CN211001615U - Leg structure of bionic robot - Google Patents

Abstract

The utility model relates to a leg structure of a bionic robot, which is characterized by comprising a thigh component, a calf component, a middle joint seat movably connecting the thigh component and the calf component, and an ankle connection seat movably connecting the calf component. The leg structure of the bionic robot has the characteristics of low control difficulty, low manufacturing cost, light overall weight, improved load capacity, fast movement speed, high flexibility, large range of movement, ability to complete various leg movements, good balance, etc.

Description

Leg structure of a bionic robot

technical field

The utility model relates to the technical field of robots, in particular to a leg structure of a bionic robot.

Background technique

The mechanical leg is an important part of the robot and plays a very important role in the movement of the biped walking robot. The biped walking robot has better terrain adaptability than other mobile robots. It can not only walk on a flat surface, but also adapt to various Complex terrain, the ability to cross obstacles, suitable for a variety of different environments, so it has more applications in practice and can be easily integrated into human life. In order to reduce the inertia of the legs, the current common biped walking robot introduces a corresponding mechanical transmission mechanism (such as a stepper motor or a servo motor, etc.), and connects the corresponding driver and kinematic joints. The movement ability of the robot is poor; When the transmission mechanism (such as: stepper motor or servo motor, etc.) has no electricity, the mechanical transmission mechanism will not be able to support the body weight of the entire robot, which will cause the robot to fall easily and cause safety problems. In addition, the legs of traditional robots are composed of a single bracket, in which the motor bracket of the leg has only two supporting parts. After the modules composed of multiple motors and brackets are connected in series, the length becomes larger, and the bracket is generally easy to deform and reduce the stability. During the movement, the center of gravity is lost, and the robot is prone to shift in the center of gravity during the squatting process. Due to the limitation of the mechanical mechanism, the squatting action cannot be completed, the range of motion is limited, and the leg movements that can be performed are limited. In addition, due to the influence of the weight of the robot and the motor turntable, after the robot runs for a period of time, the contact between the bracket and the gear will become loose and deformed, resulting in the robot unable to stand, shortened service life and high maintenance costs. Traditional robots also have the following series of problems: high control difficulty, high production cost, heavy overall robot mass, poor load capacity, low movement speed, decreased flexibility, and poor balance when walking with two legs.

Therefore, further improvement is required.

Utility model content

The purpose of the utility model is to overcome the above-mentioned deficiencies of the prior art, and provide a leg structure of a bionic robot, which imitates the human bipedal structure, so it has high flexibility, can complete various leg movements, and has good balance.

The purpose of this utility model is achieved in this way:

A leg structure of a bionic robot is characterized by comprising a thigh component, a calf component, a middle joint seat movably connecting the thigh component and the calf component, and an ankle connecting seat movably connecting the calf component.

The thigh assembly includes a thigh connecting seat, a thigh rear connecting piece, a first thigh front connecting piece, a second thigh front connecting piece, a first thigh push-pull rod and a second thigh push-pull rod; the thigh connecting seat, the first thigh push-pull rod One end of the pull rod and one end of the second thigh push-pull rod are respectively movably connected to the fixing plate; the other end of the first thigh push-pull rod is movably connected to the front connecting piece of the first thigh; the other end of the second thigh push-pull rod is movably connected to the second thigh front connector; one end of the rear thigh connector, one end of the first thigh front connector and one end of the second thigh front connector are respectively movably connected to the thigh connector;

The calf assembly includes a calf rear connecting piece, a first calf front connecting piece, a second calf front connecting piece, a first calf push-pull rod and a second calf push-pull rod; the other end of the thigh rear connecting piece, the first calf front connecting piece The other end of the second calf front connector and the other end of the second thigh front connector are respectively movably connected to the middle joint seat; one end of the calf rear connector, one end of the first calf front connector and one end of the second calf front connector are respectively movably connected to the middle joint seat One end of the first calf push-pull rod is movably connected to the first calf front connector; one end of the second calf push-pull rod is movably connected to the second calf front connector;

The leg structure further includes an ankle assembly including an ankle base movably connected to the ankle connecting seat; the other end of the rear calf connector, the other end of the first calf front connector, and the second calf front connector. One end is respectively movably connected to the ankle connection seat; the other end of the first calf push-pull rod and the other end of the second calf push-pull rod are respectively movably connected to the ankle base.

The rear connecting piece of the thigh, the front connecting piece of the first thigh and the front connecting piece of the second thigh are respectively hinged with the thigh connecting seat through corresponding rotating shafts; the rear connecting piece of the thigh, the front connecting piece of the first thigh and the front connecting piece of the second thigh are connected The parts are respectively hinged with the middle joint seat through the corresponding rotating shaft.

One end of the first thigh push-pull rod is two-dimensionally connected with the fixed plate through a corresponding joint connecting piece, and the other end is two-dimensionally connected with the first thigh front connecting piece through a corresponding joint connecting piece; one end of the second thigh push-pull rod is The other end is two-dimensionally movably connected with the second thigh front connecting piece through the corresponding joint connecting piece.

One end of the first thigh push-pull rod is hinged with the corresponding joint connecting piece through the corresponding rotating shaft, the joint connecting piece is hinged with the fixed plate through the corresponding rotating shaft, and the two rotating shafts are perpendicular to each other; The rotating shaft is hinged with the corresponding joint connecting piece, the joint connecting piece is hinged with the first thigh front connecting piece through the corresponding rotating shaft, and the two rotating shafts are perpendicular to each other;

One end of the second thigh push-pull rod is hinged with the corresponding joint connecting piece through the corresponding rotating shaft, the joint connecting piece is hinged with the fixed plate through the corresponding rotating shaft, and the two rotating shafts are perpendicular to each other; The rotating shaft of the second thigh is hinged with the corresponding joint connecting piece, the joint connecting piece is hinged with the second thigh front connecting piece through the corresponding rotating shaft, and the two rotating shafts are perpendicular to each other.

The calf rear connecting piece, the first calf front connecting piece and the second calf front connecting piece are respectively hinged with the middle joint seat through the corresponding rotating shaft; the calf rear connecting piece, the first calf front connecting piece and the second calf front connecting piece are respectively connected The parts are respectively hinged with the ankle connecting seat through the corresponding rotating shaft.

One end of the first calf push-pull rod is two-dimensionally connected with the first calf front connecting piece through the corresponding joint connecting piece, and the other end is two-dimensionally movably connected with the ankle base through the first ankle connecting piece; one end of the second calf push-pull rod It is two-dimensionally movably connected with the second lower leg front connecting piece through the corresponding joint connecting piece, and the other end is two-dimensionally movably connected with the ankle base through the second ankle connecting piece.

One end of the first calf push-pull rod is hinged with a corresponding joint connecting piece through a corresponding rotating shaft, and the joint connecting piece is hinged with the first calf front connecting piece through a corresponding rotating shaft, and the two rotating shafts are perpendicular to each other; the first calf push-pull rod The other end is hinged with the first ankle connecting piece through a corresponding joint connecting piece, and the first ankle connecting piece is hinged with the ankle base through a corresponding rotating shaft, and the two rotating shafts are perpendicular to each other;

One end of the second calf push-pull rod is hinged with the corresponding joint connecting piece through the corresponding rotating shaft, the joint connecting piece is hinged with the second calf front connecting piece through the corresponding rotating shaft, and the two rotating shafts are perpendicular to each other; the second calf push-pull rod The other end is hinged with the second ankle connecting piece through a corresponding joint connecting piece, and the second ankle connecting piece is hinged with the ankle base through a corresponding rotating shaft, and the two rotating shafts are perpendicular to each other.

The ankle connecting seat is hinged with the ankle base through a corresponding rotating shaft.

The first thigh front connector and the second thigh front connector are arranged side by side, and the thigh rear connector is located behind the first thigh front connector and/or the second thigh front connector; the first thigh push-pull rod is movable The end connected to the fixing plate is located on either left or right side of the rear thigh connector, and the end of the first thigh push-pull rod movably connected to the first thigh front connector is located on the rear side of the first thigh front connector; the second thigh push-pull rod is movable The end of the connection fixing plate is located on the left and right sides of the rear thigh connector, and the end of the second thigh push-pull rod movably connected to the second thigh front connector is located on the rear side of the second thigh front connector.

The first calf front connecting piece and the second calf front connecting piece are arranged side by side with each other, and the calf rear connecting piece is located behind the first calf front connecting piece and/or the second calf front connecting piece; the first calf push-pull rod is movable The end connecting the first calf front connecting piece is located on the rear side of the first calf front connecting piece, and the end of the first calf push-pull rod movably connecting the ankle base is located on either left or right side of the calf rear connecting piece; the second calf push-pull rod is movable The end connecting the second calf front connecting piece is located on the rear side of the second calf front connecting piece, and the end of the second calf push-pull rod movably connecting the ankle base is located on the other left and right sides of the calf rear connecting piece.

Different from the driving source and driving method of traditional robot legs, the leg structure of this bionic robot uses electric push-pull rods as the driving source of the legs, so that it has a variety of action combinations. The leg structure of this bionic robot is based on the above-mentioned various The action combination can make different actions, the action coverage is large, and the action is closer to the work of the human leg joints. Many of the action ranges and angles cannot be completed by the traditional robot leg structure. The beneficial effects of the present utility model are as follows:

1. By using the electric push-pull rod as the driving source, the bionic robot has very high flexibility and balance, can simulate the human joint structure and muscle movement form, and can complete more leg movements that cannot be completed by traditional robots. It is stable, and there will be no rollover caused by the center of gravity. It can be easily integrated into human life, and can smoothly cooperate with humans to complete various tasks in the daily environment;

2. Even in the absence of electricity, the leg structure can still maintain a balanced posture, and will not fall out of balance like traditional robots, which can better ensure people's personal safety;

3. The leg structure also has a strong ability to adapt to the terrain, and can adapt to various complex terrains, especially in the passage with obstacles or the work site that is difficult to access, and has a broader development prospect, in the field of hazardous environment operations. has broad application potential.

In view of the above beneficial effects, the bionic robot with this leg structure can be widely used in fields such as emergency rescue and disaster relief, mine clearance, site exploration, entertainment, and civil use.

Description of drawings

FIG. 1 is an exploded view of a leg structure in an embodiment of the present invention.

2 is a front view of a leg structure in an embodiment of the present invention.

3 is a left side view of a leg structure in an embodiment of the present invention.

4 is a rear view of a leg structure in an embodiment of the present invention.

FIG. 5 is a rear view of the lower limb system of the bionic robot in an embodiment of the present invention when it is standing.

FIG. 6 is a left side view of the lower limb system of the bionic robot in an embodiment of the present invention when it is standing.

7 is a front view of any leg structure in the lower limb system of the bionic robot according to an embodiment of the present invention when any leg structure is opened outward.

8 is a left side view of any leg structure in the lower limb system of the bionic robot in an embodiment of the present invention when any leg structure is bent forward.

Detailed ways

The present utility model will be further described below in conjunction with the accompanying drawings and embodiments.

1-4, the bionic robot involved in this embodiment is a bipedal walking robot, and two sets of leg structures are provided in a mirror image; the leg structures include a thigh component, a calf component, and a middle joint movably connecting the thigh component and the calf component. The seat 10, and the ankle connecting seat 16 for movably connecting the lower leg assembly.

Further, the thigh assembly includes a thigh connector 2, a thigh rear connector 4, a first thigh front connector 5, a second thigh front connector 6, a first thigh push-pull rod 7 and a second thigh push-pull rod 8; 2. The top of the first thigh push-pull rod 7 and the top of the second thigh push-pull rod 8 are movably connected to the fixed plate 1; the bottom end of the first thigh push-pull rod 7 is movably connected to the first thigh front connector 5; the second thigh push-pull rod 8 The bottom end is movably connected to the second thigh front connector 6; the top of the rear thigh connector 4, the top of the first thigh front connector 5 and the top of the second thigh front connector 6 are respectively movably connected to the thigh connector base 2;

The calf assembly includes a calf rear connector 11, a first calf front connector 12, a second calf front connector 13, a first calf push-pull rod 14 and a second calf push-pull rod 15; the bottom end of the thigh rear connector 4, the first thigh The bottom end of the front connector 5 and the bottom end of the second thigh front connector 6 are respectively movably connected to the middle joint seat 10; The top end of the first calf push-pull rod 14 is movably connected to the first calf front connector 12; the top of the second calf push-pull rod 15 is movably connected to the second calf front connector 13;

The leg structure also includes an ankle assembly, the ankle assembly includes an ankle base 19 movably connected to the ankle connecting base 16; The ends are respectively movably connected to the ankle connecting base 16 ;

The leg structure of the bionic robot uses electric push-pull rods to replace the steering gear used by traditional robots, and uses push-pull rods with the same stroke to control the movement of the legs, which ensures the lightness and convenience of the legs, and the bracket is not easily deformed, which is conducive to the operation of the bionic robot. Walking; the structure of one leg is controlled by four push-pull rods, which can achieve some relative action angles and different foot movements. It has a good degree of freedom, free movement and high stability, and can realize the robot's bipedal walking and walking. Relevant actions make the gait closer to the gait of normal human walking, and the center of gravity will not be lost during the movement; because the electric push-pull rod is used, when the bionic robot suddenly loses power, the bionic robot will keep the power when the power is turned off. Movement, it will not lose balance and suddenly fall down due to lack of electricity. When not in use, it can stably maintain a static standing dynamic to ensure people's life safety. Each leg structure is provided with four push-pull rods, that is, there are eight push-pull rods in the two sets of leg structures, and each push-pull rod has two actions, up and down, so the eight push-pull rods have 256 (2 ⁸ ) kinds of action combinations , in other words, 256 working combinations control the activity combination of eight push-pull rods. Based on these combinations, the structure of the two legs can do more different work, and the action coverage is large, and the action is closer to the action of human leg joints. , many motion ranges and angles cannot be accomplished by traditional robots.

Further, the thigh rear connector 4, the first thigh front connector 5 and the second thigh front connector 6 are respectively hinged with the thigh connector 2 through the corresponding rotating shaft 9; the thigh rear connector 4, the first thigh front connector 5 The front connecting piece 6 and the second thigh are respectively hinged with the middle joint seat 10 through the corresponding rotating shafts 9; the axes of the above-mentioned rotating shafts 9 are parallel to each other to realize the front and rear swinging hinge.

Further, the top end of the first thigh push-pull rod 7 is two-dimensionally connected with the fixed plate 1 through the corresponding joint connecting piece 3, and the bottom end is two-dimensionally connected with the first thigh front connecting piece 5 through the corresponding joint connecting piece 3. The top of a thigh push-pull rod 7 has a corresponding two-dimensional range of motion relative to the fixed plate 1, and the bottom end of the first thigh push-pull rod 7 has a corresponding two-dimensional range of motion relative to the fixed plate 1; the top of the second thigh push-pull rod 8 is connected by corresponding joints Part 3 is two-dimensionally connected with the fixed plate 1, and the bottom end is connected two-dimensionally with the second thigh front connecting part 6 through the corresponding joint connecting part 3, that is, the top of the second thigh push-pull rod 8 has a corresponding two-dimensional connection with the fixed plate 1. Motion range, the bottom end of the second thigh push-pull rod 8 has a corresponding two-dimensional range of motion relative to the second thigh front connecting piece 6 .

Further, the top end of the first thigh push-pull rod 7 is hinged with the corresponding joint connecting member 3 through the corresponding rotating shaft 9, and the joint connecting member 3 is hinged with the fixing plate 1 through the corresponding rotating shaft 9. The above-mentioned two rotating shafts 9 are perpendicular to each other, so that the first The top end of the thigh push-pull rod 7 can move two-dimensionally relative to the fixed plate 1; The front connector 5 is hinged, and the above-mentioned two shafts 9 are perpendicular to each other, so that the bottom end of the first thigh push-pull rod 7 can move two-dimensionally relative to the first thigh front connector 5;

One end of the second thigh push-pull rod 8 is hinged with the corresponding joint connecting member 3 through the corresponding rotating shaft 9, and the joint connecting member 3 is hinged with the fixing plate 1 through the corresponding rotating shaft 9. The two rotating shafts 9 are perpendicular to each other, so that the second thigh push-pull rod is hinged. 8. The top end can move two-dimensionally relative to the fixed plate 1; the other end of the second thigh push-pull rod 8 is hinged with the corresponding joint connecting piece 3 through the corresponding rotating shaft 9, and the joint connecting piece 3 is connected with the second thigh front connecting piece through the corresponding rotating shaft 9. 6 is hinged, and the two rotating shafts 9 are perpendicular to each other, so that the bottom end of the second thigh push-pull rod 8 can move two-dimensionally relative to the second thigh front connecting piece 6 .

Further, the calf rear connecting piece 11, the first calf front connecting piece 12 and the second calf front connecting piece 13 are respectively hinged with the middle joint seat 10 through the corresponding rotating shaft 9; the calf rear connecting piece 11, the first calf front connecting piece 12 and the second lower leg front connecting piece 13 are respectively hinged with the ankle connecting seat 16 through the corresponding rotating shafts 9; the above rotating shafts 9 are parallel to each other to realize the front and rear swinging hinge.

Further, the top end of the first calf push-pull rod 14 is two-dimensionally connected to the first calf front connecting member 12 through the corresponding joint connecting member 3, and the bottom end is two-dimensionally connected to the ankle base 19 through the first ankle connecting member 17. The top of the calf push-pull rod 12 has a corresponding two-dimensional range of motion relative to the first calf front connector 12, and the bottom end of the first calf push-pull rod 12 has a corresponding two-dimensional range of motion relative to the ankle base 19; the top of the second calf push-pull rod 15 passes through The corresponding joint connector 3 is two-dimensionally connected with the second lower leg front connector 13, and the bottom end is two-dimensionally connected with the ankle base 19 through the second ankle connector 18, that is, the top of the second lower leg push-pull rod 15 is opposite to the second lower leg front The connecting piece 13 has a corresponding two-dimensional range of motion, and the bottom end of the second calf push-pull rod 15 has a corresponding two-dimensional range of motion relative to the ankle base 19 .

Further, the top end of the first calf push-pull rod 14 is hinged with the corresponding joint connecting member 3 through the corresponding rotating shaft 9, and the joint connecting member 3 is hinged with the first calf front connecting member 12 through the corresponding rotating shaft 9, and the above-mentioned two rotating shafts 9 are perpendicular to each other. , so that the top end of the first calf push-pull rod 14 can move two-dimensionally relative to the first calf front connecting piece 12; The member 17 is hinged with the ankle base 19 through the corresponding rotating shaft 9, so that the bottom end of the first calf push-pull rod 14 can move two-dimensionally relative to the ankle base 19;

One end of the second calf push-pull rod 15 is hinged with the corresponding joint connecting member 3 through the corresponding rotating shaft 9, and the joint connecting member 3 is hinged with the second calf front connecting member 13 through the corresponding rotating shaft 9. The two rotating shafts 9 are perpendicular to each other. The rotating shafts 9 are perpendicular to each other, so that the top of the second calf push-pull rod 15 can move two-dimensionally relative to the second calf front connecting piece 13; the other end of the second calf push-pull rod 15 is hinged with the second ankle connecting piece 18 through the corresponding joint connecting piece 3, The second ankle connector 18 is hinged to the ankle base 19 through the corresponding rotating shafts 9 , and the two rotating shafts 9 are perpendicular to each other, so that the bottom end of the second calf push-pull rod 15 can move two-dimensionally relative to the ankle base 19 .

Further, the middle part of the ankle connecting base 16 is hinged with the middle part of the ankle base 19 through the corresponding rotating shaft 9 to realize the left and right swinging hinge.

Further, the first thigh front connector 5 and the second thigh front connector 6 are arranged side by side, and the thigh rear connector 4 is located behind the first thigh front connector 5 and the second thigh front connector 6; the first thigh pushes The end of the pull rod 7 movably connected to the fixed plate 1 is located on the left (or right) side of the rear thigh connector 4 , and the end of the first thigh push-pull rod 7 movably connected to the first thigh front connector 5 is located on the first thigh front connector 5 The rear side; the end of the second thigh push-pull rod 8 movably connected to the fixed plate 1 is located on the right side (or left side) of the rear thigh connector 4, and the end of the second thigh push-pull rod 8 movably connected to the second thigh front connector 6 is located on the right side (or left side). The rear side of the second thigh front connector 6 .

Further, the first calf front connector 12 and the second calf front connector 13 are arranged side by side, and the calf rear connector 11 is located behind the first calf front connector 12 and the second calf front connector 13; the first calf pushes The end of the pull rod 14 movably connected to the first calf front connector 12 is located at the rear side of the first calf front connector 12, and the end of the first calf push-pull rod 14 to the ankle base 19 is located on the left (or right) side of the calf rear connector 11. side); the end of the second calf push-pull rod 15 movably connected to the second calf front connector 13 is located on the rear side of the second calf front connector 13, and the second calf push-pull rod 15 is movably connected to the end of the ankle base 19 located at the back of the calf. Piece 11 right (or left).

Referring to FIG. 5 , the range of motion of each push-pull rod in the left leg structure in rear view is as follows: the range of motion α1 of the first thigh push-pull rod 7 relative to the vertical line around the top joint connecting piece 3 is 3.8°~70°; The movable range α2 of the two thigh push-pull rods 8 relative to the vertical line around the top joint connecting piece 3 is 6°~74.5°, and the movable range α3 of the first calf push-pull rod 14 relative to the vertical line around the top joint connecting piece 3 is 0°~ 33.8°, the range of motion α4 of the second calf push-pull rod 15 relative to the vertical line around the top joint connector 3 is 0° to 46°; the range of motion of the main vision of each push-pull rod in the right leg structure is as follows: first The range of motion β1 of the thigh push-pull rod 7 relative to the vertical line around the top joint connector 3 is 4.6°~74.5°, and the range of motion β2 of the second thigh push-pull rod 8 relative to the vertical line around the top joint connector 3 is 3°~72.8 °, the movable range β3 of the first calf push-pull rod 14 relative to the vertical line around the top joint connecting piece 3 is 0°~44.5°, and the movable range β4 of the second calf push-pull rod 15 relative to the vertical line around the top joint connecting piece 3 is 0°~42.8°.

Referring to FIG. 6 , the visual range of motion of each push-pull rod in the two-legged structure is as follows: in the two-legged structure, the first thigh push-pull rod 7 and the second thigh push-pull rod 8 are relatively vertical lines around the top corresponding joint connecting piece 3 The range of motion θ1 is 5°~72.8°; in the two-leg structure, the range of motion θ2 of the first calf push-pull rod 14 and the second calf push-pull rod 15 relative to the vertical line around the bottom end of the corresponding ankle connector is 5°~74.5 °.

Referring to FIG. 7 , the range of motion ρ of any leg structure in the lower extremity system relative to the vertical line under the main vision is -40°~67.3°; the ankle joint 16 of any leg structure in the lower extremity system under the main vision The range of motion ω relative to the ankle base 19 is -46.9° to 67.5°.

Referring to Figure 8, the range of motion λ1 of any leg structure in the lower extremity system relative to the vertical line under the side view is -48°~62.8°; under the side view, the lower leg of any leg structure in the lower extremity system is relatively vertical. The moving range λ2 of the straight line is -43°~64.5°.

The above are the preferred solutions of the present invention, showing and describing the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above-mentioned embodiments, and the descriptions in the above-mentioned embodiments and the description are only to illustrate the principle of the present invention. There are various changes and improvements that fall within the scope of the claimed invention. The claimed scope of the present invention is defined by the appended claims and their equivalents.

Claims (10)

1. The leg structure of a bionic robot is characterized in that: comprising a thigh assembly, a calf assembly, a middle joint seat (10) movably connecting the thigh assembly and the calf assembly, and an ankle connecting seat (16) movably connecting the calf assembly ). 2. the leg structure of the bionic robot according to claim 1, is characterized in that: The thigh assembly includes a thigh connecting seat (2), a thigh rear connecting piece (4), a first thigh front connecting piece (5), a second thigh front connecting piece (6), a first thigh push-pull rod (7) and a Two thigh push-pull rods (8); the thigh connecting seat (2), one end of the first thigh push-pull rod (7) and one end of the second thigh push-pull rod (8) are respectively movably connected to the fixing plate (1); The other end of the thigh push-pull rod (7) is movably connected to the first thigh front connecting piece (5); the other end of the second thigh push-pull rod (8) is movably connected to the second thigh front connecting piece (6); One end of the connecting piece (4), one end of the first thigh front connecting piece (5) and one end of the second thigh front connecting piece (6) are respectively movably connected to the thigh connecting seat (2); The calf assembly comprises a calf rear connecting piece (11), a first calf front connecting piece (12), a second calf front connecting piece (13), a first calf push-pull rod (14) and a second calf push-pull rod (15) ; The other end of the rear connecting piece (4) of the thigh, the other end of the front connecting piece (5) of the first thigh and the other end of the front connecting piece (6) of the second thigh are respectively movably connected to the middle joint seat (10); One end of the rear connecting piece (11), one end of the first calf front connecting piece (12) and one end of the second calf front connecting piece (13) are respectively movably connected to the middle joint seat (10); the first calf push-pull rod (14) One end is movably connected to the first calf front connector (12); one end of the second calf push-pull rod (15) is movably connected to the second calf front connector (13); The leg structure further includes an ankle assembly, which includes an ankle base (19) movably connected to the ankle connecting seat (16); the other end of the rear calf connecting piece (11), the first calf front connecting piece ( 12) The other end and the other end of the second calf front connecting piece (13) are respectively connected to the ankle connecting seat (16) movably; the other end of the first calf push-pull rod (14) and the other end of the second calf push-pull rod (15) Respectively connect the ankle bases (19) movably. 3. The leg structure of the bionic robot according to claim 2, characterized in that: the rear thigh connector (4), the first thigh front connector (5) and the second thigh front connector (6) pass through respectively The corresponding rotating shaft (9) is hinged with the thigh connecting seat (2); the thigh rear connecting piece (4), the first thigh front connecting piece (5) and the second thigh front connecting piece (6) pass through the corresponding rotating shafts ( 9) Hinged with the middle joint seat (10). 4. The leg structure of the bionic robot according to claim 2, characterized in that: one end of the first thigh push-pull rod (7) is two-dimensionally movably connected to the fixed plate (1) through the corresponding joint connector (3), The other end is two-dimensionally connected with the first front thigh connecting piece (5) through the corresponding joint connecting piece (3); one end of the second thigh push-pull rod (8) is connected with the fixing plate ( 1) Two-dimensional articulating connection, and the other end is two-dimensionally articulating connection with the second front thigh connector (6) through the corresponding joint connector (3). 5 . The leg structure of the bionic robot according to claim 4 , wherein one end of the first thigh push-pull rod ( 7 ) is hinged with the corresponding joint connecting piece ( 3 ) through the corresponding rotating shaft ( 9 ). The connecting piece (3) is hinged with the fixing plate (1) through the corresponding rotating shaft (9), and the above-mentioned two rotating shafts (9) are perpendicular to each other; the other end of the first thigh push-pull rod (7) is connected with the corresponding rotating shaft (9). The joint connecting piece (3) is hinged, the joint connecting piece (3) is hinged with the first thigh front connecting piece (5) through the corresponding rotating shaft (9), and the two rotating shafts (9) are perpendicular to each other; One end of the second thigh push-pull rod (8) is hinged with the corresponding joint connecting piece (3) through the corresponding rotating shaft (9), and the joint connecting piece (3) is hinged with the fixing plate (1) through the corresponding rotating shaft (9). , the two rotating shafts (9) are perpendicular to each other; the other end of the second thigh push-pull rod (8) is hinged with the corresponding joint connecting piece (3) through the corresponding rotating shaft (9), and the joint connecting piece (3) is connected by the corresponding joint connecting piece (3). The rotating shaft (9) is hinged with the second thigh front connecting piece (6), and the two rotating shafts (9) are perpendicular to each other. 6. The leg structure of the bionic robot according to claim 2, characterized in that: the rear calf connector (11), the first calf front connector (12) and the second calf front connector (13) pass through respectively The corresponding rotating shaft (9) is hinged with the middle joint seat (10); the rear calf connecting piece (11), the first calf front connecting piece (12) and the second calf front connecting piece (13) pass through the corresponding rotating shafts (11). 9) Hinged with the ankle connecting seat (16). 7 . The leg structure of the bionic robot according to claim 2 , wherein one end of the first calf push-pull rod ( 14 ) is connected to the first calf front connector ( 12 ) through a corresponding joint connector ( 3 ). 8 . One end of the second calf push-pull rod (15) is connected to the second calf through the corresponding joint connecting piece (3) and the other end is two-dimensionally movably connected with the ankle base (19). The front connecting piece (13) is two-dimensionally movably connected, and the other end is two-dimensionally movably connected with the ankle base (19) through the second ankle connecting piece (18). 8 . The leg structure of the bionic robot according to claim 7 , wherein one end of the first calf push-pull rod ( 14 ) is hinged with the corresponding joint connecting piece ( 3 ) through the corresponding rotating shaft ( 9 ). The connecting piece (3) is hinged with the first calf front connecting piece (12) through a corresponding rotating shaft (9), and the two rotating shafts (9) are perpendicular to each other; the other end of the first calf push-pull rod (14) is connected through a corresponding joint The piece (3) is hinged with the first ankle connecting piece (17), the first ankle connecting piece (17) is hinged with the ankle base (19) through the corresponding rotating shaft (9), and the two rotating shafts (9) are perpendicular to each other; One end of the second calf push-pull rod (15) is hinged with the corresponding joint connecting piece (3) through the corresponding rotating shaft (9), and the joint connecting piece (3) is connected with the second calf front connecting piece through the corresponding rotating shaft (9). (13) Hinged, the above two shafts (9) are perpendicular to each other; the other end of the second calf push-pull rod (15) is hinged with the second ankle connection (18) through the corresponding joint connection (3), and the second ankle is connected The piece (18) is hinged with the ankle base (19) through a corresponding rotating shaft (9), and the two rotating shafts (9) are perpendicular to each other. 9. The leg structure of the bionic robot according to claim 2, wherein the first thigh front connector (5) and the second thigh front connector (6) are arranged side by side, and the thigh rear connector ( 4) Located behind the first thigh front connector (5) and/or the second thigh front connector (6); the first thigh push-pull rod (7) is movably connected to the end of the fixed plate (1) at the rear of the thigh On either side of the component (4), the end of the first thigh push-pull rod (7) movably connected to the first thigh front connector (5) is located at the rear of the first thigh front connector (5); the second thigh pusher The end of the pull rod (8) movably connected to the fixing plate (1) is located on the left and right sides of the rear thigh connecting piece (4), and the end of the second thigh push-pull rod (8) movably connected to the second thigh front connecting piece (6) is located on the left and right sides of the rear thigh connecting piece (4). The rear side of the second thigh front connector (6). 10. The leg structure of the bionic robot according to claim 2, characterized in that: the first lower leg front connector (12) and the second lower leg front connector (13) are arranged side by side with each other, and the lower leg rear connector ( 11) Located behind the first calf front connector (12) and/or the second calf front connector (13); the first calf push-pull rod (14) is movably connected to the end of the first calf front connector (12) Located on the rear side of the first calf front connector (12), the end of the first calf push-pull rod (14) movably connected to the ankle base (19) is located on either left or right side of the calf rear connector (11); the second calf pusher The end of the pull rod (15) movably connected to the second calf front connecting piece (13) is located at the rear side of the second calf front connecting piece (13), and the end of the second calf push-pull rod (15) movably connected to the ankle base (19) is located at the back side of the second calf front connecting piece (13). The left and right sides of the rear connecting piece (11) of the calf.

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