CN115402442B

CN115402442B - Full motor driving rope driving mechanical leg based on suspension arm hinge type joint

Info

Publication number: CN115402442B
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: 2023-06-23
Anticipated expiration: 2042-09-23
Also published as: CN115402442A

Abstract

The invention relates to an all-motor driving rope driving mechanical leg based on a suspension arm hinge type joint, which comprises a base plate; the first end is rotatably connected with a thigh frame of the base plate; a lower leg rest having a first end rotatably coupled to the second end of the thigh rest; a boom coaxially rotatably coupled to the first end of the lower leg and to the second end of the upper leg, the boom having a first end and a second end; the thigh driving mechanism comprises a first rope and a second rope which are respectively connected with the first end and the second end of the base plate, and a first rope twisting component 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 rope twisting component for winding and unwinding the third rope and the fourth rope; the lower leg 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 rope twisting component for winding and unwinding the fifth rope and the sixth rope; a foot connected to the second end of the lower leg; the swing direction of the lower leg frame is parallel to the swing direction of the thigh frame.

Description

Full motor driving rope driving mechanical leg based on suspension arm hinge type joint

Technical Field

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

Background

Currently, the motion mechanism of a 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 thereof and the like. However, in the field of aerospace or military transportation, wheeled robots are difficult to fully meet the application requirements under complex environmental conditions and perform very poorly in obstacle surmounting. The crawler robot has stronger environment adaptability, but the energy consumption is quite large, and the application range is quite limited. Therefore, the foot-type robot gradually highlights the superiority, has lower requirement on environment, has stronger obstacle-surmounting capability and moderate energy consumption, but has certain complexity in motion control.

With the continuous development of mobile robot technology, the variety of foot type robots is quite many, can be like 360 degrees folding light-weight overlength space arm or be applied to the hydraulic drive mechanical leg of carrying the thing, but among the above-mentioned two kinds of arm forms, the 360 degrees folding joint of light-weight overlength sky arm can't bear great shearing force, is not applicable to the robot that has heavy load demand, and hydraulic drive mechanical leg, then volume and weight are too big, obstacle crossing ability is poor, and it is comparatively loaded down with trivial details to lead to filling ability process, only can realize that the robot slowly moves, this certainly very big restriction foot type robot's application scenario.

Considering the functional requirement of a mobile robot system for load operation in a complex environment, a certain flexible moving speed can be maintained when the load is over the obstacle, so that a more universal mechanical leg structure is needed, and the obstacle over and the load are more convenient to realize.

Disclosure of Invention

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

The technical scheme of the invention is that the full motor driving rope driving mechanical leg based on the hinge type joint of the suspension arm comprises the following components: a substrate; the first end of the thigh frame is rotatably connected with the base plate; the first end of the lower leg frame is rotatably connected to the second end of the thigh frame; the suspension arm is coaxially and rotatably connected with the first end of the lower leg frame and is connected with the second end of the thigh 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 thigh frame; the thigh driving mechanism comprises a first rope, a second rope and a first 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 along the swing direction of the thigh frame, the first 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, a fourth rope and a second stranded rope component, wherein the third rope and the fourth rope are respectively connected with the first end and the second end of the suspension arm, and the second stranded rope component is used for winding and unwinding the third rope and the fourth rope and is arranged on the thigh frame; the lower leg 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 rope twisting component for winding and unwinding the fifth rope and the sixth rope, and the third rope twisting component is arranged on the lower leg frame; a foot connected to the second end of the lower leg rest; wherein the swing direction of the lower leg frame is parallel to the swing direction of the thigh frame on the same plane.

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

Further, 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; the output shaft of the third motor and the 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; the output shaft of the fifth motor and the 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 lower leg frame.

Further, the thigh driving mechanism further comprises two first fixed pulley blocks respectively arranged at the first end and the second end of the base plate, the first rope is fixedly connected with the first fixed part of the second end of the thigh frame after bypassing the first fixed pulley block at the first end of the base plate, and the second rope is fixedly connected with the second fixed part of the second end of the thigh frame after bypassing the first fixed pulley block at the second end of the base plate; the suspension arm driving mechanism further comprises two second fixed pulley blocks respectively arranged at the first end and the second end of the suspension arm, the third rope is fixedly connected with the third fixed part of the first end of the thigh frame after bypassing the second fixed pulley block at the first end of the suspension arm, and the fourth rope is fixedly connected with the fourth fixed part of the first end of the thigh frame after bypassing the second fixed pulley block at the second end of the suspension arm; the lower leg driving mechanism further comprises two first fixed pulley blocks respectively arranged at the first end and the second end of the suspension arm, the fifth rope is fixedly connected with the fifth fixed part of the second end of the lower leg frame after bypassing the first fixed pulley block at the first end of the suspension arm, and the sixth rope is fixedly connected with the second fixed part of the second end of the lower leg frame after bypassing the first fixed pulley block at the second end of the suspension arm.

Further, pulley seats are respectively arranged at the first end and the second end of the base plate, a first pulley shaft is arranged on the pulley seats, and the first fixed pulley block is rotationally 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 shafts; 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.

Further, a first annular groove is formed in the first pulley shaft, and three second annular grooves are formed in the second pulley shaft along the axial direction; the first fixed pulley block comprises: the first fixed pulley bracket is rotationally connected with the first annular groove or the middle second annular groove through the first annular part, and the first fixed pulley is rotationally arranged on the first fixed pulley bracket; the second fixed pulley group comprises: the two second fixed pulleys are rotatably arranged on the second fixed pulley brackets and are distributed along the axial direction of a second pulley shaft; wherein, the external diameter of first fixed pulley is equal with the external diameter of second fixed pulley.

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 swing direction of the swing thigh frame and the swing direction of the shank frame of the thigh frame on the same plane; the rotation directions of the first fixed pulley and the second fixed pulley are perpendicular to the swing direction of the swing thigh frame and the swing direction of the shank frame of the thigh 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 base plate; the rotating seat is provided with a thigh shaft, and the first end of the thigh frame is rotationally connected with the thigh shaft; hinge portion is equipped with between thigh frame and the shank frame, hinge portion includes: the hinge shaft is arranged on the suspension arm; the first end is respectively connected with the thigh hinge and the shank hinge on the hinge shaft in a rotating way, 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.

Further, the suspension arm is fixedly connected with an anti-torsion bracket, and two ends of the hinge shaft are fixedly connected with the anti-torsion bracket through a hinge shaft cover respectively; the suspension arm is also provided with a reinforcing rib, and two sides of the torsion-resistant bracket are matched with the reinforcing rib through a matching groove; the two sides of the torsion-resistant bracket are also locked and fixed with the suspension arm through torsion-resistant fixing pieces.

The beneficial effects of the invention are as follows:

through the cooperation of stranded rope subassembly position and rope among thigh drive structure, davit drive structure and the shank drive structure to and the setting of davit structure, effectively disperses the overall load of mechanical leg, increases each joint moment output of mechanical leg, effectively promotes the load obstacle crossing ability of mechanical leg, and stranded rope subassembly avoids joint position setting, promotes the utilization efficiency of motor moment, can change the maintenance fast and conveniently, simplifies the joint structure of mechanical leg, improves the shearing resistance of joint, and the driving mode durability of rope drive is high, thereby make the ability adaptation of sufficient formula robot more application scenario.

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 driving structure in embodiment 1 of the invention.

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

Fig. 4 is a partial perspective view of a thigh frame and a boom with a boom drive structure in embodiment 1 of the invention.

Fig. 5 is a partial perspective view of a thigh frame and a boom with a boom drive structure in accordance with embodiment 1 of the invention in another view.

Fig. 6 is a partial perspective view of a lower leg rest and a boom with a lower leg driving structure in embodiment 1 of the present invention.

Fig. 7 is a partial perspective view of a lower leg rest and a boom with a lower leg driving structure in embodiment 1 of the present invention in another view.

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

Fig. 9 is an exploded view of a part of the structure of the boom and hinge portion in examples 1 and 2 of the present invention.

Fig. 10 is a perspective view of the first fixed pulley block in embodiment 1 and embodiment 2 of the present invention.

Fig. 11 is a perspective view of the second fixed pulley block in embodiment 1 and embodiment 2 of the present invention.

Fig. 12 is a perspective view of a 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 driving structure in embodiment 2 of the invention.

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

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

Fig. 18 is a partial perspective view of a thigh frame and a boom with a boom drive structure in accordance with embodiment 2 of the invention in another view.

Fig. 19 is a partial perspective view of a lower leg rest and a boom with a lower leg driving structure in embodiment 2 of the present invention.

Fig. 20 is a partial perspective view of a lower leg rest and a boom with a lower leg driving structure in embodiment 2 of the present invention in another view.

Detailed Description

The conception, specific structure, and technical effects produced by the present invention will be clearly and completely described below with reference to the embodiments and the drawings to fully understand the objects, aspects, and effects of the present invention. It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other.

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 or indirectly fixed or connected to the other feature. Further, the descriptions of the upper, lower, left, right, top, bottom, etc. used in the present invention are merely with respect to the mutual positional relationship of the respective constituent elements of the present invention 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 presented herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein includes any combination of one or more of the associated listed items.

It should be understood that although the terms first, second, third, etc. may be used in this disclosure 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 also be termed a second element, and, similarly, a second element could also 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 drive mechanical leg based on a boom hinge type joint according to the present invention includes: a substrate 100; a thigh frame 200, wherein a first end of the thigh frame 200 is rotatably connected to the base plate 100; a lower leg rest 300, a first end of the lower leg rest 300 being rotatably coupled to a second end of the thigh rest 200; a boom 400, the boom 400 being rotatably connected coaxially with the first end of the lower leg frame 300 on the second end of the thigh frame 200, and the boom 400 having a first end and a second end along the swing direction of the second end of the thigh frame 200; a thigh driving mechanism 500, the thigh driving mechanism 500 including a first rope 540 and a second rope 594 connected with a first end and a second end of the base plate 100 along a swing direction of the thigh frame 200, respectively, and a first rope winding assembly for winding and unwinding the first rope 540 and the second rope 594, the first rope winding assembly being provided 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 rope assembly for reeling and unreeling the third rope 640 and the fourth rope 694, the second rope assembly being provided on the thigh frame 200; a lower leg driving mechanism 700, the lower leg driving mechanism 700 including fifth and

sixth ropes

740 and 791 connected to first and second ends of the boom 400, respectively, and a third rope assembly for winding and unwinding the fifth and

sixth ropes

740 and 791, the third rope assembly being provided on the lower leg rest 300; a foot 900, the foot 900 being connected to a second end of the lower leg 300; wherein the swing direction of the lower leg rest 300 is parallel to the swing direction of the upper leg rest 200 on the same plane. Through the cooperation of stranded rope subassembly position and rope among thigh drive structure, davit 400 drive structure and the shank drive structure, and the setting of davit 400 structure, effectively disperse the overall load of mechanical leg, thereby enlarge the output moment of each stranded rope subassembly, increase each joint moment output of mechanical leg, effectively promote the load obstacle crossing ability of mechanical leg, and stranded rope subassembly avoids joint position setting, can change the maintenance fast and conveniently, simplify the joint structure of mechanical leg, improve the shearing resistance of joint, and the drive mode durability of rope drive is high, thereby make sufficient formula robot's can adapt to more application scenario.

Specifically, when the mechanical leg works, the first rope twisting component can maintain the first rope 540 and the second rope 594 in a tight state, the second rope twisting component can maintain the third rope 640 and the fourth rope 694 in a tight state, the third rope twisting component can maintain the fifth rope 740 and the sixth rope 791 in a tight state, the stretching process degree of each section of rope is consistent, accurate amplitude swinging of the thigh frame 200 and the shank frame 300 is ensured, the fine operation of the robot is facilitated, and as the ropes have certain expansion buffering performance, when the mechanical leg is contacted with the ground, each rope on the mechanical leg can absorb the ground impact, the shock absorbing effect is provided, and the electronic equipment is ensured to be maintained in a stable working environment.

In this embodiment, the first end and the second end of the base plate 100 are set to be symmetrical along the swing axis of the first end of the thigh frame 200, so that the moment output by the thigh mechanism when driving the thigh frame 200 to swing on the base plate 100 in the forward and backward directions is the same, the first end and the second end of the boom 400 are set to be symmetrical along the swing axis of the first end of the shank frame 300, so that the moment output by the boom driving mechanism 600 when driving the boom 400 to swing on the second end of the thigh frame 200 in the forward and backward directions is the same, and the moment output by the shank driving mechanism 700 when driving the boom 400 to swing on the second end of the thigh frame 200 in the forward and backward directions is the same, thereby ensuring the linear swing of the thigh frame 200 and the shank frame 300 and ensuring the smoothness of the load.

It should be noted that the foot 900 can be disassembled and replaced according to the usage situation of the mechanical leg, so as to adapt to different usage situations.

Referring to fig. 2 and 3, to precisely control the tension of each length of rope, the first rope assembly includes: a first motor 510 having a first winch 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 winch 520 and being connected to a first end of the base plate 100 after being wound; 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 connected to a second end of the base plate 100 after being wound; referring to fig. 4 and 5, the second rope assembly includes: a third motor 610 having a third winch 620 on an output shaft, the third motor 610 being connected to the thigh frame 200, and an end of the third rope 640 being fixed to the third winch 620 and being connected to a first end of the boom 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 thigh frame 200, and an end of the fourth rope 694 being fixed to the fourth winch 680 and being connected to the second end of the boom 400 after being wound; referring to fig. 6 and 7, the third rope assembly includes: a fifth motor 710 having a fifth winch 720 on an output shaft, the fifth motor 710 being connected to the lower leg frame 300, and an end of the fifth rope 740 being fixed to the fifth winch 720 and being connected to a first end of the boom 400 after being wound; a sixth motor 750 having a sixth winch 760 on an output shaft, the sixth motor 750 being connected to the lower leg 300, and an end of the sixth rope 791 being fixed to the sixth winch 760 and being connected to the second end of the boom 400 after being wound. Specifically, the separate motors control each section of rope, so that the thigh frame 200, the boom 400 and the shank frame 300 of the mechanical leg are kept in a tight state at any angle in the folding swing range, when one motor in each group of rope twisting components rotates in a first time needle direction to recover the rope, the other motor in the group of rope twisting components rotates in a second opposite time needle direction to pay out the rope in the other swing direction, the total length of the rope is compensated, and the ropes on two sides of the swing direction are kept in a tight state in the process, so that the running stability is improved. And through the driving design of the pure electric module, the quick troubleshooting, overhauling and replacing can be realized, and the working efficiency is improved.

Referring to fig. 1 to 7, in order to increase the output torque of the motors in each group of the rope twisting assemblies without changing the output power of the motors in each group of the rope twisting 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 connected to the second end of the thigh frame 200, far from the swing shaft of the first end of the thigh frame 200 on the base plate 100, so that the torque output of the first motor 510 and the second motor 570 is maximized; 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 swinging 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 lower leg frame 300, far from the swing shaft of the first end of the lower leg frame 300, so that the torque output of the third motor 610 and the fourth motor 670 is maximized, the first rope 540 and the third rope 640 are staggered, and the second rope 594 and the fourth rope 694 are staggered. Specifically, the two motors coaxially arranged in each group of rope twisting components can ensure that the output torque of the two motors in the group of rope twisting components is balanced and consistent, so that the stress of each section of rope is more uniform, and the overall service life is prolonged.

In order to make the ropes more easily folded and unfolded, referring to fig. 2 and 3, the thigh driving mechanism 500 further includes two first fixed pulleys 550 respectively disposed at the first end and the second end of the base plate 100, the first rope 540 is fixedly connected with the first fixing part 210 of the second end of the thigh frame 200 after passing around the first fixed pulley 550 at the first end of the base plate 100, and the second rope 594 is fixedly connected with the second fixing part 220 of the second end of the thigh frame 200 after passing around the first fixed pulley 550 at the second end of the base plate 100; referring to fig. 4 and 5, the boom driving mechanism 600 further includes two second fixed pulley blocks 650 disposed on the first end and the second end of the boom 400, the third rope 640 is fixedly connected to the third fixing portion 230 of the first end of the thigh frame 200 after passing around the second fixed pulley block 650 of the first end of the boom 400, and the fourth rope 694 is fixedly connected to the fourth fixing portion 240 of the first end of the thigh frame 200 after passing around the second fixed pulley block 650 of the second end of the boom 400; referring to fig. 6 and 7, the lower leg driving mechanism 700 further includes two first fixed pulleys 550 respectively disposed at the first end and the second end of the boom 400, the fifth rope 740 is fixedly connected to the fifth fixing portion 310 at the second end of the lower leg frame 300 after passing around the first fixed pulley 550 at the first end of the boom 400, and the sixth rope 791 is fixedly connected to the second fixing portion 220 at the second end of the lower leg frame 300 after passing around the first fixed pulley 550 at the second end of the boom 400. Specifically, the first fixed pulley block 550 can reduce the acting force exerted by the first rope 540, the second rope 594, the fifth rope 740 and the sixth rope 791 by half, the second fixed pulley block 650 can reduce the acting force exerted by the third rope 640 and the fourth rope 694 by half, so that the diameter of the required rope is reduced, and further, a winch with smaller diameter and a motor with lower power and smaller volume can be selected for reducing the weight of the mechanical leg, reducing the size of the mechanical leg and reducing the manufacturing cost.

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 suspension arm 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 suspension arm 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 bypassing the first fixed pulley block 550 intersects with the axial direction of the first pulley shaft 150 or the second pulley shaft 410, and the extension line of the rope bypassing the second fixed pulley block 650 intersects with the axial direction of the second pulley shaft 410, so that the rope is more linear to be retracted and released, further the stability of the thigh frame 200 and the shank frame 300 during swing is improved, and the auxiliary carrying of more electronic devices by the mechanical legs is facilitated.

Referring to fig. 9 to 11, the first pulley shaft 150 is provided with a first ring groove 151, and the second pulley shaft 410 is provided with three second ring grooves 411 in the axial direction; the first fixed pulley block 550 includes: a first fixed pulley bracket 552 rotatably connected to the first ring groove 151 or the intermediate second ring groove 411 through a first ring portion 553, and a first fixed pulley 551 rotatably provided on the first fixed pulley bracket 552; the second fixed pulley block 650 includes: the two second fixed pulleys 651 rotatably arranged on the second fixed pulley brackets 652 are rotatably connected with the second annular grooves 411 at the head and the tail through the two second annular parts 653, and the two second fixed pulleys 651 are distributed along the axial direction of the second pulley shaft 410; wherein the outer diameters of the first fixed pulley 551 and the second fixed pulley 651 are equal, and 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 winch 520 and the second winch 580 is less than the distance between the third winch 620 and the fourth winch 680. Specifically, the first ring groove 151 and the second ring groove 411 are matched with the first ring portion 553 and the second ring portion 653, so that the first fixed pulley block 550 and the second fixed pulley block 650 are prevented from being displaced in the axial direction, the diameter of the first fixed pulley 551 is matched with the distance between the first winch 520 and the second winch 580, the two second fixed pulleys 651 designed along the second pulley shaft 410 are matched with the distance between the third winch 620 and the fourth winch 680, the first rope 540 in the staggered state is positioned in the third rope 640, and the second rope 594 in the staggered state is positioned in the fourth rope 694, and interference is avoided.

In addition, the boom 400 is rotatably arranged at the outer ends of the swing shaft between the thigh frame 200 and the shank frame 300 in the axial direction, so that the thigh frame 200 and the shank frame 300 which are folded are further prevented from being interfered, the thigh frame 200 and the shank frame 300 are folded at the maximum angle, and the concealment of the mechanical legs and the robot 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 thigh frame 200 and the shank frame 300 of the thigh frame 200 on the same plane, so that the output moment of each winch is perpendicular to the substrate 100 or the boom 400; the rotation directions of the first fixed pulley 551 and the second fixed pulley 651 are perpendicular to the swing directions of the swing thigh frame 200 and the calf frame 300 of the thigh frame 200, so that the inlet end ropes and the outlet end ropes which pass through the first fixed pulley 551 and the second fixed pulley 651 are kept parallel to the swing axial direction of the calf frame 300 on the same plane, and interference between the ropes or folding of the ropes between the thigh frame 200 and the calf frame 300 is further avoided.

Referring to fig. 8, the base plate 100 is provided with a rotating seat 110; the rotating seat 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 as to improve the smoothness of rotation of the thigh frame 200. Referring to fig. 9, in order to improve the joint connection strength between the thigh frame 200 and the shank, in the present embodiment, a hinge portion 800 is provided between the thigh frame 200 and the shank 300, and the hinge portion 800 includes: hinge shaft 830 provided on the boom 400; the first end is rotated respectively and is connected thigh hinge 810 and shank hinge 820 on hinge axle 830, the second end and the thigh hinge 810 fixed connection of thigh frame 200, the first end and the shank hinge 820 fixed connection of shank frame 300, and hinge axle 830 is located thigh frame 200 and shank frame 300 folding direction, appears expanding excessive condition between thigh frame 200 and the shank frame 300 when effectively avoiding the load excessively, improves stability.

Referring to fig. 9, in order to further improve the shear force bearing performance of the hinge portion 800, the suspension arm 400 is further fixedly connected with a torsion bracket 430, and two ends of the hinge shaft 830 are respectively fixedly connected with the torsion bracket 430 through a hinge shaft cover 840; the suspension arm 400 is further provided with a reinforcing rib 420, two sides of the anti-torsion bracket 430 are matched with the reinforcing rib 420 through a matching groove, and the reinforcing rib 420 improves the shearing force bearing capacity between the suspension arm 400 and the anti-torsion bracket 430; the two sides of the torsion bracket 430 are also locked and fixed with the suspension arm 400 through a torsion fixing member 440, and the torsion fixing member 440 prevents the connection between the torsion 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 drive mechanical leg based on a boom hinge type joint according to the present invention includes: a substrate 100; a thigh frame 200, wherein a first end of the thigh frame 200 is rotatably connected to the base plate 100; a lower leg rest 300, a first end of the lower leg rest 300 being rotatably coupled to a second end of the thigh rest 200; a boom 400, wherein the boom 400 is coaxially and rotatably connected to the first end of the lower leg frame 300 at the second end of the thigh frame 200, and the boom 400 has a first end and a second end disposed at both ends of the swing direction of the second end of the thigh frame 200; the thigh driving mechanism 500, 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, a first fixed pulley block 550 respectively arranged on a first end and a second end of the base plate 100 along the swing 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 on the first end and the second end of the base plate 100 and are respectively connected to two ends of the swing direction of the first end of the thigh frame 200; a boom driving mechanism 600, the boom driving mechanism 600 comprising a third motor 610 provided on the thigh frame 200, a third winch 620 connected to an output shaft of the second motor 570, a second fixed pulley block 650 provided on a first end and a second end of the boom 400, respectively, and a second rope 594 wound around the third winch 620, both ends of the second rope 594 respectively winding around the two second fixed pulley blocks 650 on the first end and the second end of the boom 400 and being connected to both sides of the swing of the second end of the thigh frame 200; a lower leg driving mechanism 700, the lower leg driving mechanism 700 comprising a fifth motor 710 provided on the lower leg frame 300, a fifth winch 720 connected to an output shaft of the fifth motor 710, first fixed pulley blocks 550 provided on a first end and a second end of the boom 400, respectively, and a fifth rope 740 wound around the fifth winch 720, both ends of the fifth rope 740 being wound around the first fixed pulley blocks 550 on the first end and the second end of the boom 400, respectively, and connected to both sides of the swing of the second end of the lower leg frame 300; a foot 900, the foot 900 being connected to a second end of the lower leg 300; wherein the swing direction of the lower leg rest 300 is parallel to the swing direction of the upper leg rest 200 on the same plane. Through the cooperation of big moment of torsion motor, rope and fixed pulley structure among thigh drive structure, davit 400 drive structure and the shank drive structure to and the setting of davit 400 structure, effectively disperses the integral load of mechanical leg, increases each joint moment output of mechanical leg, effectively promotes the load obstacle crossing ability of mechanical leg, realizes that the load ability of single mechanical leg is 2.78 times of the hydraulic drive mechanical leg load ability of equidimension, and the drive mode durability of rope drive is high, thereby makes the ability adaptation more application scenario of foot formula robot.

Specifically, the position of the first motor 510 is set at a position of the thigh frame 200 near the first end, the third motor 610 is set at a position of the thigh frame 200 near the second end, the position of the fifth motor 710 is set at a position of the shank frame 300 near the second end, that is, the first rope 540 and the second rope 594 are staggered at both ends of the swing direction of the thigh frame 200, and by setting the motors far from the position structure of the fixed pulley group, the work load of the first motor 510, the third motor 610 and the fifth motor 710 is reduced, so that the mechanical leg can be maintained for a long time under the limited energy supply.

In addition, the foot 900 can be disassembled and replaced according to the use situation of the mechanical leg so as to adapt to different use situations.

Referring to fig. 15 and 16, the thigh drive mechanism 500 further includes: a first rotating shaft 591 axially arranged on the thigh frame 200 along the output shaft of the first motor 510; two first rotating disks 530 axially rotatably coupled to the first rotating shaft 591 along the first rotating shaft 591; a first elastic compensating movable pulley block 560 provided on the thigh frame 200; a second rotating shaft 592 provided on the thigh frame 200; a first rotating wheel 593 rotatably provided on the second rotating shaft 592; the first end of the first rope 540 passes 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 toggle force direction of the mechanical 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 from the first winch 520, and the first rope 540 moving direction of the first rotating disc 530 far from the first winch 520, which is connected to one end of the swing direction of the second end of the thigh frame 200 (i.e. the swing direction of the folding leg), so that when the first motor 510 drives the first winch 520 to rotate in the first time needle 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, so that the first rope 540 drives the first rotating disc 530 to rotate in the second time needle direction opposite to the first time needle 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 from the first rotating disc 530 close to the first winch 520 again, so that the first rope 530 far from the first winch 520 rotates in the first time needle direction, and the other rope 540 is reeved from the first rotating disc 520 to the first rotating disc 550 again, so as to reach the first rope pulley block 100; 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 and gradually moves towards the winding direction of the rope when the mechanical leg advances to stir the thigh frame 200, the first motor 510 for compensating the rope is through 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, and the axial directions of the first fixed pulley block 550 and the first elastic compensation movable pulley block 560 are perpendicular to the rotating directions of the first winch 520 and the first rotating disc 530, so that the first rope 540 after bypassing the structure is avoided from crossing interference.

Referring to fig. 17 and 18, the boom driving mechanism 600 further includes: a third rotating shaft 691 axially arranged on the thigh frame 200 along the output shaft of the third motor 610, and two second turntables 630 axially 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 compensating pulley block 660 provided on the thigh frame 200; a fourth rotation shaft 692 provided on the thigh frame 200; a second rotating wheel 693 rotatably provided on the fourth rotating shaft 692; the first end of the second rope 594 passes around the second fixed pulley block 650 on the first 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 mechanical leg folding swing direction); the second end of the second rope 594 sequentially bypasses the second rotating wheel 693, the second rotary table 630 on the output shaft of the third motor 610, the second elastic compensation movable pulley block 660, the second rotary table 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 direction of pulling force when the mechanical leg stretches), so that when the third motor 610 drives the third winch 620 to rotate in the first time needle direction, the second rotating wheel 693 changes the direction of the second rope 594 entering the second rotary table 630 on the output shaft of the third motor 610, so that the second rope 594 drives the second rotary table 630 to rotate in the second time needle direction opposite to the first time needle direction, and the second elastic compensation movable pulley block 660 changes the movement direction of the second rope 594 entering the second rotary table 630 on the third rotating shaft 691 from the second rotary table 630 on the output shaft of the third motor 610 again, so that the second rotary table 630 on the third rotating shaft 691 rotates in the first time needle direction, and the second rope 594 is sent back to the second fixed pulley block 650 again; 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 and gradually moves towards the winding direction of the rope when the mechanical leg advances to stir the thigh frame 200, the third motor 610 for compensating the rope is through the length of the second rope 594 stirred by the third winch 620, the influence of nonlinear change of the length of the second rope 594 in the motion stress process is reduced, 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, and the axial directions of the second fixed pulley block 650 and the second elastic compensation movable pulley block 660 are perpendicular to the rotation directions of the third winch 620 and the second turntable 630, so that the second rope 594 after bypassing the structure is avoided from crossing interference.

Referring to fig. 19 and 20, the lower leg driving mechanism 700 further includes: a fifth rotating shaft 770 axially provided on the lower leg rest 300 along the output shaft of the fifth motor 710; two third turntables 730 axially and rotatably connected to the fifth rotating shaft 770 along the output shaft of the fifth motor 710; a first elastic compensating movable pulley block 560 provided on the lower leg 300; a sixth rotation shaft 780 provided on the lower leg rest 300; rotating the third rotating wheel 790 disposed on the sixth rotating shaft 780; a first end of the fifth rope 740 is passed around the first fixed pulley block 550 on the first end of the boom 400 and is 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); the second end of the fifth rope 740 sequentially passes around 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 from the fifth winch 720 and the first fixed pulley block 550 on the second end of the boom 400, and is connected to one end of the swing direction of the second end of the lower leg 300 (i.e. the direction of pulling force when the mechanical leg stretches), so that when the fifth motor 710 drives the fifth winch 720 to rotate in the first time needle 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, the fifth rope 740 drives the third rotating disc 730 to rotate in the second time needle direction opposite to the first time needle 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 770 rotates in the first time needle direction, and the other rope 740 is reeved from the direction to the second fixed pulley block 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 and gradually moves towards the winding direction of the rope when the mechanical leg advances to stir the calf frame 300, the fifth motor 710 for compensating the rope is through the length of the fifth rope 740 stirred by the fifth winch 720, the influence of nonlinear change of the length of the fifth rope 740 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 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, and the axial directions of the first fixed pulley block 550 and the first elastic compensation movable pulley block 560 are perpendicular to the rotation directions of the fifth winch 720 and the third turntable 730, so that the fifth rope 740 after bypassing the structure is avoided from cross interference.

It should be mentioned that, through the above structure, make the motor quantity control of mechanical leg at three of this embodiment, and the load of mechanical leg obtains effectively keeping, makes the manufacturing cost of mechanical leg effectively reduce through reducing the quantity of motor, and the whole weight of mechanical leg effectively lightens, promotes the obstacle crossing ability of the multi-legged robot that has this application mechanical leg.

Referring to fig. 10, the first fixed pulley block 550 includes: a first fixed pulley bracket 552 connected to the base plate 100 and the boom 400, respectively; the first fixed pulley 551 provided on the first fixed pulley bracket 552 is rotated, and the first rope 540 or the fifth rope 740 is engaged to pass around the first fixed pulley 551, thereby completing the turning of the first rope 540 or the fifth rope 740.

Referring to fig. 12, the first elastic compensation 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 through a first spring 562; and, the first movable pulley 564 connected to the first movable pulley bracket 563 is rotated, the first rope 540 passes around the first movable pulley 564 in a matching way, so as to complete the re-steering of the first rope 540 or the fifth rope 740, and the first spring 562 is enhanced by the pulling force at the instant of the first rope 540 or the fifth rope 740 to compensate the length of the first rope 540 or the fifth rope 740, so that the influence of the nonlinear change of the rope on the mechanical leg is reduced.

Referring to fig. 11, the second fixed pulley block 650 includes: a second fixed pulley bracket 652 attached to the boom 400; turning a second fixed pulley 651 mounted on the second fixed pulley support 652, the second rope 594 bypassing the second fixed pulley 651, completing the steering of the second rope 594;

referring to fig. 13, the second elastic compensation movable pulley block 660 includes: a second connecting block 661 connected to the thigh frame 200; a second movable pulley bracket 663 connected to the second connecting block 661 by a second spring 662; the second movable pulley 664 arranged on the second movable pulley bracket 663 is rotated, the second rope 594 bypasses the second movable pulley 664 to finish the re-steering of the second rope 594, and the second spring 662 is enhanced by the pulling force at the instant of the second rope 594 to strengthen and stretch the length of the second rope 594 to compensate, 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 base plate 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, the boom 400 has a second pulley shaft 410 disposed at a first end and a second end thereof, respectively; wherein, the axial direction of the first pulley shaft 150 is in the same direction as the swing axis of the thigh frame 200, and the axial direction of the second pulley shaft 410 is in the same direction as the swing axis of the shank frame 300; wherein, a first ring groove 151 is formed on the first pulley shaft 150 in a ring manner; the second pulley shaft 410 is provided with a second ring groove 411 in a ring manner, the first fixed pulley bracket 552 is rotatably connected with the first ring groove 151 on the first pulley shaft 150 or the second ring groove 411 on the second pulley shaft 410 through a first ring portion 553, the second fixed pulley bracket 652 is rotatably connected with the second ring groove 411 on the second pulley shaft 410 through a second ring portion 653, the faults caused by displacement of the first fixed pulley block 550 and the second fixed pulley block 650 during operation are effectively avoided, and the rope winding and unwinding directions of ropes in the rope winding directions of the first fixed pulley block 550 and the second fixed pulley block 650 can be ensured, and the length of the ropes can not be changed due to the swing of the thigh frame 200, the boom 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 winch 520 and the first turntable 530 remote from the first winch 520 or the diameter of the first fixed pulley 551 is equal to the distance between the fifth winch 720 and the third turntable 730 remote from the fifth winch 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 disposed 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 winch 620 and the second turntable 630 far from the third winch 620; the second movable pulleys 664 are provided with two second movable pulleys 664 along the swing axis of the thigh frame 200, and the outer circumferential distance of the two second movable pulleys 664 along the swing axis of the thigh frame 200 is equal to the distance between the third winch 620 and the second turntable 630 far from the third winch 620, so that the multi-section first rope 540, the second rope 594 and the fifth rope 740 which are turned back by multiple times are kept parallel, and the condition of negotiating with adjacent ropes when the mechanical leg swings is avoided.

Referring to fig. 8, the base plate 100 is provided with a rotating seat 110; the rotating seat 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 as to improve the smoothness of rotation of the thigh frame 200.

Referring to fig. 9, in order to improve the joint connection strength between the thigh frame 200 and the lower leg cuff, the present embodiment further includes a hinge portion 800, and the hinge portion 800 includes: hinge shaft 830 provided on the boom 400; the thigh hinge 810 and the shank hinge 820 on the hinge shaft 830 are respectively connected 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 thigh frame 200 and the shank frame 300 in the forward swing direction, the situation that swing is excessive between the thigh frame 200 and the shank frame 300 when load is excessive is effectively avoided, and stability is improved.

Referring to fig. 9, in order to further improve the shear force bearing performance of the hinge portion 800, the torsion bracket 430 is fixedly connected to the suspension arm 400, and both ends of the hinge shaft 830 are fixedly connected to the torsion bracket 430 through the hinge shaft cover 840. The suspension arm 400 is further provided with a reinforcing rib 420, two sides of the anti-torsion bracket 430 are matched with the reinforcing rib 420 through a matching groove, and the reinforcing rib 420 improves the shearing force bearing capacity between the suspension arm 400 and the anti-torsion bracket 430; the two sides of the torsion bracket 430 are also locked and fixed with the boom 400 by torsion 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 swing direction, the first end of the first rope 540 is fixedly connected with the first fixing portion 210, and the second end of the first rope 540 is fixedly connected with the second fixing portion 220; a third fixing portion 230 and a fourth fixing portion 240 are respectively disposed at first ends of two ends of the thigh frame 200 in the swing direction, a first end of the second rope 594 is fixedly connected with the third fixing portion 230, and a second end of the second rope 594 is fixedly connected with the fourth fixing portion 240; a fifth fixing portion 310 and a sixth fixing portion 320 are respectively disposed at the second ends of the two ends of the lower leg frame 300 in the swinging direction, a first end of the fifth rope 740 is fixedly connected with the fifth fixing portion 310, and a second end of the fifth rope 740 is fixedly connected with 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 torsion fixing member 440 prevents the connection between the torsion bracket 430 and the boom 400 from loosening.

The present invention is not limited to the above embodiments, but can be modified, equivalent, improved, etc. by the same means to achieve the technical effects of the present invention, which are included in the spirit and principle of the present disclosure. Are intended to fall within the scope of the present invention. Various modifications and variations are possible in the technical solution and/or in the embodiments within the scope of the invention.

Claims

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

a substrate (100);

a thigh frame (200), a first end of the thigh frame (200) being rotatably connected to the base plate (100);

a lower leg (300), a first end of the lower leg (300) being rotatably connected to a second end of the thigh (200);

a boom (400), the boom (400) being rotatably connected coaxially with the first end of the lower leg frame (300) on the second end of the thigh frame (200), and the boom (400) having a first end and a second end in a swinging direction of the second end of the thigh frame (200);

a thigh drive mechanism (500), the thigh drive mechanism (500) comprising a first rope (540) and a second rope (594) connected with a first end and a second end of the base plate (100) along the swing direction of the thigh frame (200), respectively, and a first rope assembly for winding and unwinding the first rope (540) and the second rope (594), the first rope assembly being provided 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 a first end and a second end of the boom (400), respectively, and a second rope assembly for paying in and paying out the third rope (640) and the fourth rope (694), the second rope assembly being provided on the thigh frame (200);

A lower leg driving mechanism (700), the lower leg driving mechanism (700) comprising a fifth rope (740) and a sixth rope (791) connected to the first end and the second end of the boom (400), respectively, and a third rope assembly for winding and unwinding the fifth rope (740) and the sixth rope (791), the third rope assembly being provided on the lower leg frame (300);

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

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

2. The all-motor-driven rope drive mechanical leg based on the hinge joint of the suspension arm according to claim 1, wherein,

the first rope 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 connected to a first end of the base plate (100) after being wound;

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 connected to a second end of the base plate (100) after being wound;

The second rope assembly includes:

a third motor (610) having a third winch (620) on an output shaft, the third motor (610) being connected to the thigh frame (200), and an end of the third rope (640) being fixed to the third winch (620) and being connected to the first end of the boom (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 thigh frame (200), and an end of the fourth rope (694) being fixed to the fourth winch (680) and being connected to the second end of the boom (400) after being wound;

the third strand assembly includes:

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

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

3. The all-motor-driven rope drive mechanical leg based on the hinge joint of the suspension arm according to claim 2, wherein,

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 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. The all-motor-driven rope drive mechanical leg based on the hinge joint of the suspension arm according to claim 2, wherein,

the thigh driving mechanism (500) further comprises two first fixed pulley blocks (550) respectively arranged at the first end and the second end of the base plate (100), the first rope (540) bypasses the first fixed pulley blocks (550) at the first end of the base plate (100) and is fixedly connected with the first fixing parts (210) at the second end of the thigh frame (200), and the second rope (594) bypasses the first fixed pulley blocks (550) at the second end of the base plate (100) and is fixedly connected with the second fixing parts (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 blocks (650) at the first end of the suspension arm (400) and is fixedly connected with the third fixing part (230) at the first end of the thigh frame (200), and the fourth rope (694) bypasses the second fixed pulley blocks (650) at the second end of the suspension arm (400) and is fixedly connected with the fourth fixing part (240) at the first end of the thigh frame (200);

the lower leg 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 blocks (550) at the first end of the suspension arm (400) and is fixedly connected with the fifth fixed part (310) at the second end of the lower leg frame (300), and the sixth rope (791) bypasses the first fixed pulley blocks (550) at the second end of the suspension arm (400) and is fixedly connected with the second fixed part (220) at the second end of the lower leg frame (300).

5. The all-motor-driven rope drive mechanical leg based on the hinge joint of the suspension arm according to claim 4, wherein,

pulley seats (120) are respectively arranged at the first end and the second end of the base plate (100), a first pulley shaft (150) is arranged on the pulley seats (120), and the first fixed pulley block (550) is rotationally connected to the first pulley shaft (150);

A first pulley shaft (410) is arranged at the first end and the second end of the suspension arm (400), and a first fixed pulley block (550) and a second fixed pulley block (650) at the first end and the second end of the suspension arm (400) are rotatably connected to the second pulley shaft (410);

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

6. The all-motor-driven rope drive mechanical leg based on the hinge joint of the suspension arm according to claim 5, wherein,

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

three second ring grooves (411) are axially formed in the second pulley shaft (410);

the first fixed pulley block (550) comprises:

a first fixed pulley bracket (552) which is rotationally 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 fixed pulley block (650) comprises:

a second fixed pulley bracket (652) which is connected with the two second annular grooves (411) at the head and the tail through the two second annular parts (653) in a rotating way,

two second fixed pulleys (651) rotatably arranged on the second fixed pulley bracket (652), and the two second fixed pulleys (651) are distributed along the axial direction of the second pulley shaft (410);

Wherein the outer diameters of the first fixed pulley (551) and the second fixed pulley (651) are equal.

7. The all-motor-driven rope drive mechanical leg based on the hinge joint of the suspension arm according to claim 6, wherein,

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 thigh frame (200) and the calf frame (300) of the thigh frame (200) on the same plane;

the rotation direction of the first fixed pulley (551) and the second fixed pulley (651) is vertical to the swing direction of the swing thigh frame (200) and the swing direction of the shank frame (300) of the thigh frame (200) on the same plane.

8. The all-motor-driven rope drive mechanical leg based on the hinge joint of the suspension arm according to claim 7, wherein,

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

9. The all-motor-driven rope drive mechanical leg based on the hinge joint of the suspension arm according to claim 1, wherein,

A rotating seat (110) is arranged on the base plate (100);

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

hinge part (800) is equipped with between thigh frame (200) and shank frame, hinge part (800) include:

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

the first end 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. The all-motor-driven rope drive mechanical leg based on the hinge joint of the suspension arm according to claim 9, wherein,

the suspension arm (400) is also fixedly connected with a torsion-resistant bracket (430), and two ends of the hinge shaft (830) are respectively fixedly connected with the torsion-resistant bracket (430) through a hinge shaft cover (840);

the suspension arm (400) is also provided with a reinforcing rib (420), and two sides of the torsion-resistant bracket (430) are matched with the reinforcing rib (420) through a matching groove;

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