CN112046639A

CN112046639A - Biped robot

Info

Publication number: CN112046639A
Application number: CN202011055219.3A
Authority: CN
Inventors: 李海雷; 郭宜劼; 赵明国; 杨国平; 黑光军; 董浩
Original assignee: Shenzhen Ubtech Technology Co ltd
Current assignee: Beijing Youbixuan Intelligent Robot Co ltd
Priority date: 2020-09-29
Filing date: 2020-09-29
Publication date: 2020-12-08
Anticipated expiration: 2040-09-29
Also published as: CN112046639B

Abstract

The application belongs to the technical field of bionic robots, and particularly relates to a biped robot. In the biped robot, the upper body frame is provided with leg structures at intervals in pairs. In a shank structure, first steering wheel and second steering wheel are established at last body frame parallelly with interval, and first steering wheel can drive first rocker swing in order to drive first connecting rod, and the second steering wheel can drive the swing of second rocker in order to drive the second connecting rod, drives the supporting legs with first connecting rod, the pin joint of second connecting rod, and the supporting legs can provide sufficient supporting role, shank simple structure, and the complete machine quality is less. In the biped robot, establish the great first steering wheel of quality and second steering wheel at last body frame, the relative upper part of the body part quality of spare part is less except first steering wheel and second steering wheel with the leg structure, adjusts the whole barycenter of robot to the upper part of the body part, reduces the inertia of leg structure in the course of the work, and it diminishes to the robot gesture influence, requires to reduce to walk stability control algorithm, and required drive power diminishes in order to reduce the steering wheel consumption.

Description

Biped robot

Technical Field

The application belongs to the technical field of bionic robots, and particularly relates to a biped robot.

Background

The biped robot is a bionic robot, and can realize biped walking and related actions of the robot. Traditional biped robot can set up different steering engines in order to realize joint motion in each shank joint department between upper part of the body and thigh, between thigh and shank, between shank and foot usually, and the complete machine quality is great like this, and the inertia of shank structure in the course of the work is great, to the big and great condition of influence to the robot gesture of shank inertia, can increase biped robot walking stability control algorithm's the degree of difficulty requirement to the consumption that arouses the steering engine is great.

Disclosure of Invention

An object of the embodiment of the application is to provide a biped robot to solve the technical problems that the whole machine of the existing biped robot has large mass and the inertia of a leg structure is large in the working process.

The embodiment of the application provides a biped robot, includes: the upper body frame and the leg structures are arranged on the upper body frame in pairs at intervals;

each leg structure comprises a first steering engine, a second steering engine, a first rocker, a first connecting rod, a second rocker, a second connecting rod and a supporting leg;

the first steering engine and the second steering engine are arranged on the upper body frame along the front-back direction of the upper body frame; the axis of the output shaft of the first steering engine is parallel to the axis of the output shaft of the second steering engine at intervals;

an output shaft of the first steering engine is fixed with one end of the first rocker, and two ends of the first connecting rod are respectively pivoted to the first rocker and the supporting leg;

the output shaft of the second steering engine is fixed with one end of the second rocker, and two ends of the second connecting rod are respectively pivoted to the second rocker and the supporting legs.

Optionally, each leg structure further comprises a swing frame, the first steering engine and the second steering engine are fixed on the swing frame, and the swing frame is rotatably assembled on the upper body frame;

the biped robot further comprises side swing driving assemblies in one-to-one correspondence with the leg structures, the side swing driving assemblies are used for enabling the leg structures to swing laterally relative to the upper body frame, and the output ends of the side swing driving assemblies are fixed on the swing frame.

Optionally, both ends of the swing frame are rotatably installed on the upper body frame respectively, the swing frame is provided with a first installation position for installing the first steering engine and a second installation position for installing the second steering engine, the swing frame is provided with a first via hole corresponding to the output shaft of the first steering engine, and the swing frame is provided with a second via hole corresponding to the output shaft of the second steering engine.

Optionally, one end of the swing frame is provided with an angle limiting member, and the upper body frame is provided with a limiting pin which is used for being matched with the angle limiting member in a blocking manner to limit the swing range of the swing frame.

Optionally, each of the lateral swing driving assemblies includes a third steering engine and a lateral swing transmission mechanism for transmitting power of the third steering engine to the swing frame;

the third steering engine is located above the leg structure and fixed on the upper body frame, and two ends of the side swing transmission mechanism are respectively connected to an output shaft of the third steering engine and the swing frame.

Optionally, the side-sway transmission mechanism is a double-crank mechanism, the double-crank mechanism includes a first crank, a second crank and a third connecting rod, the first crank is fixed to the output shaft of the third steering engine, the second crank is fixed to the swing frame, and two ends of the third connecting rod are respectively pivoted to the first crank and the second crank.

Optionally, the number of the third connecting rods is two, two of the third connecting rods are arranged in parallel at intervals, the first ends of the two third connecting rods are respectively located on two sides of the pivot axis of the first crank and are all pivoted to the first crank, and the second ends of the two third connecting rods are respectively located on two sides of the pivot axis of the swing frame and are all pivoted to the swing frame.

Optionally, the side pendulum transmission mechanism is a synchronous pulley mechanism, the synchronous pulley mechanism comprises a first synchronous pulley, a second synchronous pulley and a synchronous belt, the first synchronous pulley is fixed to an output shaft of the third steering engine, the second synchronous pulley is fixed to the swing frame, and the synchronous belt is wound outside the first synchronous pulley and the second synchronous pulley;

or the side swing transmission mechanism is a gear transmission mechanism.

Optionally, the biped robot further comprises a front and back center-of-mass adjusting mechanism, the front and back center-of-mass adjusting mechanism comprises a mounting plate and a mass block, the mounting plate is located between the two leg structures and fixed on the front side of the upper body frame, and the mass block is mounted on the mounting plate in a position-adjustable manner.

Optionally, each of the support legs has two support ends arranged at an interval, a pivot axis between the first connecting rod and the support leg and a pivot axis between the second connecting rod and the support leg are both located between the two support ends, and a center connecting line of the two support ends is perpendicular to an axis of an output shaft of the first steering engine.

Optionally, each of the support ends is provided with a wear sleeve.

Optionally, in each leg structure, a pivot axis between the first link and the support leg and a pivot axis between the second link and the support leg are collinear.

Optionally, the biped robot further comprises a battery and a control panel, the battery and the control panel are mounted on the upper body frame, the battery is electrically connected with the control panel, and the control panel is electrically connected with the first steering engine and the second steering engine.

Optionally, the biped robot further comprises a handle assembled on the upper body frame in a sliding manner, the handle is provided with a limiting groove, the upper body frame is provided with a positioning pin, and the positioning pin penetrates through the limiting groove.

Optionally, the upper body frame comprises a bottom plate, a front side plate and a rear side plate which are arranged on the bottom plate at intervals, and a top cover arranged between the front side plate and the rear side plate, wherein a containing space is enclosed by the bottom plate, the front side plate, the rear side plate and the top cover, and the first steering engine and the second steering engine are arranged in the containing space.

One or more technical solutions in the biped robot provided by the embodiment of the present application have at least one of the following technical effects: in the biped robot, the upper body frame is provided with leg structures at intervals in pairs. In a shank structure, first steering wheel and second steering wheel are established at last body frame parallelly with interval, and first steering wheel can drive the swing of first rocker in order to drive first connecting rod, and the swing of second rocker can be driven in order to drive the second connecting rod to the second steering wheel, and then drives the supporting legs with first connecting rod, the pin joint of second connecting rod, and the supporting legs can provide sufficient supporting role, shank simple structure, and the complete machine quality is less. When two leg structures are matched, the first steering engine and the second steering engine output different angular displacements, so that the two leg structures can be in different motion modes, such as standing and squatting, walking forwards and backwards and the like. In this biped robot, establish the great first steering wheel of quality and second steering wheel at last body frame, the relative upper part of the body part quality of spare part except first steering wheel and second steering wheel of shank structure is less, adjusts the whole barycenter of robot to the upper part of the body part like this, reduces the inertia of shank structure in the course of the work, diminishes to the robot gesture influence, requires to reduce walking stability control algorithm, and required drive power diminishes in order to reduce the steering wheel consumption.

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 embodiments or the prior art descriptions will be briefly described 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 inventive exercise.

Fig. 1 is a perspective assembly view of a biped robot provided in an embodiment of the present application;

FIG. 2 is a side view of the biped robot of FIG. 1;

FIG. 3 is a front view of the biped robot of FIG. 1;

FIG. 4 is an exploded perspective view of the biped robot of FIG. 1;

FIG. 5 is an exploded perspective view of a leg structure in the bipedal robot of FIG. 4;

FIG. 6 is another angular assembly schematic of the upper frame and the yaw drive assembly of the bipedal robot of FIG. 4;

fig. 7 is an exploded perspective view of the upper body frame and the side swing drive assembly of fig. 6.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present application clearer, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

In the description of the embodiments of the present application, it is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like refer to orientations and positional relationships illustrated in the drawings, which are used for convenience in describing the embodiments of the present application and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the embodiments of the present application.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

In the embodiments of the present application, unless otherwise specifically stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the embodiments of the present application can be understood by those of ordinary skill in the art according to specific situations.

Referring to fig. 1 to 4, an embodiment of the present application provides a biped robot, including: an upper body frame 100 and leg structures 200 arranged in pairs at intervals on the upper body frame 100. Each leg structure 200 includes a first steering engine 210, a second steering engine 220, a first rocker 231, a first connecting rod 232, a second rocker 233, a second connecting rod 234, and a support foot 240. The first steering gear 210 and the second steering gear 220 are provided on the upper body frame 100 along the front-rear direction of the upper body frame 100. Referring to fig. 5, the axis of the output shaft 211 of the first steering engine 210 is parallel to the axis of the output shaft 221 of the second steering engine 220 at intervals. An output shaft 211 of the first steering engine 210 is fixed to one end of the first rocking bar 231, and two ends of the first connecting rod 232 are respectively pivoted to the first rocking bar 231 and the supporting leg 240. An output shaft 221 of the second steering engine 220 is fixed to one end of the second rocker 233, and two ends of the second connecting rod 234 are respectively pivoted to the second rocker 233 and the supporting foot 240.

The present application provides a biped robot, in which the upper body frame 100 has leg structures 200 arranged in pairs at intervals. In a leg structure 200, first steering wheel 210 and second steering wheel 220 are established at upper part of the body frame 100 parallelly at interval, first steering wheel 210 can drive first rocker 231 and swing in order to drive first connecting rod 232, second steering wheel 220 can drive second rocker 233 and swing in order to drive second connecting rod 234, and then drive the supporting legs 240 with first connecting rod 232, the pin joint of second connecting rod 234, supporting legs 240 can provide sufficient supporting role, leg structure 200 is simple, the whole quality is less. When the two leg structures 200 are engaged, the first steering engine 210 and the second steering engine 220 output different angular displacements, which will cause the two leg structures 200 to be in different motion modes, such as standing and squatting, walking back and forth, and the like.

In the field of biped robots, the higher the centroid of the biped robot, the smaller the inertia of the leg structure, and the lower the requirements on the walking stability control algorithm. The traditional biped robot has a low mass center, a large inertia of a leg structure, a large influence on the posture of the robot and a high requirement on a walking stability control algorithm. In the biped robot of this application embodiment, establish first steering wheel 210 and second steering wheel 220 that the quality is great at upper part of the body frame 100, the relative upper part of the body quality of spare part except first steering wheel 210 and second steering wheel 220 of leg structure 200 is less, adjust the whole barycenter of robot to the upper part of the body like this, reduce the inertia of leg structure 200 in the course of the work, it diminishes to the influence of robot gesture, it reduces to walk stability control algorithm requirement, required drive power diminishes in order to reduce the steering wheel consumption.

It should be noted that the biped robot in the embodiment of the present application is a passive-foot biped robot, the supporting leg 240 has no power source, and the leg structure 200 has a power source, and the leg structure 200 drives the supporting leg 240 to move. In order to realize the stable walking of the biped robot, a classic walking stability control algorithm is combined to realize the stable walking, for example, dynamic walking based on Zero Moment Point (ZMP) is adopted. One leg structure of a biped robot can be abstracted to the most basic "inverted pendulum" model in the control system. The ZMP is the point on the ground to which the moments of gravity and inertial force are directed, with the horizontal component being zero. I.e. the forward, lateral overturning moment of the whole system for this point is zero. When the biped robot is in dynamic balance, the Center of pressure (CoG) of the ZMP and the ground reaction force on the sole of the foot coincide. And calculating CoG according to the detected ground reaction force information, and adjusting the positions of the ZMP and the CoG through a control strategy to enable the ZMP and the CoG to be overlapped so as to realize the dynamic and stable walking of the robot. The biped robot can adapt to walking on different terrains, such as flat ground, slopes, craters and the like. The walking stability control algorithm of the biped robot belongs to the conventional technology, and is not described in detail herein.

In the bipedal robot, two leg structures 200 are respectively disposed on the left and right sides of the upper body frame 100. The front side and the rear side of the upper body frame are formed in the front-rear direction of the robot. Here, the side on which the centroid forward-backward adjustment mechanism 400 is provided is taken as the robot front side, and the opposite side is taken as the robot rear side. As shown in fig. 2, the left side is the front side of the robot, and the right side is the rear side of the robot. Referring to fig. 1, in a leg structure 200, a first steering gear 210 and a second steering gear 220 are disposed on an upper body 100 along a front-back direction of the upper body 100, that is, the first steering gear 210 is disposed near a front side of the upper body 100, and the second steering gear 220 is disposed near a rear side of the upper body 100. The first steering engine 210 and the second steering engine 220 are arranged adjacently, so that the structure is compact.

The robot takes a standing state as an initial state, for one leg structure 200, a preset angle is staggered between a first rocker 231 and a second rocker 233, a preset angle is also staggered between a first connecting rod 232 and a second connecting rod 234, a proper moment is output through a first steering engine 210 and a second steering engine 220, the first rocker 231, the second rocker 233, the first connecting rod 232 and the second connecting rod 234 are maintained at preset positions, supporting feet 240 in the leg structures 200 arranged in pairs are supported on the ground, and the robot is maintained in a stable standing state (as shown in fig. 1). Illustratively, the robot is in an initial state, the first rocking bar 231 and the second rocking bar 233 are staggered at an acute angle, and the first connecting rod 232 and the second connecting rod 234 are staggered at an acute angle.

In order to realize standing or squatting of the robot, the first steering engine 210 and the second steering engine 220 in the leg structures arranged in pairs output reverse rotation. For example, the first steering engine 210 drives the first rocker 231 to swing towards the front side of the robot, the second steering engine 220 drives the second rocker 233 to swing towards the rear side of the robot, the first link 232 and the second link 234 move along, the upper body frame 100 moves downwards, and squat movement is achieved. On the contrary, the first steering engine 210 drives the first rocking bar 231 to swing towards the rear side, the second steering engine 220 drives the second rocking bar 233 to swing towards the front side, the first connecting bar 232 and the second connecting bar 234 move along, and the upper body frame 100 moves upwards to realize the standing action.

In order to realize the front and back walking of the robot, the leg structures arranged in pairs move successively, one leg structure serves as a supporting leg, the first steering engine 210 and the second steering engine 220 in the other leg structure 200 output rotation in the same direction and different speeds so as to enable the leg structure to step out, and the two leg structures move in a staggered mode to realize walking. For example, the left leg structure is used as a support leg, the first steering engine 210 in the right leg structure drives the first rocker 231 to swing towards the front side of the robot, the second steering engine 220 drives the second rocker 233 to swing towards the front side, and the swing speed of the first rocker 231 is higher than that of the second rocker 233, at this time, the right leg structure will step towards the front side of the robot, and then the support leg 240 of the right leg structure stably lands; then, with the right leg structure as the support leg, the left leg structure is similarly stepped forward, and then the support foot 240 of the left leg structure is landed stably; the two leg structures move in turn and alternately to realize the forward walking of the robot. It can be understood that the first steering engine 210 and the second steering engine 220 in the same leg structure 200 respectively drive the first rocker 231 and the second rocker 233 to swing towards the rear side of the robot, and the swing speed of the second rocker 233 is greater than that of the first rocker 231, so that the leg structure will step backwards, and the two leg structures alternately move to realize backward walking.

Referring to fig. 5, when the first rocker 231, the first connecting rod 232, the second rocker 233, the second connecting rod 234 and the supporting leg 240 are assembled, the pivot axis between the first rocker 231 and the first connecting rod 232, the pivot axis between the second rocker 233 and the second connecting rod 234, the pivot axis between the first connecting rod 232 and the supporting leg 240, and the pivot axis between the second connecting rod 234 and the supporting leg 240 are parallel to each other, so that the first steering engine 210 drives the first rocker 231 to swing to drive the first connecting rod 232, and the second steering engine 220 drives the second rocker 233 to swing to drive the second connecting rod 234, and further drives the supporting leg 240 to move. The pin joint can be realized at each pin joint position by the mode of the pin joint shaft and the pin joint hole respectively. In addition, a bearing can be arranged between each pivoting shaft and each pivoting hole, and stable rotating assembly of the two structural parts is realized. For example, one end of the first rocking bar 231 is provided with a pivoting hole 2311, one end of the first connecting bar 232 is provided with a pivoting shaft 2321, and the pivoting shaft 2321 is supported in the pivoting hole 2311 through a bearing 235.

In order to make the robot easier to assemble and control, the pair of leg structures 200 may be symmetrically arranged on the upper body frame 100, so that the axes of the output shafts 221 of the first steering engines 210 in the two leg structures 200 are parallel to each other, and thus the axes of the output shafts 221 of the first steering engines 210 and the axes of the output shafts 221 of the second steering engines 220 in the two leg structures 200 are parallel to each other.

In another embodiment of the present application, referring to fig. 1, 4 to 6, each leg structure 200 further includes a swing frame 250, the first steering engine 210 and the second steering engine 220 are fixed on the swing frame 250, and the swing frame 250 is rotatably assembled on the upper body frame 100; the biped robot further comprises a yaw driving assembly 300 in one-to-one correspondence with the leg structure 200 for swinging the leg structure 200 laterally with respect to the upper body frame 100, and an output end of the yaw driving assembly 300 is fixed to the swing frame 250. First steering wheel 210 and second steering wheel 220 in leg structure 200 assemble on swing frame 250, and side pendulum drive assembly 300 can drive swing frame 250 swing for every leg structure 200 can do the side pendulum motion relatively upper part of the body frame 100, and two leg structures 200 can be to the left side of robot or to the right side swing promptly, and the robot can realize lateral shifting when keeping the front orientation, makes the flexibility of robot better.

In combination with the side swing driving assembly 300, the robot can also realize left-right steering, the leg structure to be steered is taken as the inner side leg structure by making the leg structure 200 to be steered to one side swing outwards by a certain angle, the leg structure to be steered is taken as the outer side leg structure relative to the leg structure on the other side, and the walking speed of the inner side leg structure is smaller than that of the outer side leg structure, so that the robot can rotate towards the inner side. For example, the robot will realize a left turn, the left leg structure is the inner leg structure, the right leg structure is the inner leg structure, and the walking speed of the left leg structure is lower than that of the right leg structure. On the basis that the robot walks forwards, the right leg structure is used as a supporting leg, the left leg structure 200 swings to the left side of the robot by a certain angle through the left side swing driving assembly 300, and the left leg structure 200 takes a small step forwards and then stably lands; then, the left leg structure 200 is used as a support leg, and the right leg structure 200 takes a big step forward, and then lands steadily; therefore, the robot can rotate left for a certain angle, and the robot can rotate left to the preset direction through multiple times of matching movement of the leg structures 200 on the two sides.

In another embodiment of the present application, referring to fig. 1 and 4, both ends of the swing frame 250 are respectively rotatably mounted to the upper frame 100, so that the swing frame 250 is rotatably mounted to the upper frame 100. Wherein the end of the swing frame 250 may be supported on the upper body frame 100 through a bearing to facilitate smooth rotation of the swing frame 250. Referring to fig. 5, the swing frame 250 has a first mounting position 251 for mounting the first steering engine 210 and a second mounting position 252 for mounting the second steering engine 220, the swing frame 250 has a first through hole 253 provided corresponding to the output shaft 211 of the first steering engine 210, and the swing frame 250 has a second through hole 254 provided corresponding to the output shaft 221 of the second steering engine 220. This facilitates the assembly of the steering engine to the swing frame 250 and the connection of the output shaft of the steering engine to the corresponding rocker. Wherein the steering engine may be mounted to the swing frame 250 using fasteners or otherwise.

In another embodiment of the present application, please refer to fig. 4 and 7, an angle limiting member 260 is disposed at one end of the swing frame 250, and the upper body frame 100 is disposed with a limiting pin 261 for blocking and cooperating with the angle limiting member 260 to limit the swing range of the swing frame 250. The angle limiting member 260 may be a stop arm that rotates along with the swing frame 250, and the angle limiting member 260 may move between two limiting pins 261. When the angle limiting member 260 abuts against one of the limiting pins 261, the angle limiting member 260 cannot rotate continuously, so as to limit the swing range of the swing frame 250. The angle limiting member 260 and the limiting pin 261 are both arranged on the front side of the upper body frame 100, and one end of the swing frame 250 penetrates through the swing frame 250 and is fixedly connected with the angle limiting member 260, so that the assembly is easy, and the structure is compact. Illustratively, the centers of the two limit pins 261 respectively form two connecting lines with the rotation axis of the swing frame 250, and the included angle between the two connecting lines is 120 degrees, so as to limit the rotation range of the swing frame 250.

In another embodiment of the present application, please refer to fig. 6 and 7, each of the side swing driving assemblies 300 includes a third steering engine 310 and a side swing transmission mechanism 320 for transmitting the power of the third steering engine 310 to the swing frame 250; referring to fig. 4, a third steering gear 310 is located above the leg structure 200 and fixed to the upper body frame 100, and two ends of the lateral swing transmission mechanism 320 are respectively connected to an output shaft of the third steering gear 310 and the swing frame 250. The third steering engine 310 is arranged above the leg structure 200, and parts with large mass are arranged on the upper body frame 100, so that the whole mass center of the robot is adjusted to the upper body part, the inertia of the leg structure 200 in the working process is reduced, the power consumption of the steering engine is further reduced, and the requirement on a walking stability control algorithm is reduced. Illustratively, each third steering engine 310 is located above the corresponding first steering engine 210 and second steering engine 220, respectively, so that the arrangement structure is compact. In addition, the angle limiting members 260 and the side swing driving assembly 300 are respectively fixed at two ends of the swing frame 250, respectively located at the front side and the rear side of the upper body frame 100, so that the arrangement of parts is convenient, and the structure is compact.

In another embodiment of the present application, please refer to fig. 4 and 6, the side-sway transmission mechanism 320 is a double-crank mechanism, the double-crank mechanism includes a first crank 321, a second crank 322, and a third connecting rod 323, the first crank 321 is fixed to an output shaft of the third steering engine 310, the second crank 322 is fixed to the swing frame 250, and two ends of the third connecting rod 323 are respectively pivoted to the first crank 321 and the second crank 322. A double-crank mechanism is adopted as a side swing transmission mechanism, so that the power of the third steering engine 310 can be reliably transmitted to the swing frame 250, and the swing frame 250 can swing laterally relative to the upper body frame 100; and the structure is compact, and the occupied space is small. Exemplarily, the third steering gear 310 is installed on the inner wall of the upper body frame 100, the output shaft of the third steering gear 310 penetrates through the upper body frame 100, and the first crank 321 is arranged outside the upper body frame 100 and is fixedly connected with the output shaft of the third steering gear 310. One end of the swing frame 250 is extended out of the upper body frame 100 and fixedly coupled to the second crank 322, thus facilitating assembly.

In another embodiment of the present application, referring to fig. 6, the number of the third connecting rods 323 is two, the two third connecting rods 323 are disposed in parallel at intervals, first ends of the two third connecting rods 323 are respectively located at two sides of the pivot axis of the first crank 321 and are both pivoted to the first crank 321, and second ends of the two third connecting rods 323 are respectively located at two sides of the pivot axis of the swing frame 250 and are both pivoted to the swing frame 250. The scheme can better transmit the power of the third steering engine 310 to the swinging frame 250, so that the swinging frame 250 swings relative to the upper body frame 100, and the reliability is better.

In another embodiment of the present application, the side-sway transmission mechanism is a synchronous pulley mechanism (not shown), the synchronous pulley mechanism includes a first synchronous pulley, a second synchronous pulley and a synchronous belt, the first synchronous pulley is fixed to the output shaft of the third steering engine, the second synchronous pulley is fixed to the swing frame, and the synchronous belt is wound around the first synchronous pulley and the second synchronous pulley. By adopting the scheme, the power of the third steering engine can be transmitted to the swing frame, so that the swing frame swings relative to the upper body frame, and further the side swing of the leg structure is realized.

In another embodiment of the present application, the yaw drive mechanism is a gear drive mechanism (not shown). The gear transmission mechanism comprises an input gear, an output gear and a gear set, the input gear is connected to an output shaft of the third steering engine, the output gear is connected to one end of the swing frame, and the gear set is arranged between the input gear and the output gear. By adopting the scheme, the power of the third steering engine can be transmitted to the swing frame, so that the swing frame swings relative to the upper body frame, and further the side swing of the leg structure is realized.

In another embodiment of the present application, referring to fig. 1 and 2, the biped robot further comprises a center of mass front-back adjusting mechanism 400, the center of mass front-back adjusting mechanism 400 comprises a mounting plate 401 and a mass block 402, the mounting plate 401 is located between the two leg structures 200 and fixed on the front side of the upper frame 100, and the mass block 402 is adjustably mounted on the mounting plate 401. The position of the mass block 402 relative to the mounting plate 401 is adjusted to adjust the center of mass position of the biped robot in the front-back direction, and further adjust the posture of the robot, so as to realize the balance of the upper body frame 100. When the third steering engine 310 and the side swing transmission mechanism 320 are arranged on the rear side of the upper body frame 100, the center of mass of the robot in the front-back direction can move backwards, and the center of mass of the robot can be effectively moved forwards by arranging the center of mass front-back adjusting mechanism 400 on the front side of the upper body frame 100, so that the posture of the upper body frame 100 can be adjusted. Specifically, the mounting plate 401 is provided with a plurality of mounting holes, and the mass block 402 is selectively assembled in one or more of the mounting holes through fasteners, so that the mass block 402 can be fixed on a certain position of the mounting plate 401, and the position of the center of mass can be adjusted in the front-back direction. In addition, the mounting plate 401 may be provided in the shape of a visor, enhancing the appearance of the robot.

In another embodiment of the present application, please refer to fig. 1 and 2, each of the supporting legs 240 has two supporting ends 241 disposed at an interval, the pivot axis between the first connecting rod 232 and the supporting leg 240 and the pivot axis between the second connecting rod 234 and the supporting leg 240 are both located between the two supporting ends 241, and the central connecting line of the two supporting ends 241 is perpendicular to the axis of the output shaft of the first steering engine 210. When the supporting leg 240 lands on the ground, the two supporting ends 241 of the supporting leg 240 contact with the ground, and the other parts of the supporting leg 240 do not contact with each other, and the pivot axis between the first link 232 and the supporting leg 240 and the pivot axis between the second link 234 and the supporting leg 240 are located between the two supporting ends 241, which is beneficial to stably supporting the supporting leg 240 on the ground.

In another embodiment of the present application, please refer to fig. 1 and fig. 2, each supporting end 241 is sleeved with a wear-resistant sleeve 242, so as to improve the wear resistance of the supporting end 241 and improve the friction between the supporting foot 240 and the ground. The wear-resistant sleeve 242 may be a sleeve having semi-spherical protrusions densely arranged on the outer circumferential surface. Wear sleeve 242 may be secured to support end 241 by fasteners or other means.

In another embodiment of the present application, referring to fig. 1 and 2, in each leg structure 200, the pivot axis between the first link 232 and the supporting foot 240 and the pivot axis between the second link 234 and the supporting foot 240 are collinear. This facilitates the assembly of first and

second links

232 and 234 to support foot 240, and both support ends 241 of support foot 240 can be more reliably supported on the ground.

In another embodiment of the present application, referring to fig. 4 and 7, the biped robot further includes a battery 501 and a control board 502, the battery 501 and the control board 502 are mounted on the upper body frame 100, the battery 501 is electrically connected to the control board 502, and the control board 502 is electrically connected to the first steering engine 210 and the second steering engine 220. The battery 501 can provide electric energy for each steering engine and the control panel 502, and the battery 501 can be a rechargeable battery, such as a lithium battery, so that the charging is convenient. The control board 502 is used for receiving detection signals of the sensors and controlling the steering engine to output preset rotation.

Illustratively, the upper body frame 100 is mounted with an acceleration sensor 503 for detecting displacement of the upper body frame 100 in 6 directions, i.e., attitude and position information of the upper body frame 100. The two support legs 240 may be respectively provided with a force sensor for detecting forces or moments in six directions of the support legs 240. The acceleration sensor 503 and the force sensor are electrically connected with the control board 502, the control board 502 receives the detection signals, and the steering engines are controlled through operation to adjust the posture and the motion of the robot.

In addition, the spacer 106 may be provided between the battery 501 and the control board 502, which reduces heat exchange therebetween and improves reliability. The control panel 502 may be provided with an emergency stop switch 504, and the upper body frame 100 has a hole site corresponding to the emergency stop switch 504, and the robot is stopped by pressing the emergency stop switch 504. The upper body frame 100 is provided with an air outlet 1041, and a fan 505 is arranged at the air outlet 1041 and used for cooling the heating device. The control board 502 may be provided with a power switch 506 for controlling whether the robot is powered on to operate.

In another embodiment of the present application, referring to fig. 1, fig. 2, and fig. 7, the biped robot further includes a handle 600 slidably mounted on the upper body frame 100, the handle 600 is provided with a limiting groove 601, the upper body frame 100 is provided with a positioning pin 602, and the positioning pin 602 is inserted into the limiting groove 601. The handle 600 is arranged on the upper body frame 100, so that the robot can be conveniently lifted for carrying. When the handle 600 is released, the handle 600 slides down under the action of gravity to be reset. Specifically, both ends of the handle 600 are provided with vertically extending limiting grooves 601, the left side and the right side of the upper body frame 100 are respectively provided with a positioning pin 602, and the two positioning pins 602 penetrate through the two limiting grooves 601 respectively, so that the handle 600 can move up and down relative to the upper body frame 100.

In another embodiment of the present application, referring to fig. 1, 6, and 7, the upper body frame 100 includes a bottom plate 101, a front side plate 102 and a rear side plate 103 mounted on the bottom plate 101 and disposed at an interval, and a top cover 104 mounted between the front side plate 102 and the rear side plate 103, an accommodation space is defined between the bottom plate 101, the front side plate 102, the rear side plate 103, and the top cover 104, and the first steering engine 210 and the second steering engine 220 are disposed in the accommodation space. This upper body frame 100 is easy to assemble, is convenient for first steering wheel 210 and second steering wheel 220 to arrange in upper body frame 100. The upper body frame 100 further comprises a support plate 105 arranged between the bottom plate 101 and the top cover 104, and the third steering gear 310 and the control plate 502 can be assembled on the support plate 105. In addition, a front protection cover 107 is disposed on the front side plate 102 to protect the angle limiting member 260. The rear side plate 103 is provided with a rear protective cover 108 to protect the roll transmission mechanism 320 in the roll driving assembly 300.

The present invention is not intended to be limited to the particular embodiments shown and described, but is to be accorded the widest scope consistent with the principles and novel features herein disclosed.

Claims

1. A biped robot, comprising: the upper body frame and the leg structures are arranged on the upper body frame in pairs at intervals;

2. The biped robot of claim 1 wherein each leg structure further comprises a swing frame, the first steering engine and the second steering engine are fixed to the swing frame, and the swing frame is rotatably mounted to the upper body frame;

3. The biped robot according to claim 2, wherein two ends of the swing frame are rotatably mounted on the upper body frame respectively, the swing frame is provided with a first mounting position for mounting the first steering engine and a second mounting position for mounting the second steering engine, the swing frame is provided with a first through hole corresponding to the output shaft of the first steering engine, and the swing frame is provided with a second through hole corresponding to the output shaft of the second steering engine.

4. The biped robot according to claim 2, wherein one end of the swing frame is provided with an angle limiting member, and the upper body frame is provided with a limiting pin for blocking cooperation with the angle limiting member to limit a swing range of the swing frame.

5. The biped robot of claim 2 wherein each of the yaw drive assemblies comprises a third steering engine and a yaw drive mechanism for transmitting power from the third steering engine to the swing frame;

6. The biped robot of claim 5, wherein the side-swinging transmission mechanism is a double-crank mechanism, the double-crank mechanism comprises a first crank, a second crank and a third connecting rod, the first crank is fixed on an output shaft of the third steering engine, the second crank is fixed on the swing frame, and two ends of the third connecting rod are respectively pivoted to the first crank and the second crank.

7. The biped robot of claim 6, wherein the number of the third links is two, two of the third links are spaced apart in parallel, first ends of the two third links are respectively located at two sides of the pivot axis of the first crank and are both pivoted to the first crank, and second ends of the two third links are respectively located at two sides of the pivot axis of the swing frame and are both pivoted to the swing frame.

8. The biped robot according to claim 5, wherein the lateral swing transmission mechanism is a synchronous pulley mechanism, the synchronous pulley mechanism comprises a first synchronous pulley, a second synchronous pulley and a synchronous belt, the first synchronous pulley is fixed to an output shaft of the third steering engine, the second synchronous pulley is fixed to the swing frame, and the synchronous belt is wound around the first synchronous pulley and the second synchronous pulley;

or the side swing transmission mechanism is a gear transmission mechanism.

9. The biped robot of any one of claims 1 to 8 further comprising a center of mass fore-aft adjustment mechanism comprising a mounting plate and a mass, the mounting plate being located between the two leg structures and being fixed to the front side of the upper body frame, the mass being positionally adjustable mounted on the mounting plate.

10. The biped robot of any one of claims 1 to 8, wherein each of the support legs has two support ends spaced apart from each other, the pivot axis between the first link and the support leg and the pivot axis between the second link and the support leg are both located between the two support ends, and a center connecting line of the two support ends is perpendicular to an axis of the output shaft of the first steering engine.

11. The biped robot of claim 10 wherein each of said support ends is provided with a wear sleeve.

12. The biped robot of claim 10 wherein each of the leg structures has a pivot axis between the first link and the support foot that is collinear with a pivot axis between the second link and the support foot.

13. The biped robot of any one of claims 1 to 8, further comprising a battery and a control panel, wherein the battery and the control panel are mounted on the upper body frame, the battery is electrically connected to the control panel, and the control panel is electrically connected to the first steering engine and the second steering engine.

14. The biped robot of any one of claims 1 to 8, further comprising a handle slidably mounted on the upper body frame, wherein the handle is provided with a limiting groove, and the upper body frame is provided with a positioning pin penetrating through the limiting groove.

15. The biped robot according to any one of claims 1 to 8, wherein the upper body frame comprises a bottom plate, a front side plate and a rear side plate which are mounted on the bottom plate and arranged at an interval, and a top cover mounted between the front side plate and the rear side plate, wherein an accommodating space is defined by the bottom plate, the front side plate, the rear side plate and the top cover, and the first steering gear and the second steering gear are arranged in the accommodating space.