A parallel elastic drive leg-foot structure with centralized tension spring layout and use method thereof

Abstract

The present invention belongs to the field of mechanical legs, and specifically relates to a parallel elastic drive leg-foot structure with a centralized tension spring layout and a method of use, wherein the leg-foot structure includes a parallel elastic drive mechanism and a thigh, a knee joint, a calf, an ankle joint and a sole arranged in sequence; the parallel elastic drive mechanism includes a calf elastic member and a sole elastic member, one end of the calf elastic member is fixedly arranged on the thigh, and the other end is connected to a calf rigid rope, one end of the sole elastic member is fixedly arranged on the thigh, and the other end is connected to a sole rigid rope; the calf rigid rope passes through the front side of the knee joint and is fixed to the front side of the calf; the sole rigid rope passes through the front side of the knee joint and passes from the front side of the calf to the back side of the calf, and is fixed to the heel of the sole from the back side. The associated elastic drive mechanism of the present invention can improve the installation stability of the calf and the sole, provide the calf and the sole with greater output power, and easily realize high-explosive movements such as running and jumping.

Description

Technical Field

[0001] The present invention belongs to the field of mechanical legs, and in particular relates to a parallel elastically driven leg foot structure with a centralized tension spring layout and a use method thereof. Background Art

[0002] The mainstream robot leg-foot structure on the market currently has the following defects:

[0003] 1. The leg structure of ordinary robots is only driven by motors, which has very high requirements on motor performance. It does not have the ability to utilize gravitational potential energy, resulting in part of the power being wasted and low energy efficiency, which further makes it difficult to complete high-explosive movements such as running and jumping.

[0004] 2. Ordinary robot feet are mostly designed with a large-area flat plate structure, which makes it difficult for them to move on uneven roads. In addition, their walking gait is mostly bent-leg walking, and their legs cannot be straightened when taking steps, making it difficult to be as natural and smooth as humans.

[0005] 3. The design parameters of the leg-foot structure of ordinary robots are difficult to modify after the parts are processed, which is not conducive to subsequent testing and parameter adjustment.

[0006] 4. The external impact on ordinary robots directly acts on the joint motors, which are easily damaged. Summary of the invention

[0007] The technical problem to be solved by the present invention is to provide a parallel elastically driven leg-foot structure with a centralized layout of tension springs, which can improve the stability and explosive force of the leg-foot structure and a method of use.

[0008] The present invention provides a parallel elastic drive leg-foot structure with a centralized tension spring layout, comprising a parallel elastic drive mechanism and a thigh, a knee joint, a calf, an ankle joint and a sole arranged in sequence;

[0009] The parallel elastic drive mechanism comprises a calf elastic member and a sole elastic member, one end of the calf elastic member is fixedly arranged on the thigh, and the other end is connected to a calf rigid rope, and one end of the sole elastic member is fixedly arranged on the thigh, and the other end is connected to a sole rigid rope;

[0010] The calf rigid rope passes through the front side of the knee joint and is fixed to the front side of the calf. When the calf is straightened, the calf rigid rope is in a straightened state, and the calf elastic member is in an initial state or a straightened and stretched state. When the calf is bent, the calf rigid rope is in a straightened state, and the calf elastic member is in a bent and stretched state. The tensile strength of the bent and stretched state is greater than the tensile strength of the straightened and stretched state.

[0011] The rigid rope of the sole passes through the front side of the knee joint and then passes through the front side of the calf to the back side of the calf, and is fixed to the heel of the sole from the back side. When the sole is in the initial position, the rigid rope of the sole is in a straight state, and the elastic part of the sole is in the initial state or the initial position pulled state. When the sole is in the dorsiflexion state, the rigid rope of the sole is in a straight state, and the elastic part of the sole is in the dorsiflexion and pulled state. The tensile strength of the sole in the dorsiflexion and pulled state is greater than the tensile strength in the initial position pulled state.

[0012] Furthermore, the sole of the foot comprises a forefoot and a rear foot that are hinged to each other, and the rear foot is connected to the ankle joint;

[0013] The rigid rope of the sole of the foot is passed to the rear side of the calf and then splits into a rigid rope of the forefoot and a rigid rope of the rear foot. The rigid rope of the rear foot is fixed to the heel of the rear foot, and the rigid rope of the forefoot is passed from the heel of the rear foot to the forefoot;

[0014] When the rear sole of the foot is in a dorsiflexed state and the forefoot is in an initial position, the sole rigid rope and the forefoot rigid rope are in a stretched state, and the sole elastic member is in a dorsiflexed and stretched state. When the forefoot is in a dorsiflexed state, the sole rigid rope and the forefoot rigid rope are in a stretched state, and the sole elastic member is in a dorsiflexed and stretched state. The tensile strength of the forefoot in the dorsiflexed and stretched state is greater than the tensile strength of the sole in the dorsiflexed and stretched state.

[0015] Furthermore, the calf rigid rope and the sole rigid rope are connected by guiding via a plurality of rigid rope guides arranged on the thigh, knee joint and calf.

[0016] Furthermore, the rigid rope guide is a sliding sleeve or a pulley;

[0017] When the rigid rope guide is a pulley, the calf rigid rope and the sole rigid rope are at least wound around the inner side of the pulleys at both ends, and the rest are wound around the inner side or outer side of the middle pulley.

[0018] Furthermore, the calf elastic member and the sole elastic member are arranged in parallel on the thigh; the calf rigid rope and the sole rigid rope are arranged in parallel on the part above the knee joint.

[0019] Furthermore, two groups of the calf elastic members and the calf rigid ropes are arranged in parallel, and the two groups of the calf elastic members and the calf rigid ropes are located on both sides of the sole elastic members and the sole rigid ropes.

[0020] Furthermore, the calf elastic member and the sole elastic member are tension springs;

[0021] One end of the calf elastic piece can be detachably hung on the thigh, and the other end can be detachably hung on the calf rigid rope; one end of the sole elastic piece can be detachably hung on the thigh, and the other end can be detachably hung on the sole rigid rope.

[0022] Furthermore, the knee joint is provided with a knee joint rotation driving mechanism for driving the calf to straighten or bend;

[0023] The calf is provided with a sole driving mechanism for driving the sole to dorsiflex or plantar flex.

[0024] Furthermore, the ankle joint is a cross-axis universal joint;

[0025] The sole driving mechanism includes two groups of swing driving mechanisms and two groups of connecting rods. The two groups of swing driving mechanisms are respectively arranged on both sides of the calf. A connecting rod is connected to the swing arm of each swing driving mechanism through a universal joint. The other end of the connecting rod is connected to the sole through a universal joint. The other ends of the two connecting rods are respectively arranged on both sides of the sole at the ankle joint.

[0026] The present invention also provides a method for using a parallel elastically driven leg-foot structure with a centralized tension spring layout, using the parallel elastically driven leg-foot structure with a centralized tension spring layout;

[0027] When the calf is bent, the calf elastic member is stretched and stores energy, and when the calf is transformed from bending to straightening, the calf elastic member releases energy to assist the calf in transforming from bending to straightening;

[0028] When the sole of the foot is dorsiflexed, the sole elastic member is stretched and thus stores energy. When the sole of the foot is in a transition process from the dorsiflexion to the initial state, the sole elastic member releases energy to assist the sole of the foot in transitioning from the dorsiflexion to the initial state.

[0029] The beneficial effect of the present invention is that, by setting a parallel elastic drive mechanism, the present invention can improve the installation stability of the calf and the sole, provide a buffering and shock absorbing effect, and provide elastic force for the knee joint and the ankle joint. Compared with the connecting rod transmission, the deployment space is reduced, and the possibility of damage to the knee joint rotation drive mechanism and the sole drive mechanism is reduced. At the same time, the performance requirements of the knee joint rotation drive mechanism and the sole drive mechanism can be reduced, and the calf and the sole are provided with a greater output power, which makes it easy to achieve high-explosive movements such as running and jumping. In addition, when the knee joint rotation drive mechanism and the sole drive mechanism only have a driving stroke, the parallel elastic drive mechanism can also be used as a reset drive mechanism for the calf and the sole, further reducing the requirements for the knee joint rotation drive mechanism and the sole drive mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Attached Figure 1 It is a schematic diagram of the structure from a first angle of the present invention;

[0031] Attached Figure 2 It is a schematic diagram of the structure from a second angle of the present invention;

[0032] Attached Figure 3 A top view of the present invention;

[0033] Attached Figure 4 For attachment Figure 3 Middle AA section view;

[0034] Attached Figure 5 For attachment Figure 3 Middle BB section view.

[0035] In the figure, 1-thigh; 2-knee joint; 21-knee joint rotation drive mechanism; 3-calf; 31-swing drive mechanism; 311-swing arm; 32-connecting rod; 33-through hole; 4-ankle joint; 5-sole; 51-forefoot; 52-backfoot; 6-parallel elastic drive mechanism; 61-calf elastic member; 62-sole elastic member; 63-calf rigid rope; 64-sole rigid rope; 641-forefoot rigid rope; 642-backfoot rigid rope; 65-rigid rope guide. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0037] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0038] In addition, in the present invention, descriptions such as "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0039] In the present invention, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, a physical connection, or a wireless communication connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0040] In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the fact that ordinary technicians in the field can implement it. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0041] As attached Figure 1 -Attached Figure 5 As shown, the present invention provides a parallel elastic drive leg-foot structure with a centralized tension spring layout, comprising a parallel elastic drive mechanism 6 and a thigh 1, a knee joint 2, a calf 3, an ankle joint 4 and a sole 5 arranged in sequence, wherein the knee joint 2 is used to connect the thigh 1 and the calf 3, and can make the calf 3 straighten and bend relative to the thigh 1, and the ankle joint 4 is used to connect the calf 3 and the sole 5, and can make the sole 5 switch between the initial position (the sole is perpendicular to the calf 3), dorsiflexion or plantar flexion;

[0042] The parallel elastic drive mechanism 6 comprises a calf elastic member 61 and a sole elastic member 62, one end of the calf elastic member 61 is fixedly arranged on the thigh 1, and the other end is connected to a calf rigid rope 63, and one end of the sole elastic member 62 is fixedly arranged on the thigh 1, and the other end is connected to a sole rigid rope 64;

[0043] The calf rigid rope 63 passes through the front side of the knee joint 2 and is fixed to the front side of the calf 3. When the calf 3 is straightened, the calf rigid rope 63 is in a straightened state, and the calf elastic member 61 is in an initial state or a straightened and pulled state. The calf elastic member 61 is in the initial state, that is, the calf elastic member 61 is not stretched. At this time, the calf elastic member 61 will not generate a pulling force on the calf rigid rope 63, and the calf rigid rope 63 will not generate a tendency to pull the calf 3 to continue to rotate in the straightening direction. The straightened and pulled state is a state in which the calf elastic member 61 is slightly stretched. At this time, the calf elastic member 61 generates a slight pulling force on the calf rigid rope 63, and the calf rigid rope 63 will A slight pulling force is generated to cause the calf 3 to continue to rotate in the straightening direction. At this time, the calf elastic member 61 and the calf rigid rope 63 can provide a tensioning force for the connection between the thigh 1 and the calf 3. On the one hand, the connection stability between the thigh 1 and the calf 3 can be ensured to avoid the shaking that will occur after the assembly error between the two. On the other hand, a vibration reduction effect can be provided when the calf 3 is straightened. During the movement of the leg-foot structure, the vibration of the thigh 1 and the calf 3 can be reduced. On the other hand, elastic force can be provided for the knee joint 2. On the other hand, the direct effect of external impact on the knee joint rotation drive mechanism 21 can be reduced, thereby improving the durability and reliability of the leg-foot structure and reducing the risk of damage. Preferably, when the calf 3 is straightened, the calf elastic member 61 is in a straightened and pulled state.When the calf 3 is bent, the calf rigid rope 63 is in a stretched state, and the calf elastic member 61 is in a bent and stretched state. The tensile strength of the bent and stretched state is greater than the tensile strength of the straightened and stretched state, that is, the calf elastic member 61 will be further stretched relative to the initial state or the straightened and stretched state. At this time, the calf elastic member 61 is in a medium-to-heavy stretched state. At this time, the calf elastic member 61 exerts a large pulling force on the calf rigid rope 63, and the calf rigid rope 63 will produce a large pulling force to pull the calf 3 to continue to rotate in the straightening direction. When the calf 3 remains in a bent state, the calf elastic member 61 will store energy, and when the calf 3 changes from a bent state to a straightened state, the calf elastic member 61 will release energy to assist the calf 3 in changing from a bent state to a straightened state, thereby improving the energy output efficiency of the calf 3 and making it easier to achieve high-explosive movements such as running and jumping, thereby reducing the dependence on the performance of the knee joint rotation drive mechanism 21. Relying on, reducing energy consumption, solving the problems of high performance requirements and low energy efficiency of the knee joint rotation drive mechanism 21 in the leg and foot structure of ordinary robots; the specific principle is: when stretching the legs during running or jumping, if there is no calf elastic member 61 and calf rigid rope 63, under the condition that the self-weight of the leg and foot structure is doing positive work, the knee joint rotation drive mechanism 21 can achieve the bending action of the calf 3 by maintaining a relatively small power, but the additional calf elastic member 61 and calf rigid rope 63 require the knee joint rotation drive mechanism 21 to provide additional power to stretch the calf elastic member 61, and then store a part of the potential energy in the calf elastic member 61; when the calf 3 is transformed from bending to straightening, in order to overcome the self-weight of the leg and foot structure, the knee joint rotation drive mechanism 21 needs to output with a larger power, and at this time the calf elastic member 61 relatively contracts to release potential energy to cooperate with the knee joint rotation drive mechanism 21 to achieve a larger overall output power of the calf 3, thereby realizing high-explosive action. In addition, when the knee joint rotation drive mechanism 21 only has a rotation stroke for rotationally driving the calf 3 to bend, the calf elastic member 61 and the sole elastic member 62 can also directly serve as a driving mechanism for driving the calf 3 to change from bending to straightening, further reducing the requirements for the knee joint rotation drive mechanism 21.

[0044] The sole rigid rope 64 passes through the front side of the knee joint 2 and then passes through the front side of the calf 3 to the back side of the calf 3, and is fixed to the heel of the sole 5 from the back side. When the sole 5 is in the initial position, the sole rigid rope 64 is in a straight state, and the sole elastic member 62 is in the initial state or the initial position pulled state. The sole elastic member 62 is in the initial state, that is, the sole elastic member 62 is not stretched. At this time, the sole elastic member 62 will not generate tension on the sole rigid rope 64, and the sole rigid rope 64 will not have a tendency to pull the sole 5 to continue to rotate in the plantar flexion direction. The initial position pulled state is the state in which the sole elastic member 62 is slightly stretched. At this time, the sole elastic member 62 generates a slight tension on the sole rigid rope 64, and the sole rigid rope 64 will generate a slight pulling force on the sole The sole 5 continues to rotate in the plantar flexion direction (at this time, the sole 5 is limited by the sole driving mechanism to prevent the sole rigid rope 64 from pulling the sole 5 to rotate in the plantar flexion direction). At this time, the sole elastic member 62 and the sole rigid rope 64 can provide tension to the connection between the calf 3 and the sole 5. On the one hand, it can ensure the connection stability between the calf 3 and the sole 5, and avoid the shaking that will occur after the assembly error between the two. On the other hand, it can provide a vibration reduction effect when the sole 5 is in the initial position. During the movement of the leg-foot structure, the vibration of the calf 3 and the sole 5 can be reduced. On the other hand, it can provide elastic force for the ankle joint 4, and on the other hand, it can reduce the direct effect of external impact on the sole driving mechanism, thereby improving the durability and reliability of the leg-foot structure and reducing the risk of damage. Preferably, when the sole 5 is in the initial position, the sole elastic member 62 is in the initial position and is pulled.When the sole 5 is in the dorsiflexed state, the sole rigid rope 64 is in a straightened state, and the sole elastic member 62 is in a dorsiflexed state. The tensile strength of the sole dorsiflexed state is greater than the tensile strength of the initial state, that is, the sole elastic member 62 will be further stretched relative to the initial state or the straightened state. At this time, the sole elastic member 62 is in a medium-to-heavy degree of stretching state. At this time, the sole elastic member 62 exerts a large pulling force on the sole rigid rope 64, and the sole rigid rope 64 will have a large tendency to pull the sole 5 to continue to rotate in the plantar flexion direction. When the sole 5 maintains the dorsiflexed state, the sole elastic member 62 will store energy, and when the sole 5 changes from the dorsiflexed state to the initial state or the plantar flexed state, the sole elastic member 62 will release energy, assisting the sole 5 to change from the dorsiflexed state to the initial state or the plantar flexed state, thereby improving the energy output efficiency of the sole 5 and making it easier to achieve high-explosive movements such as running and jumping. This reduces dependence on the performance of the sole drive mechanism, reduces energy consumption, and solves the problems of high performance requirements and low energy efficiency of the sole drive mechanism in the leg and foot structure of ordinary robots. The specific principle is: when the sole dorsiflexes during running or jumping, if there is no sole elastic member 62 and sole rigid rope 64, the sole drive mechanism can maintain a relatively small power to achieve the dorsiflexion of the sole 5 when the self-weight of the leg and foot structure is doing positive work. However, the additional sole elastic member 62 and sole rigid rope 64 require the sole drive mechanism to provide additional power to stretch the sole elastic member 62, thereby storing a portion of potential energy in the sole elastic member 62. When the sole 5 dorsiflexes to the initial state or the plantar flexion state, in order to overcome the self-weight of the leg and foot structure, the sole drive mechanism needs to output with a larger power. At this time, the sole elastic member 62 relatively contracts to release potential energy to cooperate with the sole drive mechanism to achieve a larger overall output power of the sole 5, thereby achieving high-explosive movements. In addition, when the sole driving mechanism only has a rotational stroke to drive the sole 5 to dorsiflex, the sole elastic member 62 and the sole rigid rope 64 can also directly serve as a driving mechanism to drive the sole 5 to change from dorsiflexion to an initial state or a plantar flexion state, further reducing the requirements for the sole driving mechanism.

[0045] That is, the present invention can improve the installation stability of the calf 3 and the sole 5, provide a buffering and shock absorbing effect, and provide elastic force for the knee joint 2 and the ankle joint 4 by setting a parallel elastic drive mechanism 6. Compared with the connecting rod transmission, the deployment space is reduced, and the possibility of damage to the knee joint rotation drive mechanism 21 and the sole drive mechanism is reduced. At the same time, the performance requirements of the knee joint rotation drive mechanism 21 and the sole drive mechanism can be reduced, and the calf 3 and the sole 5 can be provided with a greater output power, which makes it easy to achieve high-explosive movements such as running and jumping. In addition, when the knee joint rotation drive mechanism 21 and the sole drive mechanism only have a driving stroke, the parallel elastic drive mechanism 6 can also be used as a reset drive mechanism for the calf 3 and the sole 5, further reducing the requirements for the knee joint rotation drive mechanism 21 and the sole drive mechanism.

[0046] In one embodiment, the sole 5 includes a forefoot 51 and a rear sole 52 which are hinged to each other, and the rear sole 52 is connected to the ankle joint 4. By setting the forefoot 51, a bionic design is performed by imitating the human foot, which is divided into the forefoot 51 and the rear sole 52. During walking, the foot can effectively fit the road surface, and the stability of the leg and foot structure movement is enhanced. At the same time, the entire leg of the non-supporting leg can be freely extended when walking, and the walking gait is more natural and smooth.

[0047] The sole rigid rope 64 passes through the rear side of the calf 3 and then splits into a forefoot rigid rope 641 and a rear foot rigid rope 642. The rear foot rigid rope 642 is fixed to the heel of the rear foot 52, and the forefoot rigid rope 641 passes from the heel of the rear foot 52 to the forefoot 51.

[0048] When the rear sole 52 is in a dorsiflexed state, and when the forefoot 51 is in the initial position, the sole rigid rope 64 and the forefoot rigid rope 641 are in a straightened state, and the sole elastic member 62 is in a dorsiflexed and pulled state. At this time, in addition to the above-mentioned effect of the sole 5 being in the dorsiflexed state, the sole elastic member 62 can also pull the forefoot 51 to always maintain a coplanar state with the rear sole 52. On the one hand, it can ensure the connection stability between the forefoot 51 and the rear sole 52 and avoid shaking between the two. On the other hand, it can provide a vibration reduction effect for the forefoot 51. During the movement of the leg-foot structure, the vibration of the forefoot 51 and the rear sole 52 can be reduced. When the forefoot 51 is in the dorsiflexed state, at this time, only the forefoot 51 of the leg-foot structure is in contact with the ground, or when on an uneven ground, the forefoot 51 and the rear foot 52 are respectively in contact with different positions of the ground to improve walking stability, the sole rigid rope 64 and the forefoot rigid rope 641 are in a straightened state, and the sole elastic member 62 is in the forefoot dorsiflexed state being pulled, and the tensile strength of the forefoot dorsiflexed state being pulled is greater than the tensile strength of the forefoot dorsiflexed state being pulled, that is, the forefoot rigid rope 641 will further pull the forefoot 51 to rotate in the same direction as the rear foot 52, thereby improving the contact strength between the forefoot 51 and the ground. In this embodiment, the sole rigid rope 64 provides functions for both the forefoot 51 and the rear foot 52, further improving the utilization rate of the parallel elastic drive mechanism 6.

[0049] In one embodiment, the calf rigid rope 63 and the sole rigid rope 64 are connected and guided by multiple sets of rigid rope guides 65 arranged on the thigh 1, the knee joint 2 and the calf 3. In the embodiment where the sole rigid rope 64 is bifurcated into the front sole rigid rope 641 and the rear sole rigid rope 642, the end of the rear sole 52 is also provided with a rigid rope guide 65. By providing the rigid rope guide 65, the movement guidance of the calf rigid rope 63 and the sole rigid rope 64 can be provided to avoid the interference caused by the deviation of the calf rigid rope 63 and the sole rigid rope 64, which affects the use effect. In addition, a through hole 33 is provided on the upper part of the calf 3, so that the sole rigid rope 64 passes through the front side of the knee joint 2 and then passes from the front side of the calf 3 to the rear side of the calf 3, so as to ensure the movement stability of the sole rigid rope 64.

[0050] In one embodiment, the rigid rope guide 65 is a sliding sleeve or a pulley. When the sliding sleeve is used, the calf rigid rope 63 and the sole rigid rope 64 are sleeved in the sliding sleeve and can reciprocate in the sliding sleeve, so that the calf rigid rope 63 and the sole rigid rope 64 can be limited in multiple directions;

[0051] When the rigid rope guide 65 is a pulley, the moving friction of the calf rigid rope 63 and the sole rigid rope 64 can be reduced. The calf rigid rope 63 and the sole rigid rope 64 are at least wound around the inner side of the pulleys at the two ends, and the rest are wound around the inner side or the outer side of the middle pulley. The pulleys at the two ends corresponding to the calf rigid rope 63 refer to the pulleys near the calf elastic member 61 and the pulleys near the connection between the calf rigid rope 63 and the calf 3, and the pulleys at the two ends corresponding to the sole rigid rope 64 refer to the pulleys near the sole elastic member 62 and the pulleys near the connection between the sole elastic member 62 and the sole 5. In a specific embodiment, the relationship between the calf rigid rope 63 and the sole rigid rope 64 and the pulleys can be as shown in the attached figure. Figure 4 and attached Figure 5 shown.

[0052] In one of the embodiments, the calf elastic member 61 and the sole elastic member 62 are arranged in parallel on the thigh 1; the calf rigid rope 63 and the sole rigid rope 64 are arranged in parallel on the part above the knee joint 2. At this time, the remaining space on the front side of the thigh 1 can be fully utilized, the deployment space of the parallel elastic drive mechanism 6 can be reduced, the size increase of the leg and foot structure caused by the parallel elastic drive mechanism 6 can be reduced, and the compactness of the overall design can be ensured.

[0053] In one embodiment, the calf elastic member 61 and the calf rigid rope 63 are arranged in two groups in parallel, and the two groups of the calf elastic member 61 and the calf rigid rope 63 are located on both sides of the sole elastic member 62 and the sole rigid rope 64, thereby ensuring the output power of the calf 3 movement and ensuring the left-right symmetry of the weight of the leg-foot structure.

[0054] In one embodiment, the calf elastic member 61 and the sole elastic member 62 are tension springs;

[0055] One end of the calf elastic member 61 is detachably hung on the thigh 1, and the other end is detachably hung on the calf rigid rope 63. One end of the sole elastic member 62 is detachably hung on the thigh 1, and the other end is detachably hung on the sole rigid rope 64. In this embodiment, a detachable tension spring structure is adopted, and its stiffness is adjustable (by replacing tension springs with different stiffness coefficients), and it is easy to replace. By reasonably selecting the stiffness of the tension spring, energy consumption can be effectively reduced and efficiency can be improved. In this embodiment, the adjustability and easy replacement of the structural design parameters of the leg-foot structure make subsequent testing and parameter adjustment more flexible, which is conducive to the optimization of the performance of the leg-foot structure and the needs of adapting to different environments. Preferably, a hook with adjustable height is provided on the thigh 1, and the calf elastic member 61 and the sole elastic member 62 are both detachably fixed on the thigh 1 through the hook, and the preload force of the calf elastic member 61 and the sole elastic member 62 can be adjusted by adjusting the height of the hook. Preferably, the height of the hook on the thigh 1 is adjustable through a threaded adjustment rod. Preferably, the other ends of the calf elastic member 61 and the sole elastic member 62 are also provided with hooks, and the calf rigid rope 63 and the sole rigid rope 64 are respectively connected to the calf elastic member 61 and the sole elastic member 62 through the hooks to simplify the connection difficulty of the rigid rope and the elastic member.

[0056] In one embodiment, the knee joint 2 is provided with a knee joint rotation drive mechanism 21 for driving the calf 3 to straighten or bend. Preferably, the knee joint rotation drive mechanism 21 adopts a rotary motor;

[0057] The calf 3 is provided with a sole driving mechanism for driving the sole 5 to dorsiflex or plantar flex, thereby driving the calf 3 and the sole 5 to actively rotate.

[0058] In one embodiment, the ankle joint 4 is a cross-axis universal joint, so that the dorsiflexion, plantar flexion, inversion and eversion of the sole 5 can be achieved;

[0059] The foot driving mechanism includes two groups of swing driving mechanisms 31 and two groups of connecting rods 32. The swing driving mechanism 31 can adopt a motor or a servo. The two groups of swing driving mechanisms 31 are respectively arranged on both sides of the calf 3. A connecting rod 32 is connected to the swing arm 311 of each swing driving mechanism 31 through a universal joint. The other end of the connecting rod 32 is connected to the foot 5 through a universal joint. The other ends of the two connecting rods 32 are respectively arranged on both sides of the foot 5 located at the ankle joint 4. The dorsiflexion, plantar flexion, inversion and eversion of the foot 5 are realized by the swinging of the two swing driving mechanisms 31.

[0060] The present invention also provides a method for using a parallel elastically driven leg-foot structure with a centralized tension spring layout, using the parallel elastically driven leg-foot structure with a centralized tension spring layout;

[0061] When the calf 3 is bent, the calf elastic member 61 is stretched and thus stores energy. When the calf 3 is transformed from bending to straightening, the calf elastic member 61 releases energy to assist the calf 3 in transforming from bending to straightening, specifically to improve the energy output efficiency of the calf 3, making it easier to achieve high-explosive movements such as running and jumping.

[0062] When the sole 5 is dorsiflexed, the sole elastic member 62 is stretched and thus stores energy. When the sole 5 is in the process of transitioning from the dorsiflexion to the initial state, the sole elastic member 62 releases energy to assist the sole 5 in transitioning from the dorsiflexion to the initial state, specifically to improve the energy output efficiency of the sole 5, making it easier to achieve high-explosive movements such as running and jumping.

[0063] The above is only an embodiment and does not limit the present invention in any way. Any person skilled in the art can use the above disclosed technical contents to make many possible changes, modifications or modifications to the technical solutions of the present invention into equivalent embodiments of equivalent changes without departing from the scope of the technical solutions of the present invention. Therefore, any simple modification, equivalent changes and modifications made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solutions of the present invention shall fall within the scope of protection of the technical solutions of the present invention.

Claims

1. A parallel elastic drive leg-foot structure with a centralized tension spring layout, characterized in that: It comprises a parallel elastic drive mechanism (6) and a thigh (1), a knee joint (2), a calf (3), an ankle joint (4) and a sole (5) which are arranged in sequence; The parallel elastic drive mechanism (6) comprises a calf elastic member (61) and a sole elastic member (62), one end of the calf elastic member (61) being fixedly arranged on the thigh (1) and the other end being connected to a calf rigid rope (63), and one end of the sole elastic member (62) being fixedly arranged on the thigh (1) and the other end being connected to a sole rigid rope (64); The calf rigid rope (63) passes through the front side of the knee joint (2) and is fixed to the front side of the calf (3); when the calf (3) is straightened, the calf rigid rope (63) is in a straightened state, and the calf elastic member (61) is in an initial state or a straightened and stretched state; when the calf (3) is bent, the calf rigid rope (63) is in a straightened state, and the calf elastic member (61) is in a bent and stretched state, and the tensile strength of the bent and stretched state is greater than the tensile strength of the straightened and stretched state; The sole rigid rope (64) passes through the front side of the knee joint (2) and then passes through the front side of the calf (3) to the back side of the calf (3), and is fixed to the heel of the sole (5) from the back side. When the sole (5) is in the initial position, the sole rigid rope (64) is in a straight state, and the sole elastic member (62) is in the initial state or in the initial state of being pulled. When the sole (5) is in the dorsiflexion state, the sole rigid rope (64) is in a straight state, and the sole elastic member (62) is in the dorsiflexion state of being pulled. The tensile strength of the sole in the dorsiflexion state is greater than the tensile strength of the initial state of being pulled. The sole (5) comprises a forefoot (51) and a rear foot (52) which are hinged to each other, and the rear foot (52) is connected to the ankle joint (4); The sole rigid rope (64) is passed through to the rear side of the calf (3) and then bifurcated into a forefoot rigid rope (641) and a rear foot rigid rope (642); the rear foot rigid rope (642) is fixed to the heel of the rear foot (52); and the forefoot rigid rope (641) is passed from the heel of the rear foot (52) to the forefoot (51); When the rear sole (52) is in a dorsiflexed state and the forefoot (51) is in an initial position, the sole rigid rope (64) and the forefoot rigid rope (641) are in a straightened state, and the sole elastic member (62) is in a dorsiflexed and pulled state; when the forefoot (51) is in a dorsiflexed state, the sole rigid rope (64) and the forefoot rigid rope (641) are in a straightened state, and the sole elastic member (62) is in a forefoot dorsiflexed and pulled state, and the tensile strength of the forefoot in the dorsiflexed and pulled state is greater than the tensile strength of the sole in the dorsiflexed and pulled state.

2. The parallel elastic drive leg-foot structure with centralized tension spring layout as claimed in claim 1 is characterized in that: The calf rigid rope (63) and the sole rigid rope (64) are connected by guiding via a plurality of sets of rigid rope guides (65) arranged on the thigh (1), the knee joint (2) and the calf (3).

3. The parallel elastic drive leg-foot structure with centralized tension spring layout as claimed in claim 2 is characterized in that: The rigid rope guide (65) is a sliding sleeve or a pulley; When the rigid rope guide (65) is a pulley, the calf rigid rope (63) and the sole rigid rope (64) are at least wound around the inner side of the pulleys at both ends, and the rest are wound around the inner side or the outer side of the middle pulley.

4. The parallel elastic drive leg-foot structure with centralized tension spring layout as claimed in claim 1 is characterized in that: The calf elastic member (61) and the sole elastic member (62) are arranged in parallel on the thigh (1); the calf rigid rope (63) and the sole rigid rope (64) are arranged in parallel on the part above the knee joint (2).

5. The parallel elastic drive leg-foot structure with centralized tension spring layout as claimed in claim 1 is characterized in that: The calf elastic member (61) and the calf rigid rope (63) are arranged in two groups in parallel, and the two groups of the calf elastic member (61) and the calf rigid rope (63) are located on both sides of the sole elastic member (62) and the sole rigid rope (64).

6. The parallel elastic drive leg-foot structure with centralized tension spring layout as claimed in claim 1 is characterized in that: The calf elastic member (61) and the sole elastic member (62) are tension springs; One end of the calf elastic member (61) is detachably hung on the thigh (1), and the other end is detachably hung on the calf rigid rope (63); one end of the sole elastic member (62) is detachably hung on the thigh (1), and the other end is detachably hung on the sole rigid rope (64).

7. The parallel elastic drive leg-foot structure with centralized tension spring layout as claimed in any one of claims 1 to 6, characterized in that: The knee joint (2) is provided with a knee joint rotation driving mechanism (21) for driving the lower leg (3) to straighten or bend; The calf (3) is provided with a sole driving mechanism for driving the sole (5) to dorsiflex or plantar flex.

8. The parallel elastic drive leg-foot structure with centralized tension spring layout as claimed in claim 7 is characterized in that: The ankle joint (4) is a cross-axis universal joint; The sole drive mechanism comprises two groups of swing drive mechanisms (31) and two groups of connecting rods (32). The two groups of swing drive mechanisms (31) are respectively arranged on both sides of the lower leg (3). A connecting rod (32) is connected to the swing arm (311) of each swing drive mechanism (31) via a universal joint. The other end of the connecting rod (32) is connected to the sole (5) via a universal joint. The other ends of the two connecting rods (32) are respectively arranged on both sides of the sole (5) at the ankle joint (4).

9. A method for using a parallel elastic drive leg-foot structure with a centralized tension spring layout, characterized in that: A parallel elastic drive leg-foot structure with a centralized layout of tension springs as described in any one of claims 1 to 8; When the calf (3) is bent, the calf elastic member (61) is stretched and thus stores energy, and when the calf (3) is in the process of changing from bending to straightening, the calf elastic member (61) releases energy to assist the calf (3) in changing from bending to straightening; When the sole (5) is dorsiflexed, the sole elastic member (62) is stretched and thus stores energy, and when the sole (5) is in the process of transitioning from the dorsiflexion to the initial state, the sole elastic member (62) releases energy to assist the sole (5) in transitioning from the dorsiflexion to the initial state.

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