CN206885199U

CN206885199U - A kind of robot leg drive device

Info

Publication number: CN206885199U
Application number: CN201720622892.8U
Authority: CN
Inventors: 洪灿雄
Original assignee: Crust Robotics Ltd
Current assignee: Crust Robotics Ltd
Priority date: 2017-05-31
Filing date: 2017-05-31
Publication date: 2018-01-16
Anticipated expiration: 2027-05-31

Abstract

The utility model discloses a kind of robot leg drive device, including thigh drive device, motion of knee joint mechanism and shank drive device；Thigh drive device includes thigh support plate and one group of thigh drive mechanism；Shank drive device includes shin support panel and two groups of shank drive mechanisms；Motion of knee joint mechanism is arranged between thigh support plate and shin support panel, and motion of knee joint mechanism relatively rotates matching relationship as thigh support plate by pin joint between shin support panel, formation；Thigh drive mechanism is used to promote shin support panel to produce wobbling action along pin joint；Two groups of shank drive mechanisms are used to make a concerted effort to drive to drive sole running gear to rotate wobbling action along realization on the bearing of trend of shin support panel.Robot leg drive device provided by the utility model, there is skimulated motion to act various, simulated performance is strong, highly reliable, all many technical advantages such as reasonable in design and practical.

Description

A kind of robot leg drive device

Technical field

It the utility model is related to robotic equipment technical field, more particularly to a kind of robot leg drive device.

Background technology

It is well known that robot is the automatic installations for performing work.Its task is assistance or substitution human work Work, such as production industry, construction industry, or dangerous work.As the improvement of people's living standards, our daily life Also increasingly us are helped to complete a few thing by robot, such as：The robot of job shop, the machine for performing task of taking photo by plane Device people and anthropomorphic robot of simulation human body compound action etc.；

One of the high-end product of anthropomorphic robot as industry manufacture field, played for industrial intelligent process very heavy The effect wanted.

Anthropomorphic robot has a wide range of applications field, and it can not only be carried out generation under the adverse circumstances such as poisonous, dust People's operation, and in medical field, can also assist a physician and be performed the operation, while the effective rehabilitation of handicapped patients is helped, in addition It is also of common occurrence in the field such as amusement and manual service.Anthropomorphic robot has advantage as is evident below compared to other robot： Relatively wheeled first or caterpillar mobile robot, double feet walking anthropomorphic robot have more flexible locomitivity, Neng Goushi Various complicated ground environments are answered, go beyond obstacle ability with stronger；And relatively common robot, anthropomorphic robot have more Intellectuality, interactive capability can be better achieved.

Important component of the leg as anthropomorphic robot, the quality of its structure design directly affect whole anthropomorphic machine The exercise performance of device people.Up to the present, the pertinent literature and patent on the design of anthropomorphic robot leg are primarily directed to pass Two aspects such as section configuration, drive device are improved optimization.In terms of joint configuration, from the comparative maturity studied both at home and abroad Anthropomorphic robot from the point of view of, most robot leg is all to use serial configured；Such as boston, U.S.A utility companies Atlas robots, the Asimo robots of Japanese honda company, " converging virgin " robot, the National University of Defense technology of Beijing Institute of Technology " forerunner " robot etc., but due to serial mechanism it is intrinsic the defects of, transmission accuracy still be present in above-mentioned anthropomorphic robot Low, the deficiencies of rigidity is small, bearing capacity is small.Additionally while also there is " the WL- using parallel architecture, such as Japanese Waseda University 16 " robots, but because parallel institution working space is small so that robot dexterity is restricted.In terms of drive device, Current most of robots all use DC motor Driver, and realize that joint is revolved by harmonic speed reducer and Synchronous Belt Drives Turn, such as Asimo robots, also have using hydraulic-driven, such as Atlas robots, but above two type of drive is all present The problems such as manufacturing cost is high, weight is big, control is complicated.

Therefore, how to overcome the above-mentioned technological deficiency of traditional anthropomorphic robot is the skill that those skilled in the art are badly in need of solving Art problem.

Utility model content

The purpose of this utility model is to provide a kind of robot leg drive device, to solve the above problems.

In order to achieve the above object, the technical solution of the utility model is realized in：

The utility model provides a kind of robot leg drive device, and the robot leg drive device includes thigh Drive device, motion of knee joint mechanism and shank drive device；The thigh drive device includes thigh support plate and one group big Leg drive mechanism；The thigh drive mechanism is fixedly connected on the thigh support plate；The shank drive device includes small Leg supporting plate and two groups of shank drive mechanisms；Shank drive mechanism described in two groups is fixedly connected on the shin support panel both sides；

The motion of knee joint mechanism is arranged between the thigh support plate and the shin support panel, and the knee closes Motion is saved as the thigh support plate by pin joint between the shin support panel, is formed to relatively rotate to coordinate and closed System；The thigh drive mechanism is used to promote the shin support panel to produce wobbling action along the pin joint；Described in two groups Shank drive mechanism is used to make a concerted effort to drive to drive on bearing of trend of the sole running gear along the shin support panel in fact Now rotate wobbling action.

Preferably, can embodiment as one kind；The thigh drive mechanism is included along the thigh support plate from upper Under and successively order arrangement first straight line motor, the first electric machine support, first shaft coupling, first fix end bearing block, First feed screw nut, the first push rod, first bearing seat, the first support end bearing block and the first ball-screw, pivot link；

Wherein, first electric machine support is fixedly connected on thigh support plate；The first straight line motor is fixed The first electric machine support is connected to, and the first ball screw turns are driven by first shaft coupling；Described first fixes end bearing block Bearing is mounted on in the described first support end bearing block；The both ends of first ball-screw are respectively protruding into described first The brearing bore of fixed end bearing block and the first support end bearing block is simultaneously rotatably assorted；First ball-screw with it is described First feed screw nut, which coordinates, forms ball-screw kinematic pair；One end of first push rod is fixedly connected on the first leading screw spiral shell On mother, the other end of first push rod, which is stretched into the first bearing seat, to be slidably matched, and passes through the pivot link and institute State shin support panel connection；

The head end of the pivot link is rotatably assorted with first push rod, and the tail end of the pivot link with it is described small Leg supporting plate is rotatably assorted.

Preferably, can embodiment as one kind；The first straight line motor is specially servomotor.

Preferably, can embodiment as one kind；The shank drive mechanism is included along the shin support panel from upper Under and successively order arrangement second straight line motor, the second electric machine support, second shaft coupling, second fix end bearing block, Second feed screw nut, the second push rod, second bearing seat, the second support end bearing block and the second ball-screw, fixed connecting rod；

Wherein, second electric machine support is fixedly connected on shin support panel；The second straight line motor is fixed The second electric machine support is connected to, and the second ball screw turns are driven by second shaft coupling；Described second fixes end bearing block Bearing is mounted on in the described second support end bearing block；The both ends of second ball-screw are respectively protruding into described second The brearing bore of fixed end bearing block and the second support end bearing block is simultaneously rotatably assorted；Second ball-screw with it is described Second feed screw nut, which coordinates, forms ball-screw kinematic pair；One end of second push rod is fixedly connected on the second leading screw spiral shell On mother, the other end of second push rod, which is stretched into the second bearing seat, to be slidably matched, and passes through the fixed connecting rod and institute State the connection of sole running gear；

The head end of the fixed connecting rod is fixedly connected with second push rod, and the tail end of the fixed connecting rod and the pin Palm running gear is fixedly connected.

Preferably, can embodiment as one kind；The second straight line motor is specially servomotor.

Preferably, can embodiment as one kind；The motion of knee joint mechanism includes U types mounting groove and two methods Blue disk, rotary shaft；

The rotary shaft passes through on the both ends cell wall of the U-shaped mounting groove and is connected to the both sides of the U types mounting groove Two ring flanges on；The U-shaped mounting groove is located at the bottom of the thigh support plate, the top of the shin support panel It is inserted into the U-shaped mounting groove and is rotatably assorted by rotary shaft.

Preferably, can embodiment as one kind；Engraved structure is provided with the surface of the thigh support plate.

Preferably, can embodiment as one kind；The engraved structure on the thigh support plate is waist-shaped hole；And institute The arragement direction for stating the waist-shaped hole on thigh support plate is set along the thigh support plate bearing of trend；

Preferably, can embodiment as one kind；Engraved structure is provided with the surface of the shin support panel.

Preferably, can embodiment as one kind；The engraved structure on the shin support panel is waist-shaped hole；And institute The arragement direction for stating the waist-shaped hole on shin support panel is set along the shin support panel bearing of trend.

Compared with prior art, it is the advantages of the utility model embodiment：

A kind of robot leg drive device provided by the utility model, the machine that analysis the utility model embodiment provides The primary structural configurations of people leg drive device are understood：

Wherein, the leg drive device includes thigh drive device, motion of knee joint mechanism and shank drive device；Institute Stating thigh drive device includes thigh support plate and one group of thigh drive mechanism；The thigh drive mechanism is fixedly connected on described On thigh support plate；The shank drive device includes shin support panel and two groups of shank drive mechanisms；Shank described in two groups drives Motivation structure is fixedly connected on the shin support panel both sides；

The motion of knee joint mechanism is arranged between the thigh support plate and the shin support panel, and the knee closes Motion is saved as the thigh support plate by pin joint between the shin support panel, is formed to relatively rotate to coordinate and closed System；The thigh drive mechanism is used to promote the shin support panel to produce wobbling action along the pin joint；Described in two groups Shank drive mechanism is used to make a concerted effort to drive to drive on bearing of trend of the sole running gear along the shin support panel in fact Now rotate wobbling action；

In the structure of leg drive device；The leg drive device includes thigh drive device, motion of knee joint machine Structure and shank drive device；The thigh drive device includes thigh support plate and one group of thigh drive mechanism；The shank drives Dynamic device includes shin support panel and two groups of shank drive mechanisms；Shank drive mechanism is fixedly connected on the shank described in two groups Supporting plate both sides；The thigh drive mechanism is used to promote the shin support panel to produce wobbling action along the pin joint； Shank drive mechanism described in two groups is used to make a concerted effort to drive the extension for driving the sole running gear along the shin support panel Realized on direction and rotate wobbling action；Above-mentioned leg drive device mainly employs serial mechanism；Motion of knee joint mechanism simultaneously It is the planar linkage mechanism with single-degree-of-freedom, powered motion caused by thigh drive device can be converted into shank drive device Rotary motion；Wherein, thigh drive device is driving shank drive device rotational motion major impetus output device, by big Leg drive device provides an action (i.e. the rotational action can imitate the action (i.e. wobbling action) that human calf strides forward)； Shank drive device drives other auxiliary equipment (i.e. shin support panels and two groups of shank drive mechanisms and pin of its underpart simultaneously Palm running gear etc.) stride forward together；Shank drive mechanism described in two groups is to drive the main of sole running gear to move simultaneously Power output device, is used to making a concerted effort to drive and drives the sole running gear along described small by shank drive mechanism described in two groups Realized on the bearing of trend of leg supporting plate and rotate wobbling action (realizing simulation human calf and the action that pin strides forward)； So, can complete to act human body lower limbs skimulated motion by leg drive device.

To sum up, robot leg drive device provided by the utility model, it compensate for conventional serial robot and biography The technical deficiency of system parallel robot, has taken into account both technical advantages.Robot leg driving dress provided by the utility model Put, it has, and skimulated motion action is various, and simulated performance is strong, highly reliable, reasonable in design and practical etc. all multi-party The technical advantage in face；Therefore, generally speaking, robot leg drive device provided by the utility model is a kind of high quality, mould The robot system that plan ability is strong, action executing precision is high.

Brief description of the drawings

, below will be right in order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art The required accompanying drawing used is briefly described in embodiment or description of the prior art, it should be apparent that, describe below In accompanying drawing be some embodiments of the present utility model, for those of ordinary skill in the art, do not paying creativeness On the premise of work, other accompanying drawings can also be obtained according to these accompanying drawings.

Fig. 1 is the three-dimensional general assembly structural representation for the robot leg drive device that the utility model embodiment provides；

Fig. 2 is the main view general assembly structural representation for the robot leg drive device that the utility model embodiment provides；

Fig. 3 is the three-dimensional general assembly concrete structure signal for the robot leg drive device that the utility model embodiment provides Figure；

Fig. 4 is the partial structural diagram for the robot leg drive device that the utility model embodiment provides；

Fig. 5 is the thigh driving mechanism structure signal in the robot leg drive device that the utility model embodiment provides Figure；

Fig. 6 is the shank driving mechanism structure signal in the robot leg drive device that the utility model embodiment provides Figure；

Fig. 7 is the kinematic sketch for the robot leg drive device that the utility model embodiment provides；

Label：100- legs drive device；110- thigh drive devices；111- thigh support plates；112- thigh driving machines Structure；1121- first straight line motors；The electric machine supports of 1122- first；1123- first shaft couplings；1124- the first fixing end axles Bearing；The feed screw nuts of 1125- first；The push rods of 1126- first；1127- first bearing seats；1128- first supports end bearing block； The ball-screws of 1129- first；1130- pivot links；120- motion of knee joint mechanism；130- shank drive devices；131- shanks Supporting plate；132- shank drive mechanisms；1321- second straight line motors；The electric machine supports of 1322- second；The shaft couplings of 1323- second Device；1324- second fixes end bearing block；The feed screw nuts of 1325- second；The push rods of 1326- second；1327- second bearing seats； 1328- second supports end bearing block；The ball-screws of 1329- second；1330- fixes connecting rod.

Embodiment

The technical solution of the utility model is clearly and completely described below in conjunction with accompanying drawing, it is clear that described Embodiment is the utility model part of the embodiment, rather than whole embodiments.Based on the embodiment in the utility model, sheet The every other embodiment that field those of ordinary skill is obtained under the premise of creative work is not made, belongs to this practicality Novel protected scope.

, it is necessary to explanation in description of the present utility model, term " " center ", " on ", " under ", it is "left", "right", " perpendicular Directly ", the orientation of the instruction such as " level ", " interior ", " outer " or position relationship are based on orientation shown in the drawings or position relationship, are only Described for the ease of description the utility model and simplifying, rather than instruction or imply signified device or element must have it is specific Orientation, with specific azimuth configuration and operation, therefore it is not intended that to limitation of the present utility model.In addition, term " the One ", " second ", " the 3rd " are only used for describing purpose, and it is not intended that instruction or hint relative importance.

, it is necessary to which explanation, unless otherwise clearly defined and limited, term " are pacified in description of the present utility model Dress ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integratedly Connection；Can be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected by intermediary, It can be the connection of two element internals.For the ordinary skill in the art, above-mentioned art can be understood with concrete condition Concrete meaning of the language in the utility model.

The utility model is described in further detail below by specific examples of the implementation and with reference to accompanying drawing.

Referring to Fig. 1, Fig. 2 and Fig. 3, Fig. 4, a kind of robot leg drive device of the utility model embodiment offer 100, including thigh drive device 110, motion of knee joint mechanism 120 and shank drive device 130；The thigh drive device 110 include thigh support plate 111 and one group of thigh drive mechanism 112；The thigh drive mechanism 112 is fixedly connected on described On thigh support plate 111；The shank drive device 130 includes shin support panel 131 and two groups of shank drive mechanisms 132；Two The group shank drive mechanism 132 is fixedly connected on the both sides of shin support panel 131；

The motion of knee joint mechanism 120 is arranged between the thigh support plate 111 and the shin support panel 131, And the motion of knee joint mechanism 120 passes through as the thigh support plate 111 and is hinged between the shin support panel 131 Point, formed and relatively rotate matching relationship；The thigh drive mechanism 112 is used to promote the shin support panel 131 along described Pin joint produces wobbling action；Shank drive mechanism 132 described in two groups is used to make a concerted effort to drive to drive the sole running gear edge And rotation wobbling action is realized on the bearing of trend of the shin support panel 131；

The primary structure for analyzing above-mentioned robot leg drive device understands that the leg drive device 100 includes thigh Drive device 110, motion of knee joint mechanism 120 and shank drive device 130；The thigh drive device includes thigh support plate With one group of thigh drive mechanism；The thigh drive mechanism is fixedly connected on the thigh support plate；The shank driving dress Put including shin support panel and two groups of shank drive mechanisms；Shank drive mechanism is fixedly connected on the leg support described in two groups Plate both sides；

The concrete structure and particular technique of the robot leg drive device provided below the utility model embodiment Effect, which is done, to be described in detail：

Preferably, can embodiment as one kind；Fig. 1 and Fig. 5 are see also, in thigh driving device structure；It is described big Leg drive mechanism 112 is included along the thigh support plate first straight line motor that order is arranged successively from top to bottom 1121st, the first electric machine support 1122, first shaft coupling 1123, first fix end bearing block 1124, the first feed screw nut 1125, the One push rod 1126, first bearing seat 1127, first support the ball-screw 1129 of end bearing block 1128 and first, pivot link 1130；

Wherein, first electric machine support 1122 is fixedly connected on thigh support plate；The first straight line motor 1121 are fixedly connected on the first electric machine support 1122, and drive the first ball-screw 1129 to rotate by first shaft coupling 1123； Bearing is mounted in the first fixation end bearing block 1124 and the first support end bearing block 1128；First rolling The both ends of ballscrew 1129 are respectively protruding into fixes end bearing block 1124 and the first support end bearing block 1128 described first Brearing bore and be rotatably assorted；First ball-screw 1129 coordinates with first feed screw nut 1125 forms ball Guide screw movement pair；One end of first push rod 1126 is fixedly connected on first feed screw nut 1125, and described first pushes away The other end of bar 1126 is stretched into the first bearing seat 1127 and is slidably matched, and by the pivot link 1130 with it is described Shin support panel connects；

The head end of the pivot link 1130 is rotatably assorted with first push rod 1126, and the pivot link 1130 Tail end is rotatably assorted with the shin support panel.

It should be noted that relevant ball screw assembly,；Ball screw assembly, also known as ball wire bar pair, ball screw pair.Be by Two supporting compositions of leading screw and nut.It is that precision highest is also the most frequently used transmission device in current gearing.Ball wire Bar pair is the worm drive element using steel ball as rolling element between leading screw and nut.Rotary motion can be changed into straight line fortune by it It is dynamic, or linear motion is changed into rotary motion.Therefore ball screw assembly, is both transmission original paper, and linear motion and rotation Move mutual conversion elements.As shown in fig. 7, motion of knee joint mechanism is the planar linkage mechanism for having single-degree-of-freedom, can be by Transform linear motion caused by one linear drive apparatus is the rotary motion of shank drive device, and specific works mode is：When During (or upward) motion downwards of one linear drive apparatus, pivot link can rotate around (clockwise) direction counterclockwise, so as to drive Shank drive device rotates along (clockwise) direction counterclockwise.

Preferably, can embodiment as one kind；The first straight line motor 1121 is specially servomotor.

It should be noted that above-mentioned first straight line motor can select the motor using multiple structural forms, such as Common electric machine, servomotor and stepper motor；But in the technical scheme of the present embodiment, first straight line motor is preferred Use servomotor.

Preferably, can embodiment as one kind；Fig. 1 and Fig. 6 are see also, in shank driving device structure；It is described small Leg drive mechanism 132 is included along the shin support panel second straight line motor that order is arranged successively from top to bottom 1321st, the second electric machine support 1322, second shaft coupling 1323, second fix end bearing block 1324, the second feed screw nut 1325, the Two push rods 1326, second bearing seat 1327, second support the ball-screw 1329 of end bearing block 1328 and second, fixed connecting rod 1330；

Wherein, second electric machine support 1322 is fixedly connected on shin support panel；The second straight line motor 1321 are fixedly connected on the second electric machine support 1322, and drive the second ball-screw 1329 to rotate by second shaft coupling 1323； Bearing is mounted in the second fixation end bearing block 1324 and the second support end bearing block 1328；Second rolling The both ends of ballscrew 1329 are respectively protruding into fixes end bearing block 1324 and the second support end bearing block 1328 described second Brearing bore and be rotatably assorted；Second ball-screw 1329 coordinates with second feed screw nut 1325 forms ball Guide screw movement pair；One end of second push rod 1326 is fixedly connected on second feed screw nut 1325, and described second pushes away The other end of bar 1326 is stretched into the second bearing seat 1327 and is slidably matched, and by the fixed connecting rod 1330 with it is described Sole running gear connects；

The head end of the fixed connecting rod 1330 is fixedly connected with second push rod 1326, and the fixed connecting rod 1330 Tail end is fixedly connected with the sole running gear.

Preferably, can embodiment as one kind；The second straight line motor 1321 is specially servomotor.

It should be noted that above-mentioned second straight line motor can select the motor using multiple structural forms, such as Common electric machine, servomotor and stepper motor；But in the technical scheme of the present embodiment, second straight line motor is preferred Use servomotor.

Preferably, can embodiment as one kind；In motion of knee joint mechanism structure；The motion of knee joint mechanism 120 include U-shaped mounting groove and two ring flanges, rotary shafts；

It should be noted that motion of knee joint mechanism is the planar linkage mechanism for having single-degree-of-freedom, thigh can be driven Powered motion caused by device is converted into the rotary motion of shank drive device；

Preferably, can embodiment as one kind；Engraved structure is provided with the surface of the thigh support plate 111. The engraved structure is waist-shaped hole；And the arragement direction of the waist-shaped hole on the thigh support plate is along the thigh support Plate bearing of trend is set；

Preferably, can embodiment as one kind；Engraved structure is provided with the surface of the shin support panel 131. The engraved structure is waist-shaped hole；And the arragement direction of the waist-shaped hole on the shin support panel is along the leg support Plate bearing of trend is set.

In concrete structure, engraved structure is provided with the surface of the thigh support plate and the shin support panel. The engraved structure is waist-shaped hole；And the arragement direction of the waist-shaped hole on the thigh support plate is along the thigh support Plate bearing of trend is set；And the arragement direction of the waist-shaped hole on the shin support panel extends along the shin support panel Direction is set.It should be noted that engraved structure is provided with the surface of thigh support plate and the shin support panel, it is above-mentioned Design is with prominent technique effect；One side engraved structure can be advantageous to maintain thigh support plate and shin support panel stress Balance, another aspect engraved structure can be advantageous to thigh support plate and shin support panel and mitigate weight, reduce driving structure The load exported to it.

The robot leg drive device that the utility model embodiment provides has the technical advantage of following aspect：

First, the robot leg drive device that the utility model embodiment provides, it includes thigh drive device, knee joint Motion and shank drive device；Thigh drive device includes thigh support plate and one group of thigh drive mechanism；Shank drives Device includes shin support panel and two groups of shank drive mechanisms；Motion of knee joint mechanism is arranged on thigh support plate and leg support Between plate, and motion of knee joint mechanism is relatively rotated as thigh support plate by pin joint between shin support panel, formation Matching relationship；Thigh drive mechanism is used to promote shin support panel to produce wobbling action along pin joint；Two groups of shank driving machines Structure is used to make a concerted effort to drive to drive sole running gear to rotate wobbling action along realization on the bearing of trend of shin support panel.It is above-mentioned Thigh drive device, motion of knee joint mechanism and shank drive device all have special structure design, and concrete structure device Between connection, layout etc. all have cleverly design；Therefore, the robot leg driving dress that the utility model embodiment provides Put, its design is more reasonable, and system architecture is more novel, function is more perfect.

2nd, the robot leg drive device that the utility model embodiment provides, can be completed by leg drive device Human body lower limbs skimulated motion is acted.It is various that there is skimulated motion to act for it, and simulated performance is strong, and locomitivity is strong, structure design The significant technical advantage such as rationally.

3rd, the robot leg drive device that the utility model embodiment provides, highly reliable, performance brilliance and practicality By force.

Many significant technical advantages, robot leg drive device provided by the utility model will be brought based on more than Good market prospects and economic benefit.

Finally it should be noted that：Various embodiments above is only to illustrate the technical solution of the utility model, rather than it is limited System；Although the utility model is described in detail with reference to foregoing embodiments, one of ordinary skill in the art should Understand：It can still modify to the technical scheme described in foregoing embodiments, either to which part or whole Technical characteristic carries out equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from this practicality newly The scope of each embodiment technical scheme of type.

Claims

A kind of 1. robot leg drive device, it is characterised in that

The robot leg drive device includes thigh drive device, motion of knee joint mechanism and shank drive device；It is described Thigh drive device includes thigh support plate and one group of thigh drive mechanism；The thigh drive mechanism is fixedly connected on described big In leg supporting plate；The shank drive device includes shin support panel and two groups of shank drive mechanisms；Shank described in two groups drives Mechanism is fixedly connected on the shin support panel both sides；

The motion of knee joint mechanism is arranged between the thigh support plate and the shin support panel, and the knee joint is transported Motivation structure, by pin joint between the shin support panel, forms as the thigh support plate and relatively rotates matching relationship； The thigh drive mechanism is used to promote the shin support panel to produce wobbling action along the pin joint；Shank described in two groups Drive mechanism is used to make a concerted effort to drive to drive to realize pendulum rotating on bearing of trend of the sole running gear along the shin support panel Action.
2. robot leg drive device as claimed in claim 1, it is characterised in that

The thigh drive mechanism is included along the thigh support plate first straight line driving of order arrangement successively from top to bottom Motor, the first electric machine support, first shaft coupling, first fix end bearing block, the first feed screw nut, the first push rod, clutch shaft bearing Seat, the first support end bearing block and the first ball-screw, pivot link；

Wherein, first electric machine support is fixedly connected on thigh support plate；The first straight line motor is fixedly connected The first ball screw turns are driven in the first electric machine support, and by first shaft coupling；Described first fixes end bearing block and institute State in the first support end bearing block and be mounted on bearing；The both ends of first ball-screw are respectively protruding into be fixed described first The brearing bore of end bearing block and the first support end bearing block is simultaneously rotatably assorted；First ball-screw and described first Feed screw nut, which coordinates, forms ball-screw kinematic pair；One end of first push rod is fixedly connected on first feed screw nut On, the other end of first push rod, which is stretched into the first bearing seat, to be slidably matched, and by the pivot link with it is described Shin support panel connects；

The head end of the pivot link is rotatably assorted with first push rod, and the tail end of the pivot link and the shank branch Fagging is rotatably assorted.
3. robot leg drive device as claimed in claim 2, it is characterised in that

The first straight line motor is specially servomotor.
4. robot leg drive device as claimed in claim 1, it is characterised in that

The shank drive mechanism is included along the shin support panel second straight line driving of order arrangement successively from top to bottom Motor, the second electric machine support, second shaft coupling, second fix end bearing block, the second feed screw nut, the second push rod, second bearing Seat, the second support end bearing block and the second ball-screw, fixed connecting rod；

Wherein, second electric machine support is fixedly connected on shin support panel；The second straight line motor is fixedly connected The second ball screw turns are driven in the second electric machine support, and by second shaft coupling；Described second fixes end bearing block and institute State in the second support end bearing block and be mounted on bearing；The both ends of second ball-screw are respectively protruding into be fixed described second The brearing bore of end bearing block and the second support end bearing block is simultaneously rotatably assorted；Second ball-screw and described second Feed screw nut, which coordinates, forms ball-screw kinematic pair；One end of second push rod is fixedly connected on second feed screw nut On, the other end of second push rod, which is stretched into the second bearing seat, to be slidably matched, and by the fixed connecting rod with it is described Sole running gear connects；

The head end of the fixed connecting rod is fixedly connected with second push rod, and the tail end of the fixed connecting rod and the sole row Walking apparatus is fixedly connected.
5. robot leg drive device as claimed in claim 4, it is characterised in that

The second straight line motor is specially servomotor.
6. robot leg drive device as claimed in claim 1, it is characterised in that

The motion of knee joint mechanism includes U-shaped mounting groove and two ring flanges, rotary shafts；

The rotary shaft passes through on the both ends cell wall of the U-shaped mounting groove and is connected to the two of the both sides of the U-shaped mounting groove On the individual ring flange；The U-shaped mounting groove is located at the bottom of the thigh support plate, the top insertion of the shin support panel It is rotatably assorted in the U-shaped mounting groove and by rotary shaft.
7. robot leg drive device as claimed in claim 1, it is characterised in that

Engraved structure is provided with the surface of the thigh support plate.
8. robot leg drive device as claimed in claim 7, it is characterised in that

The engraved structure on the thigh support plate is waist-shaped hole；And the row of the waist-shaped hole on the thigh support plate Cloth direction is set along the thigh support plate bearing of trend.
9. robot leg drive device as claimed in claim 1, it is characterised in that

Engraved structure is provided with the surface of the shin support panel.
10. robot leg drive device as claimed in claim 9, it is characterised in that

The engraved structure on the shin support panel is waist-shaped hole；And the row of the waist-shaped hole on the shin support panel Cloth direction is set along the shin support panel bearing of trend.