CN113618750B - Humanoid robot with high dynamic quadruped motion mode and double-arm working mode - Google Patents
Humanoid robot with high dynamic quadruped motion mode and double-arm working mode Download PDFInfo
- Publication number
- CN113618750B CN113618750B CN202110903367.4A CN202110903367A CN113618750B CN 113618750 B CN113618750 B CN 113618750B CN 202110903367 A CN202110903367 A CN 202110903367A CN 113618750 B CN113618750 B CN 113618750B
- Authority
- CN
- China
- Prior art keywords
- limb
- driving unit
- driving
- small
- shoulder
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000033001 locomotion Effects 0.000 title claims abstract description 161
- 230000005540 biological transmission Effects 0.000 claims abstract description 106
- 238000006243 chemical reaction Methods 0.000 claims abstract description 85
- 239000000203 mixture Substances 0.000 claims abstract description 8
- 210000003414 extremity Anatomy 0.000 claims description 363
- 230000007704 transition Effects 0.000 claims description 13
- 241001455273 Tetrapoda Species 0.000 claims description 6
- 241000124008 Mammalia Species 0.000 claims description 5
- 230000009977 dual effect Effects 0.000 claims description 4
- 210000001364 upper extremity Anatomy 0.000 claims description 4
- 230000005484 gravity Effects 0.000 claims description 3
- 230000033764 rhythmic process Effects 0.000 claims description 3
- 210000000323 shoulder joint Anatomy 0.000 claims description 3
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 24
- 210000002414 leg Anatomy 0.000 description 22
- 230000000694 effects Effects 0.000 description 5
- 239000003638 chemical reducing agent Substances 0.000 description 4
- 238000012546 transfer Methods 0.000 description 4
- 238000011161 development Methods 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 239000011664 nicotinic acid Substances 0.000 description 3
- 238000004088 simulation Methods 0.000 description 3
- 241001465754 Metazoa Species 0.000 description 2
- 230000002457 bidirectional effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 241001466804 Carnivora Species 0.000 description 1
- 241000282412 Homo Species 0.000 description 1
- 241000282373 Panthera pardus Species 0.000 description 1
- 241000288906 Primates Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003592 biomimetic effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 210000000689 upper leg Anatomy 0.000 description 1
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a humanoid robot with a high dynamic quadruped motion mode and a double-arm working mode, which comprises a body system and an extremity system; the limb system consists of four limb subsystems with the same composition structure, and each limb subsystem comprises a power hub, a big limb, a small limb, a limb tail end structure and a small limb transmission structure; each power pivot comprises a lateral swing driving unit, a large limb driving unit, a small limb driving unit, a shoulder-hip conversion driving unit, a base frame, a lateral swing frame, a universal joint, a large bevel gear, a small bevel gear, a large bevel gear connecting structure and a shoulder-hip conversion transmission structure; the shoulder-hip conversion driving unit drives the basic frame to rotate through the shoulder-hip conversion transmission structure. The robot comprises a plurality of 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, in particular to a humanoid robot with a high-dynamic quadruped motion mode and a double-arm working mode.
Background
Biomimetic robotics have entered the explosion stage, wherein, in particular, the simulation of the physical movement morphology of animals on the top layer of the biological chain in nature is leading. Animals of the order of primates, carnivores and foot and mouth in the class of mammalians become the main bionic prototype of the foot type robot with high performance and high dynamic movement capability at present because of flexible, various, agile and quick movement characteristics, and part of foot type robot prototypes are moving from laboratories to commercial applications, so that huge development potential of the technology in the field is initially demonstrated.
The realization of the fully humanoid robot is an important goal of the technical development of the bionic robot. The flexible upper limbs and paws are important preconditions 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, people who rely mainly on two legs exercise are inferior to quadruped mammals such as horses and leopards in terms of movement speed, rapid passing over rough terrain, and the like.
From a technical perspective, increasing the number of active joints and degrees of freedom of movement of the limb is a major means of improving the mobility of the limb, but more active joints means greater dead weight, movement inertia and greater difficulty in control. Therefore, how to design a reasonable humanoid robot mechanism scheme based on a limited number of motion joints and enable the humanoid robot mechanism scheme to have relatively flexible double-arm motion capability and high-performance and high-dynamic four-foot motion 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 invention provides a humanoid robot with a high dynamic four-foot movement mode and a double-arm working mode, which is oriented to the arm operation requirement of a humanoid robot and the high dynamic movement requirement in a field terrain environment, and the scheme enables limbs to have the functions of arms and legs and has high-performance and high dynamic limb movement capability through mechanism transformation, and the specific technical scheme is as follows:
a humanoid robot with a high dynamic quadruped motion mode and a double-arm working mode comprises a body system and an extremity system;
defining a body coordinate system on the body system, wherein a sagittal axis is an X axis of the body coordinate system, a coronal axis is a Y axis of the body coordinate system, and a vertical axis is a Z axis of the body coordinate system, so that an XY plane of the humanoid robot is a horizontal plane under the condition of standing vertically, a YZ plane is a coronal plane, and an XZ plane is a sagittal plane; the origin of the machine body coordinate system is positioned at the gravity center position of the machine body system;
the limb system consists of four limb subsystems with the same composition structure, and each limb subsystem comprises a power hub, a big limb, a small limb, a limb tail end structure and a small limb transmission structure;
The four limb subsystems are symmetrically arranged on two sides of the body system in a pairwise manner relative to the XZ plane, and respectively simulate the double arms and the double legs of the humanoid robot;
each power pivot comprises a side swing driving unit, a big limb driving unit, a small limb driving unit, a shoulder-hip conversion driving unit, a basic frame, a side swing frame, a universal joint, a big bevel gear, a small bevel gear, a big bevel gear connecting structure and a shoulder-hip conversion transmission structure; the lateral swing driving unit, the large limb driving unit, the small limb driving unit and the shoulder-hip conversion driving unit respectively comprise motors and driving output shafts, and the driving output shafts are respectively marked as a lateral 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-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 recorded as a small limb driving unit rotary shaft; the large limb driving unit and the side swing driving unit are both fixed with the basic frame; the main body driving unit drives the output shaft and the side swing driving unit drives the output shaft to realize rotary motion, the rotary axes of the main body driving unit and the side swing driving unit are overlapped, and the rotary axis is recorded as a main body driving unit rotary shaft; the rotating shaft of the small limb driving unit and the rotating shaft of the large limb driving unit are perpendicular to each other and are intersected; the side swing frame and the base frame are restrained by taking the rotating shaft of the big limb driving unit as an axis; the shoulder-hip conversion driving unit drives the basic frame to rotate around the rotating shaft of the limb driving unit through the shoulder-hip conversion transmission structure; the input end of the universal joint synchronously rotates along with the rotation of the small limb driving unit driving output shaft, and the rotation axis of the input end of the universal joint coincides with the rotation axis of the small limb driving unit; the direction axis of the output end of the universal joint is perpendicular to and intersected with the rotating shaft of the large limb driving unit, and synchronously rotates along with the rotation of the side swing frame; the rotary motion of the output end of the universal joint drives the motion of the small limb transmission structure;
The small bevel gear is driven by the big bevel gear driving unit to drive the output shaft to rotate, the small bevel gear drives the big bevel gear to rotate, the big bevel gear is fixedly connected with the big limb through the big bevel gear connecting structure, and the big limb synchronously rotates along with the rotation of the big bevel gear;
the small limb moves under the drive of the small limb transmission structure;
the limb end structure is positioned 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, wherein in the operation mode, two limb subsystems respectively simulate the biped 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 swinging synchronous with the biped motion, so as to maintain body balance under the condition of high-dynamic motion;
the human-shaped robot comprises a high-dynamic quadruped motion mode in an operation mode, wherein four limb subsystems respectively simulate limbs of a quadruped mammal to realize high-dynamic quadruped motion;
The operation mode of the humanoid robot comprises a double-arm operation mode, and in the operation mode, two limb subsystems respectively simulate double arms of the humanoid robot to perform operation.
Preferably, the small limb driving unit is fixed relative to the body system, and the small limb driving unit comprises a small limb driving unit driving output shaft for realizing rotary motion around the rotating shaft direction of the small limb driving unit, and the small limb driving unit driving output shaft is fixedly connected with the input end of the universal joint;
the shoulder-hip conversion driving unit is relatively fixed with the machine body system, and the contained shoulder-hip conversion driving unit drives an output shaft to realize rotary motion around the Y-axis direction, and the rotary axis is recorded as a rotary shaft of the shoulder-hip conversion driving unit;
the shoulder-hip conversion transmission structure comprises a shoulder-hip conversion large transmission part and a shoulder-hip conversion small transmission part, and the shoulder-hip conversion small transmission part drives the shoulder-hip conversion large transmission part to move; the shoulder-hip conversion small transmission part is fixed with the driving output shaft of the shoulder-hip conversion driving unit and rotates along with the driving output shaft, and is supported by a bearing I which is fixed relative to the airframe 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 which is relatively fixed with the 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 sideslip driving unit comprises a sideslip driving output shaft which is fixedly connected with the sideslip frame, and drives the output shaft to rotate around the rotating shaft of the large limb driving unit and drives the sideslip frame to rotate around the rotating shaft of the large limb driving unit so as to realize the relative rotation between the sideslip frame and the foundation frame;
the big limb driving unit comprises a big limb driving unit driving output shaft which is fixedly connected with the bevel pinion, and the big limb driving unit driving output shaft rotates around the rotating shaft of the big limb driving unit and drives the bevel pinion to rotate around the rotating shaft of the big limb driving unit;
the small bevel gear and the large bevel gear are in a bevel gear meshing relationship, and the shaft intersection angle between the two bevel gears is 90 degrees;
the big bevel gear is fixedly connected with the big limb through the big bevel gear connecting structure to drive the big limb to synchronously rotate along with the big bevel gear; the large bevel gear connecting structure provides support through a bearing III which is fixed relative to the side swing frame; the big bevel gear is geometrically coaxial with the output end of the universal joint;
The big limb comprises a big limb frame and an upper driving wheel driving shaft fixing bearing; the upper driving wheel driving shaft fixing bearing is fixedly arranged on the big limb frame;
the limb, comprising a 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 driving wheel driving shaft and the upper driving wheel are coaxially fixed, and the upper driving wheel driving shaft is supported by the upper driving wheel driving shaft fixing bearing to realize that the upper driving wheel driving shaft drives the upper driving wheel to rotate; the lower driving wheel is fixed with one end of the small limb frame and forms axial constraint with the large limb frame;
the upper driving wheel and the lower driving wheel are in a driving relationship, and the driving mode comprises any one of belt driving, chain driving and connecting rod driving;
the upper driving wheel driving shaft is connected with the output end of the universal joint, and the rotation axis of the upper driving wheel driving shaft is collinear with the orientation axis of the output end of the universal joint, so that the small limb driving unit drives the small limb driving structure and further drives the small limb to move through the universal joint.
Preferably, for the double-arm working mode, in the operation mode, the two limb subsystems for simulating the double arms of the humanoid robot are all active movements of the lateral swing driving unit, the big limb driving unit, the small limb driving unit and the shoulder-hip conversion driving unit, and the respective shoulder-hip conversion driving units respectively drive the respective basic frames to move so as to simulate lifting and pressing movements of shoulder joints of a human body and drive the respective big limb and small limb to move so as to realize movement of the limb tail end structure in a large working space, thereby meeting flexible operation requirements of the double arms.
Preferably, for the high dynamic bipedal movement mode, in the operation mode, two limb subsystems for simulating the legs of the humanoid robot are all active movements of the lateral swing driving unit, the big limb driving unit and the small limb driving unit, and the shoulder-hip conversion driving unit drives the respective basic frame to move, so that the rotation axes of the big limb driving units are kept parallel to the X axis of the frame coordinate system, thereby providing space for lateral swing movements of the legs around the X axis of the frame coordinate system;
For the high dynamic bipedal mode of motion, in which mode of operation the XY plane is maintained substantially parallel to the ground;
for the high-dynamic biped motion mode, in the operation mode, two limb subsystems of double arms of the humanoid robot are simulated, wherein the lateral swing driving unit, the big limb driving unit, the small limb driving unit and the shoulder-hip conversion driving unit are all active motions, swing arm motions coordinated with leg motion rhythms are realized, and balancing capacity of the humanoid robot in a high-dynamic motion state is improved.
Preferably, for the high-dynamic quadruped motion mode, in the operation mode, the lateral swing driving units, the big limb driving units and the small limb driving units in the four limb subsystems all perform active motion, wherein the shoulder-hip conversion driving units drive the respective basic frames to move, and the rotating shafts of the big limb driving units respectively keep parallel to the Z axis of the machine body coordinate system, so that space is provided for lateral swing motion of legs around the Z axis of the machine body coordinate system;
for the high dynamic quadruped motion mode, in this mode of operation, the YZ plane is maintained substantially parallel to the ground.
Preferably, the high-dynamic bipedal movement mode has the capability of real-time conversion with the high-dynamic tetrapod movement mode;
when the robot is in the high-dynamic biped motion mode, in a state of keeping the two legs standing, the robot 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-hip conversion driving units in the two limb subsystems corresponding to the two legs until the Z axis of the robot body coordinate system is parallel to the rotating shafts of the large limb driving units of the two limb subsystems, so that the real-time conversion from the high-dynamic biped motion mode to the high-dynamic tetrapod motion mode is realized;
when the robot is in the high-dynamic four-foot motion mode, the limitation that the rotating shafts of the large limb driving units in the four limb subsystems are parallel to the Z axis of the robot body coordinate system is removed, the robot body system is provided with instant angular momentum around the Y axis of the robot body coordinate system through two front legs fast bouncing under the state of keeping two rear legs grounded, and meanwhile, the robot body system is driven to rotate around the rotating shafts of the small limb driving units in the two limb subsystems through adjusting the rotating angles of the driving units in the two limb subsystems corresponding to the two rear legs until the X axis of the robot body coordinate system is parallel to the rotating shafts of the large limb driving units in the two limb subsystems, so that the real-time conversion from the high-dynamic four-foot motion mode to the high-dynamic two-foot motion mode is realized.
Preferably, when in the double-arm working mode, for two limb subsystems which are not used for simulating the double arms of the humanoid robot, simulation of the double legs of the humanoid robot and dynamic bipedal movement are realized by keeping the rotation axes of the large limb driving units in the two limb subsystems parallel to the X axis of the machine body coordinate system;
the dual arm mode of operation has the ability to switch with the high dynamic bipedal mode of motion.
Preferably, the specific structures of the body 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 formed by a driving output shaft of the side swing driving unit, a side swing frame and a large limb in sequence;
the link B is formed by a driving output shaft of the big limb driving unit, a small bevel gear, a big bevel gear connecting structure and a big limb in sequence;
the link C is formed by 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 formed by a driving output shaft of the shoulder-hip conversion driving unit, a shoulder-hip conversion transmission structure and a basic frame in sequence;
The rotation power output by the lateral swing driving unit is transmitted and output to the big limb through a link A, so that lateral swing of the big limb is realized;
the rotation power output by the big limb driving unit is transmitted to the big limb through a link B to realize the back-and-forth swing of the big limb;
the rotating power output by the small limb driving unit is transmitted to the small limb through a link C to realize the rocker arm movement of the small limb;
the rotation power output by the shoulder-hip conversion driving unit is transmitted and output to the basic framework through the link D, so that the twisting movement of the big limb and the small limb is realized.
Preferably, the shoulder-hip conversion large transmission component and the shoulder-hip conversion small transmission component are directly meshed through a gear structure in a transmission mode; the shoulder-hip conversion large transmission component and the shoulder-hip conversion small transmission component are engaged by a large transmission ratio gear, and mechanical self-locking capability is provided for the shoulder-hip conversion driving unit to drive the output shaft.
Preferably, the transmission mode of the shoulder-hip conversion large transmission component and the shoulder-hip conversion small transmission component is belt transmission between the two.
Compared with the prior art, the invention has the following remarkable characteristics:
(1) The humanoid robot comprises a plurality of operation modes such as a double-arm working mode, a high-dynamic biped motion mode, a high-dynamic tetrapod motion mode and the like, and the robot has relatively flexible double-arm motion capability, high-performance and high-dynamic tetrapod motion capability based on a limited number of motion joints.
(2) In any running mode, the four driving units such as the lateral swing driving unit, the big limb driving unit, the small limb driving unit and the shoulder-hip conversion driving unit do not move along with the big limb and the small limb, so that the motion inertia of the robot is reduced to the greatest extent, and the 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 load of the corresponding driving unit in a traditional serial transmission mode, so that the dynamic property and the reliability of the robot system are further ensured; the shoulder-hip conversion driving unit has mechanical self-locking capability, so that the external load is shared in each operation mode, and the bearing capability of the robot system and the function realization of each operation mode are ensured.
(4) The robot can be switched in real time among various running modes, including bidirectional switching between a high-dynamic biped movement mode and a high-dynamic quadruped movement mode, and bidirectional switching between a double-arm working mode and a high-dynamic biped movement mode, so that the robot has the capability of keeping continuous operation and dynamic movement.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
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 according to the present invention. Fig. 2 (a) is a schematic diagram of the overall structure of the airframe system and the limb subsystem, and fig. 2 (b) is a schematic exploded view of the structure of the limb subsystem.
Fig. 3 is a schematic diagram showing the structural components of the power hinge according to the present invention. Fig. 3 (a) is a schematic exploded view of a structure of the power hub, and fig. 3 (b) is a schematic assembled view of a structure of a side swing driving unit in the power hub.
FIG. 4 is a schematic diagram showing the operation and effect of the power hinge according to the present invention. Fig. 4 (a) is a schematic diagram of a relative positional relationship between the power hub and other structures, fig. 4 (b) is a schematic diagram of an operation effect of the lateral swing driving unit, fig. 4 (c) is a schematic diagram of an operation effect of the large limb driving unit, fig. 4 (d) is a schematic diagram of an operation effect of the small limb driving unit, and fig. 4 (e) is a schematic diagram of an operation effect of the shoulder-hip switching driving unit.
Fig. 5 is a schematic diagram of the structural composition of the big limb and the small limb according to the present invention. Fig. 5 (a) is a schematic diagram of the structural composition of a large limb, and fig. 5 (b) is a schematic diagram of the structural composition of a small limb.
Fig. 6 is a schematic structural diagram of the transmission structure of the small limb according to the present invention.
FIG. 7 is a schematic diagram of the dual arm mode of operation of the present invention. Fig. 7 (a) is a schematic view of an arm working space, fig. 7 (b) is a schematic view of a tool, and fig. 7 (c) is a schematic view of a double-arm steering wheel.
Fig. 8 is a schematic diagram of a high dynamic bipedal motion pattern according to the present invention.
Fig. 9 is a schematic diagram of a high dynamic quadruped motion mode according to the present invention.
Fig. 10 is a schematic diagram of a switching process between the high dynamic bipedal exercise mode and the high dynamic quadruped exercise mode according to the present invention. Fig. 10 (a) shows a transition from the high-dynamic bipedal motion mode to the high-dynamic tetrapedal motion mode, and fig. 10 (b) shows a transition from the high-dynamic tetrapedal motion mode to the high-dynamic bipedal motion mode.
Fig. 11 is a schematic diagram of the 4 transmission links according to the present invention. Fig. 11 (a) is a schematic diagram of the transfer relationship of the link a, fig. 11 (B) is a schematic diagram of the transfer relationship of the link B, fig. 11 (C) is a schematic diagram of the transfer relationship of the link C, and fig. 11 (D) is a schematic diagram of the transfer relationship of the link D.
Fig. 12 is a schematic view of a transmission scheme between the large transmission component for shoulder-to-hip transition and the small transmission component for shoulder-to-hip transition. Fig. 12 (a) is a schematic diagram of direct engagement transmission using a gear structure, and fig. 12 (b) is a schematic diagram of belt transmission.
Detailed Description
The present invention is further described in detail below with reference to the examples and figures, which are given by way of illustration only and the scope of the invention is not limited by these examples.
As shown in fig. 1, a humanoid robot having a high dynamic quadruped motion mode and a double-arm operation mode includes a body system 1, an extremity system.
Defining a body coordinate system 10 on the body system 1, wherein a sagittal axis is an X axis of the body coordinate system, a coronal axis is a Y axis of the body coordinate system, and a vertical axis is a Z axis of the body coordinate system, namely an XY plane of the humanoid robot is a horizontal plane under the condition of standing vertically, 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 body system 1 about the XZ plane in pairs, and respectively simulate the double arms and the double 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 structure 6 is located at the end of the limb 5, with the ability to further connect hand components, foot components, 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-to-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-to-hip conversion transmission structure 311; the sideslip driving unit 301, the big limb driving unit 302, the small limb driving unit 303 and the shoulder-hip switching driving unit 304 respectively comprise motors and drive output shafts, and the drive output shafts are respectively marked as a sideslip driving unit drive output shaft 3011, a big limb driving unit drive output shaft 3021, a small limb driving unit drive output shaft 3031 and a shoulder-hip switching driving unit drive output shaft 3041; the limb drive unit drives the output shaft 3031 to realize rotational movement around the Y-axis direction, the rotational axis being denoted as a limb drive unit shaft 3030; the large limb driving unit 302 and the side swing driving unit 301 are both fixed to the base frame 305; the main body driving unit drives the output shaft 3021 and the side swing driving unit drives the output shaft 3011 to realize rotary motion, and the rotary axes of the main body driving unit and the side swing driving unit coincide, and the rotary axis is recorded as a main body driving unit rotary shaft 3020; the limb drive unit shaft 3030 and the main limb drive unit shaft 3020 are perpendicular to each other and intersect; a side swing frame 306 and a base frame 305 are restrained by taking a main body driving unit rotating shaft 3020 as an axis; the shoulder-hip switching driving unit 304 drives the base frame 305 to rotate around the limb driving unit rotating shaft 3030 through the shoulder-hip switching transmission structure 311; the input end 3071 of the universal joint 307 rotates synchronously with the rotation of the limb driving unit driving output shaft 3031, and the rotation axis of the input end 3071 of the universal joint 307 coincides with the limb driving unit rotating shaft 3030; the first facing axis 40 of the output end 3072 of the universal joint 307 is perpendicular to and intersects the main body drive unit rotation axis 3020 and rotates synchronously with the rotation of the side swing frame 306; the rotational movement of the output 3072 of the universal joint 307 moves the limb actuator 7.
The limb driving unit 303 is fixed relative to the body system 1, and the limb driving unit included in the body system drives the output shaft 3031 to realize a rotational motion around the direction of the rotating shaft 3030 of the limb driving unit, and the limb driving unit drives the output shaft 3031 to be fixedly connected with the input end 3071 of the universal joint 307 through an axial connection structure.
The acromioclavicular shift driving unit 304 is fixed relative to the fuselage system 1, and the acromioclavicular shift driving unit included therein drives the output shaft 3041 to realize a rotational movement about the Y-axis direction, which is denoted as the acromioclavicular shift driving unit rotation shaft 3040.
The shoulder-to-hip conversion transmission structure 311 comprises a shoulder-to-hip conversion large transmission part 3111 and a shoulder-to-hip conversion small transmission part 3112, and the shoulder-to-hip conversion small transmission part 3112 drives the shoulder-to-hip conversion large transmission part 3111 to move; the shoulder-to-hip small transmission part 3112 is fixed to the shoulder-to-hip small transmission part 3112 and rotates with the output shaft 3041 driven by the shoulder-to-hip drive unit, and the shoulder-to-hip small transmission part 3112 is supported by a bearing one 11 fixed opposite to the fuselage system 1; the shoulder-hip transition large transmission part 3111 realizes the rotation motion around the small limb driving unit shaft 3030 and is supported by a second bearing 12 fixed relative to the body system 1; the shoulder-to-hip transition large transmission part 3111 is fixedly connected to the base frame 305 to achieve rotation of the base frame 305 about the small limb drive unit rotation shaft 3030.
The sideslip driving unit 301 includes a sideslip driving output shaft 3011 fixedly connected to the sideslip frame 306, and the sideslip driving unit drives the output shaft 3011 to rotate around the main body driving unit rotation shaft 3020 and drives the sideslip frame 306 to rotate around the main body driving unit rotation shaft 3020, so as to realize the relative rotation between the sideslip frame 306 and the base frame 305.
The main body driving unit driving output shaft 3021 included in the main body driving unit 302 is fixedly connected to the bevel pinion 309, and the main body driving unit driving output shaft 3021 rotates around the main body driving unit rotation shaft 3020 and drives the bevel pinion 309 to rotate around the main body driving unit rotation shaft 3020.
The bevel gears 309 and 308 are in meshing relationship with each other, and the angle of intersection between the bevel gears is 90 °.
The big bevel gear 308 is fixedly connected with the big limb 4 through a big bevel gear connecting structure 310, and drives the big limb 4 to synchronously rotate along with the big bevel gear 308; the large bevel gear connection 310 provides support through bearing three 3061, which is 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 along axis one 40.
As shown in fig. 3 (b), the roll drive unit 301 is composed of a motor 3012 and a decelerator 3013; the reducer 3013 is not necessarily required, and if the reducer 3013 is included, the output shaft of the reducer is the drive output shaft 3011 of the yaw drive unit, and if the reducer 3013 is not included, the output shaft of the motor 3012 is the drive output shaft 3011 of the yaw drive unit. The respective structural compositions of the large limb driving unit 302, the small limb driving unit 303, and the shoulder-to-hip switching driving unit 304 are the same as those of the side swing driving unit 301.
As shown in fig. 4 (a), the driving outputs of the roll driving unit 301, the large limb driving unit 302, and the small limb driving unit 303 are in parallel transmission relationship.
As shown in fig. 3 (a) and fig. 4 (b), the sideslip driving unit drives the output shaft 3011 to rotate, so as to drive the sideslip frame 306 to rotate around the main limb driving unit rotating shaft 3020, so as to realize relative rotation between the sideslip frame 306 and the base frame 305, as shown by a rotating arrow mark 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 drive the large limb 4 to rotate around the axis one 40, as shown by a rotation arrow mark in the figure.
As shown in fig. 3 (a) and fig. 4 (d), the limb driving unit drives the output shaft 3031 to rotate, so as to drive the limb 5 to rotate around the axis two 50, as shown by a rotation arrow mark in the figure.
As shown in fig. 3 (a) and fig. 4 (e), the shoulder-hip transition driving unit drives the output shaft 3041 to rotate, so as to drive the base frame 305 to rotate around the rotating shaft 3030 of the limb driving unit, as shown by the rotating arrow mark in the figure.
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; the upper drive wheel drive shaft fixed bearing 42 is fixedly mounted to the thigh frame 41 along axis one 40.
As shown in fig. 5 (b), the limb 5 includes a limb frame 51.
As shown in fig. 6 and 5 (b), the limb transmission structure 7 includes an upper transmission wheel 71, a lower transmission wheel 72, and an upper transmission wheel driving shaft 73; the upper driving wheel driving shaft 73 and the upper driving wheel 71 are coaxially fixed along the first axis 40, and the upper driving wheel driving shaft 73 drives the upper driving wheel 71 to rotate by providing support by the upper driving wheel driving shaft fixing bearing 42; the lower drive wheel 72 is fixed to one end of the limb frame 51 and forms an axial restraint with the main limb frame 41 about the axis 50.
The upper driving wheel 71 and the lower driving wheel 72 are in belt driving, and can be changed into chain driving, connecting rod driving and the like.
As shown in fig. 6 and fig. 3 (a), the upper driving wheel driving shaft 73 is connected with the output end 3072 of the universal joint 307, and the rotation axis of the upper driving wheel driving shaft 73 and the orientation axis of the output end 3072 of the universal joint 307 are collinear, and are both axes one 40, so that the small limb driving unit 303 drives the small limb driving structure 7 and further drives the small limb 5 to move through the universal joint 307.
As shown in fig. 7, the operation mode of the humanoid robot includes a double-arm operation mode in which two limb subsystems simulate the double-arm operation of the humanoid robot, respectively.
For the double-arm working mode, in the working mode, two limb subsystems 2 for simulating double arms of the humanoid robot are used for actively moving a side swing driving unit 301, a big limb driving unit 302, a small limb driving unit 303 and a shoulder-hip conversion driving unit 304, and the respective shoulder-hip conversion driving units 304 respectively drive respective basic frames 305 to move so as to simulate lifting and pressing movements of shoulder joints of a human body and drive respective big limb 4 and small limb 5 to move so as to realize movement of a limb tail end structure 6 in a large working space, thereby meeting flexible working requirements of the double arms.
When in the double-arm working mode, the simulation of the double legs of the humanoid robot and the dynamic double-foot motion are realized by keeping the rotation axes 3020 of the large limb driving units in the two limb subsystems 2 parallel to the X axis of the body coordinate system 10 for the two limb subsystems 2 which are not used for simulating the double arms of the humanoid robot.
The dual arm mode of operation has the ability to switch from the high dynamic bipedal mode of motion.
As shown in fig. 7 (a), the circular hatched areas in the figure are the 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 limb extremity structure 6 is located at the extremity of the limb 5, with the ability to further connect hand components, foot components, external tools. A limb subsystem 2 for simulating an arm of a humanoid robot, by means of which the tool can be held and operated, is provided with hand parts.
As shown in fig. 7 (c), the large working space of the extremity structure 6 is beneficial for simulating the two extremity subsystems 2 of the arms of a humanoid robot, by which the steering wheel can be held and rotated, respectively, by mounting the hand pieces.
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 biped motion of the humanoid robot respectively to realize high-dynamic biped motion, and the other two limb subsystems simulate the double-arm motion 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 bipedal movement mode, in this operation mode, two limb subsystems 2 for simulating the legs of a humanoid robot, in which the lateral swing driving unit 301, the large limb driving unit 302, and the small limb driving unit 303 are all actively moved, and in which the shoulder/hip switching driving unit 304 moves the respective base frames 305, and the respective large limb driving unit rotation shafts 3020 are kept parallel to the X-axis of the body coordinate system 10, thereby providing space for the lateral swing movement of the legs around the X-axis of the body coordinate system 10.
For the high dynamic bipedal mode of operation, the XY plane is maintained substantially parallel to the ground.
For the high-dynamic biped motion mode, in the operation mode, two limb subsystems 2 used for simulating double arms of the humanoid robot are in active motion, namely a lateral swing driving unit 301, a big limb driving unit 302, a small limb driving unit 303 and a shoulder-hip conversion driving unit 304, so that swing arm motion coordinated with the motion rhythm of legs is realized, and the balance capacity 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 motion mode in which four limb subsystems simulate limbs of a quadruped mammal to achieve high-dynamic quadruped motion, respectively.
As shown in fig. 9 and 3 (a), for the high dynamic quadruped motion mode, in this operation mode, the lateral swing driving units 301, the large limb driving units 302 and the small limb driving units 303 in the four limb subsystems 2 are all active motions, and the shoulder/hip switching driving units 304 drive the respective base frames 305 to move, so that the respective large limb driving unit rotating shafts 3020 keep parallel to the Z axis of the body coordinate system 10, thereby providing space for the lateral swing motion of the legs around the Z axis of the body coordinate system 10.
For the high dynamic quadruped mode of motion, the YZ plane is maintained substantially parallel to the ground in this mode of operation.
As shown in fig. 10, the high dynamic bipedal mode has the ability to switch in real time with the high dynamic tetrapod mode.
As shown in fig. 10 (a) and fig. 3 (a), when the robot is in the high-dynamic bipedal movement mode, the robot 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 angles of the shoulder-hip conversion driving units driving the output shafts 3041 in the two limb subsystems 2 corresponding to the two legs in a state of keeping the two legs standing until the Z axis of the robot 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 bipedal movement mode to the high-dynamic tetrapedal movement mode is realized.
As shown in fig. 10 (b) and fig. 3 (a), when in the high-dynamic four-foot exercise mode, by releasing the limitation that the respective 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 rear legs are kept grounded, the body system 1 is provided with the instantaneous angular momentum about the Y-axis of the body coordinate system 10 by the two front legs bouncing quickly, and simultaneously, the body system 1 is driven to rotate about the small limb driving unit rotating shafts 3030 of the two limb subsystems 2 by adjusting the rotation angles of the shoulder-hip conversion driving units driving output shafts 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 large limb driving unit rotating shafts 3020 of the two limb subsystems 2, the high-dynamic four-foot exercise mode is converted into the high-dynamic bipedal exercise mode in real time.
As shown in fig. 11, the specific structures of the body system 1 and the limb system constitute 4 transmission links, namely 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 roll drive unit drive output shaft 3011, the roll frame 306, and the large limb 4 in this order. The rotation power output by the lateral swing driving unit 301 is transmitted to the large limb 4 via the link a, so as to realize lateral swing of the large limb 4.
As shown in fig. 11 (B) and 4 (c), the link B is composed of the large limb drive unit drive output shaft 3021, the small bevel gear 309, the large bevel gear 308, the large bevel gear connecting structure 310, and the large limb 4 in this order. The rotation power output by the large limb driving unit 302 is transmitted to the large limb 4 via the link B, so that the large limb 4 swings back and forth.
As shown in fig. 11 (C) and 4 (d), the link C is composed of the small limb drive unit drive output shaft 3031, the universal joint 307, the small limb transmission structure 7, and the small limb 5 in this order. The rotational power output by the limb drive unit 303 is transmitted to the limb 5 via the link C, effecting the rocker motion of the limb 5.
As shown in fig. 11 (D) and fig. 4 (e), the link D is composed of the shoulder-to-hip shift driving unit driving output shaft 3041, the shoulder-to-hip shift transmission structure 311, and the base frame 305 in this order. The rotation power output by the shoulder/hip switching driving unit 304 is transmitted 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-to-hip shift large transmission member 3111 and the shoulder-to-hip shift small transmission member 3112 is that both are directly engaged through a gear structure. At this time, the large transmission ratio gear engagement between the shoulder-to-hip large transmission member 3111 and the shoulder-to-hip small transmission member 3112 provides mechanical self-locking capability for the shoulder-to-hip drive unit to drive the output shaft 3041.
As shown in fig. 12 (b), one of the transmission modes of the shoulder-to-hip shift large transmission member 3111 and the shoulder-to-hip shift small transmission member 3112 is 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 a high dynamic quadruped motion mode and a double-arm working mode is characterized in that,
The humanoid robot 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, a vertical axis is a Z axis of the fuselage coordinate system, an XY plane of the humanoid robot is a horizontal plane under the condition of standing vertically, a YZ plane is a coronal plane, and an XZ plane is a sagittal plane; the origin of the machine body coordinate system is positioned at the gravity center position of the machine body system;
the limb system consists of four limb subsystems (2) with the same composition structure, wherein each limb subsystem (2) comprises a power hub (3), a big limb (4), a small limb (5), a limb tail end structure (6) and a small limb transmission structure (7);
the four limb subsystems are symmetrically arranged on two sides of the body system (1) in a pairwise manner relative to the XZ plane, and respectively simulate the double arms and the double legs of the humanoid robot;
each power hub (3) comprises a sideslip driving unit (301), an extremity driving unit (302), a limb driving unit (303), a shoulder-hip conversion driving unit (304), a base frame (305), a sideslip 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-hip conversion transmission structure (311); the lateral swing driving unit (301), the large limb driving unit (302), the small limb driving unit (303) and the shoulder-hip conversion driving unit (304) respectively comprise motors and driving output shafts, and the driving output shafts are respectively marked as a lateral 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-hip conversion driving unit driving output shaft (3041); the limb drive unit drives an output shaft (3031) to realize rotary motion around the Y-axis direction, and the rotary axis is recorded as a limb drive unit rotary shaft (3030); the main body driving unit (302) and the side swing driving unit (301) are fixed with the base frame (305); the main body driving unit drives the output shaft (3021) and the side swing driving unit drives the output shaft (3011) to realize rotary motion, the rotary axes of the main body driving unit and the side swing driving unit coincide, and the rotary axis is recorded as a main body driving unit rotary shaft (3020); the limb driving unit rotating shaft (3030) and the big limb driving unit rotating shaft (3020) are perpendicular to each other and are intersected; the sideslip frame (306) and the base frame (305) are restrained by taking the rotating shaft (3020) of the big limb driving unit as an axis; the shoulder-hip switching driving unit (304) drives the basic frame (305) to rotate around the rotating shaft (3030) of the limb driving unit through the shoulder-hip switching 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 coincident with the rotating shaft (3030) of the small limb driving unit; 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 big limb driving unit, and synchronously rotates along with the rotation of the side swinging frame (306); the rotary motion of the output end (3072) of the universal joint (307) drives the motion of the limb transmission structure (7);
The small limb driving unit (303) is fixed relative to the body system (1), and the small limb driving unit included in the small limb driving unit drives the output shaft (3031) to realize rotary motion around the 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 the input end (3071) of the universal joint (307);
the shoulder-hip conversion driving unit (304) is fixed relative to the machine body system (1), and the included shoulder-hip conversion driving unit drives an output shaft (3041) to realize rotary motion around the Y-axis direction, and the rotary axis is recorded as a shoulder-hip conversion driving unit rotary shaft (3040);
the sidesway driving unit (301) drives the sidesway frame (306) to rotate around the rotating shaft (3020) of the big limb driving unit so as to realize the relative rotation between the sidesway frame (306) and the base frame (305);
the big limb driving unit (302) drives the small bevel gear (309) to rotate around the big limb driving unit rotating shaft (3020);
the small bevel gear (309) is driven by the big limb driving unit to drive the output shaft (3021) to rotate, the small bevel gear (309) drives the big bevel gear (308) to rotate, the big bevel gear (308) is fixedly connected with the big limb (4) through the big bevel gear connecting structure (310), and the big limb (4) synchronously rotates along with the rotation of the big bevel gear (308); -said large bevel gear (308) is geometrically coaxial with the output end (3072) of said universal joint (307);
The small limb (5) moves under the drive of the small limb transmission structure (7);
the limb extremity structure (6) is located at the extremity of the limb (5), with the ability to further connect hand components, foot components, external tools;
the operation mode of the humanoid robot comprises a high-dynamic biped motion mode, wherein in the operation mode, two limb subsystems respectively simulate the biped 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 swinging synchronous with the biped motion, so as to maintain body balance under the condition of high-dynamic motion;
the human-shaped robot comprises a high-dynamic quadruped motion mode in an operation mode, wherein four limb subsystems respectively simulate limbs of a quadruped mammal to realize high-dynamic quadruped motion;
the operation mode of the humanoid robot comprises a double-arm operation mode, and in the operation mode, two limb subsystems respectively simulate double arms of the humanoid robot to perform operation.
2. The humanoid robot with high dynamic quadruped motion mode and double arm operation mode according to claim 1, characterized in that,
The shoulder-hip conversion transmission structure (311) comprises a shoulder-hip conversion large transmission part (3111) and a shoulder-hip conversion small transmission part (3112), and the shoulder-hip conversion small transmission part (3112) drives the shoulder-hip conversion large transmission part (3111) to move; the shoulder-to-hip conversion small transmission part (3112) is fixed with the shoulder-to-hip conversion driving unit driving output shaft (3041) and rotates along with the shoulder-to-hip conversion small transmission part, and the shoulder-to-hip conversion small transmission part (3112) is supported by a bearing I (11) which is fixed relative to the body system (1); the shoulder-hip transition large transmission part (3111) realizes rotary motion around the rotating shaft (3030) of the small limb driving unit, and is supported by a bearing II (12) which is fixed relative to the body system (1); the shoulder-hip transition large transmission component (3111) is fixedly connected with the base frame (305) so as to realize the rotation of the base frame (305) around the rotating shaft (3030) of the small limb driving unit;
the sideslip driving unit (301) comprises a sideslip driving output shaft (3011) fixedly connected with the sideslip frame (306), the sideslip driving unit drives the output shaft (3011) to rotate around the rotating shaft (3020) of the large limb driving unit, and drives the sideslip frame (306) to rotate around the rotating shaft (3020) of the large limb driving unit, so that relative rotation between the sideslip frame (306) and the base frame (305) is realized;
The big limb driving unit (302) comprises a big limb driving unit driving output shaft (3021) fixedly connected with the bevel pinion (309), and the big limb driving unit driving output shaft (3021) rotates around the big limb driving unit rotating shaft (3020) and drives the bevel pinion (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 intersecting angle of the two bevel gears is 90 degrees;
the big bevel gear (308) is fixedly connected with the big limb (4) through the big bevel gear connecting structure (310) to drive the big limb (4) to synchronously rotate along with the big bevel gear (308); the large bevel gear connection (310) provides support through a bearing three (3061) fixed relative to the side swing frame (306);
the large limb (4) comprises a large limb frame (41) and an upper driving wheel driving shaft fixing bearing (42); the upper driving wheel driving shaft fixing bearing (42) is fixedly arranged on the big limb frame (41);
-said limb (5) comprising a 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 driving wheel driving shaft (73) and the upper driving wheel (71) are coaxially fixed, and the upper driving wheel driving shaft (73) drives the upper driving wheel (71) to rotate by providing support by the upper driving wheel driving shaft fixing bearing (42); the lower driving wheel (72) is fixed with one end of the small limb frame (51) and forms axial constraint with the large limb frame (41);
the upper driving wheel (71) and the lower driving wheel (72) are in a driving relationship, and the driving mode comprises any one of belt driving, chain driving and connecting rod driving;
the upper driving wheel driving shaft (73) is connected with the output end (3072) of the universal joint (307), and the rotation axis of the upper driving wheel driving shaft (73) is collinear with the orientation axis of the output end (3072) of the universal joint (307), so that the small limb driving unit (303) drives the small limb driving structure (7) through the universal joint (307) and further drives the small limb (5) to move.
3. The humanoid robot with high dynamic quadruped motion mode and double arm operation mode according to claim 1, characterized in that,
for the double-arm working mode, in the working mode, two limb subsystems (2) used for simulating the double arms of the humanoid robot are in active movement, wherein the lateral swing driving unit (301), the big limb driving unit (302), the small limb driving unit (303) and the shoulder-hip conversion driving unit (304) respectively drive the base frames (305) to respectively move so as to simulate the lifting and pressing movements of the shoulder joints of a human body, and drive the big limbs (4) and the small limbs (5) to respectively move so as to realize the movement of the limb tail end structures (6) in a large working space.
4. The humanoid robot with high dynamic quadruped motion mode and double arm operation mode according to claim 1, characterized in that,
for the high dynamic bipedal movement mode, in which the two limb subsystems (2) for simulating the legs of the humanoid robot are all actively moved by the lateral swing driving unit (301), the big limb driving unit (302) and the small limb driving unit (303), the shoulder-hip conversion driving unit (304) drives the respective base frame (305) to move, and the respective rotating shaft (3020) of the big limb driving unit is kept parallel to the X axis of the body coordinate system (10) so as to provide space for lateral swing movement of the legs around the X axis of the body coordinate system (10);
For the high dynamic bipedal mode of motion, in which mode of operation the XY plane is maintained substantially parallel to the ground;
for the high-dynamic biped motion mode, in the operation mode, two limb subsystems (2) used for simulating double arms of the humanoid robot are active motions of the lateral swing driving unit (301), the big limb driving unit (302), the small limb driving unit (303) and the shoulder-hip conversion driving unit (304) to realize swing arm motions coordinated with leg motion rhythms.
5. The humanoid robot with high dynamic quadruped motion mode and double arm operation mode according to claim 1, characterized in that,
for the high-dynamic quadruped motion mode, in the operation mode, the lateral swing driving units (301), the big limb driving units (302) and the small limb driving units (303) in the four limb subsystems (2) are all actively moved, wherein the shoulder-to-hip conversion driving units (304) drive the respective base frames (305) to move, and the respective big limb driving unit rotating shafts (3020) are kept parallel to the Z axis of the body coordinate system (10), so that space is provided for lateral swing movement of legs around the Z axis of the body coordinate system (10);
For the high dynamic quadruped motion mode, in this mode of operation, the YZ plane is maintained substantially parallel to the ground.
6. The humanoid robot with high dynamic quadruped motion mode and double arm operation mode according to claim 1, characterized in that,
the high-dynamic bipedal movement mode has the capability of real-time conversion with the high-dynamic tetrapod movement mode;
when the robot is in the high-dynamic bipedal movement mode, in a state of keeping the two legs standing, driving the body system (1) to rotate around the rotating shafts (3030) of the small limb driving units of the two limb subsystems (2) by adjusting the rotating angles of the driving output shafts (3041) of the shoulder-hip conversion driving units in the two limb subsystems (2) corresponding to the two legs until the Z axis of the body coordinate system (10) is parallel to the rotating shafts (3020) of the large limb driving units of the two limb subsystems (2), so that the real-time conversion from the high-dynamic bipedal movement mode to the high-dynamic tetrapedal movement mode is realized;
when the high-dynamic four-foot exercise mode is in the high-dynamic four-foot exercise mode, the limitation that the rotating shafts (3020) of the large limb driving units in the four limb subsystems (2) are parallel to the Z axis of the machine body coordinate system (10) is removed, the machine body system (1) is provided with instant angular momentum around the Y axis of the machine body coordinate system (10) through rapid bouncing of the two front legs under the state that the two rear legs are grounded, and meanwhile, the rotating shafts (3030) of the small limb driving units in the two limb subsystems (2) corresponding to the two rear legs are adjusted to drive the rotating shafts (3041) of the output shafts, so that the machine body system (1) is driven to rotate around the rotating shafts (3030) of the small limb driving units in the two limb subsystems (2) until the X axis of the machine body coordinate system (10) is parallel to the rotating shafts (3020) of the large limb driving units in the two limb subsystems (2), so that the high-dynamic four-foot exercise mode is converted into the high-dynamic two-foot exercise mode.
7. The humanoid robot with high dynamic quadruped motion mode and double arm operation mode according to claim 1, characterized in that,
when in the double-arm working mode, for two limb subsystems (2) which are not used for simulating double arms of the humanoid robot, simulating double legs of the humanoid robot and realizing dynamic double-foot motion by keeping the rotation axes (3020) of the large limb driving units in the two limb subsystems (2) respectively parallel to the X axis of the body coordinate system (10);
the dual arm mode of operation has the ability to switch with the high dynamic bipedal mode of motion.
8. The humanoid robot with high dynamic quadruped motion mode and double arm operation mode according to claim 1, characterized in that,
the specific structures of the body 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), a sidesway frame (306) and a big limb (4) of the sidesway driving unit in sequence;
the link B is formed by a main body driving unit driving output shaft (3021), a small bevel gear (309), a main bevel gear (308), a main bevel gear connecting structure (310) and a main body (4) in sequence;
The link C is formed by a small limb driving unit driving output shaft (3031), a universal joint (307), a small limb transmission structure (7) and a small limb (5) in sequence;
the link D is formed by a shoulder-hip conversion driving unit driving output shaft (3041), a shoulder-hip conversion driving structure (311) and a base frame (305) in sequence;
the rotation power output by the sideslip driving unit (301) is transmitted to the big limb (4) through a link A to realize the lateral swing of the big limb (4);
the rotating power output by the big limb driving unit (302) is transmitted to the big limb (4) through a link B to realize the back-and-forth swing of the big limb (4);
the rotating power output by the small limb driving unit (303) is transmitted to the small limb (5) through a link C to realize the rocker arm movement of the small limb (5);
the rotation power output by the shoulder-hip conversion driving unit (304) is transmitted to the base frame (305) through a link D, so that the twisting motions of the large limb (4) and the small limb (5) are realized.
9. The humanoid robot with high dynamic quadruped motion mode and double-arm working mode according to claim 1, characterized in that the transmission mode of the shoulder-to-hip transition large transmission part (3111) and the shoulder-to-hip transition small transmission part (3112) is directly engaged by a gear structure; the shoulder-to-hip conversion large transmission part (3111) and the shoulder-to-hip conversion small transmission part (3112) are engaged through gears with large transmission ratio, and mechanical self-locking capacity is provided for the shoulder-to-hip conversion driving unit to drive the output shaft.
10. The humanoid robot with high dynamic quadruped motion mode and double-arm operation mode according to claim 1, wherein the transmission mode of the shoulder-to-hip transition large transmission part (3111) and the shoulder-to-hip transition small transmission part (3112) is belt transmission therebetween.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110903367.4A CN113618750B (en) | 2021-08-06 | 2021-08-06 | Humanoid robot with high dynamic quadruped motion mode and double-arm working mode |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110903367.4A CN113618750B (en) | 2021-08-06 | 2021-08-06 | Humanoid robot with high dynamic quadruped motion mode and double-arm working mode |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113618750A CN113618750A (en) | 2021-11-09 |
| CN113618750B true CN113618750B (en) | 2024-02-27 |
Family
ID=78383383
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110903367.4A Active CN113618750B (en) | 2021-08-06 | 2021-08-06 | Humanoid robot with high dynamic quadruped motion mode and double-arm working mode |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113618750B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114394171A (en) * | 2022-02-17 | 2022-04-26 | 天津大学 | Bionic mechanical dog |
| CN114571497B (en) * | 2022-03-14 | 2024-02-20 | 上海大学 | Leg arm robot pivot type explosive movement 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 |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102211627A (en) * | 2011-04-27 | 2011-10-12 | 浙江大学 | Four-leg robot mechanism based on bionic design |
| CN108001560A (en) * | 2017-12-19 | 2018-05-08 | 浙江工业大学 | A kind of six degree of freedom quadruped robot |
| US10144464B1 (en) * | 2014-07-10 | 2018-12-04 | National Technology & Engineering Solutions Of Sandia, Llc | Energy efficient robot |
| CN109178139A (en) * | 2018-11-19 | 2019-01-11 | 东莞深圳清华大学研究院创新中心 | A kind of Mini humanoid robot six degree of freedom leg structure of hip joint enhancing |
| CN111516774A (en) * | 2020-05-09 | 2020-08-11 | 北京交通大学 | Novel foot type robot capable of realizing real-time switching through integration of double feet and four feet |
| CN112046637A (en) * | 2020-08-25 | 2020-12-08 | 深圳市优必选科技股份有限公司 | Leg mechanism and humanoid robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7628093B2 (en) * | 2007-03-07 | 2009-12-08 | Disney Enterprises, Inc. | Three-axis robotic joint with human-based form factors |
-
2021
- 2021-08-06 CN CN202110903367.4A patent/CN113618750B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102211627A (en) * | 2011-04-27 | 2011-10-12 | 浙江大学 | Four-leg robot mechanism based on bionic design |
| US10144464B1 (en) * | 2014-07-10 | 2018-12-04 | National Technology & Engineering Solutions Of Sandia, Llc | Energy efficient robot |
| CN108001560A (en) * | 2017-12-19 | 2018-05-08 | 浙江工业大学 | A kind of six degree of freedom quadruped robot |
| CN109178139A (en) * | 2018-11-19 | 2019-01-11 | 东莞深圳清华大学研究院创新中心 | A kind of Mini humanoid robot six degree of freedom leg structure of hip joint enhancing |
| CN111516774A (en) * | 2020-05-09 | 2020-08-11 | 北京交通大学 | Novel foot type robot capable of realizing real-time switching through integration of double feet and four feet |
| CN112046637A (en) * | 2020-08-25 | 2020-12-08 | 深圳市优必选科技股份有限公司 | Leg mechanism and humanoid robot |
Non-Patent Citations (1)
| Title |
|---|
| BigDog四足机器人关键技术分析;丁良宏;;机械工程学报(第07期);第1-23页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113618750A (en) | 2021-11-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113618750B (en) | Humanoid robot with high dynamic quadruped motion mode and double-arm working mode | |
| JP2592340B2 (en) | Joint structure of a legged walking robot | |
| CN107010136B (en) | Six-degree-of-freedom walking robot single-leg structure capable of performing leg-arm fusion operation | |
| CN103737207A (en) | Parallel-serial welding robot mechanism with six degrees of freedom | |
| CN107187512A (en) | Human-imitating double-foot walking robot | |
| CN111546326B (en) | Based on cylinder and pneumatic muscle humanoid robot system | |
| CN102991601A (en) | Two-degree-of-freedom humanoid ankle joint | |
| CN220922461U (en) | Hollow bionic hip joint | |
| CN102849140A (en) | Multi-moving-mode bionic moving robot | |
| CN103737582A (en) | High-precision advanced welding robot mechanism with six degrees of freedom | |
| CN108622228B (en) | Quadruped robot with flexible waist | |
| CN206885198U (en) | Human-imitating double-foot walking robot | |
| JP2001239478A (en) | Leg type mobile robot and movable leg unit connecting structure for leg type mobile robot | |
| CN202071080U (en) | Pneumatic muscle flexible elbow joint device with buffer spring and flexible shaft sleeve | |
| CN108216421A (en) | A kind of series-parallel connection pedipulator and its control method | |
| CN117262067A (en) | Hip joint structure, leg structure and six-degree-of-freedom low-inertia robot bionic leg | |
| CN110394777B (en) | Multi-degree-of-freedom parallel grabbing robot for model recovery | |
| CN113134841A (en) | Humanoid robot based on joint-crossing cooperative driving | |
| CN107351937A (en) | Bionical Hydraulic Creeping robot | |
| CN114212163A (en) | Leg structure and humanoid robot | |
| CN114571497B (en) | Leg arm robot pivot type explosive movement joint based on double-motor power cooperation | |
| CN202825822U (en) | Space five-freedom-degree mechanism capable of independently controlling rotating movement and translation movement | |
| CN210307799U (en) | Connecting rod device suitable for controlling and limiting joint freedom degree of humanoid robot | |
| Zhang et al. | Innovative structural design and simulation analysis of dual-arm mobile nursing robot | |
| CN113001517B (en) | Overconstrained motion device and robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |