft 830 in a rotating mode, the second end of the thigh frame 200 is fixedly connected with the thigh hinge 810, the first end of the shank frame 300 is fixedly connected with the shank hinge 820, the hinge shaft 830 is located at one end of the advancing and swinging direction of the thigh frame 200 and the shank frame 300, the situation that the thigh frame 200 and the shank frame 300 swing excessively when the load is excessive is effectively avoided, and the stability is improved.

Referring to fig. 9, in order to further improve the shearing force bearing performance of the hinge portion 800, an anti-torque bracket 430 is further fixedly connected to the suspension arm 400, and both ends of the hinge shaft 830 are respectively and fixedly connected to the anti-torque bracket 430 through hinge shaft covers 840. Reinforcing ribs 420 are further arranged on the suspension arm 400, two sides of the anti-torsion support 430 are matched with the reinforcing ribs 420 through matching grooves, and the reinforcing ribs 420 improve the shearing force bearing capacity between the suspension arm 400 and the anti-torsion support 430; the two sides of the anti-twisting bracket 430 are also locked and fixed with the suspension arm 400 through anti-twisting fasteners 440.

Referring to fig. 15 to 20, a first fixing portion 210 and a second fixing portion 220 are respectively disposed at second ends of both ends of the thigh frame 200 in the swinging direction, a first end of the first rope 540 is fixedly connected to the first fixing portion 210, and a second end of the first rope 540 is fixedly connected to the second fixing portion 220; a third fixing part 230 and a fourth fixing part 240 are respectively arranged on the first ends of the two ends of the thigh frame 200 in the swinging direction, the first end of the second rope 594 is fixedly connected with the third fixing part 230, and the second end of the second rope 594 is fixedly connected with the fourth fixing part 240; a fifth fixing portion 310 and a sixth fixing portion 320 are respectively disposed at second ends of both ends of the leg frame 300 in the swing direction, a first end of the fifth rope 740 is fixedly connected to the fifth fixing portion 310, and a second end of the fifth rope 740 is fixedly connected to the sixth fixing portion 320. Specifically, the two ends of the first rope 540, the second rope 594 and the fifth rope 740 can be conveniently and firmly fixedly connected with the thigh frame 200 and the shank frame 300 respectively, and the anti-torsion fixing member 440 prevents the connection between the anti-torsion bracket 430 and the suspension arm 400 from being loosened.

The present invention is not limited to the above embodiments, and any modifications, equivalent substitutions, improvements, etc. within the spirit and principle of the present disclosure should be included in the scope of the present disclosure as long as the technical effects of the present invention are achieved by the same means. Are intended to fall within the scope of the present invention. The invention is capable of other modifications and variations in its technical solution and/or its implementation, within the scope of protection of the invention.

Claims

1. Full motor drive rope drives mechanical leg based on davit hinge formula joint, its characterized in that includes:

a substrate (100);

the thigh frame (200), the first end of the thigh frame (200) is rotatably connected with the base plate (100);

the lower leg rack (300), the first end of the lower leg rack (300) is rotatably connected with the second end of the upper leg rack (200);

the suspension arm (400) is coaxially and rotatably connected to the second end of the thigh frame (200) together with the first end of the shank frame (300), and the suspension arm (400) is provided with a first end and a second end along the swinging direction of the second end of the thigh frame (200);

a thigh driving mechanism (500), wherein the thigh driving mechanism (500) comprises a first rope (540) and a second rope (594) which are respectively connected with a first end and a second end of the base plate (100) along the swinging direction of the thigh frame (200), and a first rope twisting assembly for twisting and releasing the first rope (540) and the second rope (594), and the first rope twisting assembly is arranged on the thigh frame (200);

a boom drive mechanism (600), the boom drive mechanism (600) comprising a third rope (640) and a fourth rope (694) connected to the first end and the second end of the boom (400), respectively, and a second winch assembly for storing the third rope (640) and the fourth rope (694), the second winch assembly being disposed on the thigh frame (200);

the calf driving mechanism (700) comprises a fifth rope (740) and a sixth rope (791) which are respectively connected with the first end and the second end of the suspension arm (400), and a third stranded rope assembly for retracting the fifth rope (740) and the sixth rope (791), and the third stranded rope assembly is arranged on the calf frame (300);

a foot section (900), the foot section (900) being connected to a second end of the lower leg frame (300);

wherein the swinging direction of the lower leg frame (300) is parallel to the swinging direction of the upper leg frame (200) on the same plane.

2. An all-motor driven rope-driven robotic leg based on a boom hinge joint as defined in claim 1,

the first strand assembly includes:

a first motor (510) having a first capstan (520) on an output shaft, the first motor (510) being connected to the thigh frame (200), and an end of the first rope (540) being fixed to the first capstan (520) and being wound and connected to a first end of the base plate (100);

a second motor (570) having a second capstan (580) on an output shaft, the second motor (570) being connected to the thigh frame (200), and an end of the second rope (594) being fixed to the second capstan (580) and being wound and connected to a second end of the base plate (100);

the second stranded rope assembly comprises:

a third motor (610) with a third winch (620) on the output shaft, wherein the third motor (610) is connected to the thigh frame (200), and the end part of the third rope (640) is fixed on the third winch (620) and is connected to the first end of the suspension arm (400) after being wound;

a fourth motor (670) having a fourth winch (680) on an output shaft, the fourth motor (670) being connected to the upper leg frame (200), and an end of the fourth rope (694) being fixed to the fourth winch (680) and being wound to be connected to the second end of the boom (400);

the third stranded rope assembly comprises:

a fifth motor (710) having a fifth winch (720) on an output shaft, the fifth motor (710) being connected to the calf support (300), and an end of the fifth rope (740) being fixed to the fifth winch (720) and being wound to be connected to the first end of the boom (400);

a sixth motor (750) with a sixth winch (760) on the output shaft, the sixth motor (750) is connected to the lower leg frame (300), and the end of the sixth rope (791) is fixed on the sixth winch (760) and is connected to the second end of the boom (400) after being wound.

3. An all-motor driven rope-driven robotic leg based on a boom hinge joint as claimed in claim 2,

the output shaft of the first motor (510) and the output shaft of the second motor (570) are coaxially arranged, and the first motor (510) and the second motor (570) are both connected to the second end of the thigh frame (200);

the output shaft of the third motor (610) and the output shaft of the fourth motor (670) are coaxially arranged, and the third motor (610) and the fourth motor (670) are both connected to the first end of the thigh frame (200);

the output shaft of the fifth motor (710) and the output shaft of the sixth motor (750) are coaxially arranged, and the fifth motor (710) and the sixth motor (750) are both connected to the second end of the lower leg frame (300).

4. An all-motor driven rope driven mechanical leg based on a boom hinge joint according to claim 2,

the thigh driving mechanism (500) further comprises two first fixed pulley blocks (550) which are respectively arranged at the first end and the second end of the base plate (100), the first rope (540) bypasses the first fixed pulley block (550) at the first end of the base plate (100) and then is fixedly connected with the first fixed part (210) at the second end of the thigh frame (200), and the second rope (594) bypasses the first fixed pulley block (550) at the second end of the base plate (100) and then is fixedly connected with the second fixed part (220) at the second end of the thigh frame (200);

the suspension arm driving mechanism (600) further comprises two second fixed pulley blocks (650) which are respectively arranged at the first end and the second end of the suspension arm (400), the third rope (640) bypasses the second fixed pulley block (650) at the first end of the suspension arm (400) and then is fixedly connected with the third fixed part (230) at the first end of the thigh frame (200), and the fourth rope (694) bypasses the second fixed pulley block (650) at the second end of the suspension arm (400) and then is fixedly connected with the fourth fixed part (240) at the first end of the thigh frame (200);

the shank driving mechanism (700) further comprises two first fixed pulley blocks (550) which are respectively arranged at the first end and the second end of the suspension arm (400), the fifth rope (740) bypasses the first fixed pulley block (550) at the first end of the suspension arm (400) and then is fixedly connected with the fifth fixed part (310) at the second end of the shank frame (300), and the sixth rope (791) bypasses the first fixed pulley block (550) at the second end of the suspension arm (400) and then is fixedly connected with the second fixed part (220) at the second end of the shank frame (300).

5. An all-motor driven rope driven mechanical leg based on a boom hinge joint according to claim 4,

the first end and the second end of the base plate (100) are respectively provided with a pulley seat (120), the pulley seat (120) is provided with a first pulley shaft (150), and the first fixed pulley block (550) is rotatably connected to the first pulley shaft (150);

the first end and the second end of the suspension arm (400) are respectively provided with a second pulley shaft (410), and a first fixed pulley block (550) and a second fixed pulley block (650) on the first end and the second end of the suspension arm (400) are rotatably connected to the second pulley shafts (410);

wherein the axial directions of the first pulley shaft (150) and the second pulley shaft (410) are the same as the axial direction of the swing shaft of the thigh frame (200).

6. An all-motor driven rope driven robotic leg based on a boom hinge joint as claimed in claim 5,

a first ring groove (151) is arranged on the first pulley shaft (150),

three second annular grooves (411) are axially arranged on the second pulley shaft (410);

the first set of stator pulleys (550) comprises:

a first fixed pulley bracket (552) rotatably connected with the first ring groove (151) or the middle second ring groove (411) through a first ring part (553),

a first fixed pulley 551 rotatably provided on the first fixed pulley bracket 552;

the second set of crown blocks (650) comprises:

a second fixed pulley bracket (652) which is rotationally connected with the head and the tail of the second ring grooves (411) through two second ring parts (653),

two second fixed pulleys (651) rotatably disposed on the second fixed pulley bracket (652), the two second fixed pulleys (651) being distributed along an axial direction of the second pulley shaft (410);

wherein the first fixed pulley (551) and the second fixed pulley (651) have the same outer diameter.

7. An all-motor driven rope driven mechanical leg based on a boom hinge joint according to claim 6,

the rotation directions of the first winch (520), the second winch (580), the third winch (620), the fourth winch (680), the fifth winch (720) and the sixth winch (760) are parallel to the swinging directions of the swing thigh frame (200) and the swing shank frame (300) of the thigh frame (200) on the same plane;

the rotating directions of the first fixed pulley (551) and the second fixed pulley (651) are perpendicular to the swinging directions of the swing thigh frame (200) and the swing calf frame (300) of the thigh frame (200) on the same plane.

8. An all-motor driven rope driven mechanical leg based on a boom hinge joint according to claim 7,

the distance between the first winch (520) and the second winch (580) is equal to the distance between the fifth winch (720) and the sixth winch (760);

the distance between the first capstan (520) and the second capstan (580) is less than the distance between the third capstan (620) and the fourth capstan (680).

9. An all-motor driven rope driven mechanical leg based on a boom hinge joint according to claim 1,

a rotating seat (110) is arranged on the substrate (100);

a thigh shaft (140) is arranged on the rotating seat (110), and the first end of the thigh frame (200) is rotatably connected with the thigh shaft (140);

be equipped with hinge portion (800) between thigh frame (200) and the shank frame, hinge portion (800) include:

a hinge shaft (830) provided on the boom (400);

the first end of the thigh frame is respectively connected with a thigh hinge (810) and a shank hinge (820) on the hinge shaft (830) in a rotating mode, the second end of the thigh frame (200) is fixedly connected with the thigh hinge (810), and the first end of the shank frame (300) is fixedly connected with the shank hinge (820).

10. An all-motor driven rope driven mechanical leg based on a boom hinge joint according to claim 9,

an anti-torsion support (430) is fixedly connected to the suspension arm (400), and two ends of the hinge shaft (830) are fixedly connected with the anti-torsion support (430) through hinge shaft covers (840);

reinforcing ribs (420) are further arranged on the suspension arm (400), and two sides of the torsion-resistant support (430) are matched with the reinforcing ribs (420) through matching grooves;

two sides of the anti-torsion bracket (430) are locked and fixed with the suspension arm (400) through anti-torsion fixing pieces (440).