CN112776914A - Biped robot - Google Patents

Abstract

Translated fromChinese

本发明公开了一种双足机器人，包括主体、腿部结构、操作臂与平衡部，两个腿部结构对称安装于主体的两侧，并能够相对主体转动，操作臂安装于主体上并能够相对主体运动，平衡部包括平衡轮，平衡轮与主体转动连接。本发明实施例中的双足机器人，腿部结构能够为机器人的运动提供动力，支持机器人进行行走、跳跃等动作，操作臂可相对于主体运动以使其末端的执行器执行相应操作，并通过平衡轮的转动产生的力矩平衡操作臂的运动施加至机器人的额外力矩，使机器人整体保持平稳，便于操作臂执行相应任务。

The invention discloses a biped robot, comprising a main body, a leg structure, an operating arm and a balance part. The two leg structures are symmetrically installed on both sides of the main body and can rotate relative to the main body, and the operating arm is installed on the main body and can be rotated relative to the main body. Moving relative to the main body, the balance part includes a balance wheel, and the balance wheel is rotatably connected with the main body. In the biped robot in the embodiment of the present invention, the leg structure can provide power for the movement of the robot, and support the robot to perform actions such as walking and jumping. The torque generated by the rotation of the balance wheel balances the extra torque applied to the robot by the movement of the manipulator arm, so that the robot as a whole remains stable and facilitates the manipulator arm to perform corresponding tasks.

Description

Biped robot

Technical Field

The invention relates to the technical field of robots, in particular to a biped robot.

Background

The barrier can be strideed across to biped robot, adapts to multiple complicated topography, and in the correlation technique, the end of biped machine is provided with the executor of different grade type to carry out the task of different grade types, the executor carries out position control through the swing of arm, and the swing of arm leads to the influence to the whole focus of robot, leads to the robot unbalance, and the robot has the risk of slope or turning on one's side, influences the normal operating of robot.

Disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a biped robot which can improve the balance performance of the robot in the task execution process.

The biped robot according to the embodiment of the invention comprises:

a main body;

the two leg structures are symmetrically arranged on two sides of the main body and can rotate relative to the main body;

an operating arm mounted on the main body and capable of moving relative to the main body;

the balancing part comprises a balancing wheel, and the balancing wheel is connected with the main body in a rotating mode.

The biped robot according to the embodiment of the invention has at least the following beneficial effects:

according to the biped robot in the embodiment of the invention, the leg structure can provide power for the movement of the robot, the robot is supported to perform actions such as walking and jumping, the operating arm can move relative to the main body so that the actuator at the tail end of the operating arm executes corresponding operations, and the additional torque applied to the robot by the movement of the operating arm is balanced by the torque generated by the rotation of the balance wheel, so that the robot is kept stable as a whole, and the operating arm is convenient to execute corresponding tasks.

According to some embodiments of the invention, the balance part further comprises a mounting rod, the balance wheel is fixed to one end of the mounting rod, the other end of the mounting rod is connected with the main body, and the mounting rod can rotate relative to the main body.

According to some embodiments of the invention, the mounting bar comprises a first bar and a second bar, the first bar and the second bar being relatively movable to change the length of the mounting bar.

According to some embodiments of the invention, the balancing part comprises two opposite first driving members, the main body comprises a mounting frame, the first driving members are fixedly connected with the mounting frame, and the two first driving members are respectively mounted on two sides of the balancing wheel and can simultaneously drive the balancing wheel to rotate.

According to some embodiments of the invention, the operating arm is rotatably connected to the body.

According to some embodiments of the invention, the operating arm comprises a plurality of arm segments, adjacent to which are rotatably connected.

According to some embodiments of the invention, the leg structure includes a thigh portion connected to the main body and rotatable with respect to the main body, a lower leg portion connected to the thigh portion and rotatable with respect to the thigh portion, and a foot portion mounted at one end of the lower leg portion and rotatable with respect to the lower leg portion.

According to some embodiments of the present invention, the main body includes a mounting frame, the thigh portion includes a second driving member, a first mounting seat, and a thigh body, the second driving member is accommodated in the first mounting seat, the first mounting seat is connected to the thigh body, and the second driving member is configured to drive the thigh body to rotate.

According to some embodiments of the present invention, the shank portion includes a third driving member, a second mounting seat and a shank body, the third driving member is accommodated in the second mounting seat, the second mounting seat is connected to the first mounting seat, and the third driving member is configured to drive the shank body to rotate.

According to some embodiments of the invention, the foot part comprises a fourth driving part, a third mounting seat and a rotating wheel, the fourth driving part is accommodated in the third mounting seat, the third mounting seat is connected with the shank body, and the fourth driving part is used for driving the rotating wheel to rotate.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

The invention is further described with reference to the following figures and examples, in which:

FIG. 1 is a schematic structural diagram of one embodiment of the biped robot of the present invention;

FIG. 2 is a schematic structural diagram of another embodiment of the biped robot of the present invention;

FIG. 3 is an exploded view of the balance of FIG. 2;

FIG. 4 is an exploded view of the manipulator arm of FIG. 2;

FIG. 5 is a cross-sectional view of the operating arm of FIG. 2;

FIG. 6 is a schematic diagram of one embodiment of the leg structure of FIG. 1;

FIG. 7 is an exploded view of one embodiment of the thigh section of FIG. 6;

figure 8 is an exploded view of one embodiment of the lower leg and foot of figure 6.

Reference numerals: themain body 100, themounting frame 110, themounting member 111, thefixing frame 120, the supportingframe 130, theleg structure 200, thethigh 210, thethigh body 211, thethigh member 2111, the connectingframe 2112, the first connectingplate 2113, thefirst mounting seat 212, the first rotatingshaft 213, thelower leg portion 220, thelower leg body 221, thelower leg member 2211, the second connectingplate 2212, thesecond mounting seat 222, the second rotatingshaft 223, thetiming belt 224, thesynchronizing wheel 225, thetensioning wheel 226, thefoot 230, the rotatingwheel 231, the third rotatingshaft 232, the connectingseat 233, the angular contact bearing 234, theoperating arm 300, thefirst arm segment 310, the first rotatingshaft 311, the connectingbody 312, thesecond arm segment 320, thefirst driving shaft 321, the secondrotating arm 322, thedriving belt 323, thedriving wheel 324, thesecond driving shaft 325, thefirst driving member 330, thesecond driving member 340, thebalancing portion 400, thebalancing wheel 410, themounting rod 420, thefirst driving member 430, theelectronic control assembly 500, thebattery 510,camera 530,control module 540.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

In the description of the present invention, the meaning of a plurality is one or more, the meaning of a plurality is two or more, and the above, below, exceeding, etc. are understood as excluding the present numbers, and the above, below, within, etc. are understood as including the present numbers. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.

In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.

In the description of the present invention, reference to the description of the terms "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Referring to fig. 1, in an embodiment of the present invention, a biped robot is provided, including amain body 100, aleg structure 200, anoperation arm 300, and abalance unit 400, wherein theleg structure 200, theoperation arm 300, and thebalance unit 400 may all be mounted on themain body 100, themain body 100 provides a mounting base for the above components, theleg structure 200 is used to drive the robot to integrally walk, a corresponding actuator may be mounted at an end of theoperation arm 300 according to a specific application scenario to perform a corresponding task, and thebalance unit 400 is used to maintain a balance state of the robot during walking, jumping, or movement of theoperation arm 300, so as to improve stability of operation of the robot.

Specifically, twoleg structures 200 are provided, the twoleg structures 200 are symmetrically installed on two sides of themain body 100, theleg structures 200 can rotate relative to themain body 100 to adjust the overall height, pitch state, center position and the like of the robot, and in addition, theleg structures 200 provide power for the movement of the robot to enable the robot to walk, jump and the like. Theoperation arm 300 is mounted on themain body 100, and theoperation arm 300 can move relative to themain body 100 to make the end of theoperation arm 300 close to or far from themain body 100, so as to perform corresponding operations; the movement of theoperation arm 300 may be such that theoperation arm 300 moves relative to themain body 100 to extend or retract theoperation arm 300 from themain body 100, theoperation arm 300 extends to approach an object to be executed when a task is performed, and theoperation arm 300 retracts into themain body 100 after the task is completed; themanipulation arm 300 is also rotatable with respect to themain body 100 so that themanipulation arm 300 can be folded into themain body 100 or unfolded from themain body 100, and when a task is performed, themanipulation arm 300 is unfolded to be close to an object to be performed, and after the task is completed, themanipulation arm 300 is folded into themain body 100 again. In view of the fact that the center of gravity of the robot is changed by the movement of theoperation arm 300 relative to themain body 100, and the robot is easily toppled back and forth due to the additional moment generated by the self-gravity of theoperation arm 300, in one embodiment of the present invention, thebalance part 400 includes thebalance wheel 410, thebalance wheel 410 is rotatably connected with themain body 100, and the moment generated by the rotation of thebalance wheel 410 can counteract the additional moment generated by the movement of theoperation arm 300, so that the robot is kept in balance, and the stability of theoperation arm 300 is improved.

Therefore, in the biped robot of the embodiment of the present invention, theleg structure 200 can provide power for the movement of the robot, support the robot to perform walking, jumping, etc., theoperation arm 300 can move relative to themain body 100 to make the actuator at the end of the operation arm perform corresponding operations, and balance the extra moment applied to the robot by the movement of theoperation arm 300 through the moment generated by the rotation of thebalance wheel 410, so that the robot as a whole is kept stable, and theoperation arm 300 can perform corresponding tasks conveniently.

It should be noted that, in order to make the direction of the moment generated by thebalance wheel 410 rotate opposite to the direction of the extra moment generated by theoperation arm 300, the rotation axis of thebalance wheel 410 may be perpendicular to the movement plane of theoperation arm 300, that is, if theoperation arm 300 moves linearly relative to themain body 100, the rotation axis of thebalance wheel 410 is perpendicular to the linear movement plane (excluding the plane parallel to the horizontal plane) of theoperation arm 300, and if theoperation arm 300 rotates relative to themain body 100, the rotation axis of thebalance wheel 410 is perpendicular to the rotation plane (excluding the plane parallel to the horizontal plane) of theoperation arm 300. The actuator attached to the end of theoperation arm 300 may be a gripper, a suction cup, a welding gun, or the like.

In an embodiment of the present invention, theoperation arm 300 and thebalance part 400 are installed at the center of themain body 100 and located at both sides of themain body 100, respectively, so that the center of gravity of the robot is located on the center line of themain body 100, and the moments generated by theoperation arm 300 and thebalance part 400 are balanced.

Referring to fig. 2 and 3, in another embodiment of the present invention, the balancingpart 400 further includes amounting rod 420, thebalance wheel 410 is fixed to one end of themounting rod 420, the other end of themounting rod 420 is connected to themain body 100, and themounting rod 420 can rotate with respect to themain body 100. Since themounting rod 420 has a certain length and thebalance wheel 410 has a certain weight, themounting rod 420 can extend in the opposite direction of theoperation arm 300, so that thebalance wheel 410 can balance the moment generated by the end of theoperation arm 300 relative to the connection between theoperation arm 300 and themain body 100 based on the moment generated by the connection between themounting rod 420 and themain body 100, thereby preventing the position of the center of gravity of the robot from changing and affecting the stability of the robot movement. It should be noted that the length of themounting rod 420 and the rotation angle of themounting rod 420 relative to themain body 100 can be adjusted according to the specific movement form of theoperating arm 300, the weight of the actuator and the length of theoperating arm 300.

It is conceivable that themounting bar 420 and thebalance wheel 410 are combined with each other during rotation, to balance the dynamic moment generated when theoperation arm 300 moves and performs a task; themounting bar 420 is fixed to themain body 100 such that themounting bar 420 is inclined at a certain angle with respect to themain body 100, and themounting bar 420 and thebalance wheel 410 are combined with each other to balance an additional moment generated from the robot arm in the unfolded or extended state. The rotation angle and the rotation direction of themounting lever 420 can be adaptively selected according to the specific movement pattern of theoperating arm 300.

In order to quickly balance the moment generated by thebalance wheel 410 with the moment generated by theoperation arm 300, in an embodiment of the present invention, themounting rod 420 may be configured as a telescopic rod, and the length of themounting rod 420 is adjusted by the telescopic motion of themounting rod 420, so that the moment generated by thebalance wheel 410 can be quickly matched with the moment generated by theoperation arm 300, and the robot can be kept in balance. Specifically, themounting rod 420 includes a first rod and a second rod, and the first rod and the second rod can move relatively, so that the overall length of themounting rod 420 is changed; the first rod is connected to themain body 100, the second rod is connected to thebalance wheel 410, and the first rod and the second rod are inserted and can relatively move along the length direction of the first rod or the second rod.

Referring to fig. 3, the balancingpart 400 includes afirst driving member 430, thefirst driving member 430 is mounted on themain body 100, and thefirst driving member 430 is connected to themounting rod 420 and drives themounting rod 420 to rotate. In order to balance the influence of theoperation arm 300 on the center of gravity of the robot, thebalance wheel 410 generally has a certain weight, and in one embodiment of the present invention, thebalance part 400 includes twofirst driving members 430, and the twofirst driving members 430 are respectively installed at both sides of themounting rod 420 or thebalance wheel 410 and simultaneously drive thebalance wheel 410 or themounting rod 420 to rotate, so as to provide a large torque for the rotation of thebalance wheel 410 and themounting rod 420. Thefirst driving member 430 can be a high-speed motor, a motor, etc., such as a high-speed large-torque brushless motor.

Referring to fig. 2, themain body 100 includes amounting frame 110, theleg structures 200 are disposed on two sides of themounting frame 110, and thefirst driving member 430 is connected to themounting frame 110. Specifically, the mountingframe 110 includes two opposite mountingparts 111, the two mountingparts 111 have a gap therebetween and form a mounting space, the twofirst driving members 430 are located in the mounting space, the twofirst driving members 430 are respectively mounted on the two mountingparts 111, and thebalance wheel 410 or a part of the mountingrod 420 is located in the mounting space and connected to thefirst driving members 430.

Referring to fig. 3, anelectronic control assembly 500 is disposed between the two mountingmembers 111, theelectronic control assembly 500 includes abattery 510, asensor 520, acamera 530, acontrol module 540, and the like, and thebattery 510 can provide battery support for other components in theelectronic control assembly 500 and the actions of theleg structure 200 and theoperation arm 300; thesensor 520 is used to detect the motion attitude of the robot, the velocity, acceleration, gravity direction, GPS position, etc. of theleg structure 200; thecamera 530 is used for shooting the environment in front of the robot and can sense the environment; thecamera 530 can be replaced by a laser radar to acquire surrounding environment information, and whether obstacles exist or not is realized, and auxiliary positioning is carried out; thecontrol module 540 acquires the detection information of the sensor and the camera and feeds the detection information back to the control system so as to send instructions to theleg structure 200, thebalance part 400 and theoperation arm 300.

Referring to fig. 1 to 3, theoperation arm 300 is rotatably connected to themain body 100, and during the rotation of theoperation arm 300, the end thereof is close to or far from themain body 100, so that the actuator performs corresponding operations on the object to be executed. The rotation of theoperation arm 300 can avoid the arrangement of a guide rail, a support and other structures for moving theoperation arm 300 on themain body 100, and theoperation arm 300 can be extended and retracted relative to themain body 100 through rotation, so that the operation is convenient.

Theoperation arm 300 may include a plurality of arm segments rotatably connected to each other, and the plurality of arm segments may extend a range of motion of theoperation arm 300 and an overall length of theoperation arm 300, so that theoperation arm 300 may rotate more flexibly, and theoperation arm 300 may perform corresponding operations. In one embodiment of the present invention, theoperation arm 300 includes afirst arm segment 310 and asecond arm segment 320, thefirst arm segment 310 is connected to themain body 100 and can rotate relative to themain body 100, one end of thesecond arm segment 320 is connected to thefirst arm segment 310 and can rotate relative to thefirst arm segment 310, and the other end of thesecond arm segment 320 is used for installing an actuator.

Referring to fig. 4 and 5, theoperation arm 300 includes afirst driving part 330 and asecond driving part 340, thefirst driving part 330 is used for driving thefirst arm section 310 to rotate, thesecond driving part 340 is used for driving thesecond arm section 320 to rotate, and thefirst driving part 330 and thesecond driving part 340 are respectively installed at two sides of the mountingframe 110. The protruding end of the first drivingmember 330 passes through the mountingmember 111 to be connected to thefirst arm section 310 and drives thefirst arm section 310 to rotate, thesecond arm section 320 includes afirst transmission shaft 321, thefirst transmission shaft 321 is connected to thesecond driving member 340 and penetrates between the two mountingmembers 111, thefirst arm section 310 includes two opposite firstrotating arm members 311, and two ends of thefirst transmission shaft 321 are respectively and rotatably connected to the two firstrotating arm members 311. Thesecond arm section 320 includes two opposite secondrotating arm members 322, end portions of the two secondrotating arm members 322 are assembled with each other and used for mounting an actuator, thesecond arm section 320 further includes atransmission belt 323, atransmission wheel 324 and asecond transmission shaft 325, two ends of thesecond transmission shaft 325 are respectively connected with the firstrotating arm member 311, the secondrotating arm members 322 are rotatably connected with thesecond transmission shaft 325, thefirst transmission shaft 321 and thesecond transmission shaft 325 are respectively inserted into the twotransmission wheels 324, two sides of thetransmission wheel 324 are respectively fixedly connected with the secondrotating arm members 322, thetransmission belt 323 is wound on the twotransmission wheels 324, thesecond transmission shaft 325 is synchronously rotated along with thefirst transmission shaft 321 through power transmission of thetransmission belt 323, and thefirst arm section 310 is further rotated relative to thesecond arm section 320.

In order to improve the structural strength of thefirst arm section 310, thefirst arm section 310 further includes two connectingbodies 312, the two connectingbodies 312 are in a shell shape, the two connectingbodies 312 can be butted and assembled with each other, the two connectingbodies 312 are respectively mounted on the firstrotating arm piece 311 and located inside the firstrotating arm piece 311, thedriving wheel 324 is located between the two connectingbodies 312, the drivingbelt 323 is located between the two firstrotating arm pieces 311, the two connectingbodies 312 can be combined to support the firstrotating arm piece 311, and thefirst driving shaft 321 can penetrate through the two connectingbodies 312.

Referring to fig. 2, theleg structure 200 includes athigh portion 210, alower leg portion 220, and afoot portion 230, thethigh portion 210 is connected to thebody 100 and can rotate with respect to thebody 100, thelower leg portion 220 is connected to thethigh portion 210 and can rotate with respect to thethigh portion 210, and thefoot portion 230 is mounted at one end of thelower leg portion 220 and can rotate with respect to thelower leg portion 220. Referring to fig. 6, the thigh part 210 includes a thigh body 211 and a second driving element (not shown), the second driving element is connected to the thigh body 211 and is used for driving the thigh body 211 to rotate relative to the main body 100, and the rotation of the thigh body 211 relative to the main body 100 can adjust the posture of the upper body of the robot, so that the robot can move forward in an upright state, a pitching state, and the like; the number of the calf parts 220 is two, the two calf parts 220 are respectively connected with the thigh part 210, each calf part 220 comprises a calf body 221 and a third driving part (not shown), the third driving part is connected with the calf body 221 and is used for driving the calf body 221 to rotate relative to the thigh body 211 so as to adjust an included angle between the calf body 221 and the thigh body 211, and therefore the overall height of the robot is changed; similarly, two foot parts 230 are provided, the foot part 230 is mounted at the end of the lower leg body 221, the foot part 230 includes a rotating wheel 231 and a fourth driving part (not shown), the rotating wheel 231 is rotatably connected with the lower leg body 221, the fourth driving part is connected with the rotating wheel 231 and is used for driving the rotating wheel 231 to rotate relative to the lower leg body 221, and the rotation of the rotating wheel 231 provides power for the movement of the robot to move forward.

Since the center of gravity position of the entire robot can be changed by both the rotation ofthigh portion 210 with respect tomain body 100 and the rotation oflower leg portion 220 with respect tothigh portion 210, the change in the center of gravity position caused by the rotation ofoperation arm 300 can be adjusted by changing the configuration ofleg structure 200, and the entire robot can be in a balanced state.

It should be noted that the biped robot in the embodiment of the present invention can also perform a jumping motion to avoid or climb over an obstacle. Specifically, the biped robot goes through three stages of squatting, jumping and falling in the jumping process, in the squatting process, thethigh body 211 and theshank body 221 rotate relatively, the included angle between the thigh body and the shank body becomes smaller, and the force is accumulated for jumping; when jumping, thethigh body 211 and theshank body 221 are gradually opened, the upper end of thethigh body 211 is lifted to a certain height, then theshank body 221 is lifted upwards and folded to a certain angle with thethigh body 211, thefoot 230 rises along with theshank body 221, and the robot is lifted off the ground and goes over an obstacle as a whole; when falling, thethigh body 211 and theshank body 221 are opened, and for the purpose of storing the force during falling, after thefoot 230 contacts the ground, thethigh body 211 gradually approaches theshank body 221, so that the impact on the robot during falling is reduced, and then thethigh body 211 is opened again relative to theshank body 221, so that the robot walks in a standing posture after crossing an obstacle.

In the jumping process of the robot, thelower leg part 220 and thefoot part 230 need to be folded upwards to complete the jumping action, the rotation of thelower leg part 220 and thefoot part 230 causes the position of the gravity center of the robot to be changed, the robot is unbalanced as a whole and needs to be matched with the rotation of thethigh part 210 relative to thelower leg part 220, thethigh part 210 and thelower leg part 220 are folded or unfolded mutually, and the robot is in a pitching state. In order to quickly balance the robot and adjust the posture of the upper body of the robot during jumping, the moment generated by the rotation of thebalance wheel 410 can balance the extra moment generated by theleg structure 200 during jumping, and the jumping posture and jumping stability of the robot are optimized.

It should be noted that thebalance wheel 410, the combination structure of thebalance wheel 410 and the mountingrod 420 can be applied to different use scenarios. For example, when the robot stops walking or jumping and performs a corresponding task by rotating theoperation arm 300, the center of gravity of the robot changes, the mountingrod 420 may be fixed at a suitable position, and the moment generated by the gravity of theoperation arm 300 is balanced by the moment generated by the gravity of thebalance wheel 410; during the jumping process of the robot, the motion of theleg structure 200 changes the overall gravity center of the robot, thebalance wheel 410 can be driven to rotate, the moment generated by the rotation of thebalance wheel 410 is balanced, the moment generated by the motion of theleg structure 200 is balanced, the robot keeps balance during the jumping process, and the upper body of the robot can keep an upright posture during the jumping process through the balance of the moment generated by thebalance wheel 410.

In addition, theinstallation rod 420 has a certain length, the rotation of thebalance wheel 410 installed at the end of theinstallation rod 420 is limited by space, and the rotation angle is limited, so the combined structure of theinstallation rod 420 and thebalance wheel 410 is more suitable for adjusting the center of gravity position of the robot in a static state. Thebalance wheel 410 without theinstallation rod 420 rotates independently, the required rotating space is small, and 360-degree rotation can be performed, so that the independent rotation of thebalance wheel 410 can continuously provide torque for the robot in a longer time, and the adjustment range of the torque is increased, and therefore, the independent structure of thebalance wheel 410 is more suitable for the gravity center adjustment of the robot in the moving process, such as jumping and the like.

Thethigh 210 includes a first mountingseat 212, the first mountingseat 212 is fixedly connected to themain body 100, the first mountingseat 212 is hollow, and the second driving member is mounted in the first mountingseat 212 to prevent the second driving member from being exposed and influenced by external environment, and to make the structure of themain body 100 and thethigh 210 more compact. Theshank 220 includes a second mountingseat 222, the second mountingseat 222 is connected to the first mountingseat 212, the second mountingseat 222 is hollow, and the third driving member is mounted inside the second mountingseat 222, so that the structure inside theshank 220 is compact. The second driving piece is connected with the second mountingseat 222, the third driving piece is connected with thethigh body 211, thethigh body 211 is rotatably connected with theshank body 221, the second mountingseat 222 transmits the power of the second driving piece to the third driving piece through the connection mode, and theshank body 221 is driven by the third driving piece to rotate along with the rotation of thethigh body 211 and rotate relative to thethigh body 211.

In order to fix the first mountingseat 212 and the second mountingseat 222 and reduce the impact of the robot on the second driving element and the third driving element during jumping, in an embodiment of the present invention, themain body 100 further includes a fixingframe 120, the fixingframe 120 is mounted on two sides of the mountingframe 110, the fixingframe 120 can support the first mountingseat 212 and the second mountingseat 222, so that the impact on the second driving element is transmitted to the fixingframe 120 through the first mountingseat 212, and the impact on the third driving element is transmitted to the fixingframe 120 through the second mountingseat 222, thereby preventing the second driving element and the third driving element from being damaged by impact force and prolonging the service life of the robot.

Referring to fig. 6 and 7, themain body 100 further includes a supportingframe 130, an end of the supportingframe 130 is connected to the fixingframe 120 and is located at a bottom of the fixingframe 120, thethigh portion 210 includes a firstrotating shaft 213, one end of the firstrotating shaft 213 is connected to the second driving member, and the other end of the firstrotating shaft 213 is rotatably connected to the supportingframe 130. Therefore, the first mountingseat 212 is located at the right end of the fixingframe 120 and connected to the fixingframe 120, the second mountingseat 222 is located at the left end of the fixingframe 120 and connected to the supportingframe 130 through the second driving member and the firstrotating shaft 213, and the first mountingseat 212 and the second mountingseat 222 can be connected into a whole through the connectingframe 2112, so that both the left and right sides of the fixingframe 120 can provide supporting force, and the second driving member and the third driving member can operate stably.

Thigh body 211 rotates withfirst pivot 213 to be connected,shank portion 220 still includessecond pivot 223, and the both ends ofsecond pivot 223 are connected withthigh body 211, andshank body 221 rotates withsecond pivot 223 to be connected, still is provided with drive assembly inshank portion 220, and drive assembly is used for drivingfirst pivot 213 andsecond pivot 223 synchronous rotation to makeshank body 221 rotaterelative thigh body 211, realize the regulation of angle between the two.

Specifically, referring to fig. 8, the transmission assembly includes asynchronous belt 224 and twosynchronous wheels 225, the twosynchronous wheels 225 are respectively connected to the firstrotating shaft 213 and the secondrotating shaft 223, thesynchronous belt 224 is wound around the twosynchronous wheels 225, and the firstrotating shaft 213 and the secondrotating shaft 223 synchronously rotate through power transmission of thesynchronous belt 224, so as to realize power driving of the second driving member on thelower leg body 221. Atension pulley 226 can be further disposed in thethigh portion 210, and thetension pulley 226 is used for tensioning thesynchronous belt 224, so as to improve the power transmission efficiency of the transmission assembly.

It should be noted that thethigh body 211 includes twoopposite thigh members 2111, a gap is provided between the twothigh members 2111, and thesynchronizing wheel 225 and the synchronizingbelt 224 can be located between the twothigh members 2111, so that thethigh portion 210 and theshank portion 220 can be connected more compactly. In order to ensure the structural strength of thethigh body 211, a connectingframe 2112 is further disposed between the twothigh members 2111, the connectingframe 2112 is located at one end of thethigh body 211, and the connectingframe 2112 is hollow and can accommodate the firstrotating shaft 213 and thesynchronizing wheel 225. In addition, thethigh body 211 further comprises a plurality offirst connection plates 2113, thefirst connection plates 2113 can be arranged, and two sides of eachfirst connection plate 2113 are connected with the twothigh parts 2111, so that the structural strength of thethigh body 211 is further improved.

Thefoot part 230 includes athird shaft 232, one end of thethird shaft 232 is connected to the fourth driving part, and the other end of thethird shaft 232 is connected to therotating wheel 231, so that therotating wheel 231 is driven by the fourth driving part to rotate through the power transmission of thethird shaft 232. Thefoot 230 further includes a connectingseat 233, the connectingseat 233 is hollow inside, and the thirdrotating shaft 232 can pass through the connectingseat 233, the pair ofangular contact bearings 234 is sleeved outside the thirdrotating shaft 232 and located between the thirdrotating shaft 232 and the connectingseat 233, and theangular contact bearings 234 can transmit impact generated by the robot and the ground during jumping to thelower leg body 221. Theshank body 221 comprises twoshank pieces 2211 which are arranged oppositely, two ends of the connectingbase 233 are respectively connected with the twoshank pieces 2211, mounting holes for mounting the connectingbase 233 are formed in theshank pieces 2211, similarly, in order to improve the structural strength of theshank body 221, a second connectingplate 2212 is mounted between the twoshank pieces 2211, and the second connectingplates 2212 can be arranged in a plurality.

The side portions ofthigh piece 2111 andshank piece 2211 are further provided with threading grooves for threading, and the threading grooves are used for fixing cables, so that the surfaces ofthigh 210 andshank 220 are clean.

The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention. Furthermore, the embodiments of the present invention and the features of the embodiments may be combined with each other without conflict.

Claims (10)

Translated fromChinese

1.双足机器人，其特征在于，包括：1. Biped robot, is characterized in that, comprises:主体；main body;腿部结构，设置有两个，两个所述腿部结构对称安装于所述主体的两侧，并能够相对所述主体转动；Two leg structures are provided, and the two leg structures are symmetrically mounted on both sides of the main body and can rotate relative to the main body;操作臂，安装于所述主体上并能够相对所述主体运动；an operating arm, mounted on the main body and capable of moving relative to the main body;平衡部，包括平衡轮，所述平衡轮与所述主体转动连接。The balance part includes a balance wheel, and the balance wheel is rotatably connected with the main body.2.根据权利要求1所述的双足机器人，其特征在于，所述平衡部还包括安装杆，所述平衡轮固定于所述安装杆的一端，所述安装杆的另一端与所述主体连接，所述安装杆能够相对所述主体转动。2 . The biped robot according to claim 1 , wherein the balance part further comprises an installation rod, the balance wheel is fixed to one end of the installation rod, and the other end of the installation rod is connected to the main body. 3 . connected, the mounting rod can rotate relative to the main body.3.根据权利要求2所述的双足机器人，其特征在于，所述安装杆包括第一杆件与第二杆件，所述第一杆件与所述第二杆件能够相对移动，以改变所述安装杆的长度。3 . The biped robot according to claim 2 , wherein the installation rod comprises a first rod and a second rod, and the first rod and the second rod can move relative to each other, so as to 3 . Change the length of the mounting rod.4.根据权利要求1所述的双足机器人，其特征在于，所述平衡部包括两个对置的第一驱动件，所述主体包括安装架，所述第一驱动件与所述安装架固定连接，两个所述第一驱动件分别安装于所述平衡轮的两侧并能够同时驱动所述平衡轮转动。4 . The biped robot according to claim 1 , wherein the balance part comprises two opposite first driving members, the main body comprises a mounting frame, the first driving member and the mounting frame In a fixed connection, the two first driving members are respectively installed on both sides of the balance wheel and can drive the balance wheel to rotate at the same time.5.根据权利要求1所述的双足机器人，其特征在于，所述操作臂与所述主体转动连接。5 . The biped robot according to claim 1 , wherein the operating arm is rotatably connected to the main body. 6 .6.根据权利要求5所述的双足机器人，其特征在于，所述操作臂包括多个臂段，相邻所述臂段转动连接。6 . The biped robot according to claim 5 , wherein the operating arm comprises a plurality of arm segments, which are rotatably connected adjacent to the arm segments. 7 .7.根据权利要求1至6中任一项所述的双足机器人，其特征在于，所述腿部结构包括大腿部、小腿部及足部，所述大腿部与所述主体连接并能够相对所述主体转动，所述小腿部与所述大腿部连接并能够相对所述大腿部转动，所述足部安装于所述小腿部的一端并能够相对于所述小腿部转动。7 . The biped robot according to claim 1 , wherein the leg structure comprises a thigh, a lower leg and a foot, and the thigh is connected to the main body. 8 . and can be rotated relative to the main body, the lower leg is connected to the thigh and can be rotated relative to the thigh, and the foot is mounted on one end of the lower leg and can be relative to the lower leg. Legs turn.8.根据权利要求7所述的双足机器人，其特征在于，所述主体包括安装架，所述大腿部包括第二驱动件、第一安装座与大腿本体，所述第二驱动件容置于所述第一安装座内，所述第一安装座与所述大腿本体连接，所述第二驱动件用于驱动所述大腿本体转动。8 . The biped robot according to claim 7 , wherein the main body comprises a mounting frame, the thigh part comprises a second driving member, a first mounting seat and a thigh body, and the second driving member accommodates the thigh body. 9 . It is placed in the first mounting seat, the first mounting seat is connected with the thigh body, and the second driving member is used to drive the thigh body to rotate.9.根据权利要求8所述的双足机器人，其特征在于，所述小腿部包括第三驱动件、第二安装座与小腿本体，所述第三驱动件容置于所述第二安装座内，所述第二安装座与所述第一安装座连接，所述第三驱动件用于驱动所述小腿本体转动。9 . The biped robot according to claim 8 , wherein the lower leg comprises a third driving member, a second mounting seat and a lower leg body, and the third driving member is accommodated in the second mounting. 10 . In the seat, the second mounting seat is connected with the first mounting seat, and the third driving member is used to drive the lower leg body to rotate.10.根据权利要求9所述的双足机器人，其特征在于，所述足部包括第四驱动件、第三安装座与转轮，所述第四驱动件容置于所述第三安装座内，所述第三安装座与所述小腿本体连接，所述第四驱动件用于驱动所述转轮转动。10 . The biped robot according to claim 9 , wherein the foot comprises a fourth driving member, a third mounting seat and a runner, and the fourth driving member is accommodated in the third mounting seat. 11 . Inside, the third mounting seat is connected with the lower leg body, and the fourth driving member is used to drive the runner to rotate.

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