CN111716370B

CN111716370B - Robot

Info

Publication number: CN111716370B
Application number: CN202010617156.XA
Authority: CN
Inventors: 张正友; 张东胜; 王帅; 郑宇�; 迟万超; 李望维; 戴媛; 姜鑫洋
Original assignee: Tencent Technology Shenzhen Co Ltd
Current assignee: Tencent Technology Shenzhen Co Ltd
Priority date: 2020-06-30
Filing date: 2020-06-30
Publication date: 2021-12-28
Anticipated expiration: 2040-06-30
Also published as: CN111716370A

Abstract

The application provides a robot belongs to smart machine technical field. This robot includes shell, truck, arm, mechanical leg and sole, wherein: the trunk, the mechanical arms and the mechanical legs are all positioned in the shell, and the soles of the feet extend out of the shell; the mechanical arm is fixed on the side of the trunk and comprises a first driving piece and a swinging piece, the first driving piece is connected with the swinging piece, and the first driving piece is used for driving the swinging piece to swing; the mechanical legs are fixed at the bottom of the trunk and comprise second driving pieces and connecting rod mechanisms, the second driving pieces are connected with the soles through the connecting rod mechanisms, and the second driving pieces are used for driving the soles to move through the connecting rod mechanisms. By adopting the robot, the mechanical legs of the robot realize foot lifting movement through the connecting rod mechanisms, the simulation fidelity of the robot can be improved, and the simulation effect is enhanced. When the robot moves through the mechanical legs, the mechanical arms are matched to do swinging motion, so that the simulation fidelity of the robot can be improved, and the simulation effect is enhanced.

Description

Robot

Technical Field

The application relates to the technical field of intelligent equipment, in particular to a robot.

Background

With the rapid development of intelligent devices, simulated robots, such as simulated penguins and robots, have also been rapidly developed.

The robots in the related art are mostly ornamental and are placed as a decoration, so that the robots do not have activity, and the simulation effect is poor.

Disclosure of Invention

The embodiment of the application provides a robot, which can overcome the problems of the related art. The technical scheme is as follows:

the robot includes shell, truck, arm, mechanical leg and sole, wherein:

the trunk, the mechanical arms and the mechanical legs are all positioned in the shell, and the soles extend out of the shell;

the mechanical arm is fixed on the side of the trunk and comprises a first driving piece and a swinging piece, the first driving piece is connected with the swinging piece, and the first driving piece is used for driving the swinging piece to swing;

the mechanical legs are fixed to the bottom of the trunk and comprise second driving pieces and connecting rod mechanisms, the second driving pieces are connected with the soles through the connecting rod mechanisms, and the second driving pieces are used for driving the soles to move through the connecting rod mechanisms.

In the embodiment of the application, when the robot moves, the mechanical legs of the robot realize the foot lifting movement through the connecting rod mechanism, so that the simulation fidelity of the robot can be improved, and the simulation effect is enhanced. When the robot moves through the mechanical legs, the mechanical arms are matched to do swinging motion, so that the simulation fidelity of the robot can be improved, and the simulation effect is enhanced. In addition, the mechanical legs realize foot lifting movement through the connecting rod mechanism, so that the robot can move on flat ground and complex ground, the capability of the robot for crossing obstacles is improved, and the application scene of the robot is enlarged.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a robot provided in an embodiment of the present application;

fig. 2 is a schematic structural diagram of a robot according to an embodiment of the present disclosure;

FIG. 3 is a schematic structural diagram of a robot according to an embodiment of the present disclosure;

FIG. 4 is a schematic structural diagram of a robot according to an embodiment of the present disclosure;

fig. 5 is an exploded view of a robot arm of a robot according to an embodiment of the present disclosure;

fig. 6 is a schematic structural diagram of a robot arm of a robot according to an embodiment of the present disclosure;

fig. 7 is an exploded view of a mechanical leg of a robot according to an embodiment of the present disclosure;

fig. 8 is a schematic structural diagram of a mechanical leg of a robot according to an embodiment of the present disclosure;

fig. 9 is a schematic structural diagram of a mechanical leg of a robot according to an embodiment of the present disclosure;

fig. 10 is a schematic structural diagram of a torso of a robot according to an embodiment of the present disclosure.

Description of the figures

1. A housing; 11. a mechanical arm housing; 12. a torso shell; 13. a mechanical leg shell.

2. A torso; 21. a first frame; 22. a trunk swing motor; 23. the trunk swings the driving shaft; 24. the trunk swings the driven shaft; 25. and a second frame.

3. A mechanical arm; 31. a front and rear swing motor; 32. an up-down swing motor; 33. a swinging member; 34. a connecting assembly; 35. a motor fixing frame; 311. an output shaft of the fore-and-aft swing motor; 321. an output shaft of the up-down swinging motor; 341. a U-shaped connecting frame; 342. an annular connecting disc; 343. fixing the disc; 351. a fixing frame; 352. a strip-shaped frame.

4. A mechanical leg; 41. a thigh drive motor; 42. a shank drive motor; 43. a thigh link mechanism; 44. a shank link mechanism; 45. a left and right driving motor; 46. a steering drive motor; 431. a first front and rear cross bar; 432. a thigh drive lever; 433. a second front and rear cross bar; 434. a first thigh follower link; 435. a first left and right cross bar; 436. a second thigh follower link; 437. a second left and right cross bar; 441. a shank driving rod; 442. a first shank slave link; 443. a second shank slave link; 444. a third shank slave link; 445. a third front and rear cross bar; 446. a fourth shank slave link; 447. and a third left and right cross bar.

5. A sole of a foot; 51. a support plate; 52. the sole shell.

6. And a controller.

Detailed Description

To make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings.

The embodiment of the present application provides a robot, which may be an animal simulation device or a human simulation device, for example, a simulated penguin, or a simulated robot, and the present embodiment is not limited to this, and may take a simulated penguin as an example.

For convenience of description of the present embodiment, the directions or positional relationships indicated by "up", "down", "left", "right", "front", "back", "horizontal", "vertical", and "horizontal" will be introduced as directions or positional relationships based on the drawings, which are only for convenience of description of the present embodiment and do not constitute specific limitations. Furthermore, references herein to "first," "second," and "third," etc. are for descriptive purposes only and are not to be construed as indicating or implying relative importance.

As shown in fig. 1 and with reference to fig. 2, the robot comprises a housing 1, a torso 2, a robot arm 3, a robot leg 4 and a sole 5, wherein: the trunk 2, the mechanical arm 3 and the mechanical legs 4 are all positioned in the shell 1, and the sole 5 extends out of the shell 1; the mechanical arm 3 is fixed on the side part of the trunk 2 and comprises a first driving part and a swinging part, the first driving part is connected with the swinging part, and the first driving part is used for driving the swinging part to swing; the mechanical legs 4 are fixed at the bottom of the trunk 2 and comprise second driving pieces and link mechanisms, the second driving pieces are connected with the soles 5 through the link mechanisms, and the second driving pieces are used for driving the soles 5 to move through the link mechanisms.

Wherein, if the robot is a simulation of an animal, for example, a penguin, the robot arm 3 is a wing of the robot, and the robot leg 4 is a leg of the robot.

In one example, the number of the mechanical arms 3 is generally two, and each mechanical arm 3 includes a first driving member and a swinging member. The number of the mechanical legs 4 can be two or more, and each mechanical leg 4 comprises a second driving element and a link mechanism. The number of the sole 5 corresponds to the number of the mechanical legs 4, and the sole 5 corresponds to the mechanical legs 4 one by one. The present embodiment is not limited to the number of robot arms 3 and the number of robot legs 4 and soles 5, and two robot arms 3, two robot legs 4 and two soles 5 may be used as examples, and in describing the robot arms 3 and the robot legs 4, each robot arm 3 and each robot leg 4 are not specifically described below.

In one example, the first driving part may include at least one driving motor, for example, may include a back and forth swing motor, and the robot arm 3 may realize back and forth swing motion through the back and forth swing motor, and for example, may include an up and down swing motor, and the robot arm 3 may realize up and down swing through the up and down swing motor, and for example, the first driving part includes the back and forth swing motor and the up and down swing motor, so that the robot arm may realize both back and forth swing motion and up and down swing motion. In this embodiment, the number of the driving motors included in the first driving member and the implemented functions are not limited, and the technician may set the driving motors according to the requirements.

In one example, the second driving member may include at least one driving motor, for example, a thigh driving motor and a shank driving motor, for example, a thigh driving motor, a shank driving motor, and a left and right driving motor, for example, a thigh driving motor, a shank driving motor, a left and right driving motor, a steering driving motor, and the like.

In one example, the mechanical leg 4 further comprises a linkage mechanism, and the second driving member may be connected to the sole 5 via the linkage mechanism, such that the second driving member may drive the sole 5 via the linkage mechanism, for example, may drive the sole walking motion, for example, may drive the sole 5 stepping motion in place, for example, may drive the sole 5 left or right, and the like.

The robot is provided with the mechanical arm and the mechanical leg, the mechanical arm is provided with the first driving piece, and the mechanical leg is provided with the second driving piece, so that when the robot moves through the mechanical leg, the mechanical arm can swing in a matched mode, and the simulation fidelity of the robot is improved. And the mechanical legs of the robot can realize walking by a connecting rod mechanism, so that the simulation fidelity of the robot is further improved. In addition, the mechanical legs realize walking through the connecting rod mechanisms, so that the robot can move on flat ground and complex ground, the capability of crossing obstacles is improved, and the application scene of the robot is expanded.

The mechanism of the robot will be described in detail below.

As shown in fig. 3, the shape of the housing 1 is related to the contour of a robot, for example, a penguin, and the housing 1 may include a robot arm housing 11, a trunk housing 12, and a machine leg housing 13, wherein the trunk housing 12 and the machine leg housing 13 may have an open spherical structure, and the opening of the trunk housing 12 and the opening of the machine leg housing 13 are buckled with each other to form a main body portion of the housing 1. The robot arm housing 11 is two in the body housing 12 or the robot leg housing 13.

In one example, the robot's torso 2 is located in a torso housing 12. The robot arm 3 is located in the robot arm housing 11, and for example, the back-and-forth swing motor 31, the up-and-down swing motor 32, and the swing member 33 of the robot arm 3 are located in the robot arm housing 11. The mechanical leg 4 is located in the mechanical leg housing 13, and for example, a thigh drive motor 41, a calf drive motor 42, a thigh link mechanism 43, and a calf link mechanism 44 are all located in the mechanical leg housing 13. The robot's sole 5 protrudes from the housing 1, for example, as shown in fig. 4, the sole 5 protrudes from the bottom of the mechanical leg shell 13. The sole 5 may include a support plate 51 as shown in fig. 2 and a sole shell 52 as shown in fig. 4, the support plate 51 protruding out of the bottom of the machine leg shell 13 and being located in the sole shell 52 as shown in fig. 4.

The robot arm 3, the robot leg 4 and the trunk 2 will be described separately.

As shown in fig. 5 and referring to fig. 6, the first driving member of the robot arm 3 of the robot may include a swing motor 31, the swing motor 31 may be fixed to a side of the trunk 2, and the swinging member 33 of the robot arm 3 may be fixed to an output shaft of the swing motor 31, so that the output shaft of the swing motor 31 rotates to drive the swinging member 33 to swing forward or backward. For example, when the front-back swing motor 31 rotates clockwise, the swing member 33 can be driven to swing forward, and when the front-back swing motor 31 rotates counterclockwise, the swing member 33 can be driven to swing backward.

As shown in fig. 5 and fig. 6, the first driving member of the robot arm 3 of the robot may include a front-rear swing motor 31 and a vertical swing motor 32, the front-rear swing motor 31 is fixed to a side portion of the trunk 2, the vertical swing motor 32 is fixed to the front-rear swing motor 31, and the swinging member 33 is fixed to the vertical swing motor 32, so that the swinging member 33 can perform a front-rear swing motion and a vertical swing motion under the driving of the front-rear swing motor 31 and the vertical swing motor 32.

In an example, the swing motor 31 may be fixed to the trunk 2 by a motor fixing frame 35, for example, as shown in fig. 5, the motor fixing frame 35 may include a fixing frame 351 and a bar frame 352, the fixing frame 351 may be fixed to a housing of the swing motor 31 by screws, the bar frame 352 and the fixing frame 351 are fixed, and then the bar frame 352 may be fixed to the trunk 2, or the bar frame 352 may be fixed to the housing 1.

When the output shaft 311 of the front-back swing motor 31 rotates, the swing member 33 can be driven to swing forwards or backwards.

In order to make the front-back swing motor 31 drive the swing member 33 to swing back and forth, correspondingly, the housing of the up-down swing motor 32 can be fixed on the output shaft 311 of the front-back swing motor 31 through screws, and the swing member 33 is fixed on the up-down swing motor 32 through screws.

Thus, the swing motor 31 rotates to drive the swing member 33 to swing forward or backward, and the swing motor 32 rotates to drive the swing member 33 to swing upward or downward.

In an example, the up-down swing motor 32 and the back-and-forth swing motor 31 may be fixed in such a manner that, as shown in fig. 5 and with reference to fig. 6, the up-down swing motor 32 is fixedly connected to the output shaft 311 of the back-and-forth swing motor 31 through the connection assembly 34, so that the swing member 33 swings back and forth when the back-and-forth swing motor 31 rotates; an output shaft 321 of the up-down swing motor 32 is fixedly connected with the back-and-forth swing motor 31 through a connecting assembly 34, so that the swing member 33 swings up and down when the up-down swing motor 32 rotates.

In this way, since the output shaft 311 of the front-back swing motor 31 is fixedly connected with the up-down swing motor 32, and the up-down swing motor 32 is fixedly connected with the swing member 33, when the output shaft 311 of the front-back swing motor 31 rotates, the up-down swing motor 32 and the swing member 33 can be driven to swing back and forth.

Because the output shaft 321 of the up-down swing motor 32 is fixedly connected with the back-and-forth swing motor 31 through the connecting assembly 34, when the output shaft 321 of the up-down swing motor 32 rotates, the housing of the up-down swing motor 32 and the swing member 33 fixed on the housing of the up-down swing motor 32 swing upward or downward.

The up-down swing motor 32 may be connected to the front-back swing motor 31 through the connection assembly 34 as follows:

as shown in fig. 5, the connection assembly 34 may include a U-shaped connection frame 341 and a ring-shaped connection disc 342; two vertical plates of the U-shaped connecting frame 341 are fixedly connected with two ends of an output shaft 321 of the up-down swinging motor 32, a transverse plate of the U-shaped connecting frame 341, the annular connecting disc 342 and an output shaft of the front-back swinging motor 31 are fixed, and the annular connecting disc 342 is in key connection with the output shaft of the front-back swinging motor 31.

In an example, two vertical plates of the U-shaped connecting frame 341 are fixedly connected to two ends of the output shaft 321 of the up-down swing motor 32, so as to fixedly connect the output shaft 321 of the up-down swing motor 32 and the connecting assembly 34. In order to fixedly connect the connecting assembly 34 with the output shaft 311 of the fore-and-aft swing motor 31, correspondingly, the output shaft 311 of the fore-and-aft swing motor 31 is provided with an internal threaded hole, an outer shaft wall of the output shaft 311 of the fore-and-aft swing motor 31 is provided with a spline, an inner ring wall of the annular connecting disc 342 of the connecting assembly 34 is provided with a spline, and a transverse plate of the U-shaped connecting frame 341 of the connecting assembly 34 is provided with a through hole.

In this way, the annular connecting disc 342 of the connecting assembly 34 is sleeved on the output shaft 311 of the front-rear swinging motor 31 to realize the key connection between the annular connecting disc 342 and the output shaft 311, and a screw matched with the internal thread hole on the output shaft 311 of the front-rear swinging motor 31 sequentially passes through the through hole on the transverse plate of the U-shaped connecting frame 341 of the connecting assembly 34 and the internal ring of the annular connecting disc 342 of the connecting assembly 34 to be installed in the internal thread hole on the output shaft 311 of the front-rear swinging motor 31.

In one example, as shown in fig. 5, the robot arm housing 11 may include a robot arm housing fixing ring 111 and a robot arm housing body 112, wherein a first end of the robot arm housing fixing ring 111 is fixed to the robot arm housing body 112 to form the robot arm housing 11, and the swinging member 33, the up-down swinging motor 32, and the U-shaped link 341 of the coupling assembly 34 of the robot arm 3 may be located in the robot arm housing 11 formed by the robot arm housing fixing ring 111 and the robot arm housing body 112.

The second end of the robot arm housing securing ring 111 has a bottom plate with a via hole, the U-shaped link 341 of the coupling assembly 34 may be located at the left side of the bottom plate of the robot arm housing securing ring 111, and the ring-shaped link 342 of the coupling assembly 34 may be located at the right side of the robot arm housing securing ring 111. A screw that is fitted into an internal threaded hole of the output shaft 311 of the front-rear swing motor 31 may be sequentially inserted through the U-shaped link 341, the through hole of the bottom plate of the robot arm housing fixing ring 111, and the internal ring of the ring-shaped link 342 to be fitted into the internal threaded hole of the output shaft 311 of the front-rear swing motor 31.

The horizontal plate of the U-shaped connecting frame 341 and the annular connecting plate 342 may be fixed to the bottom plate of the mechanical arm housing fixing ring 111 by screws.

As shown in fig. 5, the connecting assembly 34 may further include a fixing plate 343, wherein the ring-shaped connecting plate 342 may be fixed on the fixing plate 343 by screws, and the fixing plate 343 may be fixed on the bottom plate of the arm casing fixing ring 111 by screws, wherein the fixing plate 343 also has a through hole. Thus, a screw that is matched with the internal thread hole of the output shaft 311 of the back-and-forth swing motor 31 may sequentially pass through the through hole of the horizontal plate of the U-shaped link 341, the through hole of the bottom plate of the robot arm housing fixing ring 111, the internal ring of the annular link disc 342, and the through hole of the fixed disc 343 from left to right, and be installed in the internal thread hole of the output shaft 311 of the back-and-forth swing motor 31.

While the above description has been made of the mounting of the respective components of the robot arm 3, the present embodiment does not limit the components specifically included in the robot arm 3 and the fixed relationship between the respective components, and it is sufficient that the robot arm 3 swings back and forth by the rotation of the output shaft 311 of the back and forth swing motor 31 and swings up and down by the rotation of the output shaft 321 of the up and down swing motor 32.

Therefore, the mechanical arm 3 of the robot can swing back and forth and up and down, so that the simulation effect of the robot on penguins is more vivid.

The robot's mechanical legs 4 will be described below.

Fig. 7 is a schematic diagram showing an explosive structure of one mechanical leg 4 of the robot, and the other mechanical leg 4 is not shown, and fig. 7 may be a schematic diagram showing an explosive structure of a right leg of the robot. As shown in fig. 8, is a left side view of the exploded view of fig. 7 after assembly. As shown in fig. 9, is a front view of the exploded view of fig. 7 after assembly.

As shown in fig. 7, the second driving member of the mechanical leg 4 may include a thigh driving motor 41 and a shank driving motor 42, and the link mechanism of the mechanical leg 4 may include a thigh link mechanism 43 and a shank link mechanism 44. In assembly, the thigh drive motor 41 and the lower leg drive motor 42 may be fixed to the trunk 2, for example, an output shaft of the thigh drive motor 41 may be attached to the trunk 2 via a link, and an output shaft of the lower leg drive motor 42 may be attached to the trunk 2 via a link. The output shaft of the thigh driving motor 41 is in transmission connection with the thigh link mechanism 43, for example, the thigh link mechanism 43 may be composed of a plurality of rods, and the output shaft of the thigh driving motor 41 may be connected with one of the rods of the thigh link mechanism 43. The output shaft of the lower leg driving motor 42 is in transmission connection with the lower leg link mechanism 44, for example, the lower leg link mechanism 44 may be composed of a plurality of rods, and the output shaft of the lower leg driving motor 41 is connected with one rod of the lower leg link mechanism 44. The lower leg link mechanism 44 has one end connected to the thigh link mechanism 43 and the other end connected to the sole 5, for example, the lower leg link mechanism 44 may be composed of a plurality of rods, one rod of the lower leg link mechanism 44 being connected to the thigh link mechanism 43 and the other rod being connected to the sole 5.

In one example, as shown in fig. 7, the thigh drive motor 41 and the calf drive motor 42 can be arranged in tandem, with the thigh drive motor 41 being located in front of the calf drive motor 42 and the calf drive motor 42 being located behind the thigh drive motor 41. Alternatively, the thigh drive motor 41 and the lower leg drive motor 42 are provided one above the other, the thigh drive motor 41 is positioned above the lower leg drive motor 42, and the lower leg drive motor 42 is positioned below the thigh drive motor 41. In this embodiment, the specific relative position relationship between the thigh driving motor 41 and the shank driving motor 42 is not limited, and it is sufficient that the thigh driving motor 41 can drive the thigh link mechanism 43 to move, and the shank driving motor 42 can drive the shank link mechanism 44 to move. It may be exemplified by a thigh drive motor 41 and a shank drive motor 42 arranged in tandem as shown in fig. 7.

An output shaft of the thigh driving motor 41 is fixedly connected with the thigh link mechanism 43, an output shaft of the shank driving motor 42 is fixedly connected with the shank link mechanism 44, the thigh link mechanism 43 is connected with the shank link mechanism 44, and the shank link mechanism 44 is connected with the supporting plate 51 of the sole 5.

In one example, as shown in fig. 7, the thigh link mechanism 43 may include a first front and rear cross bar 431, a thigh driving bar 432, a second front and rear cross bar 433, and a first thigh driven bar 434, wherein the first front and rear cross bar 431, the thigh driving bar 432, the second front and rear cross bar 433, and the first thigh driven bar 434 are sequentially connected end to form a first planar four-bar mechanism, the first front and rear cross bar 431 may serve as a frame of the first planar four-bar mechanism, two ends of the first front and rear cross bar 431 are respectively rotatably mounted on an output shaft of the thigh driving motor 41 and an output shaft of the shank driving motor 42, the thigh driving bar 432 and the first thigh driven bar 434 serve as frame bars of the first planar four-bar mechanism, the second front and rear cross bar 433 serves as a link of the first planar four-bar mechanism, and the second front and rear cross bar 433 is configured to be rotatably connected with the shank link mechanism 44.

Wherein, both ends of the first front and rear cross bar 431 are rotatably installed on the output shaft of the thigh driving motor 41 and the output shaft of the shank driving motor 42, that is, the first end of the first front and rear cross bar 431 is provided with an installation hole matched with the output shaft of the thigh driving motor 41, the installation hole belongs to a via hole, the output shaft of the thigh driving motor 41 can pass through the installation hole on the first end of the first front and rear cross bar 431, the second end of the first front and rear cross bar 431 is provided with an installation hole matched with the output shaft of the shank driving motor 42, the installation hole belongs to a via hole, and the output shaft of the shank driving motor 42 can pass through the installation hole on the second end of the first front and rear cross bar 431. Thus, the output shaft of the thigh drive motor 41 can rotate relative to the first front-rear cross bar 431, and the output shaft of the shank drive motor 42 can rotate relative to the first front-rear cross bar 431.

In one example, the output shaft of the thigh driving motor 41 is fixedly connected to the thigh driving lever 432, such that the output shaft of the thigh driving motor 41 rotates to drive the thigh driving lever 432 to rotate, and during the rotation of the thigh driving lever 432, the second front and rear cross bars 433 and the first thigh driven lever 434 are driven to rotate. As shown in fig. 7, when the thigh driving motor 41 rotates clockwise, the thigh driving lever 432 moves downward, and when the thigh driving motor 41 rotates counterclockwise, the thigh driving lever 432 moves upward. When the thigh drive motor 41 rotates, the thigh link mechanism 43 is driven to move up or down.

With continued reference to fig. 7, the shank link mechanism 44 may include a first shank driving rod 441, a first shank driven rod 442, a second shank driven rod 443, a third shank driven rod 444, and a third front-rear cross rod 445, wherein the second shank driven rod 443, the third front-rear cross rod 445, the third shank driven rod 444, and the second front-rear cross rod 433 are sequentially connected end-to-end to form a second planar four-bar mechanism, in which the second front-rear cross rod 433 serves as a frame, the second shank driven rod 443 and the third shank driven rod 444 serve as a frame rod, and the third front-rear cross rod 445 serves as a link rod. As shown in fig. 7, the first planar four-bar linkage formed by the thigh link mechanism 43 and the second planar four-bar linkage formed by the shank link mechanism 44 share a second front-rear cross bar 433.

The lower leg driving motor 42 drives the second planar four-bar mechanism through the lower leg driving rod 441 and the first lower leg driven rod 442, for example, as shown in fig. 7, an output shaft of the lower leg driving motor 42 is fixedly connected to a first end of the lower leg driving rod 441, a second end of the lower leg driving rod 441 is rotatably connected to a first end of the first lower leg driven rod 442, and a second end of the first lower leg driven rod 442 is rotatably attached to a second lower leg driven rod 443 constituting the second planar four-bar mechanism. The third front and rear crossbar 445 of the calf link 44 is pivotally connected to the sole of the foot.

Thus, when the output shaft of the lower leg driving motor 42 rotates clockwise, the lower leg driving rod 441 rotates clockwise around the lower leg driving motor 42, so that the first lower leg driven rod 442 pulls the second planar four-bar linkage to move backwards; when the output shaft of the lower leg driving motor 42 rotates counterclockwise, the lower leg driving rod 441 rotates counterclockwise around the lower leg driving motor 42, so that the first lower leg driven rod 442 pushes the second planar four-bar linkage to move forward.

Based on the above, the first planar four-bar linkage composed of the first front-rear cross bar 431, the thigh driving bar 432, the second front-rear cross bar 433, and the first thigh driven bar 434 may be used as the thigh of the mechanical leg 4, and the second planar four-bar linkage composed of the second front-rear cross bar 433, the third shank driven bar 444, the third front-rear cross bar 445, and the second shank driven bar 443 may be used as the shank of the mechanical leg 4.

Thus, the output shaft of the thigh driving motor 41 is fixedly connected to the thigh driving rod 432, the output shaft of the thigh driving motor 41 can drive the thigh driving rod 432 to move when rotating, and the thigh driving rod 432 can drive the second front and rear cross rods 433 and the first thigh driven rod 434 to move when moving. An output shaft of the lower leg driving motor 42 is fixedly connected with the lower leg driving rod 441, the lower leg driving rod 441 can be driven to move when the output shaft of the lower leg driving motor 42 rotates, and the first lower leg driven rod 442, the second lower leg driven rod 443, the third front-rear cross rod 445 and the third lower leg driven rod 444 can be driven to move when the lower leg driving rod 441 moves.

It can be seen that the output shaft of the thigh driving motor 41 is connected to the first front and rear cross bar 431 of the first planar four-bar linkage, and can directly drive the first planar four-bar linkage to move. The lower leg driving motor 42 is indirectly connected to the second planar four-bar linkage through the lower leg driving rod 441 and the first lower leg driven rod 442, and can indirectly drive the second planar four-bar linkage to move through the lower leg driving rod 441 and the first lower leg driven rod 442. And a third front and rear crossbar 445 in the second planar four-bar mechanism is connected to the sole 5. Thus, under the matching drive of the thigh drive motor 41 and the shank drive motor 42, the mechanical legs 4 of the robot can drive the sole 5 to move forward or backward, and the simulation effect of the robot on penguins can be improved compared with the driving robot moving horizontally on the ground.

Moreover, the robot can walk on flat terrain and complex terrain, and has obvious advantages in obstacle crossing performance.

As shown in fig. 7, the connection between the output shaft of the thigh driving motor 41 and the first front and rear cross bars 431 belongs to a rotating connection, that is, the mounting holes on the first front and rear cross bars 431 belong to via holes, and the output shaft of the thigh driving motor 41 passes through the mounting holes on the first front and rear cross bars 431 and is fixedly connected with the thigh driving rod 432, so that the output shaft of the thigh driving motor 41 can drive the thigh driving rod 432 to rotate, and the output shaft of the thigh driving motor 41 can rotate relative to the first front and rear cross bars 431.

Similarly, the connection between the output shaft of the shank driving motor 42 and the first front and rear cross rods 431, and the connection between the output shaft of the shank driving motor 42 and the first thigh driven rod 434 are both rotation connections, that is, the mounting holes on the first front and rear cross rods 431 and the first thigh driven rod 434 are through holes, the output shaft of the shank driving motor 42 respectively passes through the mounting holes of the first front and rear cross rods 431 and the first thigh driven rod 434 and is fixedly connected with the shank driving rod 441, so that the output shaft of the shank driving motor 42 can drive the shank driving rod 441 to rotate together, and the output shaft of the shank driving motor 42 can rotate relative to the first front and rear cross rods 431 and the first thigh driven rod 434.

As can be seen from the above, in the motion of the mechanical leg 4, the output shaft of the thigh driving motor 41 drives the thigh driving rod 432 to rotate in an arc, and the output shaft of the shank driving motor 42 drives the shank driving rod 441 to rotate in an arc, so that the first planar four-bar linkage composed of the first front and rear cross bar 431, the thigh driving rod 432, the second front and rear cross bar 433, and the first shank driven rod 434, and the second planar four-bar linkage composed of the second front and rear cross bar 433, the third shank driven rod 444, the third front and rear cross bar 445, and the second shank driven rod 443 can drive the sole 5 to translate up and down and back and forth.

As shown in fig. 7, the thigh link mechanism 43 and the lower leg link mechanism 44, which are located on the left side of the plane in which the thigh drive motor 41 and the lower leg drive motor 42 are located, constitute a sub-link mechanism that moves the sole 5. In order to make the link mechanism more stably drive the sole 5 to move, correspondingly, the thigh driving motor 41 and the lower leg driving motor 42 may drive the two pairs of link mechanisms, for example, a pair of link mechanisms may also be disposed on the left side of the plane where the thigh driving motor 41 and the lower leg driving motor 42 are located, the two pairs of link mechanisms are symmetrical with respect to the plane where the thigh driving motor 41 and the lower leg driving motor 42 are located, the link mechanism located on the left side of the plane where the thigh driving motor 41 and the lower leg driving motor 42 are located may be referred to as a first pair of link mechanisms, and the link mechanism located on the right side may be referred to as a second pair of link mechanisms. These two secondary linkage mechanisms are in turn connected to the sole 5. Thus, the sole 5 is driven to lift and fall through the two pairs of link mechanisms, and the walking device walks forwards or backwards.

In another example, the second secondary linkage mechanism located on the right side of the plane in which the thigh driving motor 41 and the lower leg driving motor 42 are located may be replaced by a driven linkage mechanism, the driven linkage mechanism is rotatably mounted on the first secondary linkage mechanism, the first secondary linkage mechanism serves as a driving linkage mechanism, and the corresponding structure may be as follows:

the thigh link mechanism 43 may further include a first left and right crossbar 435, a second thigh follower bar 436, and a second left and right crossbar 437, and the shank link mechanism 44 may include a fourth shank follower bar 446 and a third left and right crossbar 447, wherein a first end of the second thigh follower bar 436 is rotatably coupled to the first front and rear crossbar 431 constituting the first planar four-bar mechanism through the first left and right crossbar 435, a second end of the second thigh follower bar 436 is rotatably coupled to the second front and rear crossbar 433 constituting the first planar four-bar mechanism through the second left and right crossbar 437, a second end 446 of the second thigh follower bar 436 is further rotatably coupled to a first end of the fourth shank follower bar 446, and a second end of the fourth shank follower bar 446 is rotatably coupled to the third front and rear crossbar 445 constituting the second planar four-bar mechanism through the third left and right crossbar 447. The third front and rear cross bars 445 are fixed to the support plate 51 of the sole 5 by vertical bars.

Thus, when the thigh driving motor 41 is rotated, the thigh driving lever 432, the second front-rear crossbar 433, the first thigh driven lever 434, the second left-right crossbar 437, and the second thigh driven lever 436 can be moved upward or downward. When the lower leg driving motor 42 is rotated, the lower leg driving rod 441, the first lower leg driven rod 442, the third front-rear cross bar 445, the second lower leg driven rod 443, the third lower leg driven rod 444, and the fourth lower leg driven rod 446 can be moved forward or backward. As can be seen, when the thigh drive motor 41 and the lower leg drive motor 42 rotate, the foot sole 5 can be driven to walk forward by the thigh link mechanism 43 and the lower leg link mechanism 44.

In order to make the robot more realistic, the robot can also walk left and right, and correspondingly, as shown in fig. 7, the second driving member of the mechanical leg 4 can further include left and right driving motors 45, and output shafts of the left and right driving motors 45 are connected with the thigh link mechanism 43.

In one example, the first front-rear cross bar 431 is rotatably mounted on a first end of the first left and right cross bars 435 of the thigh link mechanism 43, and a second end of the first left and right cross bars 435 may be rotatably mounted on an output shaft of the left and right drive motor 45, for example, the second end of the first left and right cross bars 435 has a mounting hole belonging to a through hole, and an output shaft of the left and right drive motor 45 passes through the mounting hole on the second end of the first left and right cross bars 435, so that the output shaft of the left and right drive motor 45 may be rotated with respect to the first left and right cross bars 435. The output shaft of the left and right driving motor 45 is further connected to a first end of the second thigh driven rod 436, for example, as shown in fig. 7, the output shaft of the left and right driving motor 45 is connected to the first end of the second thigh driven rod 436 through a T-shaped connector, illustratively, the output shaft of the left and right driving motor 45 is fixedly connected to a vertical rod of the T-shaped connector, an end of a cross rod of the T-shaped connector is rotatably connected to the first end of the second thigh driven rod 436, and the output shaft of the left and right driving motor 45 can drive the second thigh driven rod 436 to move through the T-shaped connector when rotating.

Thus, when the left and right driving motors 45 rotate clockwise, the output shaft of the left and right driving motors 45 can drive the second thigh driven rod 436 to move leftward; when the left-right driving motor 45 rotates counterclockwise, the output shaft of the left-right driving motor 45 may drive the second thigh driven lever 436 to move rightward.

As can be seen from the above description, in the motion of the mechanical leg 4, the output shaft of the left and right driving motor 45 drives the second thigh driven rod 436 to rotate in an arc, so that the third planar four-bar linkage composed of the first left and right cross bars 435, the second thigh driven rod 436 and the second left and right cross bars 437, and the fourth planar four-bar linkage composed of the second left and right cross bars 437, the second thigh driven rod 436, the fourth shank driven rod 446 and the third left and right cross bars 447 can drive the sole 5 to translate left and right under the driving cooperation of the thigh driving motor 41 and the shank driving motor 42.

As shown in fig. 7, a connection line between the midpoint of the first front and rear cross bar 431 and the midpoint of the second front and rear cross bar 433 may be regarded as a bar of the third planar four-bar linkage, or a projection of the first planar four-bar linkage on a vertical plane thereof may be regarded as a bar of the third planar four-bar linkage. Similarly, a connection line between the midpoint of the second front/rear crossbar 433 and the midpoint of the third front/rear crossbar 445 may be regarded as a rod of the fourth planar four-bar mechanism, or a projection of the second planar four-bar mechanism on a vertical plane thereof may be regarded as a rod of the fourth planar four-bar mechanism.

As shown in fig. 7, the thigh drive motor 41, the calf drive motor 42, and the left and right drive motors 45 can be at the same height position. Or, as shown in fig. 2, the thigh driving motor 41, the calf driving motor 42, and the left and right driving motors 45 may not be located at the same height position, for example, the left and right driving motors 45 may be located below the thigh driving motor 41, in this case, the output shafts of the left and right driving motors 45 may be rotatably connected to the second thigh driven rod 436 through a vertical timing belt and a T-shaped connector, for example, the output shaft of the left and right driving motors 45 is connected to one end of the vertical timing belt, the other end of the vertical timing belt is connected to the T-shaped connector, and the T-shaped connector is further rotatably connected to the second thigh driven rod 436, so that the second thigh driven rod 436 is driven to move when the left and right driving motors 45 rotate.

In this embodiment, the relative position relationship among the thigh driving motor 41, the shank driving motor 42, and the left and right driving motors 45 is not limited, and how the output shaft of the left and right driving motors 45 is connected to the first end of the second thigh driven lever 436 is also not limited, so that the second thigh driven lever 436 can be driven to move when the left and right driving motors 45 rotate, and a technician can flexibly select the relative position relationship according to the actual spatial layout.

In order to enable the robot leg 4 to perform consecutive motions of raising, moving left or right, and then lowering while moving left or right, the thigh drive motor 41 and the shank drive motor 42 need to be rotated in cooperation with each other.

In order to make the robot more realistic, the robot may also perform a turn-around movement, and accordingly, as shown in fig. 7, the second driving member of the mechanical leg 4 may further include a steering driving motor 46, the steering driving motor 46 is mounted on the trunk 2, for example, on the second frame 25 of the trunk 2, and an output shaft of the steering driving motor 46 is connected to the thigh link mechanism 43.

In one example, as shown in fig. 7, the steering drive motor 46 is provided on the second frame 25 of the trunk 2, and the output shaft of the steering drive motor 46 is fixedly attached to the first left and right crossbars 435 of the thigh link mechanism 43 through the second frame 25. Thus, when the steering drive motor 46 is rotated, the robot leg 4 can be turned left or right.

Based on the above, after one mechanical leg 4 of the robot is assembled, a left side view as shown in fig. 8 and a front view as shown in fig. 9 can be obtained.

In this way, when the robot is walking forward or backward, for example, when walking forward, the thigh drive motor 41 and the lower leg drive motor 42 of the left leg are driven with the right leg as a fulcrum so that the left leg is lifted upward and walks forward, and then the thigh drive motor 41 and the lower leg drive motor 42 of the left leg are driven so that the left leg falls downward. Then, the thigh drive motor 41 and the lower leg drive motor 42 of the right leg are driven with the left leg as a fulcrum so that the right leg is lifted upward and steps forward, and then the thigh drive motor 41 and the lower leg drive motor 42 of the right leg are driven so that the right leg falls to the ground downward. The robot can walk forwards by circulating the process.

However, since the center of gravity of the robot is shifted in the left-right direction when the robot walks in the forward-backward stepping direction, the left-right driving motor 45 can be operated in cooperation with the thigh driving motor 41 and the shank driving motor 42 when the robot walks in the forward-backward stepping direction in order to adjust the center of gravity.

When the robot walks leftwards and rightwards, for example, when the robot walks leftwards, the right leg is taken as a fulcrum, the left leg can be lifted upwards through the matched driving of the thigh driving motor 41 and the shank driving motor 42 of the left leg, then the left leg moves leftwards through the driving of the left and right driving motor 45 of the left leg, and then the left leg can fall to the ground downwards through the matched driving of the thigh driving motor 41 and the shank driving motor 42 of the left leg; then, the left leg is used as a pivot, the right leg can be lifted upwards by the matching drive of the thigh drive motor 41 and the shank drive motor 42 of the right leg, then the right and left drive motors 45 of the right leg can be driven to move the right leg leftwards, and then the left leg can be landed downwards by the matching drive of the thigh drive motor 41 and the shank drive motor 42 of the right leg. The robot can move leftwards by circulating the process.

When the robot is steered, for example, to the left, the robot can be steered by the thigh drive motors 41 of the left and right legs, the calf drive motors 42 of the left and right legs, and the steering drive motors 46 of the left and right legs.

The above process is only an example, and the robot needs to perform the driving in cooperation with the thigh driving motor 41 of the left leg and the right leg, the calf driving motor 42 of the left leg and the right leg, the left-right driving motor 45 of the left leg and the right leg, and the steering driving motor 46 of the left leg and the right leg during the movement, such as the back-and-forth stepping movement, the left-and-right movement, or the left-and-right turning movement.

For example, when the robot leg 4 has an upward or downward movement, the thigh drive motor 41 and the calf drive motor 42 need to be engaged in driving, if the movement is accompanied by a leftward or rightward shift, the left and right drive motors 45 need to be engaged, and if the movement is accompanied by a turning, the turning drive motor 46 needs to be engaged. For example, even when the robot leg 4 moves forward or backward, the thigh drive motor 41 and the calf drive motor 42 need to be engaged in driving, and if the movement involves a leftward or rightward shift, the left and right drive motors 45 need to be engaged, and if the movement involves a steering, the steering drive motor 46 needs to be engaged. For example, when the robot leg 4 moves leftward or rightward, the thigh drive motor 41, the calf drive motor 42, and the left-right drive motor 45 need to be driven and engaged, and if the movement is accompanied by steering, the steering drive motor 46 needs to be engaged. For example, when the robot leg 4 turns left or right, the thigh drive motor 41, the calf drive motor 42, the left/right drive motor 45, and the steering drive motor 46 need to be driven in cooperation.

As can be seen, in order to make the robot movement consistent, all or part of the thigh drive motor 41, the lower leg drive motor 42, the left and right drive motors 45, and the steering drive motor 46 need to be driven in coordination.

It can be seen that the robot can take a step forward or backward, move leftwards or rightwards, and turn leftwards or rightwards, so that the robot is more vivid. In addition, the robot with the structure can walk on flat ground and rugged ground, so that the application scene of the robot is wider, and the capability of the robot crossing obstacles can be improved.

The above is the description of the robot leg 4 of the robot, and the present embodiment does not limit the specific connection manner of each component in the robot leg 4, the relative positional relationship of each component, and the like, and can realize forward and backward stepping, left and right movement, and left and right steering of the left and right legs.

The trunk 2 of the robot will be described.

As shown in fig. 10, the trunk 2 may include a first frame 21, the upper part of the first frame 21 is the components of the trunk 2, the lower part of the trunk 2 may be used for mounting the mechanical legs 4, the trunk 2 further includes a second frame 25, the second frame 25 is located below the first frame 21 and is used for mounting the mechanical legs 4, and as shown in fig. 7 to 9, the steering driving motor 46 of the mechanical legs 4 is mounted on the second frame 25.

Wherein, if the first frame 21 and the second frame 25 are both strip-shaped plates, the first frame 21 and the second frame 25 can be vertically fixed.

In one example, as shown in fig. 10, a controller 6 may be mounted on the first frame 21, and the controller 6 is a Central Processing Unit (CPU) of the robot and serves as a computing and control core of the robot. The rotation of the front-back swing motor 31 and the up-down swing motor 32 of the robot arm 3 can be controlled to make the robot arm 3 swing back and forth and up and down; the rotation of the thigh drive motor 41 and the shank drive motor 42 can also be controlled to make the mechanical leg 4 walk back and forth; the rotation of the left-right driving motor 45 may also be controlled to cause the robot leg 4 to make a left or right movement, and the rotation of the steering driving motor 46 may also be controlled to cause the robot leg 4 to make a left or right steering.

In order to enable the robot to swing left and right during the front and back walking process, correspondingly, as shown in fig. 10 and with reference to fig. 2, the trunk 2 may further include a trunk swing motor 22, a trunk swing driving shaft 23 and a trunk swing driven shaft 24; the trunk swinging motor 22 is installed on the first frame 21, an output shaft of the trunk swinging motor 22 is fixedly connected with a first end of the trunk swinging driving shaft 23, and a first end of the trunk swinging driven shaft 24 is installed on the first frame 21; the second end of the trunk swing driving shaft 23 and the second end of the trunk swing driven shaft 24 are both fixed to the inner wall of the housing 1, and the positions of the trunk swing driving shaft 23 and the trunk swing driven shaft 24 are opposite.

In one example, the output shaft of the torso oscillating motor 22 is fixedly connected to a first end of the torso oscillating driving shaft 23, while a second end of the torso oscillating driving shaft 23 is fixed to the inner wall of the torso housing 12 and a second end of the torso oscillating driven shaft 24 is also fixed to the inner wall of the torso housing 12. Thus, when the trunk swing motor 22 rotates, the trunk 2 can swing to accommodate the stepping of the right and left legs.

As described above, referring to fig. 4 and 2, in the case where the robot is traveling, for example, forward and backward walking, left and right walking, and left and right steering, the forward and backward swing motor 31 and the upward and downward swing motor 32 of the robot arm 3 can drive the robot arm 3 to swing forward and backward and upward and downward in accordance with the traveling of the robot leg. In addition, during the walking process of the mechanical legs, the trunk swing motor 22 of the trunk 2 also drives the trunk 2 to swing so as to adapt to the walking of the mechanical legs. Therefore, the robot can take steps more realistically, naturally and continuously.

In one example, the motors included in the robot, for example, the first driving element includes a front-back swing motor and a top-bottom swing motor, the second driving element includes a thigh driving motor 41, a shank driving motor 42, a left-right driving motor 45 and a steering driving motor 46, and the trunk swing motor 22 of the trunk 2, and these motors may be steering gears. The steering engine is a position or angle servo driver and can be adapted to a control system with constantly changing positions and angles, and the robot can move more flexibly, naturally and continuously by using the steering engine.

Therefore, the mechanical legs of the robot are provided with the thigh driving motor, the shank driving motor, the left and right driving motors, the steering driving motor, the thigh link mechanism and the shank link mechanism, so that the robot can finish walking back and forth by lifting feet, stepping down feet, move leftwards or rightwards and turn, and the simulation effect of the robot is more vivid. And the mechanical arm of the robot is provided with a front-back swing motor and an up-down swing motor, so that in the moving process of the robot, the mechanical arm also performs front-back and up-down swing motion by matching with the motion of the mechanical leg, and the simulation fidelity of the robot is further improved. The trunk of the robot is provided with the trunk swinging motor, so that the trunk can also be matched with the robot to perform swinging motion in the moving process of the robot, and the simulation fidelity of the robot is further improved.

And because the robot can lift feet and fall to the ground when in motion, the robot can not only walk on flat ground, but also walk on rugged ground, thereby increasing the capability of the robot to cross obstacles and expanding the application scene of the robot.

The above description is only exemplary of the present application and should not be taken as limiting, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A robot, characterized in that it comprises a housing (1), a trunk (2), a robot arm (3), a robot leg (4) and a sole (5), wherein:

the trunk (2), the mechanical arm (3) and the mechanical leg (4) are all positioned in the shell (1), and the sole (5) extends out of the shell (1);

the mechanical arm (3) is fixed on the side of the trunk (2) and comprises a first driving part and a swinging part, the first driving part is connected with the swinging part, and the first driving part is used for driving the swinging part to swing;

the mechanical legs (4) are fixed at the bottom of the trunk (2) and comprise second driving parts and link mechanisms, the second driving parts comprise thigh driving motors (41), shank driving motors (42) and left and right driving motors (45), and the link mechanisms comprise thigh link mechanisms (43) and shank link mechanisms (44);

the thigh driving motor (41) and the shank driving motor (42) are fixed to the bottom of the trunk (2), an output shaft of the thigh driving motor (41) is connected with the thigh link mechanism (43), an output shaft of the shank driving motor (42) is connected with the shank link mechanism (44), one end of the shank link mechanism (44) is connected with the thigh link mechanism (43), the other end of the shank link mechanism is connected with the sole (5), and output shafts of the left and right driving motors (45) are connected with the thigh link mechanism (43).

2. Robot according to claim 1, characterized in that the first drive of the robot arm (3) comprises a back and forth swing motor (31), the back and forth swing motor (31) being fixed to the side of the trunk (2), the oscillating piece (33) being fixed to the back and forth swing motor (31), the back and forth swing motor (31) being adapted to drive the oscillating piece (33) in a back and forth swing motion.

3. The robot according to claim 2, characterized in that the first driving member of the robot arm (3) further comprises an up-down swing motor (32), the up-down swing motor (32) is fixed on the back-and-forth swing motor (31), the swinging member (33) is fixed on the back-and-forth swing motor (31) through the up-down swing motor (32), and the up-down swing motor (32) is used for driving the swinging member (33) to swing up and down.

4. Robot according to claim 3, characterized in that the robot arm (3) further comprises a connecting assembly (34);

an output shaft of the up-and-down swinging motor (32) is fixedly connected with the front-and-back swinging motor (31) through the connecting assembly (34), so that the swinging piece (33) fixed with a shell of the up-and-down swinging motor (32) swings up and down when the output shaft of the up-and-down swinging motor (32) rotates;

the up-and-down swing motor (32) is connected with the output shaft of the front-and-back swing motor (31) through the connecting assembly (34), so that the front-and-back swing motor (31) can swing back and forth when rotating, and the swinging piece (33) swings back and forth.

5. Robot according to claim 4, characterized in that the connection assembly (34) comprises a U-shaped connection frame (341) and an annular connection disc (342);

two risers of U type link (341) with the both ends fixed connection of the output shaft of luffing motion motor (32), the diaphragm of U type link (341), annular connection dish (342) with the output shaft of luffing motion motor (31) is fixed mutually, just annular connection dish (342) with the output shaft key-type connection of luffing motion motor (31).

6. The robot according to claim 5, wherein the output shaft of the fore-and-aft swing motor (31) has an internally threaded hole, and a screw fitted into the internally threaded hole of the output shaft of the fore-and-aft swing motor (31) is installed in the internally threaded hole of the output shaft of the fore-and-aft swing motor (31) through the horizontal plate of the U-shaped link (341) and the annular connection plate (342) in this order.

7. The robot according to claim 1, characterized in that the second drive of the robot leg (4) further comprises a steering drive motor (46), the steering drive motor (46) being mounted on the trunk (2), the output shaft of the steering drive motor (46) being connected to the thigh link mechanism (43).

8. Robot according to any of claims 1 to 7, characterized in that the trunk (2) comprises a first frame (21), a trunk swing motor (22), a trunk swing driving shaft (23) and a trunk swing driven shaft (24);

truck swing motor (22) truck swing driving shaft (23) with truck swing driven shaft (24) are all installed on first frame (21), truck swing driving shaft (23) with the position of truck swing driven shaft (24) is relative, just truck swing driving shaft (23) with the output shaft of truck swing motor (22) links to each other, truck swing driven shaft (24) pass through shell (1) with truck swing driving shaft (23) transmission is connected.