Biped robot capable of improving weight distribution of legs

Abstract

The invention discloses a biped robot for improving weight distribution of legs. A hip frame body is fixedly connected to the center of the bottom of a waist frame body; the upper end of the thigh frame body is connected with the hip frame body through a motor direct drive type hip joint assembly, the lower end of the thigh frame body is connected with the upper end of the shank supporting rod through a knee joint assembly, and the lower end of the shank supporting rod is connected with the upper surface of the foot supporting plate through an ankle joint assembly; a leg bending and stretching driving assembly is arranged between the thigh frame body and the shank supporting rod; a foot pitching and deflection driving assembly is arranged between the thigh frame body and the foot supporting plate. Driving motors of knee joints and ankle joints are moved upwards to thighs, the knee joints and the ankle joints are driven by the driving motors in a connecting rod transmission mode, the weight of shanks and rotational inertia of the shanks are reduced, and in the dynamic walking process of the biped robot, the gravity center regulation and control difficulty is reduced, and the walking posture stability of the biped robot is improved; the balance between the movement performance of the shank and the lightweight requirement is realized.

Description

Technical Field

[0001] The invention belongs to the technical field of biped robots, and in particular relates to a biped robot with improved leg weight distribution. Background Art

[0002] At present, bipedal robots have been widely studied and applied in bionic locomotion, walking on complex terrain, etc. However, the weight distribution of the legs of existing bipedal robots is generally not ideal, mainly because the knee and ankle joints of bipedal robots usually adopt a motor direct drive structure, so the weight of the motor is concentrated at the knee and ankle joints. As a result, the weight of the calf below the knee joint is usually heavier, which not only increases the moment of inertia of the calf, but also affects the gait flexibility of the calf. In addition, due to the large weight and moment of inertia of the calf, the difficulty of center of gravity control will be further increased during the dynamic walking of the bipedal robot, and it is also easy to cause the instability of the walking posture of the bipedal robot. Summary of the invention

[0003] In view of the problems existing in the prior art, the present invention provides a bipedal robot with improved leg weight distribution, wherein the drive motors of the knee joint and the ankle joint are moved upward to the thigh area, and the driving motors of the knee joint and the ankle joint are driven by a connecting rod transmission, thereby greatly reducing the weight of the calf below the knee joint and the calf rotational inertia. During the dynamic walking process of the bipedal robot, the difficulty of center of gravity regulation is effectively reduced, the stability of the bipedal robot's walking posture is improved, and a balance is achieved between the calf movement performance and the lightweight requirement.

[0004] In order to achieve the above-mentioned objectives, the present invention adopts the following technical scheme: a bipedal robot with improved leg weight distribution, comprising a waist frame body, a hip frame body, a thigh frame body, a calf support rod and a foot support plate; the hip frame body is fixedly connected to the bottom center of the waist frame body; the upper end of the thigh frame body is connected to the hip frame body through a motor direct-driven hip joint assembly, the lower end of the thigh frame body is connected to the upper end of the calf support rod through a knee joint assembly, and the lower end of the calf support rod is connected to the upper surface of the foot support plate through an ankle joint assembly; a leg flexion and extension drive assembly is arranged between the thigh frame body and the calf support rod; a foot pitch and yaw drive assembly is arranged between the thigh frame body and the foot support plate.

[0005] An industrial computer is fixedly installed at the center of the waist frame body, and power batteries are fixedly embedded on the waist frame bodies on the left and right sides of the industrial computer. The industrial computer is powered by the power batteries.

[0006] The motor direct-driven hip joint assembly includes a leg swing drive motor, a leg forward and backward swing drive motor and a hip joint adapter bracket; the leg swing drive motor is horizontally fixed on the hip frame body, and the power output shaft of the leg swing drive motor faces forward; the hip joint adapter bracket is fixedly connected to the power output shaft of the leg swing drive motor; the leg forward and backward swing drive motor is horizontally fixed on the hip joint adapter bracket, and the power output shaft of the leg forward and backward swing drive motor is vertically distributed with the power output shaft of the leg swing drive motor; the upper end of the thigh frame body is fixedly connected to the power output shaft of the leg forward and backward swing drive motor; the leg swing drive motor and the leg forward and backward swing drive motor are both electrically connected to the industrial control computer, and the leg swing drive motor and the leg forward and backward swing drive motor are both powered by a power battery.

[0007] The ankle joint assembly includes an ankle joint longitudinal rotation axis, an ankle joint transverse rotation axis, an ankle joint support bearing seat and an ankle joint bearing ear seat; the ankle joint longitudinal rotation axis is horizontally arranged above the middle part of the foot support plate, the ankle joint longitudinal rotation axis is parallel to the length direction of the foot support plate, and both ends of the ankle joint longitudinal rotation axis are rotatably connected with the foot support plate through the ankle joint support bearing seat; the ankle joint transverse rotation axis is horizontally arranged above the middle part of the foot support plate and fixedly installed in the middle part of the ankle joint longitudinal rotation axis, the ankle joint transverse rotation axis and the ankle joint longitudinal rotation axis are vertically distributed and form a cross shape; the ankle joint bearing ear seat is fixedly installed at the lower end of the calf support rod, and both ends of the ankle joint transverse rotation axis are rotatably connected with the calf support rod through the ankle joint bearing ear seats.

[0008] The knee joint assembly includes a knee joint transverse rotation axis, a knee joint bearing ear seat and a knee joint bearing adapter seat; the knee joint bearing ear seat is fixedly installed at the lower end of the thigh frame body; the knee joint bearing adapter seat is fixedly installed at the upper end of the calf support rod; the two ends of the knee joint transverse rotation axis are rotatably connected to the thigh frame body through the knee joint bearing ear seat, and the middle part of the knee joint transverse rotation axis is rotatably connected to the calf support rod through the knee joint bearing adapter seat.

[0009] The leg flexion and extension drive assembly includes a leg flexion and extension drive motor, a leg flexion and extension drive swing rod, a leg flexion and extension drive connecting rod and a leg flexion and extension transmission bracket; the leg flexion and extension drive motor is horizontally fixed on the upper end of the thigh frame body, and the leg flexion and extension drive motor is coaxially distributed with the leg forward and backward swing drive motor; one end of the leg flexion and extension drive swing rod is fixedly connected to the power output shaft of the leg flexion and extension drive motor, the other end of the leg flexion and extension drive swing rod is hinged to the upper end of the leg flexion and extension drive connecting rod, the lower end of the leg flexion and extension drive connecting rod is hinged to the upper end of the leg flexion and extension transmission bracket, and the lower end of the leg flexion and extension transmission bracket is fixedly connected to the calf support rod; the leg flexion and extension drive motor is electrically connected to the industrial control computer, and the leg flexion and extension drive motor is powered by a power battery.

[0010] The foot pitch and yaw drive assembly includes a first foot drive motor, a first foot drive swing rod, a first foot drive connecting rod, a first triangular transmission connecting rod, a first foot transmission connecting rod, a second foot drive motor, a second foot drive swing rod, a second foot drive connecting rod, a second triangular transmission connecting rod, a second foot transmission connecting rod, a foot transfer transverse rotation axis and a foot transfer bearing seat; the first foot drive motor is horizontally fixed on the thigh frame body, and the first foot drive motor is parallel to the leg front and rear swing drive motor; one end of the first foot drive swing rod is fixedly connected to the power output shaft of the first foot drive motor, the other end of the first foot drive swing rod is hinged to the upper end of the first foot drive connecting rod, the lower end of the first foot drive connecting rod is hinged to the first corner point of the first triangular transmission connecting rod, the second corner point of the first triangular transmission connecting rod is hinged on the transverse rotation axis of the knee joint, and the third corner point of the first triangular transmission connecting rod is hinged to the upper end of the first foot transmission connecting rod; the second foot drive motor is horizontally fixed on the thigh frame body, the second foot The driving motor is arranged in parallel with the first foot driving motor; one end of the second foot driving swing rod is fixedly connected to the power output shaft of the second foot driving motor, the other end of the second foot driving swing rod is hinged to the upper end of the second foot driving connecting rod, the lower end of the second foot driving connecting rod is hinged to the first corner point of the second triangular transmission connecting rod, the second corner point of the second triangular transmission connecting rod is hinged on the transverse rotating shaft of the knee joint, and the third triangular point of the second triangular transmission connecting rod is hinged to the upper end of the second foot transmission connecting rod; the foot transfer transverse rotating shaft is horizontally arranged above the rear part of the foot support plate, the foot transfer transverse rotating shaft is vertically distributed with the ankle joint longitudinal rotating shaft, and both ends of the foot transfer transverse rotating shaft are rotatably connected to the foot support plate through the foot transfer bearing seat; the lower end of the first foot transmission connecting rod and the lower end of the second foot transmission connecting rod are connected to the foot transfer transverse rotating shaft through a universal ball joint; the first foot driving motor and the second foot driving motor are both electrically connected to the industrial computer, and the first foot driving motor and the second foot driving motor are both powered by a power battery.

[0011] Beneficial effects of the present invention:

[0012] The bipedal robot with improved leg weight distribution of the present invention moves the driving motors of the knee joint and the ankle joint upward to the thigh area, and drives the knee joint and the ankle joint through a connecting rod transmission method, which greatly reduces the weight of the calf below the knee joint and the calf rotational inertia. During the dynamic walking of the bipedal robot, the difficulty of center of gravity regulation is effectively reduced, the stability of the bipedal robot's walking posture is improved, and a balance is achieved between the calf movement performance and the lightweight requirement. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 The overall structure diagram of a biped robot with improved leg weight distribution according to the present invention (viewing angle 1);

[0014] Figure 2 The overall structural diagram of a biped robot with improved leg weight distribution according to the present invention (viewpoint 2);

[0015] Figure 3 The overall structural diagram of a biped robot with improved leg weight distribution according to the present invention (viewing angle 3);

[0016] Figure 4 It is a schematic structural diagram of a biped robot for improving leg weight distribution of the present invention when the waist and hip frame bodies are not shown;

[0017] Figure 5 A schematic structural diagram of a biped robot with improved leg weight distribution according to the present invention, wherein the foot and calf are partially not shown;

[0018] Figure 6 A schematic diagram of the waist structure of a biped robot for improving the weight distribution of the legs according to the present invention;

[0019] Figure 7 A schematic diagram of the foot structure of a biped robot with improved leg weight distribution according to the present invention;

[0020] Figure 8 A schematic structural diagram of a knee joint assembly and a foot pitch and yaw drive assembly (a foot adapter lateral rotation axis and a foot adapter bearing seat are not shown) of a biped robot for improving leg weight distribution according to the present invention (viewing angle 1);

[0021] Fig. 9 A schematic structural diagram of a knee joint assembly and a foot pitch and yaw drive assembly (a foot adapter lateral rotation axis and a foot adapter bearing seat are not shown) of a biped robot for improving leg weight distribution according to the present invention (viewing angle 2);

[0022] In the figure, I—waist frame body, II—hip frame body, III—thigh frame body, IV—calf support rod, V—foot support plate, 1—industrial computer, 2—power battery, 3—leg yaw drive motor, 4—leg forward and backward swing drive motor, 5—hip joint adapter bracket, 6—ankle joint longitudinal rotation axis, 7—ankle joint lateral rotation axis, 8—ankle joint support bearing seat, 9—ankle joint bearing ear seat, 10—knee joint lateral rotation axis, 11—knee joint bearing ear seat, 12—knee joint bearing adapter seat, 13—leg flexion and extension drive motor , 14—leg flexion and extension drive swing rod, 15—leg flexion and extension drive connecting rod, 16—leg flexion and extension transmission bracket, 17—first foot drive motor, 18—first foot drive swing rod, 19—first foot drive connecting rod, 20—first triangular transmission connecting rod, 21—first foot transmission connecting rod, 22—second foot drive motor, 23—second foot drive swing rod, 24—second foot drive connecting rod, 25—second triangular transmission connecting rod, 26—second foot transmission connecting rod, 27—foot transfer lateral rotation axis, 28—foot transfer bearing seat. DETAILED DESCRIPTION

[0023] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0024] like Figures 1 to 9 As shown, a bipedal robot with improved leg weight distribution includes a waist frame body I, a hip frame body II, a thigh frame body III, a calf support rod IV and a foot support plate V; the hip frame body II is fixedly connected to the bottom center of the waist frame body I; the upper end of the thigh frame body III is connected to the hip frame body II through a motor direct-driven hip joint assembly, the lower end of the thigh frame body III is connected to the upper end of the calf support rod IV through a knee joint assembly, and the lower end of the calf support rod IV is connected to the upper surface of the foot support plate V through an ankle joint assembly; a leg flexion and extension drive assembly is arranged between the thigh frame body III and the calf support rod IV; a foot pitch and yaw drive assembly is arranged between the thigh frame body III and the foot support plate V.

[0025] An industrial computer 1 is fixedly installed at the center of the waist frame body 1, and power batteries 2 are fixedly embedded on the waist frame body 1 on the left and right sides of the industrial computer 1. The industrial computer 1 is powered by the power battery 2.

[0026] The motor direct-driven hip joint assembly includes a leg swing drive motor 3, a leg forward and backward swing drive motor 4 and a hip joint adapter bracket 5; the leg swing drive motor 3 is horizontally fixed on the hip frame body II, and the power output shaft of the leg swing drive motor 3 faces forward; the hip joint adapter bracket 5 is fixedly connected to the power output shaft of the leg swing drive motor 3; the leg forward and backward swing drive motor 4 is horizontally fixed on the hip joint adapter bracket 5, and the power output shaft of the leg forward and backward swing drive motor 4 is vertically distributed with the power output shaft of the leg swing drive motor 3; the upper end of the thigh frame body III is fixedly connected to the power output shaft of the leg forward and backward swing drive motor 4; the leg swing drive motor 3 and the leg forward and backward swing drive motor 4 are both electrically connected to the industrial computer 1, and the leg swing drive motor 3 and the leg forward and backward swing drive motor 4 are both powered by the power battery 2.

[0027] The ankle joint assembly includes an ankle joint longitudinal rotation axis 6, an ankle joint transverse rotation axis 7, an ankle joint support bearing seat 8 and an ankle joint bearing ear seat 9; the ankle joint longitudinal rotation axis 6 is horizontally arranged above the middle part of the foot support plate V, the ankle joint longitudinal rotation axis 6 is parallel to the length direction of the foot support plate V, and both ends of the ankle joint longitudinal rotation axis 6 are rotatably connected with the foot support plate V through the ankle joint support bearing seat 8; the ankle joint transverse rotation axis 7 is horizontally arranged above the middle part of the foot support plate V and fixedly installed in the middle part of the ankle joint longitudinal rotation axis 6, the ankle joint transverse rotation axis 7 and the ankle joint longitudinal rotation axis 6 are vertically distributed and form a cross shape; the ankle joint bearing ear seat 9 is fixedly installed at the lower end of the calf support rod IV, and both ends of the ankle joint transverse rotation axis 7 are rotatably connected with the calf support rod IV through the ankle joint bearing ear seats 9.

[0028] The knee joint assembly includes a knee joint transverse rotation axis 10, a knee joint bearing ear seat 11 and a knee joint bearing adapter seat 12; the knee joint bearing ear seat 11 is fixedly installed at the lower end of the thigh frame body III; the knee joint bearing adapter seat 12 is fixedly installed at the upper end of the calf support rod IV; the two ends of the knee joint transverse rotation axis 10 are rotatably connected to the thigh frame body III through the knee joint bearing ear seat 11, and the middle part of the knee joint transverse rotation axis 10 is rotatably connected to the calf support rod IV through the knee joint bearing adapter seat 12.

[0029] The leg flexion and extension drive assembly includes a leg flexion and extension drive motor 13, a leg flexion and extension drive swing rod 14, a leg flexion and extension drive connecting rod 15 and a leg flexion and extension transmission bracket 16; the leg flexion and extension drive motor 13 is horizontally fixed on the upper end of the thigh frame body III, and the leg flexion and extension drive motor 13 is coaxially distributed with the leg forward and backward swing drive motor 4; one end of the leg flexion and extension drive swing rod 14 is fixedly connected to the power output shaft of the leg flexion and extension drive motor 13, and the other end of the leg flexion and extension drive swing rod 14 is hinged to the upper end of the leg flexion and extension drive connecting rod 15, and the lower end of the leg flexion and extension drive connecting rod 15 is hinged to the upper end of the leg flexion and extension transmission bracket 16, and the lower end of the leg flexion and extension transmission bracket 16 is fixedly connected to the calf support rod IV; the leg flexion and extension drive motor 13 is electrically connected to the industrial computer 1, and the leg flexion and extension drive motor 13 is powered by the power battery 2.

[0030] The foot pitch and yaw drive assembly includes a first foot drive motor 17, a first foot drive swing rod 18, a first foot drive link 19, a first triangular transmission link 20, a first foot transmission link 21, a second foot drive motor 22, a second foot drive swing rod 23, a second foot drive link 24, a second triangular transmission link 25, a second foot transmission link 26, a foot transfer transverse shaft 27 and a foot transfer bearing seat 28; the first foot drive motor 17 is horizontally fixed on the thigh frame body III, and the first foot drive motor 17 and the leg front and rear swing drive motor 4 are parallelly distributed; one end of the first foot driving swing rod 18 is fixedly connected to the power output shaft of the first foot driving motor 17, the other end of the first foot driving swing rod 18 is hinged to the upper end of the first foot driving link 19, the lower end of the first foot driving link 19 is hinged to the first corner point of the first triangular transmission link 20, the second corner point of the first triangular transmission link 20 is hinged to the lateral rotation axis 10 of the knee joint, and the third corner point of the first triangular transmission link 20 is hinged to the upper end of the first foot transmission link 21; the second foot driving motor 22 is horizontally fixed on the thigh frame body III, the first The second foot drive motor 22 is arranged in parallel with the first foot drive motor 17; one end of the second foot drive swing rod 23 is fixedly connected to the power output shaft of the second foot drive motor 22, the other end of the second foot drive swing rod 23 is hinged to the upper end of the second foot drive connecting rod 24, the lower end of the second foot drive connecting rod 24 is hinged to the first corner point of the second triangular transmission connecting rod 25, the second corner point of the second triangular transmission connecting rod 25 is hinged on the knee joint transverse rotation axis 10, the third corner point of the second triangular transmission connecting rod 25 is hinged to the upper end of the second foot transmission connecting rod 26; the foot transfer transverse rotation axis The shaft 27 is horizontally arranged above the rear part of the foot support plate V, the foot adapter transverse rotation axis 27 is vertically distributed with the ankle joint longitudinal rotation axis 6, and both ends of the foot adapter transverse rotation axis 27 are rotatably connected with the foot support plate V through the foot adapter bearing seat 28; the lower end of the first foot transmission link 21 and the lower end of the second foot transmission link 26 are connected to the foot adapter transverse rotation axis 27 through a universal ball joint; the first foot drive motor 17 and the second foot drive motor 22 are both electrically connected to the industrial computer 1, and the first foot drive motor 17 and the second foot drive motor 22 are both powered by the power battery 2.

[0031] The following describes a one-time use process of the present invention in conjunction with the accompanying drawings:

[0032] In this embodiment, the waist frame body I, the hip frame body II and the thigh frame body III are made of high-strength aluminum alloy; the calf support rod IV is made of carbon fiber and is in a round tube shape; the foot support plate V is made of high-strength steel; the hip joint adapter bracket 5 is made of high-strength aluminum alloy and is in an L-shape; the leg flexion and extension drive swing rod 14, the leg flexion and extension drive connecting rod 15, the leg flexion and extension transmission bracket 16, the first foot drive swing rod 18, the first foot drive connecting rod 19, the first triangular transmission connecting rod 20, the first foot transmission connecting rod 21, the second foot drive swing rod 23, the second foot drive connecting rod 24, the second triangular transmission connecting rod 25, and the second foot transmission connecting rod 26 are made of high-strength aluminum alloy or carbon fiber and other lightweight and high-strength materials; the leg yaw drive motor 3 and the leg forward and backward swing drive motor 4 are cycloidal pinwheel reducer motors; the leg flexion and extension drive motor 13, the first foot drive motor 17 and the second foot drive motor 22 are brushless DC motors.

[0033] When it is necessary to control the leg to perform a yaw motion, it is only necessary to start the leg yaw drive motor 3 to drive the hip joint adapter bracket 5 to rotate, and then drive the entire leg to perform a yaw motion through the hip joint adapter bracket 5.

[0034] When it is necessary to control the legs to swing forward and backward, it is only necessary to start the leg swinging drive motor 4 to drive the thigh frame body III to swing forward and backward, thereby realizing the swinging of the entire leg forward and backward.

[0035] When it is necessary to control the leg to perform flexion and extension movement, it is only necessary to start the leg flexion and extension drive motor 13, which first drives the leg flexion and extension drive swing rod 14 to perform a swinging movement, and then drives the leg flexion and extension transmission bracket 16 and the calf support rod IV fixedly connected thereto to rotate around the knee joint transverse rotation axis 10 through the leg flexion and extension drive connecting rod 15, thereby changing the angle between the calf support rod IV and the thigh frame body III, thereby realizing the flexion and extension movement of the entire leg.

[0036] When it is necessary to control the foot to perform pitch motion, the first foot drive motor 17 and the second foot drive motor 22 are started at the same speed and in the same direction. When the first foot drive motor 17 is started, it first drives the first foot drive swing bar 18 to perform a swing motion, and then drives the first triangular transmission link 20 to rotate around the knee joint transverse rotation axis 10 through the first foot drive link 19, and the rotating first triangular transmission link 20 transmits the driving force to the foot transfer transverse rotation axis 27 through the first foot transmission link 21. At the same time, when the second foot drive motor 22 is started, it first drives the second foot drive swing bar 23 to perform a swing motion, and then drives the second triangular transmission link 25 to rotate around the knee joint transverse rotation axis 10 through the second foot drive link 24, and the rotating second triangular transmission link 25 transmits the driving force to the foot transfer transverse rotation axis 27 through the second foot transmission link 26. At this time, the first foot transmission link 21 and the second foot transmission link 26 realize synchronous and unidirectional movement. In this movement state, the transfer transverse rotation axis 27 can be further driven to rotate around the ankle joint transverse rotation axis 7 following the foot support plate V, thereby realizing the pitch movement of the foot.

[0037] When it is necessary to control the foot to perform yaw motion, the first foot drive motor 17 and the second foot drive motor 22 are started in a differential or reverse manner. When the first foot drive motor 17 is started, it first drives the first foot drive swing rod 18 to perform yaw motion, and then drives the first triangular transmission link 20 to rotate around the knee joint transverse rotation axis 10 through the first foot drive link 19, and the rotating first triangular transmission link 20 transmits the driving force to the foot transfer transverse rotation axis 27 through the first foot transmission link 21. At the same time, when the second foot drive motor 22 is started, it first drives the second foot drive swing rod 23 to perform yaw motion, and then drives the second triangular transmission link 25 to rotate around the knee joint transverse rotation axis 10 through the second foot drive link 24, and the rotating second triangular transmission link 25 transmits the driving force to the foot transfer transverse rotation axis 27 through the second foot transmission link 26. At this time, the movement of the first foot transmission link 21 and the second foot transmission link 26 is realized asynchronously. In this movement state, the transfer transverse rotation axis 27 can be further driven to rotate around the ankle joint longitudinal rotation axis 6 following the foot support plate V, thereby realizing the swing movement of the foot.

[0038] The solutions in the embodiments are not intended to limit the protection scope of the present invention. All equivalent implementations or changes that do not deviate from the present invention are included in the protection scope of the present invention.

Claims

1. A biped robot with improved leg weight distribution, characterized in that: It includes a waist frame body, a hip frame body, a thigh frame body, a calf support rod and a foot support plate; the hip frame body is fixedly connected to the bottom center of the waist frame body; the upper end of the thigh frame body is connected to the hip frame body through a motor direct-driven hip joint assembly, the lower end of the thigh frame body is connected to the upper end of the calf support rod through a knee joint assembly, and the lower end of the calf support rod is connected to the upper surface of the foot support plate through an ankle joint assembly; a leg flexion and extension drive assembly is arranged between the thigh frame body and the calf support rod; a foot pitch and yaw drive assembly is arranged between the thigh frame body and the foot support plate.

2. A biped robot with improved leg weight distribution according to claim 1, characterized in that: An industrial computer is fixedly installed at the center of the waist frame body, and power batteries are fixedly embedded on the waist frame bodies on the left and right sides of the industrial computer. The industrial computer is powered by the power batteries.

3. A biped robot with improved leg weight distribution according to claim 2, characterized in that: The motor-direct-driven hip joint assembly includes a leg swing drive motor, a leg forward and backward swing drive motor, and a hip joint adapter bracket; The leg swing drive motor is horizontally fixed on the hip frame body, and the power output shaft of the leg swing drive motor faces forward; the hip joint adapter bracket is fixedly connected to the power output shaft of the leg swing drive motor; the leg forward and backward swing drive motor is horizontally fixed on the hip joint adapter bracket, and the power output shaft of the leg forward and backward swing drive motor is vertically distributed with the power output shaft of the leg swing drive motor; the upper end of the thigh frame body is fixedly connected to the power output shaft of the leg forward and backward swing drive motor; the leg swing drive motor and the leg forward and backward swing drive motor are both electrically connected to the industrial control computer, and the leg swing drive motor and the leg forward and backward swing drive motor are both powered by a power battery.

4. A biped robot with improved leg weight distribution according to claim 3, characterized in that: The ankle joint assembly includes an ankle joint longitudinal rotation axis, an ankle joint transverse rotation axis, an ankle joint support bearing seat and an ankle joint bearing ear seat; the ankle joint longitudinal rotation axis is horizontally arranged above the middle part of the foot support plate, the ankle joint longitudinal rotation axis is parallel to the length direction of the foot support plate, and both ends of the ankle joint longitudinal rotation axis are rotatably connected with the foot support plate through the ankle joint support bearing seat; the ankle joint transverse rotation axis is horizontally arranged above the middle part of the foot support plate and fixedly installed in the middle part of the ankle joint longitudinal rotation axis, the ankle joint transverse rotation axis and the ankle joint longitudinal rotation axis are vertically distributed and form a cross shape; the ankle joint bearing ear seat is fixedly installed at the lower end of the calf support rod, and both ends of the ankle joint transverse rotation axis are rotatably connected with the calf support rod through the ankle joint bearing ear seats.

5. A biped robot with improved leg weight distribution according to claim 4, characterized in that: The knee joint assembly includes a knee joint transverse rotation axis, a knee joint bearing ear seat and a knee joint bearing adapter seat; the knee joint bearing ear seat is fixedly installed at the lower end of the thigh frame body; the knee joint bearing adapter seat is fixedly installed at the upper end of the calf support rod; the two ends of the knee joint transverse rotation axis are rotatably connected to the thigh frame body through the knee joint bearing ear seat, and the middle part of the knee joint transverse rotation axis is rotatably connected to the calf support rod through the knee joint bearing adapter seat.

6. A biped robot with improved leg weight distribution according to claim 5, characterized in that: The leg flexion and extension drive assembly includes a leg flexion and extension drive motor, a leg flexion and extension drive swing rod, a leg flexion and extension drive connecting rod and a leg flexion and extension transmission bracket; the leg flexion and extension drive motor is horizontally fixed on the upper end of the thigh frame body, and the leg flexion and extension drive motor is coaxially distributed with the leg forward and backward swing drive motor; one end of the leg flexion and extension drive swing rod is fixedly connected to the power output shaft of the leg flexion and extension drive motor, the other end of the leg flexion and extension drive swing rod is hinged to the upper end of the leg flexion and extension drive connecting rod, the lower end of the leg flexion and extension drive connecting rod is hinged to the upper end of the leg flexion and extension transmission bracket, and the lower end of the leg flexion and extension transmission bracket is fixedly connected to the calf support rod; the leg flexion and extension drive motor is electrically connected to the industrial control computer, and the leg flexion and extension drive motor is powered by a power battery.

7. A biped robot with improved leg weight distribution according to claim 5, characterized in that: The foot pitch and yaw drive assembly includes a first foot drive motor, a first foot drive swing rod, a first foot drive connecting rod, a first triangular transmission connecting rod, a first foot transmission connecting rod, a second foot drive motor, a second foot drive swing rod, a second foot drive connecting rod, a second triangular transmission connecting rod, a second foot transmission connecting rod, a foot transfer transverse rotation axis and a foot transfer bearing seat; the first foot drive motor is horizontally fixed on the thigh frame body, and the first foot drive motor is parallel to the leg front and rear swing drive motor; one end of the first foot drive swing rod is fixedly connected to the power output shaft of the first foot drive motor, the other end of the first foot drive swing rod is hinged to the upper end of the first foot drive connecting rod, the lower end of the first foot drive connecting rod is hinged to the first corner point of the first triangular transmission connecting rod, the second corner point of the first triangular transmission connecting rod is hinged on the transverse rotation axis of the knee joint, and the third corner point of the first triangular transmission connecting rod is hinged to the upper end of the first foot transmission connecting rod; the second foot drive motor is horizontally fixed on the thigh frame body, the second foot The driving motor is arranged in parallel with the first foot driving motor; one end of the second foot driving swing rod is fixedly connected to the power output shaft of the second foot driving motor, the other end of the second foot driving swing rod is hinged to the upper end of the second foot driving connecting rod, the lower end of the second foot driving connecting rod is hinged to the first corner point of the second triangular transmission connecting rod, the second corner point of the second triangular transmission connecting rod is hinged on the transverse rotating shaft of the knee joint, and the third triangular point of the second triangular transmission connecting rod is hinged to the upper end of the second foot transmission connecting rod; the foot transfer transverse rotating shaft is horizontally arranged above the rear part of the foot support plate, the foot transfer transverse rotating shaft is vertically distributed with the ankle joint longitudinal rotating shaft, and both ends of the foot transfer transverse rotating shaft are rotatably connected to the foot support plate through the foot transfer bearing seat; the lower end of the first foot transmission connecting rod and the lower end of the second foot transmission connecting rod are connected to the foot transfer transverse rotating shaft through a universal ball joint; the first foot driving motor and the second foot driving motor are both electrically connected to the industrial computer, and the first foot driving motor and the second foot driving motor are both powered by a power battery.

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