Novel biped bionic robot

Abstract

The utility model discloses a novel biped bionic robot which comprises a base main connecting piece, a connecting rod driving mechanism, thigh parts, shank wheel foot parts and a rear wheel supporting mechanism, the rear wheel supporting mechanism is hinged to the base main connecting piece, the thigh parts are installed on the base main connecting piece, the shank wheel foot parts are hinged to the thigh parts, and the thigh parts are connected with the connecting rod driving mechanism. The connecting rod driving mechanism is installed on the base main connecting piece and hinged to the thigh part, the connecting rod driving mechanism comprises a first motor, an input rod, a connecting rod, an output rod and a hinge support, the first motor is installed on the base main connecting piece, one end of the input rod is connected with the first motor, and the other end of the input rod is hinged to the connecting rod; the other end of the connecting rod is hinged to one end of an output rod, and the other end of the output rod is hinged to a hinge support installed on one side of the thigh part. The connecting rod driving mechanism drives the thigh parts to rotate left and right synchronously, the robot can turn conveniently in the moving process, and the moving stability of the robot can be improved through the rear wheel supporting mechanism.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field, concretely relates to a novel biped bionic robot. BACKGROUND

[0002] In recent years, the technology of robot develops rapidly, has shown great talents in each field, and the biped robot as an important branch, presents the diversification development trend. The biped robot on the market at present is divided into two kinds, one is the biped robot of imitating human walking with two feet and multi-joint drive, another is the double-wheel robot of sliding with two wheels, and the two kinds of robots each has its own merits, can adapt to different scenes. If the advantages of the two kinds of robots can be combined together, then the complicated environment can be better coped with.

[0003] The Chinese invention with the application publication number CN116161137A discloses a kind of modular double-wheel foot robot with spine, spine component, torso component and mechanical leg component constitute, the mechanical leg component is set to two. Spine is composed of parallel structure, increases the degree of freedom of robot, has higher flexibility, simultaneously spine and torso can rotate around mechanical leg, can carry out the splicing of multiple form robots: double-wheel foot robot, bionic four-wheel foot robot, side-by-side four-wheel foot robot, multi-wheel foot robot etc., improves the applicability of robot. Although the invention combines the existing two kinds of robot technology together, forms double-wheel foot robot, but the invention has the problem of inconsistent steering amplitude, prone to cause the resistance of double-wheel travel to increase.

[0004] Therefore, in order to solve the above existing problems, a new type of biped bionic robot needs to be designed. SUMMARY

[0005] To achieve the above object, the utility model discloses the following technical scheme: A novel biped bionic robot, including base total connecting piece, connecting rod drive mechanism, rear wheel support mechanism, thigh component and shank wheel foot component, rear wheel support mechanism is installed at the bottom of base total connecting piece, thigh component is rotatable respectively installed at the both sides of base total connecting piece, and the bottom of shank wheel foot component is hinged with thigh component, and connecting rod drive mechanism is installed on base total connecting piece and is hinged with one side of thigh component.

[0006] Further, the thigh component includes a leg connecting block, a first rotating shaft, a second motor, a second rotating shaft, and a thigh plate. The hinge support is fixed on the leg connecting block. The leg connecting block is rotatably connected to the base total connecting piece through the first rotating shaft. The second motor is installed on the leg connecting block. The output end of the second motor is in transmission connection with the second rotating shaft. The second rotating shaft is rotatably arranged on the leg connecting block and fixedly connected with the thigh plate. The bottom end of the thigh plate is connected with the shank wheel foot component. When the second motor rotates, the second rotating shaft is driven to rotate by the first synchronous belt, so that the thigh plate can swing relative to the leg connecting block.

[0007] Further, the lower leg wheel-foot component includes a knee joint block, a third motor, a third rotating shaft, a lower leg plate, a fourth motor, a fourth rotating shaft, a foot bottom plate, a fifth motor, a fifth rotating shaft, and a front wheel, etc. The top end of the knee joint block is connected with the upper leg plate, the bottom end of the knee joint block is hingedly connected with the top of the lower leg plate, the third motor is installed on the knee joint block, the conveying end of the third motor is in transmission connection with the third rotating shaft, the third rotating shaft is rotatably arranged on the knee joint block and fixedly connected with the top end of the lower leg plate, the bottom end of the lower leg plate is hingedly connected with the foot bottom plate, the fourth motor is installed on the bottom of the lower leg plate, the conveying end of the fourth motor is in transmission connection with the fourth rotating shaft, the fourth rotating shaft is rotatably arranged on the bottom end of the lower leg plate and fixedly connected with the foot bottom plate, the fifth motor is installed on the foot bottom plate, the conveying end of the fifth motor is in transmission connection with the fifth rotating shaft, and the fifth rotating shaft is rotatably arranged on the front end of the foot bottom plate and fixedly connected with the front wheel. The third motor can drive the lower leg plate to swing relative to the knee joint block, the fourth motor can drive the foot bottom plate to swing relative to the lower leg plate, and the switching of the wheel-foot is realized. The fifth motor can drive the front wheel to roll, so as to realize the movement by using the roller.

[0008] Further, the rear wheel supporting mechanism includes a hinge connecting seat, a swing arm, a sixth motor, a sixth rotating shaft, and a rear roller. The hinge connecting seat is installed on the bottom end of the base total connecting piece, the front end of the swing arm is hingedly connected with the base total connecting piece through the hinge connecting seat, the sixth motor is installed on the base total connecting piece, the conveying end of the sixth motor is in transmission connection with the sixth rotating shaft, the sixth rotating shaft is rotatably arranged on the hinge connecting seat and fixedly connected with one end of the swing arm, and the rear roller is rotatably arranged on the other end of the swing arm. The rotation of the sixth motor drives the sixth synchronous belt to rotate, the sixth synchronous belt transmits power to the swing arm, the swing arm rotates relative to the base total connecting piece to make the tail part close to the ground. The lower leg wheel-foot component is stretched straight forward, so that the front wheel contacts the ground, and the stability of the robot in the movement by using the roller is increased.

[0009] Further, all the motors and rotating shafts are in transmission connection, and the synchronous belt transmission or chain transmission is adopted to realize the transmission of force. When the synchronous belt transmission is adopted, the output end of the motor is transmitted to the corresponding rotating shaft through the corresponding synchronous belt wheel, so that the rotating shaft realizes the rotating movement.

[0010] Further, a lead screw transmission mechanism is installed on the upper leg plate. The lead screw transmission mechanism includes a seventh motor, a lead screw, and a sliding block. The seventh motor is fixed on the upper leg plate, the lead screw is rotatably arranged on the upper leg plate, the output end of the seventh motor is connected with one end of the lead screw, the sliding block is sleeved on the lead screw, and the sliding block is connected with the lower leg wheel-foot component. The rotation of the seventh motor can drive the lead screw to rotate, the sliding block moves on the lead screw, so as to drive the lower leg wheel-foot component to perform the lifting movement, and the height of the lower leg wheel-foot component is further adjusted to adapt to different terrains and walking requirements.

[0011] The beneficial effects of this invention include: the input rod is driven to rotate by the first motor, and the input rod, through the connecting rod and the output rod, synchronously drives the two thigh components to rotate towards the same side of the opposite base connector, achieving synchronous and unidirectional rotation of the two sets of leg components, effectively avoiding the problem of inconsistent turning amplitude of the thigh components on both sides; through the synchronous and coordinated operation of the second, third, and fourth motors, the new bipedal bionic robot can imitate human walking; after the rear part of the foot plate is driven off the ground by the fourth motor, the front wheel support on the lower leg wheel component switches between wheel and foot walking modes on the ground, and cooperates with the rear wheel support mechanism to increase the stability of the robot when walking and turning; through the screw transmission mechanism in the thigh component, the lower leg component can be stored in the thigh component, which can reduce the overall space occupied by the robot, and can also adjust the height of the lower leg wheel component to adapt to different terrains and walking needs. Attached Figure Description

[0012] Figure 1 This is a three-dimensional structural diagram of the novel bipedal bionic robot in this embodiment of the present invention.

[0013] Figure 2 This is a rear view of the novel bipedal bionic robot in this embodiment of the present invention.

[0014] Figure 3 This is an embodiment of the present utility model. Figure 2 A cross-sectional schematic diagram of AA.

[0015] Figure 4 This is a schematic diagram of the lower leg wheel component in an embodiment of this utility model.

[0016] Figure 5 This is an embodiment of the present utility model. Figure 2 A cross-sectional schematic diagram of CC.

[0017] Figure 6 This is a schematic diagram of the roller movement structure in an embodiment of this utility model.

[0018] Figure 7 This is a schematic diagram of the lower leg wheel component after it has been stored in an embodiment of this utility model.

[0019] Reference numerals: 1. Base main connector; 2. Linkage drive mechanism; 201. First motor; 202. Input rod; 203. Connecting rod; 204. Pin; 205. Output rod; 206. Hinge support; 3. Thigh component; 301. Leg connecting block; 302. First rotating shaft; 303. Second motor; 304. Second rotating shaft; 305. First synchronous belt; 306. Thigh plate; 307. Screw drive mechanism; 3071. Seventh motor; 3072. Screw; 3073. Slider; 308. T-slot slide rail; 4. Small Leg wheel foot components; 401, knee joint block; 402, third motor; 403, third pivot; 404, second synchronous belt; 405, lower leg plate; 406, fourth motor; 407, fourth pivot; 408, third synchronous belt; 409, foot plate; 410, fifth motor; 411, fifth pivot; 412, fourth synchronous belt; 413, front wheel; 5, rear wheel support mechanism; 501, hinge connector; 503, swing arm; 504, sixth motor; 502, sixth pivot; 505, sixth synchronous belt; 506, rear roller. Detailed Implementation Plan

[0020] To make the technical problems, technical solutions, and beneficial effects of the embodiments of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0021] It should be noted that when a component is referred to as "fixed to" or "set on" another component, it can be directly placed on the other component.

[0022] A connection is either on or indirectly to another element. When an element is said to be "connected to" another element, it can be directly connected to the other element or indirectly connected to it. Furthermore, a connection can be for fixing purposes or for circuit connection purposes.

[0023] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0024] Furthermore, the terms "second" and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "second" or "third" may explicitly or implicitly include one or more of that feature. In the description of embodiments of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0025] Please see Figure 1 and Figure 7 A novel bipedal bionic robot disclosed in one embodiment includes a base connector 1, a linkage drive mechanism 2, thigh components 3, lower leg wheel components 4, and a rear wheel support mechanism 5. The bottom end of the base connector 1 is connected to the rear wheel support mechanism 5, which can be tilted and raised for storage or to support the ground. The linkage drive mechanism 2 is installed at the front end of the base connector 1. The linkage drive mechanism 2 is also hinged to the thigh components 3 on both sides. The top ends of the two thigh components 3 are respectively connected to the base connector 1. The two sides of component 1 are hinged, and the bottom ends of the two thigh components 3 are respectively hinged to the lower leg wheel components 4; specifically, the linkage drive mechanism 2 includes a first motor 201, an input rod 202, a connecting rod 203, a pin 204, an output rod 205, and a hinge support 206; the first motor 201 is fixedly installed on the base main connector 1, the input rod 202 has a T-shaped structure, one end of the input rod 202 is connected to the output end of the first motor 201, and the other two ends of the input rod 202 are respectively connected to the connecting rods on both sides. One end of the connecting rod 203 is hinged, and the other end of the connecting rod 203 is hinged to one end of the output rod 205. The output rod 205 has an L-shaped structure, and a hole (not shown) is provided at the intersection of the two sides of the output rod 205. A pin 204 is provided in the hole, and the bottom end of the pin 204 is fixed to the base main connector 1, so that the output rod 205 can rotate around the pin 204. The end of the output rod 205 away from the connecting rod 203 is hinged to the hinge support 206 fixedly installed on the inner side of the thigh component 3. In this utility model, when the first motor 201 rotates, torque is applied to both ends through the input rod 202, and output to the output rods 205 at both ends through the connecting rod 203, which drives the thigh components 3 on both sides of the base main connector 1 to rotate synchronously to the left or right. This effectively avoids the problem of inconsistent turning amplitude of the thigh components on both sides, realizes the requirement of smooth turning of the robot, and facilitates the robot to turn during movement. The rear wheel support mechanism 5 supports the ground, which can improve the stability of the robot during movement.

[0026] In a specific example, the thigh component 3 includes a leg connecting block 301, a first rotating shaft 302, a second motor 303, a second rotating shaft 304, a first synchronous belt 305, and a thigh plate 306. The hinge support 206 is fixed on the leg connecting block 301. The leg connecting block 301 is rotatably connected to the base main connector 1 through the first rotating shaft 302. The second motor 303 is mounted on the leg connecting block 301. The output end of the second motor 303 is connected to the second rotating shaft 304 through the first synchronous belt 305. The second rotating shaft 304 is rotatably mounted on the leg connecting block 301 and fixedly connected to the thigh plate 306. The bottom end of the thigh plate 306 is connected to the lower leg wheel component 4. In this utility model, when the second motor 303 rotates, it drives the second rotating shaft 304 to rotate through the first synchronous belt 305, so that the thigh plate 306 can flip and swing relative to the leg connecting block 301, mimicking the action of a person raising their thigh.

[0027] In a specific example, the lower leg wheel component 4 includes a knee joint block 401, a third motor 402, a third rotating shaft 403, a second synchronous belt 404, a lower leg plate 405, a fourth motor 406, a fourth rotating shaft 407, a third synchronous belt 408, a foot plate 409, a fifth motor 410, a fifth rotating shaft 411, a fourth synchronous belt 412, and a front wheel 413. The top of the knee joint block 401 is connected to the thigh plate 306, and the bottom of the knee joint block 401 is hinged to the top of the lower leg plate 405. The third motor 402 is mounted on the knee joint block 401, and its transmission end is connected to the third rotating shaft 403 via the second synchronous belt 404. The third rotating shaft 403 is rotatably mounted on the knee joint block 401 and fixedly connected to the top of the lower leg plate 405. The bottom of the lower leg plate 405 is hinged to the foot plate 409. The fourth motor 406 is mounted on the lower leg plate 405. At the bottom, the conveying end of the fourth motor 406 is connected to the fourth rotating shaft 407 via the third synchronous belt 408. The fourth rotating shaft 407 is rotatably mounted on the bottom end of the lower leg plate 405 and fixedly connected to the foot plate 409. The fifth motor 410 is mounted on the foot plate 409. The conveying end of the fifth motor 410 is connected to the fifth rotating shaft 411 via the fourth synchronous belt 412. The fifth rotating shaft 411 is rotatably mounted on the front end of the foot plate 409 and fixedly connected to the front wheel 413. In this utility model, the third motor 402 can drive the lower leg plate 405 to swing relative to the knee joint block 401, and the fourth motor 406 can drive the foot plate 409 to rotate and swing relative to the lower leg plate 405, so that the foot plate 409 is horizontal or vertical to the ground, switching between wheel-foot walking. The fifth motor 410 drives the front wheel 413 to roll, thereby realizing the movement using rollers.

[0028] In a specific example, the rear wheel support mechanism 5 includes a hinge connector 501, a swing arm 503, a sixth motor 504, a sixth rotating shaft 502, a sixth synchronous belt 505, and a rear roller 506. The hinge connector 501 is mounted on the bottom end of the base assembly 1. The front end of the swing arm 503 is hinged to the main base assembly 1 via the hinge connector 501. The sixth motor 504 is mounted on the base assembly 1. The conveying end of the sixth motor 504 is connected to the sixth rotating shaft 502 via the sixth synchronous belt 505. The sixth rotating shaft 502 is rotatable. The swing arm 503 is mounted on the hinge connector 501 and fixedly connected to one end of the swing arm 503. The rear roller 506 is rotatably mounted on the other end of the swing arm 503. The sixth motor 504 drives the swing arm 503 to rotate through the sixth synchronous belt 505, so that the rear roller 506 on the swing arm 503 touches the ground, thereby providing auxiliary support for the entire robot. When the lower leg wheel foot component 4 extends forward and the front wheel 413 contacts the ground to switch to wheeled walking mode, it increases the stability of its walking. When switching to bipedal walking mode, the swing arm 503 rotates and retracts.

[0029] In a specific example, a lead screw transmission mechanism 307 is installed on the thigh plate 306. The lead screw transmission mechanism 307 includes a seventh motor 3071, a lead screw 3072, and a slider 3073. The seventh motor 3071 is fixed on the thigh plate 306, and the lead screw 3072 is rotatably mounted on the thigh plate 306. The output end of the seventh motor 3071 is connected to one end of the lead screw 3072, and the slider 3073 is sleeved on the lead screw 3072. The slider 3073 is connected to the lower leg wheel component 4 (knee joint block 401). The rotation of the seventh motor 3071 can drive the lead screw 3072 to rotate, and the slider 3073 moves on the lead screw 3072, thereby driving the lower leg wheel component 4 to perform lifting and lowering movements to adjust the height of the lower leg wheel component 4 to adapt to different terrains and walking needs. Alternatively, when transporting the entire robot, the lower leg wheel component 4 can be stored inside the thigh plate 306 to reduce space occupation.

[0030] In a preferred embodiment, a T-slot slide rail 308 is configured inside the thigh plate 306, and a protrusion corresponding to the T-slot slide rail 308 is provided on the knee joint block 401. This allows the knee joint block 401 to slide up and down along the T-slot slide rail 308. When the screw drive mechanism 307 is activated, the T-slot slide rail 308 helps improve the stability of the lower leg wheel component 4 during storage. During storage, the second motors 303 on both sides operate synchronously, causing the thigh plates 306 on both sides to rotate simultaneously to be parallel to the ground. The fourth motor 406 is activated to drive the foot plate 409 to rotate parallel to the lower leg plate 405. Subsequently, the screw drive mechanism 307 starts working, storing the lower leg wheel component 4 inside the thigh plate 303, reducing space occupation.

[0031] The working principle of this utility model is as follows: When walking, the second motor 303 works, transmitting power to the second rotating shaft 304 through the first synchronous belt 305, enabling the thigh plate 306 to swing relative to the leg connecting block 301, thus mimicking the movement trajectory of the human thigh; the third motor 402 and the fourth motor 406 work together, and when rotating, they respectively drive the lower leg plate 405 to swing relative to the knee joint block 401 and drive the foot plate 409 to swing relative to the lower leg plate 405 through the second synchronous belt 404 and the third synchronous belt 408, thus realizing the bending and extending movements of the lower leg wheel foot component 4, mimicking human walking movements.

[0032] When the robot switches to wheeled locomotion, the sixth motor 502 starts operating, driving the sixth shaft 503 to rotate via the sixth synchronous belt 505. This causes the swing arm 503 to rotate relative to the base connector 1, with the rear roller 506 at the tail of the swing arm 503 contacting the ground for support. The second motor 303 and the fourth motor 406 work together. The rotation of the second motor 303 causes the thigh plate 306 to tilt slightly forward; the rotation of the fourth motor 406 keeps the foot plate 409 parallel to the lower leg plate 405, ensuring that the front wheel 413 is in contact with the ground, thus switching to wheeled locomotion. When turning is required, the first motor 201 drives the T-shaped input rod 202 to rotate according to the steering command. The T-shaped input rod 202 transmits power to both ends, and through the connecting rod 203, the rotational power is transmitted to the output rod 205, ultimately transmitting the force to the thigh component 3. This causes the thigh component 3 to be subjected to lateral force, rotating to the same side to complete the turning action. Then, the fifth motor 410 provides the power for movement, driving the robot to move.

[0033] The above description, in conjunction with specific / preferred embodiments, provides a further detailed explanation of the present invention and should not be construed as limiting the specific implementation of the present invention to these descriptions. For those skilled in the art, various substitutions or modifications can be made to these described embodiments without departing from the concept of the present invention, and all such substitutions or modifications should be considered within the protection scope of the present invention. In the description of this specification, the reference to terms such as "an embodiment," "some embodiments," "preferred embodiment," "example," "specific example," or "some examples," etc., indicates that the specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the described specific features, structures, materials, or characteristics can be combined in a suitable manner in any one or more embodiments or examples. Without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification and the features of different embodiments or examples. Although embodiments of the present invention and their advantages have been described in detail, it should be understood that various changes, substitutions and alterations may be made herein without departing from the scope of protection of the patent application.

Claims

1. A novel bipedal bionic robot, characterized in that: The device includes a base connector, a linkage drive mechanism, thigh components, lower leg wheel components, and a rear wheel support mechanism. The rear wheel support mechanism is hinged to the bottom end of the base connector. The thigh components are rotatably mounted on both sides of the base connector. The lower leg wheel components are hinged to the thigh components. The linkage drive mechanism is mounted on the base connector and hinged to one side of the thigh components. The linkage drive mechanism includes a first motor, an input rod, a connecting rod, an output rod, and a hinge support. The first motor is mounted on the base connector. The output end of the first motor is connected to one end of the input rod. The other end of the input rod is hinged to one end of the connecting rod. The other end of the connecting rod is hinged to one end of the output rod. The other end of the output rod is hinged to the hinge support fixedly mounted on one side of the thigh component.

2. The novel bipedal bionic robot as described in claim 1, characterized in that: The thigh component includes a leg connecting block, a second motor, and a thigh plate. The hinge support is fixed on the leg connecting block. The leg connecting block is rotatably connected to the base assembly via a first rotating shaft. The thigh plate is hinged to the leg connecting block via a second rotating shaft. The second motor is mounted on the leg connecting block. The output end of the second motor is connected to the second rotating shaft. The bottom end of the thigh plate is connected to the lower leg wheel component.

3. The novel bipedal bionic robot as described in claim 2, characterized in that: The lower leg wheel component includes a knee joint block, a third motor, and a lower leg plate. The knee joint block is connected between the thigh plate and the lower leg plate. The lower leg plate is hinged to the knee joint block via a third rotating shaft. The third motor is mounted on the knee joint block, and the transmission end of the third motor is connected to the third rotating shaft for transmission.

4. The novel bipedal bionic robot as described in claim 3, characterized in that: The lower leg wheel component also includes a fourth motor and a foot plate. The foot plate is hinged to the lower leg plate via a fourth rotating shaft. The fourth motor is mounted on the lower leg plate, and the transmission end of the fourth motor is connected to the fourth rotating shaft for transmission.

5. The novel bipedal bionic robot as described in claim 4, characterized in that: The lower leg wheel component also includes a fifth motor and a front wheel. The front wheel is rotatably connected to the foot plate via a fifth rotating shaft. The fifth motor is mounted on the foot plate, and the transmission end of the fifth motor is connected to the fifth rotating shaft for transmission.

6. The novel bipedal bionic robot as described in claim 5, characterized in that: The rear wheel support mechanism includes a hinge connector, a swing arm, a sixth motor, and a rear roller. The hinge connector is installed at the bottom end of the base assembly. The swing arm is rotatably connected to the hinge connector via a sixth rotating shaft. The sixth motor is installed on the base assembly, and the transmission end of the sixth motor is connected to the sixth rotating shaft. The rear roller is rotatably mounted on the end of the swing arm away from the hinge connector.

7. The novel bipedal bionic robot as described in claim 6, characterized in that: The output rod has a hole, and a pin is installed in the hole. The bottom end of the pin is fixed to the base connector.

8. The novel bipedal bionic robot as described in claim 7, characterized in that: The output rod has an L-shaped structure.

9. The novel bipedal bionic robot as described in claim 8, characterized in that: The input rod has a T-shaped structure. One end of the input rod is hinged to the conveying end of the first motor, and the other two ends of the input rod are respectively hinged to one end of the connecting rod on both sides.

10. The novel bipedal bionic robot as described in any one of claims 2 to 9, characterized in that: A lead screw drive mechanism is installed on the thigh plate. The lead screw drive mechanism includes a seventh motor, a lead screw, and a slider. The seventh motor is fixed on the thigh plate. The lead screw is rotatably mounted on the thigh plate. The output end of the seventh motor is connected to one end of the lead screw. The slider is sleeved on the lead screw and is connected to the lower leg wheel component.

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