阅读说明：本技术 一种高稳定性双足迈步仿人机器人 (High-stability double-foot walking humanoid robot ) 是由 李晓艳 班书昊 江鹏 于 2021-09-18 设计创作，主要内容包括：本发明公开了一种高稳定性双足迈步仿人机器人,属于仿人机器人领域。它包括躯体连接板,装设在躯体连接板上的机器人躯体,装设在机器人躯体上的机器人头部,转动装设在躯体连接板底部的复合机器腿A和复合机器腿B；躯体连接板上还装设有驱动电机、齿轮绕线轮A和齿轮绕线轮B；复合机器腿A和复合机器腿B结构相同,包括上端采用机械髋关节与躯体连接板下端相连的机械大腿,上端采用柔性机械膝关节与机械大腿下端相连的机械小腿,采用机械踝关节与机械小腿下端相连的机械足；机械大腿上设有转轴滑槽。本发明是一种结构合理、具有柔性膝关节、能够减小迈步摩擦力,提高迈步运动稳定性的高稳定性双足迈步仿人机器人。(The invention discloses a high-stability biped walking humanoid robot, and belongs to the field of humanoid robots. The robot comprises a body connecting plate, a robot body arranged on the body connecting plate, a robot head arranged on the robot body, and a composite robot leg A and a composite robot leg B which are rotatably arranged at the bottom of the body connecting plate; the body connecting plate is also provided with a driving motor, a gear reel A and a gear reel B; the composite machine leg A and the composite machine leg B have the same structure and comprise a mechanical thigh of which the upper end is connected with the lower end of the body connecting plate by adopting a mechanical hip joint, a mechanical shank of which the upper end is connected with the lower end of the mechanical thigh by adopting a flexible mechanical knee joint, and a mechanical foot of which the lower end is connected with a mechanical ankle joint; the mechanical thigh is provided with a rotating shaft chute. The invention is a high-stability double-foot stepping humanoid robot which has a reasonable structure, has a flexible knee joint, can reduce stepping friction and improve the stability of stepping motion.)

1. A high-stability biped stepping humanoid robot comprises a body connecting plate (12), a robot body (11) arranged on the body connecting plate (12), a robot head (10) arranged on the robot body (11), a composite robot leg A (13) and a composite robot leg B (14) which are rotatably arranged at the bottom of the body connecting plate (12); the method is characterized in that:

the body connecting plate (12) is also provided with a driving motor (15), a gear reel A (17) and a gear reel B (18); an incomplete gear (16) is fixedly arranged on an output shaft of the driving motor (15), and the arc length corresponding to the meshing teeth of the incomplete gear (16) is one third of the circumference; the gear reels A (17) and B (18) are bilaterally symmetrical about the output shaft of the driving motor (15) and are in time-sharing meshed transmission with the incomplete gear (16);

the composite machine leg A (13) and the composite machine leg B (14) are identical in structure and respectively comprise a mechanical thigh (21) with the upper end connected with the lower end of the body connecting plate (12) through a mechanical hip joint, a mechanical shank (22) with the upper end connected with the lower end of the mechanical thigh (21) through a flexible mechanical knee joint and a mechanical foot (23) connected with the lower end of the mechanical shank (22) through a mechanical ankle joint; a rotating shaft sliding groove (210) is arranged on the mechanical thigh (21);

the mechanical hip joint comprises a hip joint rotating shaft A (31) rotationally arranged on the body connecting plate (12), a hip joint reel A (32) and a hip joint gear A (33) fixedly arranged on the inner side and the outer side of the hip joint rotating shaft A (31), a hip joint rotating shaft B (34) fixedly connected with the upper end of the mechanical thigh (21) and rotatably penetrating through the body connecting plate (12), a hip joint reel B (36) and a hip joint gear B (35) fixedly arranged on the inner side and the outer side of the hip joint rotating shaft B (34), and a hip joint traction rope (37);

the hip joint gear A (33) and the hip joint gear B (35) are in external meshing transmission, two ends of a hip joint traction rope (37) in the composite machine leg A (13) are respectively wound on the gear reel A (17) and the hip joint reel A (32) and then connected together, and two ends of the hip joint traction rope (37) in the composite machine leg B (14) are respectively wound on the gear reel B (18) and the hip joint reel A (32) and then connected together;

the flexible mechanical knee joint comprises a knee joint rotating shaft (41) connected with the upper end of the mechanical shank (22), a knee joint positioning column (42) fixedly arranged on the knee joint rotating shaft (41), a knee joint positioning block (43) and a hydraulic cylinder (45) fixedly arranged on the mechanical thigh (21), a knee joint traction rope (44) with two ends respectively connected with a piston rod of the hydraulic cylinder (45) and the knee joint positioning column (42), and a knee joint torsion spring (46) with two ends respectively connected with the mechanical shank (22) and the mechanical thigh (21); a positioning through hole (431) is formed in the knee joint positioning block (43) along the axial direction of the mechanical thigh (21), and the knee joint positioning column (42) can slide in or out of the positioning through hole (431) under the action of the knee joint traction rope (44); the knee joint rotating shaft (41) is arranged in the rotating shaft sliding groove (210) in a sliding and rotating way;

the mechanical ankle joint comprises an ankle joint rotating shaft A (51) rotatably arranged on the mechanical shank (22), an ankle joint reel (53) and an ankle joint gear A (52) which are respectively fixedly arranged on the inner side and the outer side of the ankle joint rotating shaft A (51), an ankle joint rotating shaft B (54) which is fixed with the mechanical foot (23) and penetrates through the mechanical lower leg (22) in a rotating mode, an ankle joint gear B (55) which is fixedly arranged on the outer side of the ankle joint rotating shaft B (54) and meshed with the ankle joint gear A (52), two guide wheel brackets (56) which are fixedly arranged on the mechanical lower leg (22) along the same horizontal height, a guide reel (57) which rotates on the guide wheel brackets (56), an ankle joint traction rope A (58) which is wound on the hip joint reel B (36) in the middle, and an ankle joint traction rope B (59) which is wound on the ankle joint reel (53) in the middle;

the ankle joint extension spring A (61) and the ankle joint extension spring B (62) are also included; the guide wheel bracket (56) is positioned between the knee joint rotating shaft (41) and the ankle joint rotating shaft A (51); one end of the ankle joint traction rope A (58) bypasses one guide reel (57) and is connected with the upper end of the ankle joint extension spring A (61), and the other end of the ankle joint traction rope A (58) bypasses the other guide reel (57) and is connected with the upper end of the ankle joint extension spring B (62); the lower end of the ankle joint extension spring A (61) is connected with one end of the ankle joint traction rope B (59), and the lower end of the ankle joint extension spring B (62) is connected with the other end of the ankle joint traction rope B (59).

Technical Field

The invention mainly relates to the field of humanoid robots, in particular to a high-stability biped stepping humanoid robot.

Background

The walking robot is emphasized for its good obstacle-surmounting ability. The stepping robot in the prior art realizes stepping forward, but has the following defects: the friction force between the robot and the ground is too large during walking, so that the stability is low when the robot leaves the ground, and the included angle between the mechanical foot and the ground is not changed in the suspension process, so that the stability of the whole robot is low in the suspension process; the suspended mechanical foot is not driven by the rotation of the mechanical foot on the ground, so that the whole gravity center position changes suddenly when the mechanical foot is landed, and the stability when the mechanical foot is landed is reduced. Therefore, it is highly desirable to design a walking robot with high stability.

Disclosure of Invention

The technical problems to be solved by the invention are as follows: aiming at the technical problems in the prior art, the invention provides the high-stability double-foot stepping humanoid robot which is reasonable in structure, has a flexible knee joint, can reduce stepping friction and improve stepping motion stability.

In order to solve the problems, the solution proposed by the invention is as follows: a high-stability double-foot walking humanoid robot comprises a body connecting plate, a robot body arranged on the body connecting plate, a robot head arranged on the robot body, and a composite robot leg A and a composite robot leg B which are rotatably arranged at the bottom of the body connecting plate.

The body connecting plate is also provided with a driving motor, a gear reel A and a gear reel B; an incomplete gear is fixedly arranged on an output shaft of the driving motor, and the arc length corresponding to the meshing teeth of the incomplete gear is one third of the circumference; the gear reels A and B are bilaterally symmetrical about the output shaft of the driving motor and are in time-sharing meshed transmission with the incomplete gear.

The composite machine leg A and the composite machine leg B are identical in structure and respectively comprise a mechanical thigh of which the upper end is connected with the lower end of the body connecting plate by adopting a mechanical hip joint, a mechanical shank of which the upper end is connected with the lower end of the mechanical thigh by adopting a flexible mechanical knee joint and a mechanical foot of which the lower end is connected with a mechanical ankle joint; and a rotating shaft sliding groove is formed in the mechanical thigh.

The mechanical hip joint comprises a hip joint rotating shaft A which is rotatably arranged on the body connecting plate, a hip joint reel A and a hip joint gear A which are fixedly arranged on the inner side and the outer side of the hip joint rotating shaft A, a hip joint rotating shaft B which is fixedly connected with the upper end of the mechanical thigh and rotatably penetrates through the body connecting plate, a hip joint reel B and a hip joint gear B which are fixedly arranged on the inner side and the outer side of the hip joint rotating shaft B, and a hip joint traction rope.

The hip joint gear A and the hip joint gear B are in external meshing transmission, two ends of a hip joint traction rope in the composite machine leg A are respectively wound on the gear reel A and the hip joint reel A and then connected together, and two ends of the hip joint traction rope in the composite machine leg B are respectively wound on the gear reel B and the hip joint reel A and then connected together.

The flexible mechanical knee joint comprises a knee joint rotating shaft connected with the upper end of the mechanical shank, a knee joint positioning column fixedly arranged on the knee joint rotating shaft, a knee joint positioning block and a hydraulic cylinder fixedly arranged on the mechanical thigh, a knee joint traction rope with two ends respectively connected with a piston rod of the hydraulic cylinder and the knee joint positioning column, and a knee joint torsion spring with two ends respectively connected with the mechanical shank and the mechanical thigh; a positioning through hole is formed in the knee joint positioning block along the axis direction of the mechanical thigh, and the knee joint positioning column can slide in or out of the positioning through hole under the action of the knee joint traction rope; the knee joint rotating shaft is arranged in the rotating shaft sliding groove in a sliding and rotating mode.

Mechanical ankle joint installs including rotating ankle joint pivot A on the machinery shank, fixes installing the ankle joint reel and the ankle joint gear A of the inside and outside both sides of ankle joint pivot A, with machinery foot fixed links to each other and rotates and passes the ankle joint pivot B of machinery shank is fixed to be installed the outside of ankle joint pivot B and with ankle joint gear B that ankle joint gear A engaged with is fixed to be installed along same level two leading wheel supports on the machinery shank rotate the direction reel on the leading wheel support, the middle part twines in ankle joint haulage rope A on the hip joint reel B, the middle part twine in ankle joint haulage rope B on the ankle joint reel.

The ankle joint extension spring A and the ankle joint extension spring B are also included; the guide wheel bracket is positioned between the knee joint rotating shaft and the ankle joint rotating shaft A; one end of the ankle joint traction rope A bypasses one guide reel and is connected with the upper end of the ankle joint extension spring A, and the other end of the ankle joint traction rope A bypasses the other guide reel and is connected with the upper end of the ankle joint extension spring B; the lower end of the ankle joint extension spring A is connected with one end of the ankle joint traction rope B, and the lower end of the ankle joint extension spring B is connected with the other end of the ankle joint traction rope B.

Compared with the prior art, the invention has the following advantages and beneficial effects: the high-stability biped stepping humanoid robot is provided with the flexible mechanical knee joint, so that when the mechanical thigh is stepped forwards, the mechanical shank is always in a plumb state, and the friction force between the mechanical foot and the ground is reduced; when the knee joint traction rope is tightened, the mechanical shank and the mechanical thigh are collinear, so that the mechanical foot to be landed is changed from being inclined to the ground to be parallel to the ground, and the motion stability when the mechanical foot is landed is further improved; the other mechanical foot driving the stepping mechanical foot to land is gradually changed from a state of being in full contact with the ground into a state of being in heel-off and toe-contact with the ground in the motion process, so that the gravity center of the robot body slowly moves forwards to the middle of the two composite mechanical legs, and the motion stability in the process of landing after stepping is improved. Therefore, the high-stability double-foot stepping humanoid robot has a reasonable structure, has a flexible knee joint, can reduce stepping friction and improve stepping motion stability.

Drawings

Fig. 1 is a schematic structural principle diagram of a high-stability biped stepping humanoid robot.

Fig. 2 is a schematic structural diagram of a flexible mechanical knee joint according to the present invention.

Fig. 3 is a schematic view showing the connection of an ankle traction rope A and an ankle traction rope B according to the present invention.

In the figure, 10 — robot head; 11-a robot body; 12-a carcass web; 13-composite robot leg a; 14-composite machine leg B; 15-driving the motor; 16-incomplete gear; 17-gear reel a; 18-gear reel B; 21-mechanical thigh; 210-a rotating shaft chute; 22-mechanical shank; 23-mechanical foot; 31-hip joint rotation axis a; 32-hip-joint reel a; 33-hip gear a; 34-hip joint rotation axis B; 35-hip joint gear B; 36-hip-joint reel B; 37-hip joint traction ropes; 41-knee joint rotation axis; 42-knee joint alignment post; 43-knee joint positioning block; 431-positioning through holes; 44-knee joint traction ropes; 45-hydraulic cylinder; 46-knee joint torsion spring; 51-ankle joint axis of rotation a; 52-ankle gear a; 53-ankle reel; 54-ankle joint axis of rotation B; 55-ankle gear B; 56-guide wheel support; 57-a guide reel; 58-ankle joint traction rope a; 59-ankle joint traction rope B; 61-ankle joint extension spring a; 62-ankle joint extension spring B.

Detailed Description

The invention will be described in further detail below with reference to the accompanying drawings and specific embodiments.

Referring to fig. 1, the high-stability biped walking humanoid robot of the present invention comprises a body connecting plate 12, a robot body 11 mounted on the body connecting plate 12, a robot head 10 mounted on the robot body 11, a composite robot leg a13 and a composite robot leg B14 rotatably mounted at the bottom of the body connecting plate 12.

The body connecting plate 12 is also provided with a driving motor 15, a gear reel A17 and a gear reel B18; an incomplete gear 16 is fixedly arranged on an output shaft of the driving motor 15, and the arc length corresponding to the meshing teeth of the incomplete gear 16 is one third of the circumference; the gear reel A17 and the gear reel B18 are bilaterally symmetrical about the output shaft of the drive motor 15, and are in time-sharing meshed transmission with the incomplete gear 16. The gear reel A17 and the gear reel B18 are identical in structure and are composed of coaxially arranged gears and winding pulleys, wherein the gears are in meshing transmission with the incomplete gear 16. When the incomplete gear 16 rotates clockwise, the gear reel A17 and the gear reel B18 are driven to rotate anticlockwise in sequence; when the partial gear 16 rotates counterclockwise, it in turn rotates the gear-reel a17 and the gear-reel B18 in a clockwise direction.

The composite machine leg A13 and the composite machine leg B14 have the same structure, and both comprise a mechanical thigh 21 of which the upper end is connected with the lower end of the body connecting plate 12 by adopting a mechanical hip joint, a mechanical shank 22 of which the upper end is connected with the lower end of the mechanical thigh 21 by adopting a flexible mechanical knee joint, and a mechanical foot 23 of which the lower end is connected with the lower end of the mechanical shank 22 by adopting a mechanical ankle joint; the mechanical thigh 21 is provided with a rotating shaft chute 210.

The mechanical hip joint comprises a hip joint rotating shaft A31 rotatably arranged on the body connecting plate 12, a hip joint reel A32 and a hip joint gear A33 fixedly arranged on the inner side and the outer side of the hip joint rotating shaft A31, a hip joint rotating shaft B34 fixedly connected with the upper end of the mechanical thigh 21 and rotatably penetrating through the body connecting plate 12, a hip joint reel B36 and a hip joint gear B35 fixedly arranged on the inner side and the outer side of the hip joint rotating shaft B34, and a hip joint traction rope 37.

The hip joint gear A33 is in external meshing transmission with the hip joint gear B35, two ends of a hip joint traction rope 37 in the composite machine leg A13 are respectively wound on a gear reel A17 and a hip joint reel A32 and then connected together, and two ends of the hip joint traction rope 37 in the composite machine leg B14 are respectively wound on a gear reel B18 and a hip joint reel A32 and then connected together. The hip-joint traction rope 37 enables the forward and reverse rotation of the gear reel A17 or the gear reel B18 to drive the forward and reverse rotation of the hip-joint reel A32.

Referring to fig. 1 and 2, the flexible mechanical knee joint includes a knee joint rotation shaft 41 connected to the upper end of the mechanical shank 22, a knee joint positioning post 42 fixedly installed on the knee joint rotation shaft 41, a knee joint positioning block 43 and a hydraulic cylinder 45 fixedly installed on the mechanical thigh 21, a knee joint traction rope 44 having two ends respectively connected to the piston rod of the hydraulic cylinder 45 and the knee joint positioning post 42, and a knee joint torsion spring 46 having two ends respectively connected to the mechanical shank 22 and the mechanical thigh 21; a positioning through hole 431 is formed in the knee joint positioning block 43 along the axial direction of the mechanical thigh 21, and the knee joint positioning column 42 can slide in or out of the positioning through hole 431 under the action of the knee joint traction rope 44; the knee joint rotation shaft 41 is slidably and rotatably installed in the rotation shaft sliding groove 210.

The mechanical ankle joint comprises an ankle joint rotating shaft A51 which is rotatably arranged on a mechanical shank 22, an ankle joint reel 53 and an ankle joint gear A52 which are fixedly arranged on the inner side and the outer side of the ankle joint rotating shaft A51 respectively, an ankle joint rotating shaft B54 which is fixedly connected with the mechanical foot 23 and rotatably penetrates through the mechanical shank 22, an ankle joint gear B55 which is fixedly arranged on the outer side of the ankle joint rotating shaft B54 and is meshed with the ankle joint gear A52, two guide wheel brackets 56 which are fixedly arranged on the mechanical shank 22 along the same horizontal height, a guide reel 57 which rotates on the guide wheel brackets 56, an ankle joint traction rope A58 which is wound on the hip joint reel B36 in the middle part, and an ankle joint traction rope B59 which is wound on the ankle joint reel 53 in the middle part. The ankle traction rope a58 is wound at least two turns on the hip-reel B36 to increase the friction between the hip-reel B36 and the ankle traction rope a 58; the ankle traction rope B59 is wound at least two turns on the ankle reel 53 to increase the friction between the ankle reel 53 and the ankle traction rope B59.

Referring to fig. 1 and 3, the present invention is further provided with an ankle extension spring a61 and an ankle extension spring B62; the guide wheel bracket 56 is positioned between the knee joint rotating shaft 41 and the ankle joint rotating shaft A51; one end of the ankle joint pulling rope a58 passes around one guide reel 57 and is connected to the upper end of the ankle joint extension spring a61, and the other end of the ankle joint pulling rope a58 passes around the other guide reel 57 and is connected to the upper end of the ankle joint extension spring B62; the lower end of the ankle extension spring A61 is connected to one end of an ankle traction rope B59, and the lower end of the ankle extension spring B62 is connected to the other end of the ankle traction rope B59. The stiffness of the ankle joint extension spring a61 and the ankle joint extension spring B62 are equal and the initial length is the same, so when the knee joint rotation shaft 41 is far away from the knee joint positioning block 43, the ankle joint extension spring a61 and the ankle joint extension spring B62 can be extended simultaneously without causing the ankle joint traction rope a58 to drive the ankle joint reel 53 to rotate; when the knee joint rotation shaft 41 comes closer to the knee joint positioning block 43, the ankle retracting spring a61 and the ankle retracting spring B62 may be simultaneously shortened to accommodate the distance between the hip-joint reel B36 and the ankle-joint reel 53; the ankle extension spring A61 and the ankle extension spring B62 are always in tension during operation.

The stepping action process in the invention is as follows: it is not assumed that composite robot leg a13 and composite robot leg B14 are both vertically upright.

The first step is as follows: composite leg a13 is stepped forward off the ground. The piston rod in the hydraulic cylinder 45 in the composite robot leg a13 extends outwards to release the knee joint traction rope 44, and the knee joint positioning column 42 is in a movement trend of sliding outwards out of the positioning through hole 431, namely, the knee joint rotating shaft 41 in the composite robot leg a13 has a downward sliding trend along the rotating shaft sliding groove 210.

The driving motor 15 rotates anticlockwise to drive the incomplete gear 16 to rotate anticlockwise, and the incomplete gear 16 just starts to be meshed with the gear reel A17 and is separated from being meshed with the gear reel B17; the incomplete gear 16 rotates counterclockwise, so that the hip joint rotating shaft a31, the hip joint reel a32 and the hip joint gear a33 rotate in the forward direction, and the hip joint gear B35 is driven to rotate in the reverse direction, so that the mechanical thigh 21 rotates forward relative to the robot trunk 11 and the trunk connecting plate 12; in the process, the knee joint positioning column 42 slides out of the positioning through hole 431, so that the mechanical lower leg 22 can rotate backwards relative to the mechanical upper leg 21, and the mechanical lower leg 22 always keeps a vertical state under the action of gravity.

The hip joint gear B35 rotates reversely to drive the hip joint rotating shaft B34 and the hip joint reel B36 to rotate synchronously, and then the ankle joint reel 53 is pulled to rotate reversely through the ankle joint traction rope A58, the ankle joint extension spring A61 and the ankle joint traction rope B59; the forward rotation of the ankle reel 53 causes the ankle rotation shaft a51 and the ankle gear a52 to rotate in the reverse direction, thereby engaging the ankle gear B55 to rotate in the forward direction and causing the mechanical foot 23 to rotate backward relative to the mechanical calf 22 via the ankle rotation shaft B54. The mechanical foot 23 is now inclined to the ground.

The piston rod in the hydraulic cylinder 45 in the compound machine leg a13 retracts inwards to tighten the knee joint traction rope 44, and the knee joint traction rope 44 pulls the knee joint positioning column 42 to move until the knee joint positioning column slides into the positioning through hole 431, so that the mechanical thigh 21 and the mechanical shank 22 are in line; since the angle of forward rotation of the mechanical thigh 21 with respect to the robot body 11 is equal to the angle of backward rotation of the mechanical foot 23 with respect to the mechanical shank 22, the mechanical foot 23 is made parallel to the ground in preparation for landing.

The second step is that: the composite mechanical leg B14 drives the robot body 11 to rotate forward, so that the mechanical foot 23 in the composite mechanical leg a13 comes to the ground. The drive motor 15 continues to rotate in the counterclockwise direction, the partial gear 16 disengages from the gear reel a17 and begins to engage with the gear reel B18; the incomplete gear 16 rotates counterclockwise, and in a similar principle, the mechanical thigh 21 in the composite mechanical leg B14 is driven to rotate backward relative to the body connecting plate 12, and the mechanical foot 23 in the composite mechanical leg B14 is driven to rotate backward relative to the mechanical shank 22. Since the mechanical lower leg 22 is collinear with the mechanical upper leg 21, the contact condition of the mechanical foot 23 in the composite mechanical leg B14 with the ground is changed from full contact with the ground to toe contact with the ground, and the heel leaves the ground until the mechanical foot 23 in the composite mechanical leg a13 contacts the ground, so that the ground of the composite mechanical leg a13 after stepping is achieved.

The third step: composite leg B14 is stepped forward off the ground. The piston rod in the hydraulic cylinder 45 in the composite machine leg B14 extends outwards to release the knee joint traction rope 44, and the knee joint positioning column 42 in the composite machine leg B14 has a moving trend of sliding outwards out of the positioning through hole 431, namely the knee joint rotating shaft 41 has a downward sliding trend along the rotating shaft sliding groove 210.

The driving motor 15 instantaneously rotates in the needle direction, the incomplete gear 16 reversely rotates and drives the engaged gear reel B18 to reversely rotate. So that the mechanical thigh 21 in the composite machine leg B14 rotates forward relative to the torso web 12, and the mechanical foot 23 rotates backward relative to the mechanical shank 22, and the mechanical shank 22 in the composite machine leg B14 is always kept vertical as the mechanical shank 22 in the composite machine leg B14 can rotate freely relative to the mechanical thigh 21 during the whole process, which is similar to the forward stepping motion of the composite machine leg a13 in the foregoing.

The piston rod in the hydraulic cylinder 45 in the compound leg B14 tightens the released knee joint pull rope 44 inwards, and the mechanical lower leg 22 in the compound leg B14 is in line with the mechanical upper leg 21 under the action of the knee joint pull rope 44, and the mechanical foot 23 in the compound leg B14 is parallel to the ground and ready to land after taking a step.

The fourth step: composite robot leg a13 drives robot body 11 to rotate forward, thereby landing mechanical foot 23 in composite robot leg B14. The drive motor 15 continues to rotate in the instantaneous needle direction and the partial gear 16 begins to rotate in the clockwise direction and to engage the gear reel a 17. Therefore, the hip joint rotating shaft A31 and the hip joint reel A32 in the composite robot leg A13 and the hip joint gear A33 rotate reversely, so that the hip joint gear B35 is driven to rotate forwards, and the mechanical thigh 21 in the composite robot leg A13 rotates backwards relative to the robot body 11 and the body connecting plate 12; the mechanical lower leg 22 in composite leg a13 is co-linear with its own mechanical upper leg 21 so that the overall contact of mechanical foot 23 with the ground gradually changes to heel off, toe contact with the ground, until the mechanical foot 23 in composite leg B14 contacts the ground. Thereby completing a complete stepping process.

The stepping can be realized by continuously repeating the above actions. The robot of the invention is parallel to the ground when the mechanical feet 23 are ready to contact the ground, so that the robot body 11 and the body connecting plate 12 are always in a vertical state, and the gravity center of the whole robot body is always positioned between the composite mechanical leg A13 and the composite mechanical leg B14 along the advancing direction in the stepping process, thereby increasing the stability in the movement process.

The above is only a specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that are not thought of through creative efforts should fall within the scope of the present invention.