CN208715324U - The multi-joint Form of Bionics Mechanical Legs of the autonomous hydraulic distributed power of band - Google Patents

Abstract

The multi-joint Form of Bionics Mechanical Legs of the autonomous hydraulic distributed power of band, including thigh, shank and foot, are additionally provided with connection frame, hydraulic power system, control device, shank number >=2, the connection frame, thigh, shank and foot pass sequentially through joint and be connected；Connection frame is for the Form of Bionics Mechanical Legs to be fixedly connected or dismantle with bio-robot；Hydraulic power system is located at thigh and/or shank and/or foot；Control device is located at thigh and/or shank and/or connection frame and/or foot.The multi-joint Form of Bionics Mechanical Legs of the autonomous hydraulic distributed power of the band of the utility model, is quickly connected and is replaced by connection frame between bio-robot, easy for assemble or unload, and operation control is simple.

Description

The multi-joint Form of Bionics Mechanical Legs of the autonomous hydraulic distributed power of band

Technical field

The utility model relates to bio-robots, more particularly, to bio-robot with the more of autonomous hydraulic distributed power Joint Form of Bionics Mechanical Legs.

Background technique

In the prior art, the legged type robot activity for having multi freedom degree mechanical leg is extraordinarily strong and vigorous, flexibility and performance property It greatly enhances, may span across biggish obstacle, such as ditch and bank, there is extremely strong kame-and-kettle topography adaptability and operation stability, Thus cause the attention of various countries scientific worker.

Currently, the critical component Form of Bionics Mechanical Legs of bio-robot, there are many type, substantially may be summarized to be following three types.

The first kind, using mechanically operated Form of Bionics Mechanical Legs.As CN 201510404058.7 discloses a kind of sufficient formula machine The leg structure of people realizes leg exercise using chain, sprocket wheel, multi-connecting-rod mechanism；This kind of bionic leg has specified defect: first is that Power is transmitted on each joint from main body, and structure is complicated, poor reliability, also inconvenient installation maintenance；Second is that movement is single, only fit Specific road surface is closed, rugged complicated landform can not be adapted to；Third is that driver and joint motions are in non-linear relation, lead to control system It is complicated；Fourth is that since structure is complicated, it is most only with 2-3 freedom degree, it is more multi-functional to realize to be not easy to freedom degree extension.

Second class, using the Form of Bionics Mechanical Legs of " servo motor+speed reducer " driving joint rotary motion.Such as CN A kind of electronic robot disclosed in 201220166860.9 is come with servo motors such as hip servo, leg servo, ankle servos Realize swing of leg or rotational motion, it is executable dances, sway one's hips, walking and Various Complex move；CN 201110142086.8 is public A kind of 12 biped robots have been opened, leg joint motions are driven with main servo motor, movable servo motor, rotating servo motor； But above-mentioned technology still has following deficiency: first is that only adapting to light-duty or underloading robot, what is generallyd use is small-sized or light-duty Servo motor and speed reducer, cause joint torque small, large-scale or heavy-load type bio-robot can not be applied to, second is that these are imitative Without self power on raw leg, power concentration, need to be by cable transfer to bionic leg, easily because even on robot body's frame Wiring cable is worn and complete machine is paralysed；Third is that its monoblock type centrally connected power source is arranged on bionic machine human agent, there are the charging time Problem long, charge efficiency is low, fourth is that these pedipulators are connected with the power on main body frame, installation maintenance is mostly inconvenient, Fifth is that control program is complicated, programing work amount when using each joint motions of the controller to control all bionic legs concentrated Greatly.

Third class is the Form of Bionics Mechanical Legs using hydraulic power driving.One kind four as disclosed in CN201510644743.7 Biped robot drives Form of Bionics Mechanical Legs joint motions using the hydraulic source driving system of electrical servo；The bionic leg of these robots Though solving the problems, such as that joint torque is small, be suitble to large size multi-foot robot, but still there are the following problems: power source concentrates on main body On frame, the joint hydraulic power of each bionic leg need to be provided by the hydraulic power system on robot body's frame, easily because Connection cables or hydraulic pipeline wear and paralyse；Second, being that its monoblock type centrally connected power source is arranged on bionic machine human agent, deposit In the problem that the charging time is long, charge efficiency is low；Third, being in nonlinear dependence using the joint motions of linear oil cylinder and driver System causes control system complicated；Fourth, bionic leg and the connection cables wherein arranged or/and hydraulic pipeline and robot body Frame must be connected directly, extremely inconvenient dismounting maintenance, and the 5th, generally consideration pipeline, route is connected with bionic machine human agent Reliability and complexity, most only setting freedom degrees are at 2-4.

On the other hand, multivariant industrial robot has used maturation at present, and control algolithm and control precision are all satisfied Actual industrial demand, as CN201710689327.8 discloses a kind of apery both arms multiple degrees of freedom industrial robot, including trunk System, mechanical arm system, support system, the mechanical arm system include that shoulder joint, upper armed lever, elbow joint, preceding armed lever and wrist close Section, is fixedly connected by upper armed lever between shoulder joint and elbow joint, is fixedly connected between elbow joint and wrist joint by preceding armed lever； This kind of multiple freedom degree bring flexibilities of industrial robot and multivariant control algolithm are to legged type robot bionic leg Exploitation has good reference function；If having following defects that but directly as Form of Bionics Mechanical Legs application first, industrial machine People generally ensures joint torque and running accuracy using large-scale speed reducer and servo motor, and volume and weight is larger, uncomfortable Conjunction is used on the bionic leg of legged type robot；Second, industrial robot majority is driven using servo motor, operation precision is high, But movement is more stiff, not soft, is not suitable for use in the bionic leg of legged type robot；Third, industrial robot majority is using outer Portion's dynamic Control, core of a cable is complicated, easily paralyses because connection cables are worn.

Utility model content

Technical problem to be solved in the utility model is to overcome above-mentioned dismounting maintenance existing in the prior art pole not side Just, structure is complicated, and joint torque is small, the low defect of charge efficiency, provides a kind of easy for assemble or unload, and joint torque is big, structure Relatively simple, functional reliability is high, the multi-joint Form of Bionics Mechanical Legs of the autonomous hydraulic distributed power of the band that charge efficiency is high.

The utility model solve its technical problem the technical solution adopted is that, the multi-joint of an autonomous hydraulic distributed power of band Form of Bionics Mechanical Legs, including thigh, shank, foot are additionally provided with connection frame, hydraulic power system and control device, the shank Number >=2, the connection frame, thigh, shank and foot pass sequentially through joint and are connected；The connection frame is used for will be described bionical Pedipulator is fixedly connected or dismantles with bio-robot；The hydraulic power system is located at the thigh and/or shank and/or foot Portion；The control device is located at the thigh and/or shank and/or connection frame and/or foot.

Further, the connection frame is equipped with bolt hole and/or pin hole and/or card slot；The thigh, shank and joint For the framing component with cavity, it is equipped with fluid pressure line in the thigh, shank, hydraulic interface is equipped in the joint, it is described One end of fluid pressure line is connected with the hydraulic interface.

Further, the hydraulic power system include driving motor, hydraulic pump, Mini oil tank, hydraulic electromagnetic valve group and Battery pack；The driving motor, hydraulic pump, Mini oil tank are sequentially connected, and are fixed in the thigh and/or shank；It is described Hydraulic electromagnetic valve group is connect with the hydraulic pump by the fluid pressure line, and the battery pack is connected with the driving motor, institute It states hydraulic electromagnetic valve group and the battery pack is located at the thigh and/or shank and/or foot.

Further, the hydraulic power system further includes cooling device and/or power generator, and the cooling device is cold But fan and/or cooling fin, are cooled down with for the driving motor and the Mini oil tank；The power generator is temperature difference hair Electric piece, the thermoelectric generation film are arranged on the outer wall of the Mini oil tank, for collecting the hydraulic oil waste heat in Mini oil tank It generates electricity.

Further, the control device includes controller, charge port；The controller is located at the thigh and/or small Leg, for controlling the movement in the joint, the controller is two-level controller, for executing the instruction of bionic machine human agent Signal；The charge port is located at the foot and/or the connection frame and/or thigh and/or shank, for the battery pack Charging；The control device further includes electric plug, and described electric plug one end is connect with the controller, the other end and bionic machine Human agent's connection, for realizing the communication between the Form of Bionics Mechanical Legs and the bionic machine human agent.

Further, the control device further includes aiding sensors, and the aiding sensors are pressure sensor, stress One of sensor, oil temperature sensor, ultrasonic sensor, laser sensor are a variety of.

Further, the joint is three-dimensional joint and/or two-dimentional joint, and the three-dimensional joint includes angling cylinder, passes Sensor and joint frame, the angling cylinder and sensor in the three-dimensional joint are two groups, and sensor described in two groups is separately fixed at The angling cylinder end, angling cylinder described in two groups are separately positioned on the both ends of the joint frame, are in mutual non-parallel state, The three-dimensional joint is set to realize the swing of three-dimensional space.

Further, the two-dimentional joint includes angling cylinder and sensor, and the sensor is fixed on the revolution oil The end of cylinder makes the two-dimentional joint realize the swing of two-dimensional surface.

Further, the thigh, shank are made of high-strength light alloy and/or titanium material；The foot can be also equipped with One of elastic alloy material component, elastic energy storage material members, piezoelectric material component are a variety of；The angling cylinder is double The spiral angling cylinder of power output is held, the sensor is angular transducer, and the driving motor is direct current generator, the liquid Press pump be gear pump and/or plunger pump, the Mini oil tank be metal material fuel tank and/or the fuel tank with elastic rubber shell, The hydraulic electromagnetic valve group can be used integrated magnet valves and/or multiple three position four-way electromagnetic valves composition, the battery pack and can be used One or more groups of rechargeable lithium battary groups and/or solid state battery group and/or graphene battery group.

Further, the thigh, shank can be round, rectangular or special-shaped, and buoyancy can be also equipped in the thigh, shank Material；The also settable reinforcing rib of the thigh, shank gabarit and/or protective materials part；The thigh, shank outer surface can also be set There are solar panel and/or solar energy film；The foot can be sufficient shape, shoes or different form；The foot can be also equipped with Elastic component, the elastic component can be leaf spring, flexible rod, helical spring and torsional spring.

Compared with existing all kinds of Form of Bionics Mechanical Legs, the multi-joint bionic mechanical of the autonomous hydraulic distributed power of the utility model band Leg specifically has the advantages that:

1, using the multi-joint Form of Bionics Mechanical Legs structure of the autonomous distribution hydraulic power of band, it is only necessary to which connection frame and electric plug can It realizes and is connected and communicates with bionic machine human agent, without the connection of a large amount of fluid pressure lines and electric wiring, structure is simple, installation And convenient disassembly；Pipeline wear-out failure is greatly reduced simultaneously, and whole aircraft reliability improves.

2, the joint action of each bionic leg can realize that stagewise controller controls, relative to concentrating on bio-robot master The complexity of control system can be greatly reduced in integrated control on body.

3, it is swung using the hydraulic gyration oil cylinder driving bionic mechanical leg joint of high torque, opposite servo motor+speed reducer Mode drives joint to swing, and than milder, joint torque is big for movement, and bearing capacity is high, can meet large-scale legged type robot anti-impact Hit the demand of ability and complicated landform locomitivity.

4, using angling cylinder driving method, the rod chamber and rodless cavity difference of no linear oil cylinder, positive and negative rotation revolving speed is consistent； And swing angle is big, maximum can achieve 270 degree；Linear close is presented in angling cylinder swing angle and sensor swing angle simultaneously System, program composition is simple, facilitates debugging and operation.

5, distributed battery group and charge port are set on every Form of Bionics Mechanical Legs, are connected to master without a large amount of electric wirings On body, i.e. raising reliability, and raising charge efficiency；The thermoelectric generation film etc. being arranged on each bionic leg simultaneously, can be to place Form of Bionics Mechanical Legs on battery pack charged, reduce external energy requirement.

6, using the multivariant bionic leg structure of multi-joint, relatively current 2-3 conventional freedom degree, Form of Bionics Mechanical Legs More flexible, practicability is stronger.In actual operation, when being not necessarily to multifreedom motion, the integral structure of lockable part knuckle shaped Part moves.

Detailed description of the invention

Fig. 1 is the three dimensional structure diagram of the utility model embodiment 1；

Fig. 2 is the structural schematic diagram of the utility model embodiment 1；

Fig. 3 is the three dimensional structure diagram of the utility model embodiment 2；

Fig. 4 is the structural schematic diagram of the utility model embodiment 2；

Fig. 5 is the three dimensional structure diagram of the utility model embodiment 3；

Fig. 6 is the structural schematic diagram of the utility model embodiment 3.

Specific embodiment

With reference to the accompanying drawings and embodiments, the present invention will be further described in detail.It should be appreciated that this place is retouched The specific embodiment stated is only used to explain the utility model, is not used to limit the utility model.

Embodiment 1

Referring to Fig.1, Fig. 2, the present embodiment band independently hydraulic distributed power multi-joint Form of Bionics Mechanical Legs have 4 joints 5 A freedom degree, mainly comprising connection frame 1, three-dimensional joint A, thigh 2, two dimension joint B, shank I 3, two dimension joint C, shank II 4, Two-dimentional joint D, foot 5, control device 6, hydraulic power system 7；Connection frame 1 is connected by three-dimensional joint A with thigh 2, thigh 2 It is connected by two-dimentional joint B with shank I 3, shank I 3 is connected by two dimension joint C with shank II 4, and shank II 4 is closed by two dimension Section D is connected with foot 5；Hydraulic power system 7 and by fluid pressure line respectively with three-dimensional joint A, two dimension joint B, two dimension joint C, the hydraulic interface of two-dimentional joint D is connected；Control device 6 and hydraulic power system 7, three-dimensional joint A, two dimension joint B, two dimension are closed Save C, two-dimentional joint D electrical connection.

Connection frame 1 is equipped with bolt mounting holes 11A, for by the multi-joint bionic leg of the autonomous distributed power of multiple bands, quickly It is fastened on bio-robot main body frame；The thigh 2, shank I 3, shank II 4 are the frame structure with cavity Part facilitates leg section cavity inside to arrange hydraulic power system 7, control device 6；The foot 5 uses style of the shoe, and is arranged flexible Rubber component 501 is for slowing down ground shock in motion process；Three-dimensional joint A mainly includes I A01 of angling cylinder, sensor I A02, joint frame A03, II A04 of angling cylinder, II A05 of sensor, I A02 of sensor are fixed on I end A01 of angling cylinder, sensing II A05 of device is fixed on the end of II A04 of angling cylinder, and I A01 of angling cylinder, II A04 of angling cylinder are staggered and are consolidated with 90 ° The both ends of joint frame A03 are scheduled on, three-dimensional joint A can be made to realize that three-dimensional space is swung；The two dimension joint B mainly includes revolution oil III B01 of cylinder and III B02 of sensor being fixed thereon；The two dimension joint C mainly includes IV C01 of angling cylinder and fixation IV C02 of sensor on it；The sensor that the two dimension joint D mainly includes V D01 of angling cylinder and is fixed thereon V D02 can make two-dimentional joint B, two dimension joint C, two-dimentional joint D realize that two-dimensional surface is swung.

Hydraulic power system 7 mainly includes driving motor 701, hydraulic pump 702, Mini oil tank 703, hydraulic electromagnetic valve group 704 and battery pack 705；Driving motor 701, hydraulic pump 702, Mini oil tank 703 are sequentially connected and are fixed on the cavity of thigh 2 Interior, hydraulic electromagnetic valve group 704 is fixed in the cavity of thigh 2 and is connected with hydraulic pump 702 by pipeline；Battery pack 705 is solid It is scheduled in the cavity of shank II 4, and is electrically connected with driving motor 701, hydraulic power system 7 drives revolution oil by hydraulic power I A01 of cylinder, II A04 of angling cylinder, III B01 of angling cylinder, IV C01 of angling cylinder and V D01 of angling cylinder are rotated forward, reversion, are locked Only, it realizes to three-dimensional joint A, two dimension joint B, two dimension joint C, two-dimentional joint D movement and stops.Control device 6 mainly includes Controller 601, charge port 602, electric plug 603；Controller 601 is fixed in shank I 3, according to I A02 of sensor, sensor II The joint angles signal that A05, III B02 of sensor, IV C02 of sensor, V D02 of sensor are fed back comes 4 passes of control biomimetics leg Save precise motion；Charge port 602 is arranged on foot 5, for charging to the battery pack 705 inside bionic leg.Electric plug 603 is solid It is scheduled on connection frame 1, the communication for bionic leg and robot body.

The square component with cavity is made using high-strength light alloy in the thigh 2, shank I 3, shank II 4, can drop Low bionic leg weight and sports energy consumption.I A01 of angling cylinder, II A04 of angling cylinder, III B01 of angling cylinder, angling cylinder IV C01, V D01 of angling cylinder are the spiral angling cylinder of both-end power output, it can be achieved that 90-270 ° of joint wide-angle large torque pendulum It is dynamic, and oil cylinder both ends is facilitated to connect and position；I A02 of sensor, II A05 of sensor, III B02 of sensor, sensor IV C02, V D02 of sensor select rotary angle transmitter, can real-time delivery angle of revolution to controller 601, driving motor 701 is preferably straight Galvanic electricity machine, hydraulic pump 702 use gear pump, and Mini oil tank 703 uses metal material fuel tank, the integrated electricity of hydraulic electromagnetic valve group 704 Magnet valve；Battery pack 705 uses rechargeable lithium battery group.

Control device 6 and hydraulic power system 7 can be with every Form of Bionics Mechanical Legs self-movements of autonomous control；Bionic leg can be After assembly, quickly it is connected and communicates with bionic machine human agent by connection frame 1, electric plug 603；Repair demolition is being needed to protect When supporting and replacing, it can also realize and quickly remove and replace Form of Bionics Mechanical Legs；In bio-robot motion process, the control of bionic leg Device 601 processed determines three-dimensional joint A, two dimension on respective bionic leg according to the fuzzy command of the upper control system of bionic machine human agent Joint B, two dimension joint C, two-dimentional joint D precise motion parameter；On the basis of battery pack 705 provides electric power, driving motor 701 Hydraulic pump 702 is driven to work, hydraulic pump 702 extracts hydraulic oil in Mini oil tank 703；Hydraulic oil by hydraulic electromagnetic valve group 704, Fluid pressure line enters I A01 of angling cylinder, II A04 of angling cylinder, III B01 of angling cylinder, IV C01 of angling cylinder, angling cylinder V D01 realizes three-dimensional joint A, two dimension joint B, two dimension joint C, two dimension joint D large torque, swings in polarizers of big angle scope；Controller 601 according to I A02 of sensor, II A05 of sensor, III B02 of sensor, IV C02 of sensor, V D02 of sensor on the oil cylinder of joint Signal control hydraulic electromagnetic valve group 704 on-off, realize to I A01 of joint angling cylinder, II A04 of angling cylinder, angling cylinder III B01, IV C01 of angling cylinder, the rotating forward of V D01 of angling cylinder, reversion and locking are to respective angles, the angling cylinder I A01, II A04 of angling cylinder, III B01 of angling cylinder, IV C01 of angling cylinder, V D01 of angling cylinder or hydraulic electromagnetic valve group 704 Upper setting balanced valve or hydraulic lock, it is ensured that angling cylinder running stability.

The control device 6 also includes a variety of aiding sensors, for improving multi-joint of the installation with autonomous distributed power The bio-robot molar behavior harmony and stationarity of bionic leg.It is preferred that pressure sensor is mounted on foot 5, for monitoring Vola support force situation；It is preferred that strain gauge is mounted on connection frame 1 or/and thigh or/and shank I or/and shank II, use Change in monitoring of structures part upper stress；It is preferred that oil temperature sensor is mounted on fluid pressure line, for monitoring hydraulic oil temperature variation；It is excellent It selects ultrasonic sensor and/or airborne laser range finder to be mounted on foot 5 or/and shank I 3 or/and shank II 4, detects barrier Position and the distance between distance and each leg section and state.

Embodiment 2

Referring to Fig. 3, Fig. 4, the master of the present embodiment band independently the multi-joint Form of Bionics Mechanical Legs of hydraulic distributed power and embodiment 1 Distinguish and be: connection frame 1 is inserted into fixed pin and realizes quickly connection using fast-assembling pin hole 11B is equipped with after being aligned；It is thigh 2, small Special-shaped component I 201, special-shaped component II 301 with cavity is made using titanium alloy in leg I 3, shank II 4, inside setting reinforce and Fixed gusset I 202, strong and fixed gusset II 302, and light filling buoyant material I 203, lightweight buoyancy material II 303, can drop Low bionic leg weight and sports energy consumption can also be moved conveniently under water；Foot 5 is made of elastic alloy, damping buffering；Three Dimension joint A, two dimension joint B, two dimension joint C, two dimension joint D on I A06 of balanced valve, II A07 of balanced valve, balanced valve is respectively set III B03, IV C03 of balanced valve, V D03 of balanced valve, for improving angling cylinder running stability；Hydraulic pump 702 uses plunger pump, Mini oil tank 703 uses elastic rubber fuel tank, and battery pack 705 uses two groups of chargeable solid state batteries.The charge port 602 uses Wireless charger carries out induction charging；The electric plug 603 uses wireless mode and robot body's communication connection.In foot Upper increase pressure sensor 605 changes for incuding bionic leg and ground contact stress.

Embodiment 3

Referring to Fig. 5, Fig. 6, the multi-joint Form of Bionics Mechanical Legs of the autonomous hydraulic distributed power of this out tape, the master with embodiment 1 It distinguishes and is: increasing shank III 8, shank IV 9, two-dimentional joint E, two dimension joint F;7 freedom degree of totally 6 joint, it is adaptable, it can It is convenient to be used under special operation condition.Connection frame 1 is arranged card slot 11C and reinforces rationed marketing mode, and realization is quickly connected with robot body； The round member with cavity is made using titanium alloy in thigh 2, shank I 3, shank II 4, shank III 8, shank IV 9, inside leg section It is provided with reinforcing rib I 202, reinforcing rib II 302, reinforcing rib III 402, reinforcing rib IV 802, and light filling buoyant material I 203, Lightweight buoyancy material II 303, lightweight buoyancy material III 403, lightweight buoyancy material IV 803, can reduce bionic leg weight and movement Energy consumption can also be moved conveniently under water；Solar energy film part I 206, solar energy film part II 306, the sun is arranged in leg section outer surface Energy thin-film member III 406, solar energy film part IV 806, V 906(of solar energy film part diagram are not shown), it can be achieved that absorbing the sun It can and charge to battery pack 705；Elastic protecting sleeve I 107, elastic protecting sleeve II 207, elastic protecting sleeve is respectively set in leg section both ends III 307, elastic protecting sleeve IV 407, elastic protecting sleeve V 807, be used for appearance and modeling and Saving cortilage；Foot 5 is using band piezoelectricity The shoes accumulation of energy foot of material 503, absorbs vibratory impulse energy in vibration reduction and cushioning simultaneously；Mini oil tank 703 uses aluminum metal oil Thermoelectric generation film 706 is pasted in case, outer surface, utilizes the hydraulic oil waste-heat power generation in Mini oil tank 703.Battery pack 705 is arranged 3 groups Rechargeable lithium battery group；Hydraulic electromagnetic valve group 704 is equipped with 2 groups of hydraulic electromagnetic valve groups, and is arranged in thigh 2, leg section IV 8 On.Wherein solar energy film part I 206, solar energy film part II 306, solar energy film part III 406, solar energy film IV 806, Solar energy film V 906, piezoelectric material 403, thermoelectric generation film 706 issue electricity by controller 601 to battery pack 705 into Row charging.

The better embodiment of the utility model is described above, but those skilled in the art should understand that, Above-mentioned better embodiment is only used to illustrate the utility model, is not used to limit the protection scope of the utility model, Ren He Within the scope of the spirit and principles of the utility model, any modification, equivalence replacement, improvement for being done etc. should be included in this reality Within novel rights protection scope.

Claims (15)

1. the multi-joint Form of Bionics Mechanical Legs of the autonomous hydraulic distributed power of band, including thigh, shank and foot, which is characterized in that also Equipped with connection frame, hydraulic power system, control device, number >=2 of the shank, the connection frame, thigh, shank and foot Portion passes sequentially through joint and is connected；The connection frame is for the Form of Bionics Mechanical Legs to be fixedly connected or dismantle with bio-robot； The hydraulic power system is located at the thigh and/or shank and/or foot；The control device be located at the thigh and/or Shank and/or connection frame and/or foot.

2. the multi-joint Form of Bionics Mechanical Legs of the autonomous hydraulic distributed power of band as described in claim 1, which is characterized in that the connection It is provided with bolt hole and/or pin hole and/or card slot；The thigh, shank and joint are the framing component with cavity, described It is equipped with fluid pressure line in thigh, shank, is equipped with hydraulic interface in the joint, one end of the fluid pressure line hydraulic connects with described Mouth is connected.

3. the multi-joint Form of Bionics Mechanical Legs of the autonomous hydraulic distributed power of band as claimed in claim 2, which is characterized in that described hydraulic Dynamical system includes driving motor, hydraulic pump, Mini oil tank, hydraulic electromagnetic valve group and battery pack；It is the driving motor, hydraulic Pump, Mini oil tank are sequentially connected, and are fixed in the thigh and/or shank；The hydraulic electromagnetic valve group and the hydraulic pump It is connected by the fluid pressure line, the battery pack is connected with the driving motor, the hydraulic electromagnetic valve group and the battery Group is located at the thigh and/or shank and/or foot.

4. the multi-joint Form of Bionics Mechanical Legs of the autonomous hydraulic distributed power of the band as described in one of claim 1-3, which is characterized in that institute Stating control device includes controller, charge port, electric plug；The controller is located at the thigh and/or shank, for controlling The movement in joint is stated, the controller is alternatively arranged as two-level controller, for executing the command signal of bionic machine human agent；Institute It states charge port and is located at the foot and/or the connection frame and/or thigh and/or shank, pass through wired or wireless connection type It charges to battery pack；One end of the electric plug is connect with the controller, and the other end is connect with bionic machine human agent, is passed through Wired or wireless connection type realizes the communication between the Form of Bionics Mechanical Legs and the bionic machine human agent.

5. the multi-joint Form of Bionics Mechanical Legs of the autonomous hydraulic distributed power of band as claimed in claim 3, which is characterized in that described hydraulic Dynamical system further includes cooling device and/or power generator, and the cooling device is cooling fan and/or cooling fin, with for institute It states driving motor and the Mini oil tank is cooled down；The power generator is that thermoelectric generation film, solar panels or solar energy are thin Diaphragm, the thermoelectric generation film are arranged on the Mini oil tank, and the solar panels or solar energy film piece are set to thigh, small On leg outer wall.

6. the multi-joint Form of Bionics Mechanical Legs of the autonomous hydraulic distributed power of band as claimed in claim 4, which is characterized in that the control Device further includes aiding sensors, and the aiding sensors are pressure sensor, strain gauge, oil temperature sensor, ultrasonic wave One of sensor, laser sensor are a variety of.

7. the multi-joint Form of Bionics Mechanical Legs of the autonomous hydraulic distributed power of band as claimed in claim 5, which is characterized in that the control Device further includes aiding sensors, and the aiding sensors are pressure sensor, strain gauge, oil temperature sensor, ultrasonic wave One of sensor, laser sensor are a variety of.

8. the multi-joint Form of Bionics Mechanical Legs of the autonomous hydraulic distributed power of band as claimed in claim 3, which is characterized in that the joint For three-dimensional joint and/or two-dimentional joint, the three-dimensional joint includes angling cylinder, sensor and joint frame, the three-dimensional joint Angling cylinder and sensor be two groups, sensor described in two groups is separately fixed at the end of the angling cylinder, two groups of institutes The both ends that angling cylinder is separately positioned on the joint frame are stated, in mutual non-parallel state, the three-dimensional joint can be made to realize three The swing of dimension space.

9. the multi-joint Form of Bionics Mechanical Legs of the autonomous hydraulic distributed power of band as claimed in claim 4, which is characterized in that the joint For three-dimensional joint and/or two-dimentional joint, the three-dimensional joint includes angling cylinder, sensor and joint frame, the three-dimensional joint Angling cylinder and sensor be two groups, sensor described in two groups is separately fixed at the end of the angling cylinder, two groups of institutes The both ends that angling cylinder is separately positioned on the joint frame are stated, in mutual non-parallel state, the three-dimensional joint can be made to realize three The swing of dimension space.

10. the multi-joint Form of Bionics Mechanical Legs of the autonomous hydraulic distributed power of band as claimed in claim 5, which is characterized in that the pass Section is three-dimensional joint and/or two-dimentional joint, and the three-dimensional joint includes angling cylinder, sensor and joint frame, the three-dimensional pass The angling cylinder and sensor of section are two groups, and sensor described in two groups is separately fixed at the end of the angling cylinder, and two groups The angling cylinder is separately positioned on the both ends of the joint frame, in mutual non-parallel state, the three-dimensional joint can be made to realize The swing of three-dimensional space.

11. the multi-joint Form of Bionics Mechanical Legs of the autonomous hydraulic distributed power of band as claimed in claim 6, which is characterized in that the pass Section is three-dimensional joint and/or two-dimentional joint, and the three-dimensional joint includes angling cylinder, sensor and joint frame, the three-dimensional pass The angling cylinder and sensor of section are two groups, and sensor described in two groups is separately fixed at the end of the angling cylinder, and two groups The angling cylinder is separately positioned on the both ends of the joint frame, in mutual non-parallel state, the three-dimensional joint can be made to realize The swing of three-dimensional space.

12. the multi-joint Form of Bionics Mechanical Legs of the autonomous hydraulic distributed power of band as claimed in claim 9, which is characterized in that described two Tieing up joint includes angling cylinder and sensor, and the sensor is fixed on the end of the angling cylinder, makes the two-dimentional joint Realize the swing of two-dimensional surface.

13. the multi-joint Form of Bionics Mechanical Legs of the autonomous hydraulic distributed power of band as claimed in claim 9, which is characterized in that described big Leg, shank are made of high-strength light alloy and/or titanium material；The foot is additionally provided with elastic alloy material component, elastic energy storage One of material members, piezoelectric material component are a variety of；The angling cylinder is the spiral angling cylinder of both-end power output, The sensor is angular transducer, and the hydraulic pump is gear pump and/or plunger pump, and the hydraulic electromagnetic valve group is using integrated Solenoid valve and/or multiple three position four-way electromagnetic valves composition, the battery pack using one or more groups of rechargeable lithium battary groups and/ Or solid state battery group and/or graphene battery group.

14. the multi-joint Form of Bionics Mechanical Legs of the autonomous hydraulic distributed power of the band as described in one of claim 1-3, which is characterized in that The thigh, shank be it is round, rectangular or special-shaped, be also filled with buoyant material in the thigh, shank；The thigh, shank Gabarit be additionally provided with reinforcing rib and/or protective materials part；The thigh, shank outer surface be additionally provided with solar panel and/or Solar energy film；The foot is sufficient shape, shoes or different form；The foot is additionally provided with elastic component.

15. the multi-joint Form of Bionics Mechanical Legs of the autonomous hydraulic distributed power of band as claimed in claim 4, which is characterized in that described big Leg, shank be it is round, rectangular or special-shaped, be also filled with buoyant material in the thigh, shank；The gabarit of the thigh, shank It is additionally provided with reinforcing rib and/or protective materials part；The thigh, shank outer surface are additionally provided with solar panel and/or solar energy Film；The foot is sufficient shape, shoes or different form；The foot is additionally provided with elastic component.