All-terrain excavator

Abstract

The utility model discloses an all-terrain excavator, which belongs to the technical field of engineering equipment and comprises a cab, a power cabin, a walking module, a working arm, a frame A, a steering driving cylinder, an auxiliary arm, a frame B and a rotary pin. The walking modules are symmetrically arranged on the left and right sides of the frame A and the frame B; the working arm is arranged on the frame A and is mainly used for realizing excavation operation; the frame A and the frame B are hinged through a rotary pin and are driven by a steering driving cylinder to realize hinged steering; and the auxiliary arm is arranged at the tail part of the frame B. Through the walking module, the auxiliary arm and the working arm, two sets of walking modes of leg-foot type walking and wheel type walking are realized, and through the matching of the hinging mechanism and legs, the posture of the vehicle can be adjusted in the process of excavating and crossing large obstacles, the stability of the whole machine is kept, and the operation safety is improved. And the whole machine has high traffic capacity and high reliability.

Description

Technical Field

[0001] The utility model belongs to the technical field of engineering equipment, and in particular relates to an all-terrain excavator. Background Art

[0002] The all-terrain excavator is an innovative type of engineering machinery designed to cope with diverse engineering operation requirements and complex and changing terrain environments. Traditional excavators are often limited by their fixed chassis structure and single operating mode when facing different terrains or operating scenarios. In order to overcome this limitation, the all-terrain excavator adopts an articulated chassis design that integrates multiple driving modes and operating functions. Through the articulated chassis design, the all-terrain excavator can quickly switch between leg-foot driving mode and wheel driving mode, thereby achieving efficient movement in different terrains. In addition, the excavator can automatically adjust the driving mode and operating form according to engineering needs and terrain conditions to maximize operating efficiency and safety. Summary of the invention

[0003] In view of the above problems, the utility model discloses an all-terrain excavator, which has multiple walking modes and a body stability adjustment mechanism, and has high traffic capacity and operation safety.

[0004] The technical solution of the utility model is as follows:

[0005] An all-terrain excavator comprises: a cab and a power compartment 1, a walking module 2, a working arm 3, a frame A 4, a steering drive cylinder 5, an auxiliary arm 6, a frame B 7 and a slewing pin 8;

[0006] The frame A4 and the frame B7 are hinged by a slewing pin 8, and the frame A4 and the frame B7 form the chassis of the excavator; one end of the steering drive cylinder 5 is hinged on the frame A4, and the other end is hinged on the frame B7, which is used to drive the rotation between the frame A4 and the frame B7 to realize the articulated steering;

[0007] The cab and power compartment 1 are arranged on the vehicle frame B 7, and the cab and power compartment 1 are the mounting carriers of the control device and the power device;

[0008] The working arm 3 is arranged at the front end of the vehicle frame A4 and has the functions of rotation and excavation; the auxiliary arm 6 is arranged at the rear end of the vehicle frame B7;

[0009] The walking module 2 is mainly composed of a connecting frame 21, a suspension 22, a hub motor 23, wheels 24 and a leg-foot walking device 25; the connecting frame 21 is fixed to the side of the chassis, the top of the suspension 22 is fixed below the connecting frame 21, and the hub motor 23 is installed at the bottom of the suspension 22; the hub motor 23 is connected to the wheel 24 to drive the whole machine to achieve wheeled walking; the leg-foot walking device 25 is installed on the fork arm of the connecting frame 21, and the leg-foot walking device 25 cooperates with the working arm 3 and the auxiliary arm 6 to drive the whole machine to achieve foot-type walking.

[0010] Preferably, the frame A4 is provided with a slewing device mounting portion 41, a slewing pin mounting hole A42, a steering drive cylinder mounting seat A43 and a rolling support structure A44;

[0011] The slewing device installation part 41 is arranged at the front end of the frame A 4, and the slewing device installation part 41 is a circular groove for installing the slewing device 31 arranged at the lower end of the working arm 3; the slewing pin installation hole A 42 is arranged in the middle of the frame A 4, and is used for installing the slewing pin 8; the steering drive cylinder installation seat A 43 is symmetrically arranged on both sides of the frame A 4, and is used for the articulation of the steering drive cylinder 5;

[0012] The rolling support structure A 44 is arranged at the rear of the frame A 4. The rolling support structure A 44 consists of a groove, a retaining frame and a rolling body. The groove is arranged in an arc shape. The rolling body is arranged in the groove. The retaining frame is installed above the rolling body so that the rolling body rolls in the gap between the groove and the retaining frame. At the same time, the top of the rolling body is slightly higher than the top surface of the frame A 4, so as to support the frame B 7 and reduce the friction between the frame A 4 and the frame B 7 during steering.

[0013] Preferably, the frame B 7 is composed of a frame B upper layer 71 and a frame B lower layer 72, and the frame B upper layer 71 and the frame B lower layer 72 are welded into a whole through a connecting part set at the front end of the frame B upper layer 71, and the frame A 4 is installed between the frame B upper layer 71 and the frame B lower layer 72.

[0014] Preferably, the upper layer 71 of the frame B is provided with an auxiliary arm connecting seat 711, a swivel pin mounting hole B 712 and a steering drive cylinder mounting seat B 713;

[0015] The auxiliary arm connecting seat 711 is arranged at the tail of the upper layer 71 of the frame B, and is used to install the auxiliary arm 6; the swivel pin mounting hole B712 is composed of through holes coaxially arranged on the upper layer 71 of the frame B and the lower layer 72 of the frame B, and the swivel pin mounting hole B712 cooperates with the swivel pin mounting hole A42 for installing the swivel pin 8;

[0016] The steering drive cylinder mounting seat B 713 is provided at the connection portion between the upper layer 71 of the frame B and the lower layer 72 of the frame B, and is symmetrically arranged on both sides of the frame B 7, and is used for the articulation of the frame B 7 and the steering drive cylinder 5;

[0017] A rolling support structure B 721 is provided at the front of the lower layer 72 of the frame B. The rolling support structure B 721 consists of a groove, a retaining frame and a rolling body. The groove is arranged in an arc shape, the rolling body is arranged in the groove, and the retaining frame is installed above the rolling body so that the rolling body rolls in the gap between the groove and the retaining frame. At the same time, the top of the ball is slightly higher than the top surface of the frame B 7, so as to support the frame A 4 and reduce the friction between the frame A 4 and the frame B 7 during steering.

[0018] Preferably, the leg and foot walking device 25 is mainly composed of a vertical drive cylinder 251, a base joint 252, a horizontal drive cylinder 253, an upper thigh rod 254, a lower thigh rod 255, a connecting rod 256, a calf rod 257, a hinge device 258, a foot-end swing cylinder 259 and a foot device 2510.

[0019] The base section 252 is an installation carrier for the connecting frame 21, the vertical driving cylinder 251, the horizontal driving cylinder 253, the upper thigh rod 254 and the lower thigh rod 255. A vertical groove and a horizontal groove are arranged inside the base section 252. The vertical driving cylinder 251 can drive the upper thigh rod 254 to move up and down in the vertical groove of the base section 252, and the horizontal driving cylinder 253 can drive the lower thigh rod 255 to move forward and backward in the horizontal groove of the base section 252.

[0020] The vertical drive cylinder 251 is vertically installed in the base section 252 and fixed to the base section 252, and the piston rod of the vertical drive cylinder 251 is hinged to the inner end of the upper thigh rod 254; the horizontal drive cylinder 253 is horizontally installed in the base section 252 and fixed to the base section 252, and the piston rod of the horizontal drive cylinder 253 is hinged to the lower thigh rod 255; the lower thigh rod 255 is installed in parallel with the upper thigh rod 254, and the upper thigh rod 254 and the lower thigh rod 255 are also connected by a connecting rod 256, and the outer ends of the upper thigh rod 254 and the lower thigh rod 255 are both connected to the calf rod 257; the hinge device 258 is installed at the lower end of the calf rod 257, the foot device 2510 is installed on the lower side of the hinge device 258, and one end of the foot-end swing cylinder 259 is installed on the upper side of the hinge device 258, and the other end is connected to the foot device 2510.

[0021] Compared with the prior art, the beneficial effects of the utility model are:

[0022] 1. The all-terrain excavator proposed in the utility model adopts a parallel design of two walking systems, namely a wheeled walking system and a leg-foot walking system, which can realize multiple walking modes, so that the whole machine has both high traffic capacity and high reliability;

[0023] 2. The all-terrain excavator proposed by the utility model is provided with a sway articulated mechanism, which can make the turning radius of the whole machine smaller when the wheel is driving and realize on-site turning in walking mode. It is more suitable for right-angle bends, S-bends and mountainous areas with dense forests, so that the whole machine has a higher obstacle avoidance ability;

[0024] 3. The all-terrain excavator proposed in the utility model can adjust the vehicle posture during excavation, transportation and crossing large obstacles through the cooperation between the articulated mechanism and the legs and feet, so as to keep the center of mass of the whole machine always within a stable range and improve the safety of operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the overall structure of the all-terrain excavator of the utility model;

[0026] Figure 2 It is a schematic diagram of the chassis structure of the all-terrain excavator of the utility model;

[0027] Figure 3 It is a schematic diagram of the walking module structure of the all-terrain excavator of the utility model;

[0028] Figure 4 It is a schematic diagram of the structure of the leg and foot walking device of the all-terrain excavator of the utility model;

[0029] Figure 5 It is a schematic diagram of the working arm structure of the all-terrain excavator of the utility model;

[0030] Figure 6 It is a structural schematic diagram of a frame A of the all-terrain excavator of the utility model;

[0031] Figure 7 It is a side view of the frame B structure of the all-terrain excavator of the utility model;

[0032] Figure 8 It is a structural schematic diagram of a frame B of the all-terrain excavator of the utility model;

[0033] Fig. 9 This is a schematic diagram of the wheeled walking state of the all-terrain excavator of the utility model;

[0034] Fig.10 This is a schematic diagram of the foot-type walking state of the all-terrain excavator of the utility model;

[0035] Fig.11 It is a schematic diagram of the steering state of the all-terrain excavator of the utility model.

[0036] In the figure:

[0037] 1-Cab and engine compartment;

[0038] 2-walking module; 21-connecting frame; 22-suspension; 23-wheel hub motor; 24-wheel; 25-leg and foot walking device; 251-vertical drive cylinder; 252-base joint; 253-horizontal drive cylinder; 254-upper thigh rod; 255-lower thigh rod; 256-connecting rod; 257-calf rod; 258-articulated device; 259-foot end swing cylinder; 2510-foot device;

[0039] 3-working arm; 31-slewing device; 32-digging arm;

[0040] 4-frame A; 41-slewing device installation location; 42-slewing pin installation hole A; 43-steering drive cylinder mounting seat A; 44-rolling support structure A;

[0041] 5- Steering drive cylinder;

[0042] 6-Assist arm;

[0043] 7-frame B; 71-upper layer of frame B; 711-auxiliary arm connecting seat; 712-slewing pin mounting hole B; 713-steering drive cylinder mounting seat B; 72-lower layer of frame B; 721-rolling support structure B;

[0044] 8-Swivel pin. DETAILED DESCRIPTION

[0045] To further illustrate the technical solution of the utility model, in conjunction with the accompanying drawings of the specification, the specific implementation of the utility model is as follows:

[0046] like Figure 1 and Figure 2 As shown, the all-terrain excavator described in this embodiment mainly includes a cab and power compartment 1, a walking module 2, a working arm 3, a frame A4, a steering drive cylinder 5, an auxiliary arm 6, a frame B 7 and a slew pin 8.

[0047] The cab and the power compartment 1 are arranged on the vehicle frame B 7, and the cab and the power compartment 1 are installation carriers of the control device and the power device.

[0048] Frame A4 is arranged in the middle of frame B7, frame A4 and frame B7 are hinged by a slew pin 8, and frame A4 and frame B7 constitute the chassis of the excavator; frame A4 is the installation carrier of the working arm 3 and the walking module 2, and frame B7 is the installation carrier of the cab and power compartment 1, the walking module 2 and the auxiliary arm 6.

[0049] The walking module 2 is symmetrically arranged on the left and right sides of the chassis, and the walking module 2 has wheel-type and leg-foot-type walking functions.

[0050] The working arm 3 is arranged at the front end of the frame A4 and has the functions of rotation and excavation. The working arm 3 can also assist the whole machine to perform leg-foot walking and obstacle crossing.

[0051] The steering drive cylinder 5 is symmetrically arranged on both sides of the chassis. One end of the steering drive cylinder 5 is hinged to the frame A4, and the other end is hinged to the frame B7, which is used to drive the rotation between the frame A4 and the frame B7 to realize articulated steering.

[0052] One end of the auxiliary arm 6 is arranged at the rear of the frame B 7, and the other end is provided with a flat support seat, which can be used to assist walking, overcome obstacles and improve stability during operation.

[0053] like Figure 3 As shown, the walking module 2 is mainly composed of a connecting frame 21, a suspension 22, a hub motor 23, a wheel 24 and a leg-foot walking device 25, which are symmetrically arranged on the left and right sides of the chassis.

[0054] The connecting frame 21 is fixed to the side of the chassis, the top of the suspension 22 is fixed below the connecting frame 21, and the hub motor 23 is installed at the bottom of the suspension 22; the hub motor 23 is connected to the wheel 24 to drive the whole machine to achieve wheeled walking; the leg and foot walking device 25 is installed on the fork arm of the connecting frame 21, and the leg and foot walking device 25 cooperates with the working arm 3 and the auxiliary arm 6 to drive the whole machine to achieve foot-type walking.

[0055] like Figure 3 and Figure 4 As shown, the leg and foot walking device 25 is mainly composed of a vertical drive cylinder 251, a base joint 252, a horizontal drive cylinder 253, an upper thigh rod 254, a lower thigh rod 255, a connecting rod 256, a calf rod 257, a hinge device 258, a foot end swing cylinder 259 and a foot device 2510.

[0056] The base section 252 is an installation carrier for the connecting frame 21, the vertical driving cylinder 251, the horizontal driving cylinder 253, the upper thigh rod 254 and the lower thigh rod 255. A vertical groove and a horizontal groove are arranged inside the base section 252. The vertical driving cylinder 251 can drive the upper thigh rod 254 to move up and down in the vertical groove of the base section 252, and the horizontal driving cylinder 253 can drive the lower thigh rod 255 to move forward and backward in the horizontal groove of the base section 252.

[0057] The vertical drive cylinder 251 is vertically installed in the base section 252 and fixed to the base section 252, and the piston rod of the vertical drive cylinder 251 is hinged to the inner end of the thigh upper side rod 254; the horizontal drive cylinder 253 is horizontally installed in the base section 252 and fixed to the base section 252, and the piston rod of the horizontal drive cylinder 253 is hinged to the lower thigh side rod 255; the lower thigh side rod 255 is installed in parallel with the upper thigh side rod 254, and the upper thigh side rod 254 and the lower thigh side rod 255 are also connected by a connecting rod 256, and the outer ends of the upper thigh side rod 254 and the lower thigh side rod 255 are both connected to the calf rod 257;

[0058] The movement of the vertical drive cylinder 251 is converted into the up and down swing of the leg-foot walking device 25, and the movement of the horizontal drive cylinder 253 is converted into the forward and backward swing of the leg-foot walking device 25, so that the leg-foot walking device 25 can imitate the walking movement of the legs and feet.

[0059] The articulated device 258 is installed at the lower end of the calf rod 257, the foot device 2510 is installed at the lower side of the articulated device 258, one end of the foot end swing cylinder 259 is installed at the upper side of the articulated device 258, and the other end is connected to the foot device 2510. The movement of the foot end swing cylinder 259 can be converted into the swing of the foot device 2510.

[0060] like Figure 5 As shown, the working arm 31 is mainly composed of a slewing device 31 and an excavating arm 32 .

[0061] The slewing device 31 is installed at the front end of the vehicle frame A4. The slewing device 31 is used to carry the digging arm 32 and drive the digging arm 32 to realize slewing motion.

[0062] The digging arm 32 is installed on the rotating device 31. The digging arm 32 can realize rotating motion when driven by the rotating device 31. The digging arm 32 has three degrees of freedom. The bucket of the digging arm 32 can realize digging motion and can also support the vehicle body to assist the whole machine to perform foot-type walking.

[0063] like Figure 6 As shown, the frame A4 is provided with a slewing device mounting portion 41, a slewing pin mounting hole A42, a steering drive cylinder mounting seat A43 and a rolling support structure A44;

[0064] The slewing device installation part 41 is arranged at the front end of the frame A 4, and the slewing device installation part 41 is a circular groove for installing the slewing device 31 arranged at the lower end of the working arm 3; the slewing pin installation hole A 42 is arranged in the middle of the frame A 4, and is used for installing the slewing pin 8; the steering drive cylinder installation seat A 43 is symmetrically arranged on both sides of the frame A 4, and is used for the articulation of the steering drive cylinder 5;

[0065] The rolling support structure A 44 is arranged at the rear of the frame A 4. The rolling support structure A 44 consists of a groove, a retaining frame and a rolling body. The groove is arranged in an arc shape. The rolling body is arranged in the groove. The retaining frame is installed above the rolling body so that the rolling body rolls in the gap between the groove and the retaining frame. At the same time, the top of the rolling body is slightly higher than the top surface of the frame A 4, so as to support the frame B 7 and reduce the friction between the frame A 4 and the frame B 7 during steering.

[0066] like Figure 7 and Figure 8 As shown,

[0067] The frame B 7 is composed of a frame B upper layer 71 and a frame B lower layer 72, and the frame B upper layer 71 and the frame B lower layer 72 are welded into a whole through a connecting part set at the front end of the frame B upper layer 71, and the frame A4 is installed between the frame B upper layer 71 and the frame B lower layer 72.

[0068] The upper layer 71 of the frame B is provided with an auxiliary arm connecting seat 711, a swivel pin mounting hole B 712 and a steering drive cylinder mounting seat B 713;

[0069] The auxiliary arm connecting seat 711 is arranged at the tail of the upper layer 71 of the frame B, and is used to install the auxiliary arm 6; the swivel pin mounting hole B712 is composed of through holes coaxially arranged on the upper layer 71 of the frame B and the lower layer 72 of the frame B, and the swivel pin mounting hole B712 cooperates with the swivel pin mounting hole A42 for installing the swivel pin 8;

[0070] The steering drive cylinder mounting seat B 713 is provided at the connection portion between the upper layer 71 of the frame B and the lower layer 72 of the frame B, and is symmetrically arranged on both sides of the frame B 7, and is used for the articulation of the frame B 7 and the steering drive cylinder 5;

[0071] A rolling support structure B 721 is provided at the front of the lower layer 72 of the frame B. The rolling support structure B 721 consists of a groove, a retaining frame and a rolling body. The groove is arranged in an arc shape, the rolling body is arranged in the groove, and the retaining frame is installed above the rolling body so that the rolling body rolls in the gap between the groove and the retaining frame. At the same time, the top of the ball is slightly higher than the top surface of the frame B 7, so as to support the frame A 4 and reduce the friction between the frame A 4 and the frame B 7 during steering.

[0072] like Fig. 9 As shown, when the all-terrain excavator adopts wheeled walking, the leg and foot walking devices 25 of the walking modules 2 on both sides of the frame A4 and the frame B7 are retracted, the wheels 24 support the body, and the hub motors 23 drive the wheels 24 to rotate, so that the whole machine can achieve wheeled walking. When walking on wheels, steering can be achieved by the differential between the left and right wheels 24, and articulated steering can also be achieved by using the steering drive cylinder 5.

[0073] like Fig.10 and Fig.11 As shown, when the all-terrain excavator adopts foot-type walking, the leg-foot walking device 25 of the walking module 2, the working arm 4 and the auxiliary arm 6 support the body to achieve foot-type walking.

[0074] When the all-terrain excavator is in operation, the body is supported by the leg-foot walking device 25 and the auxiliary arm 6, and the working arm 4 performs the operation.

[0075] Through the coordination between the articulated mechanism and the legs, the vehicle posture can be adjusted during excavation, transportation and crossing large obstacles, keeping the center of mass of the entire machine always within a stable range, thereby improving the safety of operations and travel in complex terrain environments.

Claims

1. An all-terrain excavator, characterized in that: The excavator comprises: a cab and a power compartment (1), a walking module (2), a working arm (3), a frame A (4), a steering drive cylinder (5), an auxiliary arm (6), a frame B (7) and a slewing pin (8); The frame A (4) and the frame B (7) are hingedly connected via a slewing pin (8), and the frame A (4) and the frame B (7) form a chassis of the excavator; one end of a steering drive cylinder (5) is hingedly connected to the frame A (4), and the other end is hingedly connected to the frame B (7), and is used to drive the rotation between the frame A (4) and the frame B (7), thereby realizing articulated steering; The cab and the power compartment (1) are arranged on the vehicle frame B (7), and the cab and the power compartment (1) are mounting carriers for the control device and the power device; The working arm (3) is arranged at the front end of the vehicle frame A (4) and has the functions of rotation and excavation; the auxiliary arm (6) is arranged at the rear end of the vehicle frame B (7); The walking module (2) is mainly composed of a connecting frame (21), a suspension (22), a wheel hub motor (23), a wheel (24) and a leg and foot walking device (25); the connecting frame (21) is fixed to the side of the chassis, the top of the suspension (22) is fixed below the connecting frame (21), and the wheel hub motor (23) is installed at the bottom of the suspension (22); the wheel hub motor (23) is connected to the wheel (24) and is used to drive the whole machine to achieve wheeled walking; the leg and foot walking device (25) is installed on the fork arm of the connecting frame (21), and the leg and foot walking device (25) cooperates with the working arm (3) and the auxiliary arm (6) to drive the whole machine to achieve foot-type walking.

2. The all-terrain excavator according to claim 1, characterized in that: The frame A (4) is provided with a slewing device mounting portion (41), a slewing pin mounting hole A (42), a steering drive cylinder mounting seat A (43) and a rolling support structure A (44); The slewing device mounting portion (41) is arranged at the front end of the vehicle frame A (4), and the slewing device mounting portion (41) is a circular groove for mounting the slewing device (31) arranged at the lower end of the working arm (3); the slewing pin mounting hole A (42) is arranged at the middle of the vehicle frame A (4) for mounting the slewing pin (8); the steering drive cylinder mounting seat A (43) is symmetrically arranged on both sides of the vehicle frame A (4) for articulating the steering drive cylinder (5); The rolling support structure A (44) is arranged at the rear of the frame A (4). The rolling support structure A (44) consists of a groove, a retaining frame and a rolling body. The groove is arranged in an arc shape. The rolling body is arranged in the groove. The retaining frame is installed above the rolling body so that the rolling body rolls in the gap between the groove and the retaining frame. At the same time, the top of the rolling body is slightly higher than the top surface of the frame A (4) to support the frame B (7) and reduce the friction between the frame A (4) and the frame B (7) during steering.

3. The all-terrain excavator according to claim 2, characterized in that: The vehicle frame B (7) is composed of a vehicle frame B upper layer (71) and a vehicle frame B lower layer (72). The vehicle frame B upper layer (71) and the vehicle frame B lower layer (72) are welded into a whole through a connecting portion arranged at the front end of the vehicle frame B upper layer (71). The vehicle frame A (4) is installed between the vehicle frame B upper layer (71) and the vehicle frame B lower layer (72).

4. The all-terrain excavator according to claim 3, characterized in that: The upper layer (71) of the frame B is provided with an auxiliary arm connecting seat (711), a swivel pin mounting hole B (712) and a steering drive cylinder mounting seat B (713); The auxiliary arm connecting seat (711) is arranged at the rear of the upper layer (71) of the frame B and is used to install the auxiliary arm (6); the swivel pin mounting hole B (712) is composed of through holes coaxially arranged on the upper layer (71) of the frame B and the lower layer (72) of the frame B, and the swivel pin mounting hole B (712) cooperates with the swivel pin mounting hole A (42) to be used for installing the swivel pin (8); The steering drive cylinder mounting seat B (713) is arranged at the connection portion between the upper layer (71) of the vehicle frame B and the lower layer (72) of the vehicle frame B, and is symmetrically arranged on both sides of the vehicle frame B (7), and is used for articulation between the vehicle frame B (7) and the steering drive cylinder (5); A rolling support structure B (721) is arranged at the front of the lower layer (72) of the frame B. The rolling support structure B (721) consists of a groove, a retaining frame and a rolling body. The groove is arranged in an arc shape. The rolling body is arranged in the groove. The retaining frame is installed above the rolling body so that the rolling body rolls in the gap between the groove and the retaining frame. At the same time, the top of the ball is slightly higher than the top surface of the frame B (7) so as to support the frame A (4) and reduce the friction between the frame A (4) and the frame B (7) when turning.

5. The all-terrain excavator according to claim 1, characterized in that: The leg and foot walking device (25) is mainly composed of a vertical driving cylinder (251), a base joint (252), a horizontal driving cylinder (253), a thigh upper side rod (254), a thigh lower side rod (255), a connecting rod (256), a calf rod (257), a hinge device (258), a foot end swing cylinder (259) and a foot device (2510); The base section (252) is a mounting carrier for the vertical drive cylinder (251), the horizontal drive cylinder (253), the upper thigh rod (254) and the lower thigh rod (255). A vertical groove and a horizontal groove are arranged inside the base section (252). The vertical drive cylinder (251) can drive the upper thigh rod (254) to move up and down in the vertical groove of the base section (252), and the horizontal drive cylinder (253) can drive the lower thigh rod (255) to move forward and backward in the horizontal groove of the base section (252). The vertical drive cylinder (251) is vertically installed in the base section (252) and fixed to the base section (252), and the piston rod of the vertical drive cylinder (251) is hinged to the inner end of the thigh upper side rod (254); the horizontal drive cylinder (253) is horizontally installed in the base section (252) and fixed to the base section (252), and the piston rod of the horizontal drive cylinder (253) is hinged to the lower thigh side rod (255); the lower thigh side rod (255) is installed in parallel with the upper thigh side rod (254), and the upper thigh side rod (254) is hinged to the inner end of the thigh upper side rod (254). The rod (254) and the lower thigh rod (255) are also connected via a connecting rod (256); the outer ends of the upper thigh rod (254) and the lower thigh rod (255) are both connected to the calf rod (257); the hinge device (258) is installed at the lower end of the calf rod (257); the foot device (2510) is installed on the lower side of the hinge device (258); one end of the foot end swing cylinder (259) is installed on the upper side of the hinge device (258), and the other end is connected to the foot device (2510).

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