CN112776914A - Biped robot - Google Patents
Biped robot Download PDFInfo
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- CN112776914A CN112776914A CN202110120100.8A CN202110120100A CN112776914A CN 112776914 A CN112776914 A CN 112776914A CN 202110120100 A CN202110120100 A CN 202110120100A CN 112776914 A CN112776914 A CN 112776914A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
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Abstract
The invention discloses a biped robot which comprises a main body, leg structures, an operating arm and a balancing part, wherein the two leg structures are symmetrically arranged on two sides of the main body and can rotate relative to the main body, the operating arm is arranged on the main body and can move relative to the main body, the balancing part comprises a balancing wheel, and the balancing wheel is rotatably connected with the main body. According to the biped robot in the embodiment of the invention, the leg structure can provide power for the movement of the robot, the robot is supported to perform actions such as walking and jumping, the operating arm can move relative to the main body so that the actuator at the tail end of the operating arm executes corresponding operations, and the additional torque applied to the robot by the movement of the operating arm is balanced by the torque generated by the rotation of the balance wheel, so that the robot is kept stable as a whole, and the operating arm is convenient to execute corresponding tasks.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a biped robot.
Background
The barrier can be strideed across to biped robot, adapts to multiple complicated topography, and in the correlation technique, the end of biped machine is provided with the executor of different grade type to carry out the task of different grade types, the executor carries out position control through the swing of arm, and the swing of arm leads to the influence to the whole focus of robot, leads to the robot unbalance, and the robot has the risk of slope or turning on one's side, influences the normal operating of robot.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a biped robot which can improve the balance performance of the robot in the task execution process.
The biped robot according to the embodiment of the invention comprises:
a main body;
the two leg structures are symmetrically arranged on two sides of the main body and can rotate relative to the main body;
an operating arm mounted on the main body and capable of moving relative to the main body;
the balancing part comprises a balancing wheel, and the balancing wheel is connected with the main body in a rotating mode.
The biped robot according to the embodiment of the invention has at least the following beneficial effects:
according to the biped robot in the embodiment of the invention, the leg structure can provide power for the movement of the robot, the robot is supported to perform actions such as walking and jumping, the operating arm can move relative to the main body so that the actuator at the tail end of the operating arm executes corresponding operations, and the additional torque applied to the robot by the movement of the operating arm is balanced by the torque generated by the rotation of the balance wheel, so that the robot is kept stable as a whole, and the operating arm is convenient to execute corresponding tasks.
According to some embodiments of the invention, the balance part further comprises a mounting rod, the balance wheel is fixed to one end of the mounting rod, the other end of the mounting rod is connected with the main body, and the mounting rod can rotate relative to the main body.
According to some embodiments of the invention, the mounting bar comprises a first bar and a second bar, the first bar and the second bar being relatively movable to change the length of the mounting bar.
According to some embodiments of the invention, the balancing part comprises two opposite first driving members, the main body comprises a mounting frame, the first driving members are fixedly connected with the mounting frame, and the two first driving members are respectively mounted on two sides of the balancing wheel and can simultaneously drive the balancing wheel to rotate.
According to some embodiments of the invention, the operating arm is rotatably connected to the body.
According to some embodiments of the invention, the operating arm comprises a plurality of arm segments, adjacent to which are rotatably connected.
According to some embodiments of the invention, the leg structure includes a thigh portion connected to the main body and rotatable with respect to the main body, a lower leg portion connected to the thigh portion and rotatable with respect to the thigh portion, and a foot portion mounted at one end of the lower leg portion and rotatable with respect to the lower leg portion.
According to some embodiments of the present invention, the main body includes a mounting frame, the thigh portion includes a second driving member, a first mounting seat, and a thigh body, the second driving member is accommodated in the first mounting seat, the first mounting seat is connected to the thigh body, and the second driving member is configured to drive the thigh body to rotate.
According to some embodiments of the present invention, the shank portion includes a third driving member, a second mounting seat and a shank body, the third driving member is accommodated in the second mounting seat, the second mounting seat is connected to the first mounting seat, and the third driving member is configured to drive the shank body to rotate.
According to some embodiments of the invention, the foot part comprises a fourth driving part, a third mounting seat and a rotating wheel, the fourth driving part is accommodated in the third mounting seat, the third mounting seat is connected with the shank body, and the fourth driving part is used for driving the rotating wheel to rotate.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The invention is further described with reference to the following figures and examples, in which:
FIG. 1 is a schematic structural diagram of one embodiment of the biped robot of the present invention;
FIG. 2 is a schematic structural diagram of another embodiment of the biped robot of the present invention;
FIG. 3 is an exploded view of the balance of FIG. 2;
FIG. 4 is an exploded view of the manipulator arm of FIG. 2;
FIG. 5 is a cross-sectional view of the operating arm of FIG. 2;
FIG. 6 is a schematic diagram of one embodiment of the leg structure of FIG. 1;
FIG. 7 is an exploded view of one embodiment of the thigh section of FIG. 6;
figure 8 is an exploded view of one embodiment of the lower leg and foot of figure 6.
Reference numerals: the main body 100, the mounting frame 110, the mounting member 111, the fixing frame 120, the supporting frame 130, the leg structure 200, the thigh 210, the thigh body 211, the thigh member 2111, the connecting frame 2112, the first connecting plate 2113, the first mounting seat 212, the first rotating shaft 213, the lower leg portion 220, the lower leg body 221, the lower leg member 2211, the second connecting plate 2212, the second mounting seat 222, the second rotating shaft 223, the timing belt 224, the synchronizing wheel 225, the tensioning wheel 226, the foot 230, the rotating wheel 231, the third rotating shaft 232, the connecting seat 233, the angular contact bearing 234, the operating arm 300, the first arm segment 310, the first rotating shaft 311, the connecting body 312, the second arm segment 320, the first driving shaft 321, the second rotating arm 322, the driving belt 323, the driving wheel 324, the second driving shaft 325, the first driving member 330, the second driving member 340, the balancing portion 400, the balancing wheel 410, the mounting rod 420, the first driving member 430, the electronic control assembly 500, the battery 510, camera 530, control module 540.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, the meaning of a plurality is one or more, the meaning of a plurality is two or more, and the above, below, exceeding, etc. are understood as excluding the present numbers, and the above, below, within, etc. are understood as including the present numbers. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.
In the description of the present invention, reference to the description of the terms "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Referring to fig. 1, in an embodiment of the present invention, a biped robot is provided, including a main body 100, a leg structure 200, an operation arm 300, and a balance unit 400, wherein the leg structure 200, the operation arm 300, and the balance unit 400 may all be mounted on the main body 100, the main body 100 provides a mounting base for the above components, the leg structure 200 is used to drive the robot to integrally walk, a corresponding actuator may be mounted at an end of the operation arm 300 according to a specific application scenario to perform a corresponding task, and the balance unit 400 is used to maintain a balance state of the robot during walking, jumping, or movement of the operation arm 300, so as to improve stability of operation of the robot.
Specifically, two leg structures 200 are provided, the two leg structures 200 are symmetrically installed on two sides of the main body 100, the leg structures 200 can rotate relative to the main body 100 to adjust the overall height, pitch state, center position and the like of the robot, and in addition, the leg structures 200 provide power for the movement of the robot to enable the robot to walk, jump and the like. The operation arm 300 is mounted on the main body 100, and the operation arm 300 can move relative to the main body 100 to make the end of the operation arm 300 close to or far from the main body 100, so as to perform corresponding operations; the movement of the operation arm 300 may be such that the operation arm 300 moves relative to the main body 100 to extend or retract the operation arm 300 from the main body 100, the operation arm 300 extends to approach an object to be executed when a task is performed, and the operation arm 300 retracts into the main body 100 after the task is completed; the manipulation arm 300 is also rotatable with respect to the main body 100 so that the manipulation arm 300 can be folded into the main body 100 or unfolded from the main body 100, and when a task is performed, the manipulation arm 300 is unfolded to be close to an object to be performed, and after the task is completed, the manipulation arm 300 is folded into the main body 100 again. In view of the fact that the center of gravity of the robot is changed by the movement of the operation arm 300 relative to the main body 100, and the robot is easily toppled back and forth due to the additional moment generated by the self-gravity of the operation arm 300, in one embodiment of the present invention, the balance part 400 includes the balance wheel 410, the balance wheel 410 is rotatably connected with the main body 100, and the moment generated by the rotation of the balance wheel 410 can counteract the additional moment generated by the movement of the operation arm 300, so that the robot is kept in balance, and the stability of the operation arm 300 is improved.
Therefore, in the biped robot of the embodiment of the present invention, the leg structure 200 can provide power for the movement of the robot, support the robot to perform walking, jumping, etc., the operation arm 300 can move relative to the main body 100 to make the actuator at the end of the operation arm perform corresponding operations, and balance the extra moment applied to the robot by the movement of the operation arm 300 through the moment generated by the rotation of the balance wheel 410, so that the robot as a whole is kept stable, and the operation arm 300 can perform corresponding tasks conveniently.
It should be noted that, in order to make the direction of the moment generated by the balance wheel 410 rotate opposite to the direction of the extra moment generated by the operation arm 300, the rotation axis of the balance wheel 410 may be perpendicular to the movement plane of the operation arm 300, that is, if the operation arm 300 moves linearly relative to the main body 100, the rotation axis of the balance wheel 410 is perpendicular to the linear movement plane (excluding the plane parallel to the horizontal plane) of the operation arm 300, and if the operation arm 300 rotates relative to the main body 100, the rotation axis of the balance wheel 410 is perpendicular to the rotation plane (excluding the plane parallel to the horizontal plane) of the operation arm 300. The actuator attached to the end of the operation arm 300 may be a gripper, a suction cup, a welding gun, or the like.
In an embodiment of the present invention, the operation arm 300 and the balance part 400 are installed at the center of the main body 100 and located at both sides of the main body 100, respectively, so that the center of gravity of the robot is located on the center line of the main body 100, and the moments generated by the operation arm 300 and the balance part 400 are balanced.
Referring to fig. 2 and 3, in another embodiment of the present invention, the balancing part 400 further includes a mounting rod 420, the balance wheel 410 is fixed to one end of the mounting rod 420, the other end of the mounting rod 420 is connected to the main body 100, and the mounting rod 420 can rotate with respect to the main body 100. Since the mounting rod 420 has a certain length and the balance wheel 410 has a certain weight, the mounting rod 420 can extend in the opposite direction of the operation arm 300, so that the balance wheel 410 can balance the moment generated by the end of the operation arm 300 relative to the connection between the operation arm 300 and the main body 100 based on the moment generated by the connection between the mounting rod 420 and the main body 100, thereby preventing the position of the center of gravity of the robot from changing and affecting the stability of the robot movement. It should be noted that the length of the mounting rod 420 and the rotation angle of the mounting rod 420 relative to the main body 100 can be adjusted according to the specific movement form of the operating arm 300, the weight of the actuator and the length of the operating arm 300.
It is conceivable that the mounting bar 420 and the balance wheel 410 are combined with each other during rotation, to balance the dynamic moment generated when the operation arm 300 moves and performs a task; the mounting bar 420 is fixed to the main body 100 such that the mounting bar 420 is inclined at a certain angle with respect to the main body 100, and the mounting bar 420 and the balance wheel 410 are combined with each other to balance an additional moment generated from the robot arm in the unfolded or extended state. The rotation angle and the rotation direction of the mounting lever 420 can be adaptively selected according to the specific movement pattern of the operating arm 300.
In order to quickly balance the moment generated by the balance wheel 410 with the moment generated by the operation arm 300, in an embodiment of the present invention, the mounting rod 420 may be configured as a telescopic rod, and the length of the mounting rod 420 is adjusted by the telescopic motion of the mounting rod 420, so that the moment generated by the balance wheel 410 can be quickly matched with the moment generated by the operation arm 300, and the robot can be kept in balance. Specifically, the mounting rod 420 includes a first rod and a second rod, and the first rod and the second rod can move relatively, so that the overall length of the mounting rod 420 is changed; the first rod is connected to the main body 100, the second rod is connected to the balance wheel 410, and the first rod and the second rod are inserted and can relatively move along the length direction of the first rod or the second rod.
Referring to fig. 3, the balancing part 400 includes a first driving member 430, the first driving member 430 is mounted on the main body 100, and the first driving member 430 is connected to the mounting rod 420 and drives the mounting rod 420 to rotate. In order to balance the influence of the operation arm 300 on the center of gravity of the robot, the balance wheel 410 generally has a certain weight, and in one embodiment of the present invention, the balance part 400 includes two first driving members 430, and the two first driving members 430 are respectively installed at both sides of the mounting rod 420 or the balance wheel 410 and simultaneously drive the balance wheel 410 or the mounting rod 420 to rotate, so as to provide a large torque for the rotation of the balance wheel 410 and the mounting rod 420. The first driving member 430 can be a high-speed motor, a motor, etc., such as a high-speed large-torque brushless motor.
Referring to fig. 2, the main body 100 includes a mounting frame 110, the leg structures 200 are disposed on two sides of the mounting frame 110, and the first driving member 430 is connected to the mounting frame 110. Specifically, the mounting frame 110 includes two opposite mounting parts 111, the two mounting parts 111 have a gap therebetween and form a mounting space, the two first driving members 430 are located in the mounting space, the two first driving members 430 are respectively mounted on the two mounting parts 111, and the balance wheel 410 or a part of the mounting rod 420 is located in the mounting space and connected to the first driving members 430.
Referring to fig. 3, an electronic control assembly 500 is disposed between the two mounting members 111, the electronic control assembly 500 includes a battery 510, a sensor 520, a camera 530, a control module 540, and the like, and the battery 510 can provide battery support for other components in the electronic control assembly 500 and the actions of the leg structure 200 and the operation arm 300; the sensor 520 is used to detect the motion attitude of the robot, the velocity, acceleration, gravity direction, GPS position, etc. of the leg structure 200; the camera 530 is used for shooting the environment in front of the robot and can sense the environment; the camera 530 can be replaced by a laser radar to acquire surrounding environment information, and whether obstacles exist or not is realized, and auxiliary positioning is carried out; the control module 540 acquires the detection information of the sensor and the camera and feeds the detection information back to the control system so as to send instructions to the leg structure 200, the balance part 400 and the operation arm 300.
Referring to fig. 1 to 3, the operation arm 300 is rotatably connected to the main body 100, and during the rotation of the operation arm 300, the end thereof is close to or far from the main body 100, so that the actuator performs corresponding operations on the object to be executed. The rotation of the operation arm 300 can avoid the arrangement of a guide rail, a support and other structures for moving the operation arm 300 on the main body 100, and the operation arm 300 can be extended and retracted relative to the main body 100 through rotation, so that the operation is convenient.
The operation arm 300 may include a plurality of arm segments rotatably connected to each other, and the plurality of arm segments may extend a range of motion of the operation arm 300 and an overall length of the operation arm 300, so that the operation arm 300 may rotate more flexibly, and the operation arm 300 may perform corresponding operations. In one embodiment of the present invention, the operation arm 300 includes a first arm segment 310 and a second arm segment 320, the first arm segment 310 is connected to the main body 100 and can rotate relative to the main body 100, one end of the second arm segment 320 is connected to the first arm segment 310 and can rotate relative to the first arm segment 310, and the other end of the second arm segment 320 is used for installing an actuator.
Referring to fig. 4 and 5, the operation arm 300 includes a first driving part 330 and a second driving part 340, the first driving part 330 is used for driving the first arm section 310 to rotate, the second driving part 340 is used for driving the second arm section 320 to rotate, and the first driving part 330 and the second driving part 340 are respectively installed at two sides of the mounting frame 110. The protruding end of the first driving member 330 passes through the mounting member 111 to be connected to the first arm section 310 and drives the first arm section 310 to rotate, the second arm section 320 includes a first transmission shaft 321, the first transmission shaft 321 is connected to the second driving member 340 and penetrates between the two mounting members 111, the first arm section 310 includes two opposite first rotating arm members 311, and two ends of the first transmission shaft 321 are respectively and rotatably connected to the two first rotating arm members 311. The second arm section 320 includes two opposite second rotating arm members 322, end portions of the two second rotating arm members 322 are assembled with each other and used for mounting an actuator, the second arm section 320 further includes a transmission belt 323, a transmission wheel 324 and a second transmission shaft 325, two ends of the second transmission shaft 325 are respectively connected with the first rotating arm member 311, the second rotating arm members 322 are rotatably connected with the second transmission shaft 325, the first transmission shaft 321 and the second transmission shaft 325 are respectively inserted into the two transmission wheels 324, two sides of the transmission wheel 324 are respectively fixedly connected with the second rotating arm members 322, the transmission belt 323 is wound on the two transmission wheels 324, the second transmission shaft 325 is synchronously rotated along with the first transmission shaft 321 through power transmission of the transmission belt 323, and the first arm section 310 is further rotated relative to the second arm section 320.
In order to improve the structural strength of the first arm section 310, the first arm section 310 further includes two connecting bodies 312, the two connecting bodies 312 are in a shell shape, the two connecting bodies 312 can be butted and assembled with each other, the two connecting bodies 312 are respectively mounted on the first rotating arm piece 311 and located inside the first rotating arm piece 311, the driving wheel 324 is located between the two connecting bodies 312, the driving belt 323 is located between the two first rotating arm pieces 311, the two connecting bodies 312 can be combined to support the first rotating arm piece 311, and the first driving shaft 321 can penetrate through the two connecting bodies 312.
Referring to fig. 2, the leg structure 200 includes a thigh portion 210, a lower leg portion 220, and a foot portion 230, the thigh portion 210 is connected to the body 100 and can rotate with respect to the body 100, the lower leg portion 220 is connected to the thigh portion 210 and can rotate with respect to the thigh portion 210, and the foot portion 230 is mounted at one end of the lower leg portion 220 and can rotate with respect to the lower leg portion 220. Referring to fig. 6, the thigh part 210 includes a thigh body 211 and a second driving element (not shown), the second driving element is connected to the thigh body 211 and is used for driving the thigh body 211 to rotate relative to the main body 100, and the rotation of the thigh body 211 relative to the main body 100 can adjust the posture of the upper body of the robot, so that the robot can move forward in an upright state, a pitching state, and the like; the number of the calf parts 220 is two, the two calf parts 220 are respectively connected with the thigh part 210, each calf part 220 comprises a calf body 221 and a third driving part (not shown), the third driving part is connected with the calf body 221 and is used for driving the calf body 221 to rotate relative to the thigh body 211 so as to adjust an included angle between the calf body 221 and the thigh body 211, and therefore the overall height of the robot is changed; similarly, two foot parts 230 are provided, the foot part 230 is mounted at the end of the lower leg body 221, the foot part 230 includes a rotating wheel 231 and a fourth driving part (not shown), the rotating wheel 231 is rotatably connected with the lower leg body 221, the fourth driving part is connected with the rotating wheel 231 and is used for driving the rotating wheel 231 to rotate relative to the lower leg body 221, and the rotation of the rotating wheel 231 provides power for the movement of the robot to move forward.
Since the center of gravity position of the entire robot can be changed by both the rotation of thigh portion 210 with respect to main body 100 and the rotation of lower leg portion 220 with respect to thigh portion 210, the change in the center of gravity position caused by the rotation of operation arm 300 can be adjusted by changing the configuration of leg structure 200, and the entire robot can be in a balanced state.
It should be noted that the biped robot in the embodiment of the present invention can also perform a jumping motion to avoid or climb over an obstacle. Specifically, the biped robot goes through three stages of squatting, jumping and falling in the jumping process, in the squatting process, the thigh body 211 and the shank body 221 rotate relatively, the included angle between the thigh body and the shank body becomes smaller, and the force is accumulated for jumping; when jumping, the thigh body 211 and the shank body 221 are gradually opened, the upper end of the thigh body 211 is lifted to a certain height, then the shank body 221 is lifted upwards and folded to a certain angle with the thigh body 211, the foot 230 rises along with the shank body 221, and the robot is lifted off the ground and goes over an obstacle as a whole; when falling, the thigh body 211 and the shank body 221 are opened, and for the purpose of storing the force during falling, after the foot 230 contacts the ground, the thigh body 211 gradually approaches the shank body 221, so that the impact on the robot during falling is reduced, and then the thigh body 211 is opened again relative to the shank body 221, so that the robot walks in a standing posture after crossing an obstacle.
In the jumping process of the robot, the lower leg part 220 and the foot part 230 need to be folded upwards to complete the jumping action, the rotation of the lower leg part 220 and the foot part 230 causes the position of the gravity center of the robot to be changed, the robot is unbalanced as a whole and needs to be matched with the rotation of the thigh part 210 relative to the lower leg part 220, the thigh part 210 and the lower leg part 220 are folded or unfolded mutually, and the robot is in a pitching state. In order to quickly balance the robot and adjust the posture of the upper body of the robot during jumping, the moment generated by the rotation of the balance wheel 410 can balance the extra moment generated by the leg structure 200 during jumping, and the jumping posture and jumping stability of the robot are optimized.
It should be noted that the balance wheel 410, the combination structure of the balance wheel 410 and the mounting rod 420 can be applied to different use scenarios. For example, when the robot stops walking or jumping and performs a corresponding task by rotating the operation arm 300, the center of gravity of the robot changes, the mounting rod 420 may be fixed at a suitable position, and the moment generated by the gravity of the operation arm 300 is balanced by the moment generated by the gravity of the balance wheel 410; during the jumping process of the robot, the motion of the leg structure 200 changes the overall gravity center of the robot, the balance wheel 410 can be driven to rotate, the moment generated by the rotation of the balance wheel 410 is balanced, the moment generated by the motion of the leg structure 200 is balanced, the robot keeps balance during the jumping process, and the upper body of the robot can keep an upright posture during the jumping process through the balance of the moment generated by the balance wheel 410.
In addition, the installation rod 420 has a certain length, the rotation of the balance wheel 410 installed at the end of the installation rod 420 is limited by space, and the rotation angle is limited, so the combined structure of the installation rod 420 and the balance wheel 410 is more suitable for adjusting the center of gravity position of the robot in a static state. The balance wheel 410 without the installation rod 420 rotates independently, the required rotating space is small, and 360-degree rotation can be performed, so that the independent rotation of the balance wheel 410 can continuously provide torque for the robot in a longer time, and the adjustment range of the torque is increased, and therefore, the independent structure of the balance wheel 410 is more suitable for the gravity center adjustment of the robot in the moving process, such as jumping and the like.
The thigh 210 includes a first mounting seat 212, the first mounting seat 212 is fixedly connected to the main body 100, the first mounting seat 212 is hollow, and the second driving member is mounted in the first mounting seat 212 to prevent the second driving member from being exposed and influenced by external environment, and to make the structure of the main body 100 and the thigh 210 more compact. The shank 220 includes a second mounting seat 222, the second mounting seat 222 is connected to the first mounting seat 212, the second mounting seat 222 is hollow, and the third driving member is mounted inside the second mounting seat 222, so that the structure inside the shank 220 is compact. The second driving piece is connected with the second mounting seat 222, the third driving piece is connected with the thigh body 211, the thigh body 211 is rotatably connected with the shank body 221, the second mounting seat 222 transmits the power of the second driving piece to the third driving piece through the connection mode, and the shank body 221 is driven by the third driving piece to rotate along with the rotation of the thigh body 211 and rotate relative to the thigh body 211.
In order to fix the first mounting seat 212 and the second mounting seat 222 and reduce the impact of the robot on the second driving element and the third driving element during jumping, in an embodiment of the present invention, the main body 100 further includes a fixing frame 120, the fixing frame 120 is mounted on two sides of the mounting frame 110, the fixing frame 120 can support the first mounting seat 212 and the second mounting seat 222, so that the impact on the second driving element is transmitted to the fixing frame 120 through the first mounting seat 212, and the impact on the third driving element is transmitted to the fixing frame 120 through the second mounting seat 222, thereby preventing the second driving element and the third driving element from being damaged by impact force and prolonging the service life of the robot.
Referring to fig. 6 and 7, the main body 100 further includes a supporting frame 130, an end of the supporting frame 130 is connected to the fixing frame 120 and is located at a bottom of the fixing frame 120, the thigh portion 210 includes a first rotating shaft 213, one end of the first rotating shaft 213 is connected to the second driving member, and the other end of the first rotating shaft 213 is rotatably connected to the supporting frame 130. Therefore, the first mounting seat 212 is located at the right end of the fixing frame 120 and connected to the fixing frame 120, the second mounting seat 222 is located at the left end of the fixing frame 120 and connected to the supporting frame 130 through the second driving member and the first rotating shaft 213, and the first mounting seat 212 and the second mounting seat 222 can be connected into a whole through the connecting frame 2112, so that both the left and right sides of the fixing frame 120 can provide supporting force, and the second driving member and the third driving member can operate stably.
Specifically, referring to fig. 8, the transmission assembly includes a synchronous belt 224 and two synchronous wheels 225, the two synchronous wheels 225 are respectively connected to the first rotating shaft 213 and the second rotating shaft 223, the synchronous belt 224 is wound around the two synchronous wheels 225, and the first rotating shaft 213 and the second rotating shaft 223 synchronously rotate through power transmission of the synchronous belt 224, so as to realize power driving of the second driving member on the lower leg body 221. A tension pulley 226 can be further disposed in the thigh portion 210, and the tension pulley 226 is used for tensioning the synchronous belt 224, so as to improve the power transmission efficiency of the transmission assembly.
It should be noted that the thigh body 211 includes two opposite thigh members 2111, a gap is provided between the two thigh members 2111, and the synchronizing wheel 225 and the synchronizing belt 224 can be located between the two thigh members 2111, so that the thigh portion 210 and the shank portion 220 can be connected more compactly. In order to ensure the structural strength of the thigh body 211, a connecting frame 2112 is further disposed between the two thigh members 2111, the connecting frame 2112 is located at one end of the thigh body 211, and the connecting frame 2112 is hollow and can accommodate the first rotating shaft 213 and the synchronizing wheel 225. In addition, the thigh body 211 further comprises a plurality of first connection plates 2113, the first connection plates 2113 can be arranged, and two sides of each first connection plate 2113 are connected with the two thigh parts 2111, so that the structural strength of the thigh body 211 is further improved.
The foot part 230 includes a third shaft 232, one end of the third shaft 232 is connected to the fourth driving part, and the other end of the third shaft 232 is connected to the rotating wheel 231, so that the rotating wheel 231 is driven by the fourth driving part to rotate through the power transmission of the third shaft 232. The foot 230 further includes a connecting seat 233, the connecting seat 233 is hollow inside, and the third rotating shaft 232 can pass through the connecting seat 233, the pair of angular contact bearings 234 is sleeved outside the third rotating shaft 232 and located between the third rotating shaft 232 and the connecting seat 233, and the angular contact bearings 234 can transmit impact generated by the robot and the ground during jumping to the lower leg body 221. The shank body 221 comprises two shank pieces 2211 which are arranged oppositely, two ends of the connecting base 233 are respectively connected with the two shank pieces 2211, mounting holes for mounting the connecting base 233 are formed in the shank pieces 2211, similarly, in order to improve the structural strength of the shank body 221, a second connecting plate 2212 is mounted between the two shank pieces 2211, and the second connecting plates 2212 can be arranged in a plurality.
The side portions of thigh piece 2111 and shank piece 2211 are further provided with threading grooves for threading, and the threading grooves are used for fixing cables, so that the surfaces of thigh 210 and shank 220 are clean.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention. Furthermore, the embodiments of the present invention and the features of the embodiments may be combined with each other without conflict.
Claims (10)
1. A biped robot, comprising:
a main body;
the two leg structures are symmetrically arranged on two sides of the main body and can rotate relative to the main body;
an operating arm mounted on the main body and capable of moving relative to the main body;
the balancing part comprises a balancing wheel, and the balancing wheel is connected with the main body in a rotating mode.
2. The biped robot of claim 1, wherein the balance part further comprises a mounting bar, the balance wheel is fixed to one end of the mounting bar, the other end of the mounting bar is connected to the main body, and the mounting bar is rotatable relative to the main body.
3. The biped robot of claim 2 wherein the mounting bar comprises a first bar and a second bar, the first bar and the second bar being relatively movable to change the length of the mounting bar.
4. The biped robot of claim 1, wherein the balance part comprises two first driving members opposite to each other, the main body comprises a mounting frame, the first driving members are fixedly connected with the mounting frame, and the two first driving members are respectively mounted on two sides of the balance wheel and can simultaneously drive the balance wheel to rotate.
5. The biped robot of claim 1 wherein the operating arm is pivotally connected to the body.
6. The biped robot of claim 5 wherein the manipulator arm comprises a plurality of arm segments, adjacent to which are pivotally connected.
7. The biped robot of any one of claims 1 to 6 wherein the leg structure comprises a thigh section connected to the main body and rotatable relative to the main body, a lower leg section connected to the thigh section and rotatable relative to the thigh section, and a foot section mounted at one end of the lower leg section and rotatable relative to the lower leg section.
8. The biped robot of claim 7 wherein the main body comprises a mounting bracket, the thigh portion comprises a second driving member, a first mounting seat and a thigh body, the second driving member is received in the first mounting seat, the first mounting seat is connected with the thigh body, and the second driving member is used for driving the thigh body to rotate.
9. The biped robot of claim 8, wherein the shank comprises a third driving member, a second mounting seat and a shank body, the third driving member is accommodated in the second mounting seat, the second mounting seat is connected with the first mounting seat, and the third driving member is used for driving the shank body to rotate.
10. The biped robot of claim 9, wherein the foot part comprises a fourth driving member, a third mounting seat and a rotating wheel, the fourth driving member is accommodated in the third mounting seat, the third mounting seat is connected with the shank body, and the fourth driving member is used for driving the rotating wheel to rotate.
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| CN113184077A (en) * | 2021-06-09 | 2021-07-30 | 曾嘉禹 | Smart task type biped robot based on SLAM and machine vision and control method thereof |
| FR3126958A1 (en) | 2021-09-16 | 2023-03-17 | Horus Marie Siddharta 2030 | High mobility compact land vehicle |
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| CN112776914B (en) | 2022-08-12 |
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