CN113618750A - Humanoid robot with high dynamic four-foot motion mode and two-arm working mode - Google Patents
Humanoid robot with high dynamic four-foot motion mode and two-arm working mode Download PDFInfo
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- CN113618750A CN113618750A CN202110903367.4A CN202110903367A CN113618750A CN 113618750 A CN113618750 A CN 113618750A CN 202110903367 A CN202110903367 A CN 202110903367A CN 113618750 A CN113618750 A CN 113618750A
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- 230000005540 biological transmission Effects 0.000 claims abstract description 147
- 238000006243 chemical reaction Methods 0.000 claims abstract description 126
- 239000000203 mixture Substances 0.000 claims abstract description 8
- 210000003414 extremity Anatomy 0.000 claims description 370
- 210000001624 hip Anatomy 0.000 claims description 92
- 210000002414 leg Anatomy 0.000 claims description 35
- 241000124008 Mammalia Species 0.000 claims description 6
- 210000000323 shoulder joint Anatomy 0.000 claims description 6
- 238000004088 simulation Methods 0.000 claims description 4
- 210000001364 upper extremity Anatomy 0.000 claims description 4
- 230000005484 gravity Effects 0.000 claims description 3
- 210000004394 hip joint Anatomy 0.000 claims description 3
- 230000033764 rhythmic process Effects 0.000 claims description 3
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 23
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- 239000011664 nicotinic acid Substances 0.000 description 4
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- 230000009977 dual effect Effects 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 241000282412 Homo Species 0.000 description 2
- 241001465754 Metazoa Species 0.000 description 2
- 230000002457 bidirectional effect Effects 0.000 description 2
- 241001466804 Carnivora Species 0.000 description 1
- 241000282373 Panthera pardus Species 0.000 description 1
- 241000288906 Primates Species 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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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
- B62D57/032—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 with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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Abstract
The invention relates to a humanoid robot with a high-dynamic four-foot movement mode and a two-arm working mode, which comprises a robot body system and a four-limb system; the four-limb system consists of four limb subsystems with the same composition structure, wherein each limb subsystem comprises a power hub, a large limb, a small limb, a limb end structure and a small limb transmission structure; each power hub comprises a side swing driving unit, a large limb driving unit, a small limb driving unit, a shoulder and hip conversion driving unit, a basic frame, a side swing frame, a universal joint, a large bevel gear, a small bevel gear, a large bevel gear connecting structure and a shoulder and hip conversion transmission structure; the shoulder and hip conversion driving unit drives the basic frame to rotate through the shoulder and hip conversion transmission structure. The robot comprises multiple operation modes such as a high-dynamic biped motion mode, a high-dynamic quadruped motion mode, a double-arm working mode and the like, so that the robot has relatively flexible double-arm motion capability and high-performance and high-dynamic quadruped motion capability.
Description
Technical Field
The invention relates to the technical field of bionic robots, and particularly provides a humanoid robot with a high-dynamic four-foot motion mode and a double-arm working mode.
Background
The bionic robot technology has entered into a vigorous development period, wherein the simulation of the body motion form of top-level animals of the natural biological chain is especially taken as a guide. Primates, carnivores and perissodactyles in the mammalia have become main bionic prototypes of foot robots with high performance and high dynamic motion capability at present due to the flexible, various, agile and rapid motion characteristics of the animals, and part of prototype machines of the foot robots are going to be commercially applied from laboratories, thereby preliminarily showing the huge development potential of the technology in the field.
The realization of a humanoid robot which completely imitates a human is an important target of the technical development of the bionic robot. The flexible upper limbs and paws are important prerequisites for the human being to be able to use various tools, and are one of the significant differences between humans and other mammals. On the other hand, humans, which rely mainly on the movement of both legs, are inferior to quadruped mammals such as horses and leopards in terms of the speed of movement and rapid passage over rough terrain.
From the technical point of view, increasing the active movement joints and the degree of freedom of movement of limbs is a main means for improving the flexibility of the movement of the limbs, but more active joints mean larger self weight, movement inertia and higher control difficulty. Therefore, how to design a reasonable humanoid robot mechanism scheme based on a limited number of moving joints and make the humanoid robot mechanism scheme have relatively flexible double-arm movement capability and high-performance and high-dynamic four-foot movement capability is one of the leading development directions of humanoid robot technology and is also a main technical target of the work of the invention.
Disclosure of Invention
In view of the above, the present invention provides a humanoid robot having a high dynamic quadruped movement mode and a dual-arm working mode for the requirements of the humanoid robot for arm operation and for high dynamic movement in a field topographic environment, wherein the human body has the functions of an arm and a leg through mechanism transformation, and has high-performance and high-dynamic body movement capability, and the specific technical scheme is as follows:
a humanoid robot with high dynamic quadruped movement mode and double-arm working mode comprises a robot body system and a four-limb system;
defining a fuselage coordinate system on the fuselage system, recording a sagittal axis as an X axis of the fuselage coordinate system, a coronal axis as a Y axis of the fuselage coordinate system, and a vertical axis as a Z axis of the fuselage coordinate system, so that an XY plane of the humanoid robot is a horizontal plane, a YZ plane is a coronal plane, and an XZ plane is a sagittal plane under the condition of vertical standing; the origin of the fuselage coordinate system is located at the position of the center of gravity of the fuselage system;
the four-limb system consists of four limb subsystems with the same composition structure, and each limb subsystem comprises a power hub, a large limb, a small limb, a limb end structure and a small limb transmission structure;
the four limb subsystems are symmetrically arranged on two sides of the robot body system in pairs about the XZ plane and respectively simulate two arms and two legs of the humanoid robot;
each power hub comprises a side swing driving unit, a large limb driving unit, a small limb driving unit, a shoulder and hip conversion driving unit, a basic frame, a side swing frame, a universal joint, a large bevel gear, a small bevel gear, a large bevel gear connecting structure and a shoulder and hip conversion transmission structure; the side swing driving unit, the large limb driving unit, the small limb driving unit and the shoulder and hip conversion driving unit respectively comprise motors and driving output shafts, and the driving output shafts are respectively recorded as a side swing driving unit driving output shaft, a large limb driving unit driving output shaft, a small limb driving unit driving output shaft and a shoulder and hip conversion driving unit driving output shaft; the small limb driving unit drives the output shaft to realize rotary motion around the Y-axis direction, and the rotary axis is marked as a rotary shaft of the small limb driving unit; the large limb driving unit and the side swing driving unit are both fixed with the base frame; the large limb driving unit driving output shaft and the side swing driving unit driving output shaft both realize rotary motion, the rotation axes of the large limb driving unit driving output shaft and the side swing driving unit driving output shaft are coincident, and the rotation axes are marked as a large limb driving unit rotating shaft; the rotating shaft of the small limb driving unit and the rotating shaft of the large limb driving unit are mutually vertical and intersected; the side swing frame and the base frame are constrained by taking the rotating shaft of the large limb driving unit as an axis; the shoulder and hip conversion driving unit drives the base frame to rotate around the rotating shaft of the small limb driving unit through the shoulder and hip conversion transmission structure; the input end of the universal joint rotates synchronously with the rotation of the output shaft driven by the small limb driving unit, and the rotation axis of the input end of the universal joint is coincided with the rotation shaft of the small limb driving unit; the orientation axis of the output end of the universal joint is mutually perpendicular and intersected with the rotating shaft of the large limb driving unit and synchronously rotates along with the rotation of the side swinging frame; the rotary motion of the output end of the universal joint drives the small limb transmission structure to move;
the small bevel gear is driven by the large limb driving unit to drive the output shaft to rotate, the small bevel gear drives the large bevel gear to rotate, the large bevel gear is fixedly connected with the large limb through the large bevel gear connecting structure, and the large limb synchronously rotates along with the rotation of the large bevel gear;
the small limb is driven by the small limb transmission structure to move;
the extremity structure is located at the end of the small limb and has the capability of further connecting a hand part, a foot part and an external tool;
the operation mode of the humanoid robot comprises a high dynamic biped motion mode, in the operation mode, two limb subsystems respectively simulate the legs of the humanoid robot to realize high dynamic biped motion, and the other two limb subsystems respectively simulate the double arms of the humanoid robot to realize synchronous swinging with the biped motion, so as to maintain the body balance under the high dynamic motion condition;
the operation mode of the humanoid robot comprises a high-dynamic quadruped movement mode, and in the operation mode, the four limb subsystems respectively simulate four limbs of a quadruped mammal to realize high-dynamic quadruped movement;
the operation mode of the humanoid robot comprises a double-arm operation mode, and in the operation mode, the two limb subsystems respectively simulate the double arms of the humanoid robot to operate.
Preferably, the small limb driving unit is fixed relative to the fuselage system, the included small limb driving unit drives the output shaft to realize the rotary motion around the direction of the rotating shaft of the small limb driving unit, and the small limb driving unit drives the output shaft to be fixedly connected with the input end of the universal joint;
the shoulder and hip conversion driving unit is relatively fixed with the machine body system, the included shoulder and hip conversion driving unit drives an output shaft to realize rotary motion around the Y-axis direction, and the rotary axis is marked as a rotary shaft of the shoulder and hip conversion driving unit;
the shoulder and hip conversion transmission structure comprises a shoulder and hip conversion large transmission part and a shoulder and hip conversion small transmission part, and the shoulder and hip conversion small transmission part drives the shoulder and hip conversion large transmission part to move; the small shoulder-hip conversion transmission part is fixed with the output shaft driven by the shoulder-hip conversion driving unit and rotates along with the output shaft, and the small shoulder-hip conversion transmission part is supported by a bearing I fixed relative to the machine body system; the shoulder hip conversion large transmission part realizes the rotary motion around the rotating shaft of the small limb driving unit and is supported by a bearing II fixed relative to the machine body system; the shoulder hip conversion large transmission component is fixedly connected with the base frame so as to realize the rotation of the base frame around the rotating shaft of the small limb driving unit;
the side swing driving unit comprises a side swing driving unit driving output shaft which is fixedly connected with the side swing frame, the side swing driving unit driving output shaft to rotate around the large limb driving unit rotating shaft and driving the side swing frame to rotate around the large limb driving unit rotating shaft so as to realize the relative rotation between the side swing frame and the basic frame;
the large limb driving unit comprises a large limb driving unit driving output shaft which is fixedly connected with the small bevel gear, and the large limb driving unit drives the output shaft to rotate around the rotating shaft of the large limb driving unit and drives the small bevel gear to rotate around the rotating shaft of the large limb driving unit;
the small bevel gear and the large bevel gear are in a bevel gear meshing relationship, and the crossed axes angle between the two bevel gears is 90 degrees;
the large bevel gear is fixedly connected with the large limb through the large bevel gear connecting structure to drive the large limb to synchronously rotate along with the large bevel gear; the large bevel gear connecting structure provides support through a bearing III fixed relative to the side swing frame; the large bevel gear and the output end of the universal joint are coaxially arranged geometrically;
the large limb comprises a large limb frame and an upper transmission wheel driving shaft fixing bearing; the upper transmission wheel driving shaft fixing bearing is fixedly arranged on the large limb frame;
the small limb comprises a small limb frame;
the small limb transmission structure comprises an upper transmission wheel, a lower transmission wheel and an upper transmission wheel driving shaft; the upper transmission wheel driving shaft and the upper transmission wheel are coaxially fixed and supported by the upper transmission wheel driving shaft fixing bearing, so that the upper transmission wheel driving shaft drives the upper transmission wheel to rotate; the lower driving wheel is fixed with one end of the small limb frame and forms shaft constraint with the large limb frame;
the upper driving wheel and the lower driving wheel are in a transmission relation, and the transmission mode comprises belt transmission, chain transmission and connecting rod transmission;
go up the drive wheel drive shaft with the output of universal joint is connected, just go up the rotation axis of drive wheel drive shaft with the orientation axis looks collineation of the output of universal joint, in order to realize little limb drive unit passes through the universal joint drives little limb transmission structure to and then drive little limb motion.
Preferably, for the dual-arm working mode, in the operating mode, the two limb subsystems used for simulating the dual arms of the humanoid robot, the lateral swing driving unit, the large limb driving unit, the small limb driving unit and the shoulder and hip conversion driving unit therein are all active motions, and the respective shoulder and hip conversion driving units respectively drive the respective base frames to move so as to simulate the lifting and pressing motions of the shoulder joints of the human body and drive the respective large and small limbs to move, so as to realize that the limb end structures move in the large working space, thereby meeting the flexible dual-arm working requirements.
Preferably, for the high dynamic biped motion mode, in the operation mode, the two limb subsystems of the legs of the humanoid robot are simulated, the lateral swing driving unit, the large limb driving unit and the small limb driving unit are all in active motion, and the shoulder and hip conversion driving unit drives the respective base frame to move, so that the rotating shaft of the respective large limb driving unit is kept parallel to the X axis of the fuselage coordinate system, thereby providing a space for the lateral swing motion of the legs around the X axis of the fuselage coordinate system;
for the high dynamic bipedal motion mode, in which the XY plane is maintained substantially parallel to the ground;
for the high dynamic biped motion mode, in the operation mode, the two limb subsystems used for simulating the two arms of the humanoid robot are in active motion, so that the side swing driving unit, the large limb driving unit, the small limb driving unit and the shoulder and hip conversion driving unit can realize swing arm motion coordinated with the rhythm of leg motion, and the balance capability of the humanoid robot in a high dynamic motion state can be improved.
Preferably, for the high dynamic quadruped exercise mode, in the operation mode, the side swing driving units, the large limb driving units and the small limb driving units in the four limb subsystems all perform active motions, and the shoulder and hip conversion driving units drive the respective base frames to move, so that the rotating shafts of the respective large limb driving units are kept parallel to the Z axis of the fuselage coordinate system, thereby providing a space for the side swing motions of the legs around the Z axis of the fuselage coordinate system;
for the high dynamic quadruped exercise mode, in this mode of operation, the YZ plane is maintained substantially parallel to the ground.
Preferably, the high dynamic biped motion mode has the capability of being converted in real time with the high dynamic quadruped motion mode;
when the robot is in the high-dynamic biped motion mode, under the condition that the legs stand, the robot system is driven to rotate around the rotating shafts of the small limb driving units of the two limb subsystems by adjusting the rotating angles of the shoulder and hip conversion driving units in the two limb subsystems corresponding to the legs to drive the robot system to rotate until the Z axis of the robot coordinate system is parallel to the rotating shafts of the large limb driving units of the two limb subsystems, so that the high-dynamic biped motion mode is converted into the high-dynamic quadruped motion mode in real time;
when the robot is in the high dynamic quadruped movement mode, the limitation that the rotating shaft of the large limb driving unit in each of the four limb subsystems is parallel to the Z axis of the coordinate system of the robot body is removed, and under the condition that two hind legs are kept grounded, providing instantaneous angular momentum about the Y-axis of the fuselage coordinate system for the fuselage system through rapid bouncing of the two front legs, meanwhile, the machine body system is driven to rotate around the rotating shafts of the small limb driving units of the two limb subsystems by adjusting the rotating angles of the driving output shafts of the shoulder and hip conversion driving units in the two limb subsystems corresponding to the two rear legs until the X axis of the machine body coordinate system is parallel to the rotating shafts of the large limb driving units of the two limb subsystems, so that the high-dynamic four-foot motion mode is converted into the high-dynamic two-foot motion mode in real time.
Preferably, when in the double-arm working mode, for two limb subsystems which are not used for simulating double arms of the humanoid robot, the large limb driving unit rotating shaft in each of the two limb subsystems is kept parallel to the X axis of the body coordinate system, so that the simulation of the double legs of the humanoid robot and the dynamic biped motion are realized;
the double-arm working mode has the capacity of being converted with the high-dynamic double-foot motion mode.
Preferably, the specific structures of the fuselage system and the limb system form 4 transmission links, namely a link A, a link B, a link C and a link D;
the link A is composed of an output shaft driven by the side swing driving unit, a side swing frame and a large limb in sequence;
the link B is composed of a driving output shaft of the large limb driving unit, a small bevel gear, a large bevel gear connecting structure and a large limb in sequence;
the link C is composed of a driving output shaft of the small limb driving unit, a universal joint, a small limb transmission structure and a small limb in sequence;
the link D is composed of a shoulder and hip conversion driving unit driving output shaft, a shoulder and hip conversion transmission structure and a base frame in sequence;
the rotary power output by the side swing driving unit is transmitted and output to the large limb through a link A, so that the lateral swing of the large limb is realized;
the rotary power output by the large limb driving unit is transmitted and output to the large limb through a link B, so that the front and back swing of the large limb is realized;
the rotary power output by the small limb driving unit is transmitted and output to the small limb through a link C, so that the rocker arm movement of the small limb is realized;
the rotary power output by the shoulder and hip conversion driving unit is transmitted and output to the basic frame through a link D, and the twisting motion of large limbs and small limbs is realized.
Preferably, the shoulder and hip conversion large transmission part and the shoulder and hip conversion small transmission part are in a transmission mode of being directly meshed through a gear structure; the large shoulder-hip conversion transmission part and the small shoulder-hip conversion transmission part are engaged by a large transmission ratio gear, and mechanical self-locking capability is provided for the shoulder-hip conversion driving unit to drive an output shaft.
Preferably, the shoulder and hip conversion large transmission part and the shoulder and hip conversion small transmission part adopt a belt transmission mode.
Compared with the prior art, the invention has the following remarkable characteristics:
(1) the humanoid robot comprises multiple operation modes such as a double-arm working mode, a high-dynamic biped motion mode and a high-dynamic quadruped motion mode, and the robot has relatively flexible double-arm motion capability and high-performance and high-dynamic quadruped motion capability based on a limited number of motion joints.
(2) In any operation mode, the four driving units such as the side swing driving unit, the large limb driving unit, the small limb driving unit, the shoulder and hip conversion driving unit and the like do not move along with the large limb and the small limb, so that the movement inertia of the robot is reduced to the greatest extent, and good dynamic property is fundamentally ensured.
(3) The side swing movement, the large limb movement and the small limb movement are in parallel transmission relation, and the load of each corresponding driving unit is obviously reduced compared with the traditional series transmission mode, so that the dynamic property and the reliability of the robot system are further ensured; the mechanical self-locking capability of the shoulder and hip conversion driving unit shares external loads in each operation mode, and the bearing capability of the robot system and the function realization of each operation mode are ensured.
(4) Real-time conversion can be carried out among a plurality of operation modes, including bidirectional conversion among a high-dynamic biped motion mode and a high-dynamic quadruped motion mode, and bidirectional conversion among a double-arm working mode and a high-dynamic biped motion mode, so that the robot has the capacity of maintaining continuous operation and dynamic motion.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic view of the overall structure of the humanoid robot of the present invention.
Fig. 2 is a schematic diagram of the overall structure of the humanoid robot. Fig. 2(a) is a schematic view of the overall structure of the body system and the limb subsystem, and fig. 2(b) is a schematic view of the structural decomposition of the limb subsystem.
Fig. 3 is a schematic structural composition diagram of the power hub of the present invention. Fig. 3(a) is a schematic structural exploded view of the power hub, and fig. 3(b) is a schematic structural assembly view of the yaw driving unit in the power hub.
Fig. 4 is a schematic view of the effect of the power hub of the present invention. Fig. 4(a) is a schematic diagram of a relative position relationship between the power hinge and other structures, fig. 4(b) is a schematic diagram of an action effect of the lateral swing driving unit, fig. 4(c) is a schematic diagram of an action effect of the large limb driving unit, fig. 4(d) is a schematic diagram of an action effect of the small limb driving unit, and fig. 4(e) is a schematic diagram of an action effect of the shoulder and hip conversion driving unit.
Fig. 5 is a schematic structural composition diagram of the large limb and the small limb of the invention. Fig. 5(a) is a schematic structural diagram of a large limb, and fig. 5(b) is a schematic structural diagram of a small limb.
Fig. 6 is a schematic structural composition diagram of the small limb transmission structure of the invention.
Fig. 7 is a schematic diagram of the dual arm mode of operation of the present invention. Fig. 7(a) is a schematic diagram of an arm working space, fig. 7(b) is a schematic diagram of a tool, and fig. 7(c) is a schematic diagram of a steering wheel operated by two arms.
Fig. 8 is a schematic diagram of the high dynamic biped exercise mode of the present invention.
Fig. 9 is a schematic diagram of the high dynamic quadruped exercise mode of the present invention.
Fig. 10 is a schematic diagram of the conversion process between the high dynamic bipedal exercise mode and the high dynamic quadruped exercise mode according to the present invention. In fig. 10(a), the high dynamic biped exercise mode is switched to the high dynamic quadruped exercise mode, and in fig. 10(b), the high dynamic quadruped exercise mode is switched to the high dynamic biped exercise mode.
Fig. 11 is a schematic diagram of 4 transmission links according to the present invention. Fig. 11(a) is a schematic diagram of a transfer relationship of the link a, fig. 11(B) is a schematic diagram of a transfer relationship of the link B, fig. 11(C) is a schematic diagram of a transfer relationship of the link C, and fig. 11(D) is a schematic diagram of a transfer relationship of the link D.
Fig. 12 is a schematic view of a transmission scheme between the large shoulder-hip conversion transmission part and the small shoulder-hip conversion transmission part. Fig. 12(a) is a schematic view of direct engagement transmission using a gear structure, and fig. 12(b) is a schematic view of belt transmission.
Detailed Description
The humanoid robot with high dynamic quadruped movement mode and two-arm working mode proposed by the present invention is further described in detail with reference to the following embodiments and the accompanying drawings, but the following embodiments are only illustrative, and the protection scope of the present invention is not limited by these examples.
As shown in fig. 1, a humanoid robot with a high dynamic quadruped movement mode and a two-arm working mode comprises a body system 1 and an extremity system.
Defining a fuselage coordinate system 10 on the fuselage system 1, wherein a sagittal axis is an X axis of the fuselage coordinate system, a coronal axis is a Y axis of the fuselage coordinate system, and a vertical axis is a Z axis of the fuselage coordinate system, namely an XY plane of the humanoid robot is a horizontal plane under the condition of vertical standing, a YZ plane is a coronal plane, and an XZ plane is a sagittal plane; the origin of the fuselage coordinate system is located at the center of gravity of the fuselage system.
As shown in fig. 1 and fig. 2(a), the four-limb system is composed of four limb subsystems 2 with the same composition structure, and the four limb subsystems 2 are symmetrically arranged on two sides of the fuselage system 1 in pairs about the XZ plane, and respectively simulate two arms and two legs of the humanoid robot.
As shown in fig. 2(b), each limb subsystem 2 comprises a power hub 3, a large limb 4, a small limb 5, a limb end structure 6, and a small limb transmission structure 7. The extremity structures 6 are located at the ends of the small limbs 5 with the ability to further connect hand, foot, external tools.
As shown in fig. 3(a), each power hub 3 includes a side swing driving unit 301, a large limb driving unit 302, a small limb driving unit 303, a shoulder and hip conversion driving unit 304, a base frame 305, a side swing frame 306, a universal joint 307, a large bevel gear 308, a small bevel gear 309, a large bevel gear connecting structure 310, and a shoulder and hip conversion transmission structure 311; the side swing driving unit 301, the large limb driving unit 302, the small limb driving unit 303 and the shoulder and hip conversion driving unit 304 respectively comprise motors and driving output shafts, and the driving output shafts are respectively recorded as a side swing driving unit driving output shaft 3011, a large limb driving unit driving output shaft 3021, a small limb driving unit driving output shaft 3031 and a shoulder and hip conversion driving unit driving output shaft 3041; the small limb driving unit drives the output shaft 3031 to realize rotary motion around the Y-axis direction, and the rotary axis is recorded as a small limb driving unit rotating shaft 3030; the large limb driving unit 302 and the side swing driving unit 301 are both fixed with the base frame 305; the big limb driving unit driving output shaft 3021 and the side swing driving unit driving output shaft 3011 both realize rotary motion, and the rotation axes of the big limb driving unit driving output shaft 3021 and the side swing driving output shaft 3011 coincide with each other, and the rotation axis is marked as a big limb driving unit rotating shaft 3020; the small limb driving unit rotating shaft 3030 and the large limb driving unit rotating shaft 3020 are perpendicular to and intersect with each other; the side swing frame 306 and the base frame 305 are constrained by taking the large limb driving unit rotating shaft 3020 as an axis; the shoulder-hip conversion driving unit 304 drives the base frame 305 to rotate around the small limb driving unit rotating shaft 3030 through the shoulder-hip conversion transmission structure 311; the input end 3071 of the universal joint 307 rotates synchronously with the rotation of the small limb drive unit drive output shaft 3031, and the rotation axis of the input end 3071 of the universal joint 307 coincides with the small limb drive unit rotation shaft 3030; the first orientation axis 40 of the output end 3072 of the universal joint 307 is perpendicular to and intersects with the rotating shaft 3020 of the large limb driving unit, and rotates synchronously with the rotation of the side swing frame 306; the rotational movement of the output end 3072 of the universal joint 307 drives the movement of the small limb transmission structure 7.
The small limb driving unit 303 is fixed relative to the fuselage system 1, and includes a small limb driving unit driving output shaft 3031 to realize a rotation motion around a small limb driving unit rotating shaft 3030, and the small limb driving unit driving output shaft 3031 is fixedly connected with the input end 3071 of the universal joint 307 through a shaft-shaped connecting structure.
The shoulder and hip conversion driving unit 304 is fixed relative to the fuselage system 1, and the included shoulder and hip conversion driving unit drives the output shaft 3041 to perform a rotation motion around the Y-axis direction, where the rotation axis is denoted as a shoulder and hip conversion driving unit rotating shaft 3040.
The shoulder and hip conversion transmission structure 311 comprises a shoulder and hip conversion large transmission part 3111 and a shoulder and hip conversion small transmission part 3112, and the shoulder and hip conversion small transmission part 3112 drives the shoulder and hip conversion large transmission part 3111 to move; the shoulder and hip conversion small transmission part 3112 is fixed with the shoulder and hip conversion driving unit driving output shaft 3041 and rotates along with the shoulder and hip conversion small transmission part 3112, and the shoulder and hip conversion small transmission part 3112 is supported by a bearing I11 fixed relative to the machine body system 1; the shoulder hip conversion large transmission part 3111 realizes the rotary motion around the rotary shaft 3030 of the small limb driving unit and is supported by a bearing II 12 fixed relative to the machine body system 1; the shoulder-hip conversion large transmission part 3111 is fixedly connected with the base frame 305 to realize the rotation of the base frame 305 around the small limb driving unit rotating shaft 3030.
The side pendulum driving unit included in the side pendulum driving unit 301 drives the output shaft 3011 to be fixedly connected to the side pendulum frame 306, and the side pendulum driving unit drives the output shaft 3011 to rotate around the rotation shaft 3020 of the large limb driving unit and drives the side pendulum frame 306 to rotate around the rotation shaft 3020 of the large limb driving unit, so as to realize the relative rotation between the side pendulum frame 306 and the base frame 305.
The big limb driving unit driving output shaft 3021 included in the big limb driving unit 302 is fixedly connected with the small bevel gear 309, and the big limb driving unit driving output shaft 3021 rotates around the big limb driving unit rotating shaft 3020 and drives the small bevel gear 309 to rotate around the big limb driving unit rotating shaft 3020.
The small bevel gear 309 and the large bevel gear 308 are in a bevel gear meshing relationship, and the shaft intersection angle between the two bevel gears is 90 degrees.
The large bevel gear 308 is fixedly connected with the large limb 4 through a large bevel gear connecting structure 310, and drives the large limb 4 to synchronously rotate along with the large bevel gear 308; the large bevel gear connection 310 provides support through a bearing three 3061 fixed relative to the yaw frame 306; the large bevel gear 308 is geometrically coaxial with the output end 3072 of the universal joint 307 along axis one 40.
As shown in fig. 3(b), the yaw driving unit 301 is composed of a motor 3012 and a decelerator 3013; however, the reducer 3013 is not essential, and if the reducer 3013 is included, the output shaft of the reducer is the yaw drive unit drive output shaft 3011, and if the reducer 3013 is not included, the output shaft of the motor 3012 is the yaw drive unit drive output shaft 3011. The respective structural compositions of the large limb driving unit 302, the small limb driving unit 303 and the shoulder and hip conversion driving unit 304 are the same as that of the side swing driving unit 301.
As shown in fig. 4(a), the driving outputs of the lateral swing driving unit 301, the large limb driving unit 302, and the small limb driving unit 303 are in a parallel transmission relationship.
As shown in fig. 3(a) and fig. 4(b), the side swing driving unit drives the output shaft 3011 to rotate, which drives the side swing frame 306 to rotate around the rotation shaft 3020 of the large limb driving unit, so as to realize the relative rotation between the side swing frame 306 and the base frame 305, as indicated by the rotation arrow in the figure.
As shown in fig. 3(a) and 4(c), the large limb driving unit drives the output shaft 3021 to rotate, so as to rotate the large limb 4 around the axis-one 40, as indicated by the rotation arrow mark.
As shown in fig. 3(a) and 4(d), the small limb driving unit drives the output shaft 3031 to rotate, so as to rotate the small limb 5 around the axis two 50, as indicated by the rotation arrow mark.
As shown in fig. 3(a) and 4(e), the shoulder-hip conversion driving unit drives the output shaft 3041 to rotate, which drives the base frame 305 to rotate around the small limb driving unit rotating shaft 3030, as indicated by the rotation arrow mark.
As shown in fig. 5(a), the large limb 4 includes a large limb frame 41, an upper transmission wheel drive shaft fixing bearing 42, and a lower transmission wheel fixing bearing 43; an upper drive wheel drive shaft fixed bearing 42 is fixedly mounted on the large limb frame 41 along axis one 40.
As shown in fig. 5(b), the small limb 5 includes a small limb frame 51.
As shown in fig. 6 and 5(b), the small limb transmission structure 7 comprises an upper transmission wheel 71, a lower transmission wheel 72, and an upper transmission wheel drive shaft 73; the upper transmission wheel driving shaft 73 and the upper transmission wheel 71 are coaxially fixed along the first axis 40 and are supported by the upper transmission wheel driving shaft fixing bearing 42, so that the upper transmission wheel driving shaft 73 drives the upper transmission wheel 71 to rotate; the lower transmission wheel 72 is fixed with one end of the small limb frame 51 and forms an axis constraint with the large limb frame 41 around the axis 50.
The upper transmission wheel 71 and the lower transmission wheel 72 are in belt transmission and can be changed into a chain transmission mode, a connecting rod transmission mode and the like.
As shown in fig. 6 and fig. 3(a), the upper transmission wheel driving shaft 73 is connected to the output end 3072 of the universal joint 307, and the rotation axis of the upper transmission wheel driving shaft 73 is collinear with the facing axis of the output end 3072 of the universal joint 307, which are both the first axis 40, so that the small limb driving unit 303 drives the small limb transmission structure 7 through the universal joint 307, and further drives the small limb 5 to move.
As shown in fig. 7, the operation mode of the humanoid robot includes a two-arm operation mode in which the two limb subsystems simulate the operation of the two arms of the humanoid robot, respectively.
For the two-arm working mode, in the operating mode, the two limb subsystems 2 used for simulating the two arms of the humanoid robot, wherein the lateral swing driving unit 301, the large limb driving unit 302, the small limb driving unit 303 and the shoulder and hip conversion driving unit 304 are all active movements, and the respective shoulder and hip conversion driving unit 304 respectively drives the respective basic frame 305 to move so as to simulate the lifting and pressing movements of the shoulder joint of the human body and drive the respective large limb 4 and small limb 5 to move, so that the limb end structure 6 moves in the large working space, thereby meeting the flexible operation requirements of the two arms.
When in the two-arm working mode, for the two limb subsystems 2 which are not used for simulating the two arms of the humanoid robot, the simulation of the two legs of the humanoid robot and the dynamic biped movement are realized by keeping the large limb driving unit rotating shafts 3020 in the two limb subsystems 2 parallel to the X-axis of the body coordinate system 10.
The dual arm mode of operation has the ability to be switched to a highly dynamic biped mode of motion.
As shown in fig. 7(a), the circular shaded areas in the figure are projections of the working space of the extremity structure 6 in the YZ plane and the XZ plane, respectively.
As shown in fig. 7(b), the extremity structures 6 are located at the end of the small limb 5, with the ability to further connect hand, foot, external tools. A limb subsystem 2 for simulating the arm of a humanoid robot, by means of which the tool can be held and operated with the hand piece fitted.
As shown in fig. 7(c), the two limb subsystems 2 simulating the arms of the humanoid robot can hold and rotate the steering wheel by mounting hand parts each, thanks to the large working space of the extremity structure 6.
As shown in fig. 8, the operation mode of the humanoid robot includes a high dynamic biped motion mode in which two limb subsystems simulate the legs of the humanoid robot respectively to realize high dynamic biped motion, and the other two limb subsystems simulate the arms of the humanoid robot respectively to realize swinging synchronized with the biped motion for maintaining body balance under the high dynamic motion condition.
As shown in fig. 8 and 3(a), for the high dynamic biped exercise mode, in this operation mode, the two limb subsystems 2 simulating the legs of the humanoid robot are in active motion, the lateral swing driving unit 301, the large limb driving unit 302 and the small limb driving unit 303 all drive the respective base frame 305 to move, and the respective large limb driving unit rotating shaft 3020 is kept parallel to the X-axis of the body coordinate system 10, so as to provide a space for the lateral swing motion of the legs around the X-axis of the body coordinate system 10.
For the high dynamic bipedal motion mode, in this mode of operation, the XY plane is maintained substantially parallel to the ground.
For the high dynamic biped motion mode, in the operation mode, the two limb subsystems 2 used for simulating the two arms of the humanoid robot, wherein the lateral swing driving unit 301, the large limb driving unit 302, the small limb driving unit 303 and the shoulder and hip conversion driving unit 304 are all active motions, so that the swing arm motion coordinated with the leg motion rhythm is realized, and the balance capability of the humanoid robot in the high dynamic motion state is improved.
As shown in fig. 9, the operation mode of the humanoid robot includes a high dynamic quadruped movement mode in which the four limb subsystems respectively simulate the limbs of a quadruped mammal to achieve high dynamic quadruped movement.
As shown in fig. 9 and fig. 3(a), for the high dynamic quadruped exercise mode, in this operation mode, the side swing driving units 301, the large limb driving units 302 and the small limb driving units 303 in the four limb subsystems 2 all perform active movements, wherein the shoulder hip conversion driving units 304 drive the respective base frames 305 to move, and the rotating shafts 3020 of the respective large limb driving units are kept parallel to the Z-axis of the fuselage coordinate system 10, so as to provide space for the side swing movements of the legs around the Z-axis of the fuselage coordinate system 10.
For the high dynamic quadruped exercise mode, in this mode of operation, the YZ plane is maintained substantially parallel to the ground.
As shown in fig. 10, the high dynamic bipedal movement mode has the capability of switching in real time with the high dynamic quadruped movement mode.
As shown in fig. 10(a) and fig. 3(a), when in the high dynamic biped exercise mode, in a state that the legs are kept standing, the rotation angle of the shoulder and hip conversion driving unit driving output shaft 3041 in the two limb subsystems 2 corresponding to the legs is adjusted, so that the airframe system 1 is driven to rotate around the small limb driving unit rotating shafts 3030 of the two limb subsystems 2 until the Z axis of the airframe coordinate system 10 is parallel to the large limb driving unit rotating shafts 3020 of the two limb subsystems 2, thereby realizing the real-time conversion from the high dynamic biped exercise mode to the high dynamic quadruped exercise mode.
As shown in fig. 10(b) and 3(a), when in the high dynamic quadruped exercise mode, by releasing the restriction that the large limb driving unit rotating shafts 3020 in the four limb subsystems 2 are parallel to the Z-axis of the body coordinate system 10, and in a state where the two hind legs are kept grounded, the instantaneous angular momentum about the Y-axis of the fuselage coordinate system 10 is provided to the fuselage system 1 by the two front legs bouncing rapidly, meanwhile, the body system 1 is driven to rotate around the small limb driving unit rotating shaft 3030 of the two limb subsystems 2 by adjusting the corners of the shoulder and hip conversion driving units in the two limb subsystems 2 corresponding to the two rear legs to drive the output shaft 3041 until the X axis of the body coordinate system 10 is parallel to the large limb driving unit rotating shafts 3020 of the two limb subsystems 2, so that the real-time conversion from the high-dynamic four-foot motion mode to the high-dynamic two-foot motion mode is realized.
As shown in fig. 11, the specific structures of the fuselage system 1 and the limb system form 4 transmission links, which are a link a, a link B, a link C, and a link D.
As shown in fig. 11(a) and 4(b), the link a is composed of the yaw driving unit driving output shaft 3011, the yaw frame 306, and the large limb 4 in this order. The rotational power output by the lateral swing driving unit 301 is transmitted and output to the large limb 4 via the link a, thereby realizing the lateral swing of the large limb 4.
As shown in fig. 11(B) and 4(c), the link B is composed of a large limb driving unit driving output shaft 3021, a small bevel gear 309, a large bevel gear 308, a large bevel gear connecting structure 310, and a large limb 4 in sequence. The rotary power output by the large limb driving unit 302 is transmitted and output to the large limb 4 through the link B, and the front-back swing of the large limb 4 is realized.
As shown in fig. 11(C) and fig. 4(d), the link C is composed of a small limb drive unit drive output shaft 3031, a universal joint 307, a small limb transmission structure 7 and a small limb 5 in sequence. The rotary power output by the small limb driving unit 303 is transmitted and output to the small limb 5 through the link C, and the swing arm motion of the small limb 5 is realized.
As shown in fig. 11(D) and fig. 4(e), the link D is composed of a shoulder-hip conversion driving unit driving output shaft 3041, a shoulder-hip conversion transmission structure 311, and a base frame 305 in sequence. The rotational power output by the shoulder and hip conversion driving unit 304 is transmitted and output to the base frame 305 via the link D, and the twisting motion of the large limb 4 and the small limb 5 is realized.
As shown in fig. 12(a), one of the transmission modes of the shoulder and hip conversion large transmission member 3111 and the shoulder and hip conversion small transmission member 3112 is that they are directly engaged with each other through a gear structure. At this time, the large transmission ratio gear engagement between the large shoulder and hip conversion transmission part 3111 and the small shoulder and hip conversion transmission part 3112 provides mechanical self-locking capability for the shoulder and hip conversion driving unit to drive the output shaft 3041.
As shown in fig. 12(b), one of the transmission modes of the shoulder and hip joint conversion large transmission part 3111 and the shoulder and hip joint conversion small transmission part 3112 is a belt transmission.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A humanoid robot with high dynamic quadruped movement mode and two-arm working mode is characterized in that,
the humanoid robot comprises a robot body system (1) and a four-limb system;
defining a fuselage coordinate system (10) on the fuselage system (1), wherein a sagittal axis is an X axis of the fuselage coordinate system, a coronal axis is a Y axis of the fuselage coordinate system, and a vertical axis is a Z axis of the fuselage coordinate system, so that an XY plane of the humanoid robot is a horizontal plane, a YZ plane is a coronal plane, and an XZ plane is a sagittal plane under the condition of vertical standing; the origin of the fuselage coordinate system is located at the position of the center of gravity of the fuselage system;
the four-limb system consists of four limb subsystems (2) which are the same in composition structure, and each limb subsystem (2) comprises a power hub (3), a large limb (4), a small limb (5), a limb end structure (6) and a small limb transmission structure (7);
the four limb subsystems are symmetrically arranged on two sides of the machine body system (1) in pairs about the XZ plane and respectively simulate two arms and two legs of the humanoid robot;
each power hub (3) comprises a side swing driving unit (301), a large limb driving unit (302), a small limb driving unit (303), a shoulder and hip conversion driving unit (304), a base frame (305), a side swing frame (306), a universal joint (307), a large bevel gear (308), a small bevel gear (309), a large bevel gear connecting structure (310) and a shoulder and hip conversion transmission structure (311); the side swing driving unit (301), the large limb driving unit (302), the small limb driving unit (303) and the shoulder and hip conversion driving unit (304) respectively comprise motors and driving output shafts, and the driving output shafts are respectively marked as a side swing driving unit driving output shaft (3011), a large limb driving unit driving output shaft (3021), a small limb driving unit driving output shaft (3031) and a shoulder and hip conversion driving unit driving output shaft (3041); the small limb driving unit drives an output shaft (3031) to realize rotary motion around the Y-axis direction, and the rotary axis is recorded as a small limb driving unit rotating shaft (3030); the big limb driving unit (302) and the side swing driving unit (301) are both fixed with the base frame (305); the big limb driving unit driving output shaft (3021) and the side swing driving unit driving output shaft (3011) both realize rotary motion, and the rotation axes of the big limb driving unit driving output shaft and the side swing driving output shaft coincide with each other, and the rotation axis is marked as a big limb driving unit rotating shaft (3020); the small limb driving unit rotating shaft (3030) and the large limb driving unit rotating shaft (3020) are perpendicular to each other and are intersected; the side swing frame (306) and the base frame (305) are constrained by taking the large limb driving unit rotating shaft (3020) as an axis; the shoulder and hip conversion driving unit (304) drives the base frame (305) to rotate around the small limb driving unit rotating shaft (3030) through the shoulder and hip conversion transmission structure (311); the input end (3071) of the universal joint (307) synchronously rotates along with the rotation of the small limb driving unit driving output shaft (3031), and the rotation axis of the input end (3071) of the universal joint (307) is coincided with the small limb driving unit rotating shaft (3030); the orientation axis of the output end (3072) of the universal joint (307) is perpendicular to and intersected with the rotating shaft (3020) of the large limb driving unit, and the output end rotates synchronously with the rotation of the side swing frame (306); the rotary motion of the output end (3072) of the universal joint (307) drives the small limb transmission structure (7) to move;
the small bevel gear (309) is driven by a driving output shaft (3021) of the large limb driving unit to rotate, the small bevel gear (309) drives the large bevel gear (308) to rotate, the large bevel gear (308) is fixedly connected with the large limb (4) through the large bevel gear connecting structure (310), and the large limb (4) rotates synchronously with the rotation of the large bevel gear (308);
the small limb (5) is driven by the small limb transmission structure (7) to move;
the extremity structure (6) is located at the extremity of the small limb (5) with the capability of further connection of hand, foot, external tools;
the operation mode of the humanoid robot comprises a high dynamic biped motion mode, in the operation mode, two limb subsystems respectively simulate the legs of the humanoid robot to realize high dynamic biped motion, and the other two limb subsystems respectively simulate the double arms of the humanoid robot to realize synchronous swinging with the biped motion, so as to maintain the body balance under the high dynamic motion condition;
the operation mode of the humanoid robot comprises a high-dynamic quadruped movement mode, and in the operation mode, the four limb subsystems respectively simulate four limbs of a quadruped mammal to realize high-dynamic quadruped movement;
the operation mode of the humanoid robot comprises a double-arm operation mode, and in the operation mode, the two limb subsystems respectively simulate the double arms of the humanoid robot to operate.
2. The humanoid robot having a high dynamic quadruped movement mode and a two-arm working mode according to claim 1, characterized in that,
the small limb driving unit (303) is relatively fixed with the fuselage system (1), the included small limb driving unit drives an output shaft (3031) to realize rotary motion around the direction of a rotating shaft (3030) of the small limb driving unit, and the small limb driving unit drives the output shaft (3031) to be fixedly connected with an input end (3071) of the universal joint (307);
the shoulder and hip conversion driving unit (304) is relatively fixed with the machine body system (1), the included shoulder and hip conversion driving unit drives an output shaft (3041) to realize rotary motion around the Y-axis direction, and the rotary axis is marked as a shoulder and hip conversion driving unit rotating shaft (3040);
the shoulder and hip conversion transmission structure (311) comprises a shoulder and hip conversion large transmission part (3111) and a shoulder and hip conversion small transmission part (3112), and the shoulder and hip conversion small transmission part (3112) drives the shoulder and hip conversion large transmission part (3111) to move; the small shoulder and hip conversion transmission part (3112) is fixed with a driving output shaft (3041) of the shoulder and hip conversion driving unit and rotates along with the driving output shaft, and the small shoulder and hip conversion transmission part (3112) is supported by a bearing I (11) fixed relative to the machine body system (1); the shoulder hip conversion large transmission part (3111) realizes rotary motion around a rotating shaft (3030) of the small limb driving unit and is supported by a second bearing (12) fixed relative to the machine body system (1); the shoulder and hip joint conversion large transmission part (3111) is fixedly connected with the base frame (305) so as to realize the rotation of the base frame (305) around the small limb driving unit rotating shaft (3030);
the side swing driving unit (301) comprises a side swing driving unit driving output shaft (3011) fixedly connected with the side swing frame (306), the side swing driving unit driving output shaft (3011) to rotate around the rotation shaft (3020) of the big limb driving unit and driving the side swing frame (306) to rotate around the rotation shaft (3020) of the big limb driving unit so as to realize the relative rotation between the side swing frame (306) and the base frame (305);
the big limb driving unit (302) comprises a big limb driving unit driving output shaft (3021) fixedly connected with the small bevel gear (309), and the big limb driving unit driving output shaft (3021) rotates around the big limb driving unit rotating shaft (3020) and drives the small bevel gear (309) to rotate around the big limb driving unit rotating shaft (3020);
the small bevel gear (309) and the large bevel gear (308) are in a bevel gear meshing relationship, and the crossed axes angle between the two bevel gears is 90 degrees;
the large bevel gear (308) is fixedly connected with the large limb (4) through the large bevel gear connecting structure (310) to drive the large limb (4) to synchronously rotate along with the large bevel gear (308); the large bevel gear connecting structure (310) provides support through a bearing III (3061) fixed relative to the side swing frame (306); the large bevel gear (308) is geometrically coaxial with the output end (3072) of the universal joint (307);
the large limb (4) comprises a large limb frame (41) and an upper transmission wheel driving shaft fixing bearing (42); the upper transmission wheel driving shaft fixing bearing (42) is fixedly arranged on the large limb frame (41);
the small limb (5) comprising a small limb frame (51);
the small limb transmission structure (7) comprises an upper transmission wheel (71), a lower transmission wheel (72) and an upper transmission wheel driving shaft (73); the upper transmission wheel driving shaft (73) and the upper transmission wheel (71) are coaxially fixed and supported by the upper transmission wheel driving shaft fixing bearing (42), so that the upper transmission wheel driving shaft (73) drives the upper transmission wheel (71) to rotate; the lower driving wheel (72) is fixed with one end of the small limb frame (51) and forms shaft constraint with the large limb frame (41);
the upper driving wheel (71) and the lower driving wheel (72) are in a transmission relation, and the transmission mode comprises belt transmission, chain transmission and connecting rod transmission;
go up drive wheel drive shaft (73) with output (3072) of universal joint (307) are connected, just go up the axis of rotation of drive wheel drive shaft (73) with the orientation axis of output (3072) of universal joint (307) is collinear mutually, in order to realize little limb drive unit (303) pass through universal joint (307) drive little limb transmission structure (7), and then drive little limb (5) motion.
3. The humanoid robot having a high dynamic quadruped movement mode and a two-arm working mode according to claim 1, characterized in that,
for the double-arm working mode, in the operating mode, the two limb subsystems (2) used for simulating the double arms of the humanoid robot are all active motion, the side swing driving unit (301), the large limb driving unit (302), the small limb driving unit (303) and the shoulder and hip conversion driving unit (304) respectively drive the respective base frame (305) to move so as to simulate the lifting and pressing motion of the shoulder joint of the human body and drive the respective large limb (4) and small limb (5) to move, so that the limb end structure (6) moves in a large working space.
4. The humanoid robot having a high dynamic quadruped movement mode and a two-arm working mode according to claim 1, characterized in that,
for the high dynamic biped motion mode, in the operation mode, the two limb subsystems (2) for simulating the legs of the humanoid robot are in active motion, the side swing driving unit (301), the large limb driving unit (302) and the small limb driving unit (303) are in active motion, the shoulder and hip conversion driving unit (304) drives the respective base frame (305) to move, and the rotating shaft (3020) of the respective large limb driving unit is kept parallel to the X axis of the fuselage coordinate system (10), so that a space is provided for the side swing motion of the legs around the X axis of the fuselage coordinate system (10);
for the high dynamic bipedal motion mode, in which the XY plane is maintained substantially parallel to the ground;
for the high dynamic biped motion mode, in the operation mode, the two limb subsystems (2) used for simulating the two arms of the humanoid robot are used, wherein the side swing driving unit (301), the large limb driving unit (302), the small limb driving unit (303) and the shoulder and hip conversion driving unit (304) are all in active motion, and swing arm motion coordinated with the rhythm of leg motion is realized.
5. The humanoid robot having a high dynamic quadruped movement mode and a two-arm working mode according to claim 1, characterized in that,
for the high dynamic quadruped movement mode, in the operation mode, the side swing driving units (301), the large limb driving units (302) and the small limb driving units (303) in the four limb subsystems (2) all move actively, wherein the shoulder and hip conversion driving units (304) drive the respective base frames (305) to move, and the rotating shafts (3020) of the respective large limb driving units are kept parallel to the Z axis of the fuselage coordinate system (10), so that space is provided for the side swing movement of the legs around the Z axis of the fuselage coordinate system (10);
for the high dynamic quadruped exercise mode, in this mode of operation, the YZ plane is maintained substantially parallel to the ground.
6. The humanoid robot having a high dynamic quadruped movement mode and a two-arm working mode according to claim 1, characterized in that,
the high dynamic biped motion mode has the capacity of real-time conversion with the high dynamic quadruped motion mode;
when in the high dynamic biped motion mode, under the condition of keeping the legs standing, the shoulder and hip conversion driving units in the two limb subsystems (2) corresponding to the legs are adjusted to drive the rotation angle of the output shaft (3041) to drive the airframe system (1) to rotate around the small limb driving unit rotating shaft (3030) of the two limb subsystems (2) until the Z axis of the airframe coordinate system (10) is parallel to the large limb driving unit rotating shaft (3020) of the two limb subsystems (2), so as to realize the real-time conversion of the high dynamic biped motion mode to the high dynamic quadruped motion mode;
when in the high dynamic quadruped movement mode, the limitation that the big limb driving unit rotating shaft (3020) of each of the four limb subsystems (2) is parallel to the Z axis of the body coordinate system (10) is released, and the instantaneous angular momentum around the Y axis of the body coordinate system (10) is provided for the body system (1) through the quick bounce of the two front legs under the state that the two rear legs are grounded, and simultaneously, the body system (1) is driven to rotate around the small limb driving unit rotating shafts (3030) of the two limb subsystems (2) by adjusting the rotating angle of the shoulder hip conversion driving unit driving output shaft (3041) in the two limb subsystems (2) corresponding to the two rear legs until the X axis of the body coordinate system (10) is parallel to the big limb driving unit rotating shafts (3020) of the two limb subsystems (2), and realizing the real-time conversion from the high-dynamic four-foot motion mode to the high-dynamic two-foot motion mode.
7. The humanoid robot having a high dynamic quadruped movement mode and a two-arm working mode according to claim 1, characterized in that,
when in the two-arm working mode, for two limb subsystems (2) which are not used for simulating two arms of the humanoid robot, the simulation of the two legs of the humanoid robot is realized and dynamic biped movement is realized by keeping the large limb driving unit rotating shaft (3020) in the two limb subsystems (2) parallel to the X axis of the body coordinate system (10);
the double-arm working mode has the capacity of being converted with the high-dynamic double-foot motion mode.
8. The humanoid robot having a high dynamic quadruped movement mode and a two-arm working mode according to claim 1, characterized in that,
the specific structures of the fuselage system (1) and the four-limb system form 4 transmission links, namely a link A, a link B, a link C and a link D;
the link A is formed by a driving output shaft (3011) of the side swing driving unit, a side swing frame (306) and a large limb (4) in sequence;
the link B is formed by a driving output shaft (3021) of the large limb driving unit, a small bevel gear (309), a large bevel gear (308), a large bevel gear connecting structure (310) and a large limb (4) in sequence;
the link C is composed of a driving output shaft (3031) of the small limb driving unit, a universal joint (307), a small limb transmission structure (7) and a small limb (5) in sequence;
the link D is formed by a driving output shaft (3041) of the shoulder and hip conversion driving unit, a shoulder and hip conversion transmission structure (311) and a base frame (305) in sequence;
the rotary power output by the side swing driving unit (301) is transmitted and output to the large limb (4) through a link A, so that the lateral swing of the large limb (4) is realized;
the rotary power output by the large limb driving unit (302) is transmitted and output to the large limb (4) through a link B, so that the large limb (4) swings back and forth;
the rotary power output by the small limb driving unit (303) is transmitted and output to the small limb (5) through a link C, so that the rocker arm movement of the small limb (5) is realized;
the rotary power output by the shoulder and hip conversion driving unit (304) is transmitted and output to the base frame (305) through a link D, and the torsional motion of the large limb (4) and the small limb (5) is realized.
9. The humanoid robot having high dynamic quadruped movement mode and two-arm working mode according to claim 1, characterized in that the transmission modes of the shoulder-hip conversion large transmission part (3111) and the shoulder-hip conversion small transmission part (3112) are such that they are directly engaged through a gear structure; the shoulder and hip conversion large transmission part (3111) is meshed with the shoulder and hip conversion small transmission part (3112) through a large transmission ratio gear.
10. The humanoid robot having a high-dynamic quadruped movement mode and a two-arm working mode according to claim 1, characterized in that the transmission modes of the large shoulder-hip conversion transmission part (3111) and the small shoulder-hip conversion transmission part (3112) are belt transmission therebetween.
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| CN114571497A (en) * | 2022-03-14 | 2022-06-03 | 上海大学 | Leg-arm robot pivot type explosive motion joint based on double-motor power cooperation |
| CN114872814A (en) * | 2022-04-15 | 2022-08-09 | 上海师范大学 | Bionic biped robot and stable gait planning method thereof |
| WO2023225814A1 (en) * | 2022-05-23 | 2023-11-30 | 北京小米机器人技术有限公司 | Quadruped robot, control method thereof, and apparatus |
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| CN114872814A (en) * | 2022-04-15 | 2022-08-09 | 上海师范大学 | Bionic biped robot and stable gait planning method thereof |
| WO2023225814A1 (en) * | 2022-05-23 | 2023-11-30 | 北京小米机器人技术有限公司 | Quadruped robot, control method thereof, and apparatus |
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