CN111645774A - Rear-sky-turning biped robot - Google Patents
Rear-sky-turning biped robot Download PDFInfo
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- CN111645774A CN111645774A CN202010495672.XA CN202010495672A CN111645774A CN 111645774 A CN111645774 A CN 111645774A CN 202010495672 A CN202010495672 A CN 202010495672A CN 111645774 A CN111645774 A CN 111645774A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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Abstract
The invention discloses a rear-flip biped robot which comprises two groups of symmetrical substructures, wherein each group of substructures comprises a coaxial large-moment double-output speed reducing structure, a light kite-shaped leg structure and a driven double-parallelogram foot structure; each lightweight kite-shaped leg structure is driven by a coaxial large-torque dual-output speed reducing structure to realize leg movement of a coronal plane, and each driven double-parallelogram foot structure is driven by the kite-shaped leg structure to realize the parallelism of a foot bottom surface and a body cross section. The specific value of the joint output torque of the invention relative to the self mass is larger, the defects of the common biped robot are overcome, the relatively violent motions of running, jumping, back flip and the like can be realized, and the invention can be widely applied to the fields of production logistics, industrial application and leg and foot research.
Description
Technical Field
The invention belongs to the field of biped robots, and particularly relates to a rear-sky-turning biped robot.
Background
Mobile robots have gained extensive research and use in research, military, education, services, and entertainment. According to different moving modes, mobile robots can be divided into: wheeled robots, legged robots, tracked robots, crawling robots, peristaltic robots, and mobile robots, among others.
Compared with wheeled robots and tracked robots, the unique discrete walking mode of leg-foot robots, particularly biped robots, enables the robots to have stronger maneuverability and environmental adaptability. The traditional wheeled robot and the tracked robot have large limitation in use scenes, and the traditional wheeled robot has poor obstacle crossing capability, poor terrain adaptability and low turning efficiency, or has large turning outer radius, is easy to slip and is not stable enough. The crawler-type robot has high requirements on terrains, cannot be applied to terrains with large height difference, and is not as flexible and convenient as a biped robot. The biped robot can almost adapt to various complex terrains, can cross obstacles, and has good freedom and flexible action. The method is expected to be widely applied to the fields of military affairs, service, science popularization, entertainment and the like in the future, and has great research significance and practical value in the aspects of simulating and exploring the mechanism of leg and foot movement, understanding the movement of leg and foot animals and the like.
In the research of biped robots and even legged robots, the back flip is always an important index and difficulty for checking the comprehensive performance of the robots. Even professional gymnastics athletes need to train for many years to finish the flip action, and in any case, the robot is used. To realize the back flip, at least the following three conditions need to be satisfied. First, a sufficiently high output power. If its output power is not large enough, it will result in the jump height not being large enough to allow enough time for the roll-over, let alone the subsequent dynamic adjustment. Second, higher mechanical strength. Without sufficient mechanical strength, even if the robot has sufficient output power, its mechanical structure is crushed by a large impact force at the moment of take-off/landing. Third, a fine control algorithm. From take-off and flip-over to stable landing, the control chip of the robot must accurately calculate and plan the movement line, direction and angle of each component in advance through a mathematical formula, then precisely control take-off, flip-over and landing [9], and the robot also needs to dynamically adjust through data returned by various sensors in the whole process.
Although the 3D Biped robot of the massachusetts institute of technology in 1995 can already complete the post-emptive action, no other robot has been proven or later emptive for as long as 20 years. Until 2017, the Biped robot Atlas developed by boston power company succeeded in achieving back sometime flip successfully after the 3D Biped robot. In 2019, a mini leopard developed by the institute of technology, ma province completed the back flip action of the quadruped robot for the first time. However, due to the limitations of self weight and joint output torque, no biped robot driven by a motor can complete the rear overturning action at present.
Disclosure of Invention
The invention aims to provide a rear-tipping biped robot aiming at the defects of the prior art. The rear somersault biped robot comprises a deceleration structure with coaxial large-torque output, a light kite-shaped leg structure and a driven double-parallelogram foot structure, the ratio of the joint output torque to the self mass of the robot is large, and relatively violent motions such as running, jumping, rear somersault and the like can be realized.
The purpose of the invention is realized by the following technical scheme: a rear-tipping biped robot comprises a leg heel structure and a leg structure; the leg heel structure comprises a coaxial structure, a motor connecting platform 1, a first leg heel supporting shaft 2, a leg heel shell 3, two second leg heel supporting shafts 12, a leg heel supporting plate 13, two motors 14, two input end pinions 15, two third shaft sleeves 16, a retainer 18 and two output end bull gears 19; the coaxial structure comprises a deep groove ball bearing seat 4, two first shaft sleeves 5, an outer hollow transmission shaft 6, a second shaft sleeve 7, two deep groove ball bearings 8 and an inner hollow transmission shaft 9; the leg structure comprises a first hip joint part 20, two thighs 21, five joint rotating shafts 25, two second knee joint parts 26, a first shank 27, a first ankle joint part 28, a second ankle joint part 29, a foot rubber buffer 30, a foot part 31, a second shank 32, a first parallelogram structure connecting rod 33, a second parallelogram structure connecting rod 34, a third parallelogram structure connecting rod 36 and a second hip joint part 37; the first leg heel supporting shaft 2, the leg heel supporting plate 13, the two motors 14 and the deep groove ball bearing seat 4 are fixedly connected with the motor connecting platform 1; the leg heel shell 3 is sleeved at the end part of the inner hollow transmission shaft 9 and is respectively and fixedly connected with the first leg heel supporting shaft 2 and the second leg heel supporting shaft 12; the second leg heel support shaft 12 is fixedly connected with a leg heel support plate 13; the input end pinion 15 is fixed on the output shaft of the motor 14 and is in gear engagement with the output end gearwheel 19; the second shaft sleeve 7 and the first shaft sleeves 5 on two sides of the second shaft sleeve are sleeved on the outer hollow transmission shaft 6, and the outer hollow transmission shaft 6 is placed in the inner ring of the deep groove ball bearing seat 4; deep groove ball bearings 8 are embedded at two ends of the outer hollow transmission shaft 6, and the deep groove ball bearings 8 are sleeved on the inner hollow transmission shaft 9; the two output end large gears 19 are respectively fixed on the outer hollow transmission shaft 6 and the inner hollow transmission shaft 9; the retainer 18 is simultaneously sleeved at the end parts of the output shafts of the two motors 14 and the inner hollow transmission shaft 9, and the third shaft sleeve 16 is sleeved between the retainer 18 and the shaft shoulder of the output shaft of the motor 14; the first hip part 20 and the second hip part 37 are rotationally connected; the first hip joint part 20 is connected with one second knee joint part 26 through the femur 21 to form a first thigh, and the second hip joint part 37 is connected with the other second knee joint part 26 through the femur 21 to form a second thigh; the second knee joint part 26 is fixedly connected with the joint rotating shaft 25 and is rotationally connected with the first knee joint part 24 through the joint rotating shaft; one first knee joint element 24 is connected to a first ankle joint element 28 via a first calf bone 27 to form a first calf, and the other first knee joint element 24 is connected to a second ankle joint element 29 via a second calf bone 32 to form a second calf; the first ankle joint part 28 is fixedly connected with the joint rotating shaft 25 and is rotationally connected with one end of the second ankle joint part 29 through the first ankle joint part, and the other end of the second ankle joint part 29 is fixedly connected with the joint rotating shaft 25 and is rotationally connected with the foot rubber cushion 30 through the second ankle joint part; the first parallelogram link 33, one end of the second parallelogram link 34 and the third parallelogram link 36 form a star-shaped hinge via the joint rotation shaft 25; the other end of the second parallelogram structure connecting rod 34 forms star-shaped hinge joint with the second knee joint part 26 of the second thigh and the first knee joint part 24 of the second shank through the joint rotating shaft 25; the foot part 31 is fixedly connected with the joint rotating shaft 25 and is rotationally connected with the first parallelogram connecting rod 33 through the joint rotating shaft; the foot rubber buffer cushion 30 is fixedly connected with the foot part 31; the first hip joint part 20 is fixedly connected with the outer hollow transmission shaft 6, and the second hip joint part 37 is fixedly connected with the inner hollow transmission shaft 9; the third parallelogram linkage 36 is nested between the shoulders of the second leg-heel support shaft 12.
Furthermore, the first hip joint part 20 and the second hip joint part 37 are provided with D-shaped holes, the outer hollow transmission shaft 6 and the inner hollow transmission shaft 9 are D-shaped shafts, and the D-shaped shafts are inserted into the D-shaped holes to realize fixed connection.
Further, the foot part 31 is provided with a threaded hole for mounting an expansion member.
The invention has the beneficial effects that:
(1) the coaxial speed reducing structure with large torque output realizes the coaxial large torque output effect through the large torque direct current motor, the gear transmission and the double hollow shaft output structure, and the part has compact design structure, is designed in light weight and simultaneously fully utilizes the space of the waist of the robot.
(2) According to the kite-shaped connecting rod structure, the knee joint motor is moved upwards through the large moment coaxially output and the kite-shaped connecting rod, the lightweight design of the leg structure is realized, the rotational inertia of the leg structure relative to the hollow shaft is reduced, and the pose control of the robot in the flight state is facilitated.
(3) According to the double-parallelogram connecting rod structure, the bottom surface of the foot is parallel to the cross section of the body through the parallelogram structure instead of the motor, so that the effects of reducing the number of the motors and reducing the leg quality are achieved, and the weight of the leg structure is further reduced.
Drawings
FIG. 1 is an overall structure diagram of a rear-overturning biped robot;
FIG. 2 is a structure diagram of a leg heel of a rear-tipping biped robot with a coaxial large-torque output deceleration structure;
FIG. 3 is a partial view of a coaxial structure in a leg and heel structure;
FIG. 4 is a light weight leg structure diagram of the rear flip biped robot;
FIG. 5 is a partial view of a knee joint in a leg structure;
the reference numbers in the figures are: the leg joint comprises a motor connecting platform 1, a first leg heel supporting shaft 2, a leg heel shell 3, a deep groove ball bearing seat 4, a first shaft sleeve 5, an outer hollow transmission shaft 6, a second shaft sleeve 7, a deep groove ball bearing 8, an inner hollow transmission shaft 9, a first gasket 10, a first oilless bushing 11, a second leg heel supporting shaft 12, a leg heel supporting plate 13, a motor 14, an input end pinion 15, a third shaft sleeve 16, a second oilless bushing 17, a retainer 18, an output end large gear 19, a first hip joint part 20, a thigh bone 21, a second oilless bushing 22, a gasket 23, a first knee joint part 24, a joint rotating shaft 25, a second knee joint part 26, a first shank 27, a first ankle joint part 28, a second ankle joint part 29, a foot rubber cushion 30, a foot part 31, a second shank 32, a first parallelogram structure connecting rod 33, a second parallelogram structure connecting rod 34, a first parallelogram structure connecting rod 34, a second parallelogram structure connecting rod 32, a first joint part, a second, The second gasket 35, the third parallelogram structure connecting rod 36, the second hip joint part 37, the controller supporting plate 38, the motor driver base plate 39, the motor driver 40, the motor driver cover plate 41, the power supply fixing bracket 42, the direct current power supply 43, the bearing plate 44, the anti-collision handrail 45, the handrail fixing bracket 46, the inertia measuring unit 47, the controller 48, the copper column 49 and the nut 50.
Detailed Description
The invention will be further elucidated and described with reference to the drawings and the detailed description. The technical features of the preferred implementations of the present invention may be combined without conflict.
The invention relates to a rear flip biped robot, which comprises two groups of symmetrical substructures, wherein the two groups of substructures are in mirror symmetry along a sagittal plane; each group of substructure comprises a coaxial large-torque dual-output speed reduction structure, a light kite-shaped leg structure and a driven double-parallelogram foot structure. Every lightweight kite shape shank structure drive by coaxial big moment dual output's speed reduction structure, realize the shank motion of coronal plane, every driven type's two parallelogram foot structure drive by kite shape shank structure, realize the parallel of foot bottom surface and health cross section. The coaxial speed reducing structure with large torque output realizes the coaxial large torque output effect through the large torque direct current motor, the gear transmission and the double hollow shaft output structure, and the part has compact design structure, is designed in a light weight manner, and simultaneously fully utilizes the space of the waist of the robot. According to the kite-shaped connecting rod structure, the knee joint motor is moved upwards through the large moment coaxially output and the kite-shaped connecting rod, the lightweight design of the leg structure is achieved, the rotational inertia of the leg structure relative to the hollow shaft is reduced, and the pose control of the robot in the flying state is facilitated. The double-parallelogram connecting rod structure realizes the parallel of the bottom surface of the foot and the cross section of the body through the parallelogram structure instead of the motor, and achieves the effects of reducing the number of the motors and the quality of the legs, thereby further realizing the light weight of the leg structure.
The gait motion of the rear-sky-turning biped robot can be realized by adopting the existing leg-foot type robot control technology. The controller sends control signals to the two motor drivers, the two motor drivers respectively send corresponding signals to the two motors, and the motion of the driving motors is controlled to realize corresponding motion of the foot structure of the robot. The invention can be provided with various sensors at corresponding positions according to requirements, for example, the state condition of the robot can be detected in real time through information fed back by the motor encoder and the inertia measurement unit, thereby completing the stable standing, walking, jogging, jumping, rear somersault and other gait motions of the rear somersault biped robot. In addition, the buffer rubber pads at the bottoms of the feet of the biped robot can be replaced by wheel type structures with driving motors, so that the moving speed and the stability of the robot on the stable ground are improved; can also replace the crashproof handrail of biped robot into storing platform, make it obtain the ability of cargo load and transport.
The implementation of a preferred embodiment of the invention is described below. The basic structure of the embodiment is the same as the above, and some details and the operation flow thereof are described below with reference to the drawings.
Fig. 1 shows the overall structure of a flip-flop biped robot, which includes two heel structures, two leg structures, a controller portion, a motor driver portion, an inertia measurement unit 47, a power supply portion, a handrail portion, and a bearing plate 44.
Fig. 2 is a structure is followed to leg that contains coaxial big moment output deceleration structure of back empty double-legged robot, and every leg is followed the structure and is included coaxial structure, motor connecting platform 1, first leg with supporting shaft 2, leg with shell 3, two first gaskets 10, first oilless bush 11, two second leg with supporting shaft 12, leg with supporting plate 13, two motors 14, two input pinions 15, two third shaft cover 16, holder 18 and two output gear wheels 19. The first leg heel supporting shaft 2, the leg heel supporting plate 13, the two motors 14 and the coaxial structure are fixedly connected with the motor connecting platform 1; the leg heel shell 3 is fixedly connected with the first leg heel supporting shaft 2 and the second leg heel supporting shaft 12 respectively; the second leg heel support shaft 12 is fixedly connected with a leg heel support plate 13; a first oilless bushing 11 and two first gaskets 10 at two sides of the first oilless bushing are sleeved between two shaft shoulders on a second leg heel supporting shaft 12, and the shaft shoulders can axially fix the first oilless bushing; the input end pinion 15 is fixed on the output shaft of the motor 14 through a machine meter screw and forms a gear matching relationship with the output end gearwheel 19.
Fig. 3 is a partial view of a coaxial structure in a leg-heel structure, the coaxial structure including a deep groove ball bearing seat 4, two first shaft sleeves 5, an outer hollow transmission shaft 6, a second shaft sleeve 7, two deep groove ball bearings 8, and an inner hollow transmission shaft 9. The deep groove ball bearing seat 4 is fixed on the motor connecting platform 1 through screws; the second shaft sleeve 7 and the two first shaft sleeves 5 on the two sides of the second shaft sleeve are sleeved on the outer hollow transmission shaft 6 for axial fixation, and then the outer hollow transmission shaft 6 is placed in the inner ring of the deep groove ball bearing seat 4 and can freely rotate; two deep groove ball bearings 8 are embedded at two ends of the outer hollow transmission shaft 6, and the two deep groove ball bearings 8 are sleeved on the inner hollow transmission shaft 9 to play a role in circumferential fixing; the leg heel shell 3 is sleeved at the end part of the inner hollow transmission shaft 9, and the leg heel shell 3 keeps the relative positions among the first leg heel supporting shaft 2, the second leg heel supporting shaft 12 and the inner hollow transmission shaft 9 unchanged; the two output end large gears 19 are fixedly connected with the outer hollow transmission shaft 6 and the inner hollow transmission shaft 9 through machine-meter screws respectively; the output shafts of the two motors 14 are connected with the inner hollow transmission shaft 9 through a retainer 18, so that the relative positions of the three shafts are fixed; the retainer 18 contains three second oilless bushings 17, which play a role in reducing rotational friction; two second oilless bushings 17 are respectively sleeved on the output shafts of the two motors 14, and the other second oilless bushing 17 is sleeved on the inner hollow transmission shaft 9 and can freely rotate; the third bushing 16 is fitted between the holder 18 and a shoulder of the output shaft of the motor 14. Therefore, the rotation of the motor 14 is controlled, the single-degree-of-freedom rotation of large torque output can be realized through the gear matching deceleration of the input end small gear 15 and the output end large gear 19, and the double-degree-of-freedom rotation of coaxial large torque output can be realized through the transmission of the outer hollow transmission shaft 6 and the inner hollow transmission shaft 9.
Fig. 4 is a lightweight leg structure of the rear flip biped robot, wherein the two-degree-of-freedom motion of the leg structure in the coronal plane is realized by a reduction mechanism with coaxial large-moment output, a kite-shaped connecting rod structure and a double-parallelogram foot structure. Each lightweight leg structure comprises a first hip joint part 20, two thighs 21, six second oilless bushings 22, twelve shims 23, five joint shafts 25, two second knee joint parts 26, a first shank 27, a first ankle joint part 28, a second ankle joint part 29, a foot rubber cushion 30, a foot part 31, a second shank 32, a first parallelogram structure link 33, a second parallelogram structure link 34, two second shims 35, a third parallelogram structure link 36 and a second hip joint part 37. Fig. 5 is a partial view of the knee joints in the leg structures, each comprising a second oilless bushing 22, two spacers 23, a first knee joint part 24, a joint rotation shaft 25 and a second knee joint part 26; the first knee joint part 24 is sleeved on the outer ring of the second oilless bushing 22, the second oilless bushing 22 and two gaskets 23 on two sides of the second oilless bushing are sleeved on a joint rotating shaft 25, the second knee joint part 26 is fixedly connected with the joint rotating shaft 25, and the first knee joint part 24 and the second knee joint part 26 form a revolute pair.
The first hip joint part 20 and the second hip joint part 37 are rotatably connected to form a hip joint; the first ankle joint part 28 is fixedly connected with the joint rotating shaft 25 and is rotationally connected with one end of the second ankle joint part 29 through the first ankle joint part, the other end of the second ankle joint part 29 is fixedly connected with the joint rotating shaft 25 and is rotationally connected with the foot rubber buffer cushion 30 through the second ankle joint part, and the two groups of structures form an ankle joint and are used for two second oilless bushings 22 and four gaskets 23; the first hip part 20 is connected to the second knee part 26 via the femur 21 to form a first thigh; the second hip joint component 37 is connected to the second knee joint component 26 via the femur 21 to form a second thigh; the first knee joint component 24 is connected to a first ankle component 28 by a first calf bone 27 to form a first calf; the first knee joint component 24 is connected to the second ankle joint component 29 by a second calf bone 32 to form a second calf; the first thigh and the first shank form a hinge via a knee joint; the second thigh and the second shank form a hinge joint through the knee joint; the first shank and the second shank are hinged through a joint rotating shaft 25; the second lower leg and foot part 31 is articulated by means of the joint axis of rotation 25; the first parallelogram structure connecting rod 33, one end of the second parallelogram structure connecting rod 34 and the third parallelogram structure connecting rod 36 form star-shaped hinge joint through the joint rotating shaft 25, and the three mutually form a rotating pair to use a second oilless bush 22 and two gaskets 23; the other end of the second parallelogram structure connecting rod 34 forms star-shaped hinge joint with the second knee joint part 26 of the second thigh and the first knee joint part 24 of the second shank through the joint rotating shaft 25; the foot part 31 is fixedly connected with the joint rotating shaft 25 and is in hinged connection with the first parallelogram connecting rod 33 through the joint rotating shaft, and a second oilless bush 22 and two gaskets 23 are used; the foot rubber buffer cushion 30 is fixedly connected with the foot part 31;
the coaxial large-torque output speed reducing structure has two degrees of freedom, and is fixedly connected with two hip joints of the lightweight leg structure through D-shaped shafts in the outer hollow transmission shaft 6 and the inner hollow transmission shaft 9 respectively; wherein, the first hip joint part 20 is sleeved on the external hollow transmission shaft 6; the second hip joint part 37 is sleeved on the inner hollow transmission shaft 9, the inner hollow transmission shaft 9 is provided with a shaft shoulder, and the shaft shoulder can prop against the second hip joint part 37 to play a role in axial fixation; the third parallelogram-structured link 36 is fitted over the first oilless bushing 11. The foot part 31 is provided with a threaded hole for mounting and positioning the extension member.
The working process of the rear-flip biped robot comprises the following steps: a motor encoder mounted on the rear of the motor 14 detects the position information of the motor rotor and passes it to the KEEX-5106 controller 48. The controller 48 may derive gait information for the leg structure from positive kinematics calculations. The inertial measurement unit 47 (integrated gyroscope, accelerometer and inclinometer) detects the overall state information of the biped robot such as pitch angle, roll angle, acceleration, angular acceleration and the like in real time and transmits them to the controller. The controller 48 integrates the acquired gait information and overall state information and then sends corresponding control signals to the two motor drivers 40. The two motor drivers 40 respectively send corresponding signals to the two motors 14, and control the motion of the driving motors 14 to realize the two-degree-of-freedom motion of the leg structure and the corresponding motion of the foot structure of the robot, thereby completing the stable standing, walking, jogging, jumping, back flip and other gait motions of the back flip biped robot.
The invention adopts a gear speed reduction mode as a speed reduction scheme of motor output, the speed reduction mode has wide applicable circumferential speed and power range, stable and accurate transmission ratio, high transmission efficiency which can reach 0.99 at most, long service life and high stability, and can realize the transmission among parallel shafts, crossed shafts at any angle and staggered shafts at any angle. The whole leg structure is only driven by the connecting rod, so that the rotational inertia of the leg and the foot is reduced, and the energy conversion efficiency of the robot is improved; the motor power density and the energy conversion efficiency of the jumping robot are high, and the leg and foot structure is driven in a coaxial high-torque output mode and has strong jumping capacity. The motor of the invention adopts a SUNNYSKY Langyu disc type brushless motor, and the motor of the invention has the characteristics of large power density, low rotating speed, large torque, small weight, high reliability, small torque fluctuation, long service life and the like. The parts of the invention are all made of high-strength materials, wherein the materials of the gear, the transmission shaft and the joint shaft are 45 steel, the material of the leg connecting rod is titanium alloy TC4, and the other parts belong to the common body structural part material and are aluminum alloy 7075. The design ensures that the invention has enough high power density and enough high mechanical strength to realize the back flip action, and can ensure that the mechanical structure can not be damaged under the condition of the highest output torque of the motor.
The above-described embodiments are merely preferred embodiments of the present invention, which should not be construed as limiting the invention. Various changes and modifications may be made by one of ordinary skill in the pertinent art without departing from the spirit and scope of the present invention. Therefore, the technical scheme obtained by adopting the mode of equivalent replacement or equivalent transformation is within the protection scope of the invention.
Claims (3)
1. A rear-tipping biped robot is characterized by comprising a leg heel structure, a leg structure and the like. The leg heel structure comprises a coaxial structure, a motor connecting platform, a first leg heel supporting shaft, a leg heel shell, two second leg heel supporting shafts, a leg heel supporting plate, two motors, two input end pinions, two third shaft sleeves, a retainer and two output end large gears. The coaxial structure comprises a deep groove ball bearing seat, two first shaft sleeves, an outer hollow transmission shaft, a second shaft sleeve, two deep groove ball bearings and an inner hollow transmission shaft. The leg structure comprises a first hip joint part, two thighs, five joint rotating shafts, two second knee joint parts, a first lower leg bone, a first ankle joint part, a second ankle joint part, a foot rubber buffer pad, a foot part, a second lower leg bone, a first parallelogram structure connecting rod, a second parallelogram structure connecting rod, a third parallelogram structure connecting rod and a second hip joint part. The first leg heel supporting shaft, the leg heel supporting plate, the two motors and the deep groove ball bearing seat are fixedly connected with the motor connecting platform; the leg heel outer shell is sleeved at the end part of the inner hollow transmission shaft and is respectively and fixedly connected with the first leg heel supporting shaft and the second leg heel supporting shaft; the second leg heel supporting shaft is fixedly connected with the leg heel supporting plate. The input end pinion is fixed on the output shaft of the motor and is meshed with the output end bull gear; the second shaft sleeve and the first shaft sleeves on two sides of the second shaft sleeve are sleeved on an outer hollow transmission shaft, and the outer hollow transmission shaft is placed in an inner ring of the deep groove ball bearing seat; deep groove ball bearings are embedded at two ends of the outer hollow transmission shaft and sleeved on the inner hollow transmission shaft; the two output end large gears are respectively fixed on the outer hollow transmission shaft and the inner hollow transmission shaft; the retainer is simultaneously sleeved at the end parts of the two motor output shafts and the inner hollow transmission shaft, and the third shaft sleeve is sleeved between the retainer and the shaft shoulder of the motor output shaft; the first and second hip joint parts are rotationally connected. The first hip joint part is connected with one second knee joint part through a thigh bone to form a first thigh, and the second hip joint part is connected with the other second knee joint part through the thigh bone to form a second thigh; the second knee joint part is fixedly connected with the joint rotating shaft and is rotationally connected with the first knee joint part through the joint rotating shaft. One first knee joint part is connected with the first ankle joint part through a first calf bone to form a first calf, and the other first knee joint part is connected with the second ankle joint part through a second calf bone to form a second calf. The first ankle joint part is fixedly connected with the joint rotating shaft and is rotationally connected with one end of the second ankle joint part through the first ankle joint part, and the other end of the second ankle joint part is fixedly connected with the joint rotating shaft and is rotationally connected with the foot rubber buffer cushion through the second ankle joint part; one end of the first parallelogram structure connecting rod, one end of the second parallelogram structure connecting rod and the third parallelogram structure connecting rod form star-shaped hinge joint through joint rotating shafts. The other end of the second parallelogram structure connecting rod is in star-shaped hinge connection with a second knee joint part of the second thigh and a first knee joint part of the second shank through a joint rotating shaft; the foot part is fixedly connected with the joint rotating shaft and is rotationally connected with the first parallelogram connecting rod through the joint rotating shaft. The foot rubber buffer cushion is fixedly connected with the foot part; the first hip joint part is fixedly connected with the outer hollow transmission shaft, and the second hip joint part is fixedly connected with the inner hollow transmission shaft; the third parallelogram structure connecting rod is sleeved between the two shaft shoulders of the second leg and the supporting shaft.
2. The biped robot of the rear somersault human of claim 1, wherein the first and second hip joint parts are provided with D-shaped holes, the outer and inner hollow transmission shafts are D-shaped shafts, and the D-shaped shafts are inserted into the D-shaped holes to realize fixed connection.
3. The biped robot of claim 1 wherein the foot member has threaded holes for mounting the extension members.
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