CN114313052A - Self-locking leg and foot module and robot - Google Patents
Self-locking leg and foot module and robot Download PDFInfo
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- CN114313052A CN114313052A CN202111678295.4A CN202111678295A CN114313052A CN 114313052 A CN114313052 A CN 114313052A CN 202111678295 A CN202111678295 A CN 202111678295A CN 114313052 A CN114313052 A CN 114313052A
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- 230000005540 biological transmission Effects 0.000 claims abstract description 24
- 210000003141 lower extremity Anatomy 0.000 claims abstract description 9
- 230000033001 locomotion Effects 0.000 claims abstract description 8
- 210000002414 leg Anatomy 0.000 claims description 56
- 210000000689 upper leg Anatomy 0.000 claims description 26
- 210000001699 lower leg Anatomy 0.000 claims description 20
- 230000000694 effects Effects 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 4
- 238000005265 energy consumption Methods 0.000 description 2
- 230000002035 prolonged effect Effects 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 244000309466 calf Species 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000017525 heat dissipation Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000009423 ventilation Methods 0.000 description 1
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Abstract
The invention relates to a self-locking leg-foot module and a robot, belonging to the technical field of robots, wherein the robot comprises a driving unit, lower limbs, a transmission unit and a stop block, wherein the driving unit comprises a first motor, a second motor and a third motor; the lower limbs comprise legs and feet, one ends of the legs are connected with the third motor, and the other ends of the legs are connected with the feet; the transmission unit is arranged in the leg part, is connected with the output end of the third motor and is used for controlling the motion of the leg part; the stop block is arranged in the leg part and used for limiting the rotation stroke of the transmission unit. The invention has the effect of solving the problem that the legged robot is not suitable for long-time operation because the motor endurance is weak when the legged robot is in standing operation.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a self-locking leg-foot module and a robot with the same.
Background
This section provides background information related to the present disclosure only and is not necessarily prior art.
Various robots are continuously appearing in the public, and compared with wheeled robots, leg-foot robots have stronger terrain adaptability and wider application scenes. The existing quadruped robot mainly achieves the purpose by installing different extension structures and sensors on the back of the quadruped robot, the application range of the quadruped robot can be greatly expanded by the method, but the quadruped robot is additionally provided with various extension structures on the back of the quadruped robot, so that the gravity center position of the quadruped robot can be changed to a great extent, and the extension structures designed by manufacturers must be purchased, and the quadruped robot is not easy to develop by users. The extension structure and various sensors installed on the back of the four-footed robot can not be protected by the body shell, and the four-footed robot is easy to be collided and damaged when falling down. On the other hand, additional structures such as a mounting bracket and the like need to be manufactured independently to fix the related extension structure and the sensor, so that the weight of the quadruped robot can be greatly increased, and the quadruped robot is not universal.
Secondly, the legged robot needs to keep standing still during operation, so that standing time is long. In the standing process, the weight of the whole robot is supported by the crus joints, the output torque of the motor is maximum, the power is high, the scalding is serious, the influence on the endurance time is large, and the robot is not suitable for long-time operation.
Disclosure of Invention
The invention aims to at least solve the problems that a legged robot is poor in motor endurance and not suitable for long-time operation when in standing operation. The purpose is realized by the following technical scheme:
a first aspect of the invention provides a self-lockable leg and foot module comprising:
the driving unit comprises a first motor, a second motor and a third motor, a motor mounting frame is mounted at the output end of the first motor, the second motor and the third motor are mounted on the motor mounting frame, and the output end of the second motor is connected with the third motor;
the lower limb comprises a leg part and a foot part, one end of the leg part is connected with the third motor, and the other end of the leg part is connected with the foot part;
the transmission unit is arranged in the leg part, is connected with the output end of the third motor and is used for controlling the motion of the leg part;
a stop disposed within the leg for limiting rotation of the drive unit.
According to the self-locking leg and foot module, the driving unit controls the movement of lower limbs, the transmission unit and the stop block are arranged in the legs, when the robot stands still, the transmission unit rotates to the self-locking position and is stopped by the stop block, the self-locking purpose is achieved, at the moment, the standing posture can be still kept and the robot can continue to operate under the condition that the driving unit does not output torque, the energy consumption of the motor is reduced, the service life and the cruising ability of the motor are prolonged, and therefore the problem that the leg and foot type robot is poor in cruising ability and not suitable for long-time operation when the robot stands is solved.
In addition, the self-locking leg-foot module according to the invention can also have the following additional technical characteristics:
in some embodiments of the present invention, the leg portion includes a thigh and a shank, one end of the thigh is connected to the third motor, the other end of the thigh is connected to the shank, and one end of the shank away from the thigh is connected to the foot.
In some embodiments of the present invention, the transmission unit is installed inside the thigh, the transmission unit includes a driving gear, a driving link and a driven link, the driving gear is installed at an output end of the third motor, the driving link is installed on the thigh, one end of the driving link is engaged with the driving gear, the other end of the driving link is hinged to the driven link, and one end of the driven link, which is far away from the driving link, is hinged to the shank.
In some embodiments of the invention, the stop is disposed inside the thigh, the stop for limiting rotation of the active link.
Another aspect of the present invention also provides a robot, including:
a body module comprising a housing having a receiving cavity therein;
the sensor module comprises a first sensor unit and a second sensor unit, and the first sensor unit and the second sensor unit are respectively and symmetrically arranged on two sides of the shell;
and the self-lockable leg-foot module comprises four self-lockable leg-foot modules, the four self-lockable leg-foot modules are arranged on the shell, and the four self-lockable leg-foot modules are symmetrically arranged along the axial direction of the body module.
In some embodiments of the invention, a host, an upper computer, a gyroscope, a battery and a power supply control module are arranged in the accommodating cavity, and the host is electrically connected with the upper computer and the battery; the upper computer is electrically connected with the gyroscope; the battery is electrically connected with the power control module and the driving unit.
In some embodiments of the invention, the body module further comprises a lidar disposed on a surface of the top of the housing, the lidar being electrically connected to the host.
In some embodiments of the invention, the body module further comprises a voice recognition module disposed on the housing, and the voice recognition module is electrically connected to the host.
In some embodiments of the present invention, the first sensor unit includes a first bracket and a depth camera, the self-lockable leg and foot modules are respectively disposed on two sides of the first bracket, the depth camera is disposed on the first bracket, and the depth camera is electrically connected to the host.
In some embodiments of the present invention, the second sensor unit includes a second bracket and a control panel, the self-lockable leg and foot modules are respectively disposed on two sides of the second bracket, the control panel is disposed on the second bracket, and the control panel is connected to the power control module.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like parts are designated by like reference numerals throughout the drawings. In the drawings:
FIG. 1 is a schematic view of the overall structure of a self-lockable leg and foot module;
FIG. 2 is a schematic view of the overall structure of a self-lockable leg and foot module in another direction;
FIG. 3 is a schematic view of a leg self-locking principle structure of a self-lockable leg and foot module;
FIG. 4 is a partially enlarged schematic view of a leg self-locking state of the self-lockable leg and foot module;
FIG. 5 is a schematic view of the overall structure of the robot;
FIG. 6 is a front view of the robot;
FIG. 7 is a side view of the robot;
fig. 8 is a schematic view of the internal structure of a body module of the robot.
Reference numerals:
1. a self-lockable leg and foot module; 10. a drive unit; 100. a first motor; 101. a second motor; 102. a third motor; 103. a motor mounting bracket; 11. a lower limb; 110. a leg portion; 1100. a thigh; 1101. a lower leg; 111. a foot section; 12. a transmission unit; 120. a driving gear; 121. a driving connecting rod; 122. a driven connecting rod; 13. a stopper; 2. a robot; 20. a body module; 200. a housing; 201. a host; 202. an upper computer; 203. a gyroscope; 204. a battery; 205. a power supply control module; 206. a laser radar; 207. a voice recognition module; 208. an output port; 209. a fan; 2010. a support block; 21. a sensor module; 210. a first sensor unit; 2100. a first bracket; 2101. a depth camera; 211. a second sensor unit; 2110. a second bracket; 2111. a control panel.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
It is to be understood that the terminology used herein is for the purpose of describing particular example embodiments only, and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" may be intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises," "comprising," "including," and "having" are inclusive and therefore specify the presence of stated features, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and/or groups thereof. The method steps, processes, and operations described herein are not to be construed as necessarily requiring their performance in the particular order described or illustrated, unless specifically identified as an order of performance. It should also be understood that additional or alternative steps may be used.
Although the terms first, second, third, etc. may be used herein to describe various elements, components, regions, layers and/or sections, these elements, components, regions, layers and/or sections should not be limited by these terms. These terms may be only used to distinguish one element, component, region, layer or section from another region, layer or section. Terms such as "first," "second," and other numerical terms when used herein do not imply a sequence or order unless clearly indicated by the context. Thus, a first element, component, region, layer or section discussed below could be termed a second element, component, region, layer or section without departing from the teachings of the example embodiments.
For convenience of description, spatially relative terms, such as "inner", "outer", "lower", "below", "upper", "above", and the like, may be used herein to describe one element or feature's relationship to another element or feature as illustrated in the figures. Such spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" or "over" the other elements or features. Thus, the example term "below … …" can include both an orientation of above and below. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
As shown in fig. 1 to 4, the self-lockable leg/foot module of the present embodiment includes:
the driving unit 10, the driving unit 10 includes a first motor 100, a second motor 101 and a third motor 102, the output end of the first motor 100 is provided with a motor mounting bracket 103, the motor mounting bracket 103 is provided with the second motor 101 and the third motor 102, and the output end of the second motor 101 is connected with the third motor 102;
a lower limb 11, wherein the lower limb 11 comprises a leg part 110 and a foot part 111, one end of the leg part 110 is connected with the third motor 102, and the other end of the leg part 110 is connected with the foot part 111;
the transmission unit 12 is arranged in the leg part 110, is connected with the output end of the third motor 102 and is used for controlling the movement of the leg part 110;
and a stopper 13, the stopper 13 being disposed in the leg 110 for limiting a rotational stroke of the transmission unit 12.
Further, leg 110 includes upper leg 1100 and lower leg 1101, one end of upper leg 1100 is connected to third motor 102, the other end of upper leg 1100 is connected to lower leg 1101, and one end of lower leg 1101 away from upper leg 1100 is connected to foot 111.
Specifically, the motor mounting bracket 103 is installed at the output end of the first motor 100, the second motor 101 and the third motor 102 are respectively installed at two sides of the motor mounting bracket 103, and at this time, the output end of the second motor 101 is fixedly connected with one side deviating from the output end of the third motor 102. One end of the thigh 1100 is fixed on the third motor 102 and is arranged at the same side with the output end of the third motor 102, the other end of the thigh 1100 is connected with the end part at one side of the shank 1101, and the connection part is hinged; the other end of the lower leg 1101 is secured to the foot 111 to form the lower limb 11. Meanwhile, one end of the transmission unit 12 is connected with the output end of the third motor 102, the other end is connected with the lower leg 1101, and the stopper 13 is arranged in the leg 110 around the output end of the third motor 102 and used for limiting the rotation stroke of the transmission unit 12. It should be noted that the first motor 100 is used for controlling the outward and inward movements of the whole leg 110, the second motor 101 controls the movement of the thigh 1100, and the third motor 102 controls the movement of the calf 1101 through the transmission unit 12. The self-locking leg and foot module 1 can move forwards and linearly and move in a squatting mode by controlling the second motor 101 and the third motor 102, and the self-locking leg and foot module 1 can move in a left-right steering mode by controlling the first motor 100, the second motor 101 and the third motor 102.
According to the self-lockable leg and foot module 1, the transmission unit 12 and the stop block 13 are arranged in the leg part 110, when the robot 2 stands still, the transmission unit 12 rotates to the self-locking position and is stopped by the stop block 13, so that the self-locking purpose is achieved, at the moment, the robot 2 can still keep the standing posture and continue to operate under the condition that the driving unit 10 does not output torque, the energy consumption of the motor is reduced, the service life and the cruising ability of the motor are increased, and the problem that the leg and foot type robot 2 is not suitable for long-time operation due to the weak cruising ability of the motor during standing operation is solved.
In some embodiments of the present invention, the transmission unit 12 is installed inside the thigh 1100, the transmission unit 12 includes a driving gear 120, a driving link 121 and a driven link 122, the driving gear 120 is installed at an output end of the third motor 102, the driving link 121 is installed on the thigh 1100, one end of the driving link 121 is engaged with the driving gear 120, the other end of the driving link 121 is hinged to the driven link 122, and one end of the driven link 122 away from the driving link 121 is hinged to the lower leg 1101.
Further, a stopper 13 is provided inside thigh 1100, and stopper 13 is used to limit the rotational stroke of active link 121.
Specifically, the driving link 121 and the driven link 122 are both rigid structures, the driving gear 120 is fixedly disposed at the output end of the third motor 102, the driving link 121 is mounted on the thigh 1100 in an articulated manner, meanwhile, one end of the driving link 121 facing the driving gear 120 is engaged with the driving gear 120, and the other end of the driving link 121 is articulated with the end of the driven link 122; the end of the slave link 122 remote from the master link 121 is hinged to the lower leg 1101. And a stopper 13 is provided on a path of a rotational stroke of the driving link 121 to limit the rotation of the driving link 121. In practical use, when the robot 2 moves, the third motor 102 drives the driving link 121 rotating in the arrow direction to move through the driving gear 120, and the driving link 121 drives the driven link 122 to rotate through the hinge. When the robot 2 stands still, the driving connecting rod 121 and the driven connecting rod 122 rotate to the self-locking position, the driving connecting rod 121 is blocked by the block 13, at the moment, the reaction force given to the robot 2 by the ground is applied to the foot end, is transmitted to the hinge joint A of the lower leg 1101 and the driven connecting rod 122 along the lower leg 1101, and is transmitted to the hinge joint B of the driven connecting rod 122 and the driving connecting rod 121 along the driven connecting rod 122 from the hinge joint A, and at the moment, the component FB1 of the hinge joint B pushes the driving connecting rod 121 to the block 13 to be immovable, so that the self-locking purpose is achieved. At this time, the third motor 102 may not be used to maintain the torque, and the robot 2 can stand normally. Therefore, under the condition that the driving unit 10 of the self-locking leg-foot module 1 does not work, the robot can keep standing for a long time to continue working, and the service life of the motor and the cruising ability of the robot 2 are prolonged. Meanwhile, a transmission mode of a gear and a connecting rod is adopted, so that the transmission efficiency is high, the transmission is accurate, and the deformation is not easy.
It is worth mentioning that the self-locking leg-foot module 1 has the capability of independently dismounting and mounting each part on the whole, and the maintenance and the replacement of parts are convenient; and the first motor 100, the second motor 101 and the third motor 102 can be controlled independently, so that the terrain adaptive capacity is achieved, and the practicability is improved.
As shown in fig. 1 to 8, another aspect of the present invention also proposes a robot 2, comprising:
the body module 20, the body module 20 includes the outer cover 200, there is a containing cavity in the outer cover 200;
the sensor module 21, the sensor module 21 includes a first sensor unit 210 and a second sensor unit 211, the first sensor unit 210 and the second sensor unit 211 are respectively symmetrically installed on two sides of the housing 200;
and the self-locking leg-foot module 1 with any one of the above, four self-locking leg-foot modules 1 are provided, four self-locking leg-foot modules 1 are installed on the shell 200, and the four self-locking leg-foot modules 1 are symmetrically arranged along the axial direction of the body module 20.
Further, a host 201, an upper computer 202, a gyroscope 203, a battery 204 and a power control module 205 are arranged in the accommodating cavity, and the host 201 is electrically connected with the upper computer 202 and the battery 204; the upper computer 202 is electrically connected with the gyroscope 203; the battery 204 is electrically connected to the power control module 205 and the drive unit 10.
Specifically, the housing 200 is rectangular, and the housing cavity is opened inside the housing 200. The host 201 is fixed in the accommodating cavity, the upper computer 202 and the battery 204 are fixed on the rear side of the host 201, the host 201 is connected with the upper computer 202 through a network cable, and the host 201 is electrically connected with the battery 204; a gyroscope 203 is arranged below the upper computer 202, and the upper computer 202 is connected with the gyroscope 203 through a USB; a power control module 205 is mounted above the battery 204, and the battery 204 is electrically connected to the power control module 205 and the driving unit 10. The gyroscope 203 is used as a horizontal sensor, a vertical sensor, a pitching sensor and a speed sensor to collect state information of the robot 2, and the upper computer 202 collects and stores the information of the gyroscope 203 and then transmits the information to the host 201 for analysis. The power control module 205 controls the power supply and the power off of the battery 204. The first sensor unit 210 and the second sensor unit 211 are respectively installed at opposite sides of the housing 200 in the traveling direction of the robot 2, and the four self-lockable leg and foot modules 1 are respectively installed at four corners of the housing 200. The robot 2 is integrally modularized, so that the mounting and the dismounting are convenient, and different sensor elements can be additionally arranged on each module to meet different scene requirements; meanwhile, the structural design of the whole robot 2 is a symmetrical structure about a central shaft, and when the robot performs scene operation, the structure is stable, and the controllability is improved. Meanwhile, the four self-locking leg-foot modules 1 can be independently controlled to perform terrain matching self-adaptation, the practicability of the device is improved, and the reliability of the robot 2 is improved.
In some embodiments of the present invention, the first sensor unit 210 includes a first bracket 2100 and a depth camera 2101, the two sides of the first bracket 2100 are respectively provided with a self-lockable leg foot module 1, the depth camera 2101 is arranged on the first bracket 2100, and the depth camera 2101 is electrically connected with the host 201.
Further, the second sensor unit 211 comprises a second bracket 2110 and a control panel 2111, wherein the two sides of the second bracket 2110 are respectively provided with a self-locking leg module 1, the control panel 2111 is arranged on the second bracket 2110, and the control panel 2111 is connected with the power control module 205.
Specifically, the first bracket 2100 is installed in the head direction of the housing 200 in the traveling direction of the robot 2, and the second bracket 2110 is installed in the tail direction of the housing 200. A depth camera 2101 is fixedly arranged at one end of the first support 2100, which is far away from the housing 200, and the depth camera 2101 can acquire relevant data of the environment in the advancing direction of the robot 2 and recognize environmental characteristics, so that accurate path planning can be provided for the robot 2 to walk. A control panel 2111 is fixedly arranged at one end of the second bracket 2110, which is far away from the shell 200, a switch and a charging port are arranged on the control panel 2111, and the switch is connected with the power supply control module 205 and used for controlling the connection and the disconnection of a power supply; the charging port is connected to the battery 204, and is used for charging the battery 204 by inserting a charger. The control panel 2111 is provided to facilitate the operation of the robot 2 by the user while enhancing the work efficiency.
In some embodiments of the present invention, body module 20 further comprises lidar 206, and lidar 206 is disposed on a surface of the top of housing 200, and lidar 206 is electrically connected to host 201. Specifically, the laser radar 206 is installed on the outer surface of the top of the housing 200, and meanwhile, the laser radar 206 is electrically connected with the host 201, and the laser radar 206 can sense the external obstacle condition of the position where the robot 2 is located, so that certain reference is provided for obstacle avoidance of the robot 2, and the dynamic and static stability of the robot 2 can be maintained.
In some embodiments of the present invention, the body module 20 further comprises a voice recognition module 207, the voice recognition module 207 being disposed on the housing 200, and the voice recognition module 207 being electrically connected to the host 201. Specifically, the voice recognition module 207 is mounted on the top of the housing 200 and is electrically connected to the host 201. The voice recognition module 207 can transmit the voice command of the user to the host 201 for analysis and execute the command, so that the operation of the robot 2 is more efficient and convenient.
In some embodiments of the invention, a fan 209 is also disposed within the receiving cavity. Specifically, the fans 209 are installed between the battery 204 and the host 201, the fans 209 are provided in two, and the two fans 209 are symmetrically provided and installed on the housing 200. Meanwhile, the outer surface of the housing 200 is provided with a vent hole at a position corresponding to the fan 209, and a proper distance is kept between the fan 209 and the vent hole, so that a buffer area is formed between the fan 209 and the vent hole, thereby reducing the wind resistance during air flow, enabling the fan 209 to generate the maximum air inlet and outlet quantity during operation, enabling each component in the main body 201 to exert a heat dissipation effect, and keeping normal operation; in addition, the fan 209 keeps a proper distance from the ventilation holes during operation, so that the air flow is smooth, and the generation of turbulence and wind-cut noise is reduced.
In some embodiments of the invention, the bottom of the housing 200 is also provided with a support block 2010. Supporting shoe 2010 sets up two, and two supporting shoes 2010 interval are installed on the surface of shell 200 bottom, when robot 2 squats down, supporting shoe 2010 contact ground to support robot 2's health module 20, avoid health module 20 direct and ground contact, reduce health module 20's wearing and tearing, and protect health module 20 to a certain extent.
Further, a rubber pad (not shown) is provided on the side of the support block 2010 facing the ground. The rubber pad is attached on the surface of supporting shoe 2010, and when supporting shoe 2010 contacted with ground, the rubber pad had certain damping effect, slowed down the robot 2 impact between the time of squatting and the ground, further protected the device that holds the intracavity, improved the reliability of device.
In some embodiments of the present invention, a groove is further formed on the housing 200, an output port 208 is installed in the groove, and the output port 208 is electrically connected to the host 201. Specifically, grooves are formed in both sides of the housing 200 in the axial direction, an output port 208 is installed in each groove, and the output port 208 is electrically connected with the host 201. The output port 208 can be used for exchanging data and information with the host 201 and controlling the data, and can also update and upgrade the data of the robot 2, so that a customer can freely develop the robot 2, and the experience of the customer is improved.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A self-lockable leg and foot module, comprising:
the driving unit comprises a first motor, a second motor and a third motor, a motor mounting frame is mounted at the output end of the first motor, the second motor and the third motor are mounted on the motor mounting frame, and the output end of the second motor is connected with the third motor;
the lower limb comprises a leg part and a foot part, one end of the leg part is connected with the third motor, and the other end of the leg part is connected with the foot part;
the transmission unit is arranged in the leg part, is connected with the output end of the third motor and is used for controlling the motion of the leg part;
a stop disposed within the leg for limiting rotation of the drive unit.
2. The self-lockable leg and foot module according to claim 1, wherein the leg comprises a thigh and a shank, one end of the thigh is connected to the third motor, the other end of the thigh is connected to the shank, and the end of the shank remote from the thigh is connected to the foot.
3. The self-lockable leg and foot module according to claim 2, wherein the transmission unit is installed inside the thigh, the transmission unit comprises a driving gear, a driving link and a driven link, the driving gear is installed at an output end of the third motor, the driving link is installed on the thigh, one end of the driving link is engaged with the driving gear, the other end of the driving link is hinged to the driven link, and one end of the driven link, which is far away from the driving link, is hinged to the shank.
4. The self-lockable leg and foot module according to claim 3, wherein the stop is disposed inside the thigh, the stop for limiting rotation of the active link.
5. A robot, comprising:
a body module comprising a housing having a receiving cavity therein;
the sensor module comprises a first sensor unit and a second sensor unit, and the first sensor unit and the second sensor unit are respectively and symmetrically arranged on two sides of the shell;
and a self-lockable leg and foot module according to any one of claims 1 to 4, wherein four self-lockable leg and foot modules are arranged on the shell, and the four self-lockable leg and foot modules are symmetrically arranged along the axial direction of the body module.
6. The robot of claim 5, wherein a host computer, an upper computer, a gyroscope, a battery and a power supply control module are arranged in the accommodating cavity, and the host computer is electrically connected with the upper computer and the battery; the upper computer is electrically connected with the gyroscope; the battery is electrically connected with the power control module and the driving unit.
7. The robot of claim 6, wherein the body module further comprises a lidar disposed on a surface of the top of the housing, and wherein the lidar is electrically connected to the host.
8. The robot of claim 6, wherein the body module further comprises a voice recognition module disposed on the housing and electrically connected to the host computer.
9. The robot of claim 6, wherein the first sensor unit comprises a first bracket and a depth camera, the self-lockable leg and foot modules are respectively arranged on two sides of the first bracket, the depth camera is arranged on the first bracket, and the depth camera is electrically connected with the host.
10. The robot of claim 6, wherein the second sensor unit comprises a second bracket and a control panel, the self-lockable leg and foot modules are respectively arranged on two sides of the second bracket, the control panel is arranged on the second bracket, and the control panel is connected with the power supply control module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111678295.4A CN114313052B (en) | 2021-12-31 | 2021-12-31 | Leg and foot module capable of self-locking and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111678295.4A CN114313052B (en) | 2021-12-31 | 2021-12-31 | Leg and foot module capable of self-locking and robot |
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| CN114313052A true CN114313052A (en) | 2022-04-12 |
| CN114313052B CN114313052B (en) | 2023-05-16 |
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| CN202111678295.4A Active CN114313052B (en) | 2021-12-31 | 2021-12-31 | Leg and foot module capable of self-locking and robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114771687A (en) * | 2022-05-07 | 2022-07-22 | Oppo广东移动通信有限公司 | Robot |
| CN114313052B (en) * | 2021-12-31 | 2023-05-16 | 杭州未名信科科技有限公司 | Leg and foot module capable of self-locking and robot |
| CN116198627A (en) * | 2023-03-24 | 2023-06-02 | 联想(北京)有限公司 | Machine leg and robot |
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