CN114313052B - Leg and foot module capable of self-locking and robot - Google Patents
Leg and foot module capable of self-locking and robot Download PDFInfo
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- CN114313052B CN114313052B CN202111678295.4A CN202111678295A CN114313052B CN 114313052 B CN114313052 B CN 114313052B CN 202111678295 A CN202111678295 A CN 202111678295A CN 114313052 B CN114313052 B CN 114313052B
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- 230000005540 biological transmission Effects 0.000 claims abstract description 24
- 210000003141 lower extremity Anatomy 0.000 claims abstract description 9
- 210000002414 leg Anatomy 0.000 claims description 55
- 210000000689 upper leg Anatomy 0.000 claims description 26
- 230000033001 locomotion Effects 0.000 abstract description 9
- 230000000694 effects Effects 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 4
- 244000309466 calf Species 0.000 description 3
- 230000002035 prolonged effect Effects 0.000 description 3
- 238000005265 energy consumption Methods 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000017525 heat dissipation Effects 0.000 description 1
- 238000010409 ironing Methods 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 and foot module and a robot, which belong to the technical field of robots and comprise a driving unit, a lower limb, a transmission unit and a stop block, wherein the driving unit comprises a first motor, a second motor and a third motor, a motor mounting frame is arranged at the output end of the first motor, the second motor and the third motor are arranged 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 and connected with the output end of the third motor for controlling the movement 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 problems that the leg-foot type robot has weak motor endurance capability during standing operation and is not suitable for long-time 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 merely background information related to the present disclosure and is not necessarily prior art.
Various robots are continuously presented to the public, and compared with wheeled robots, legged robots have stronger terrain adaptability and wider application scenes. The existing four-legged robot mainly achieves the purpose by installing different expansion structures and sensors on the back of the robot, the application range of the four-legged robot can be greatly expanded by the mode, but the gravity center position of the four-legged robot can be greatly changed by additionally installing various expansion structures on the back of the four-legged robot, and the expansion structures designed by manufacturers must be purchased, so that the four-legged robot is not easy to be freely developed by users. Meanwhile, an expansion structure and various sensors mounted on the back of the quadruped robot cannot be protected by the body shell, and the quadruped robot is easy to collide and damage when falling down. On the other hand, the additional structures such as the mounting bracket and the like are required to be independently manufactured to fix the related expansion structure and the sensor, so that the weight of the quadruped robot can be greatly increased, and the universality is not realized.
Secondly, because the leg-foot type robot needs to keep standing still when working, standing time is long. In the standing process, the shank joint supports the weight of the whole robot, the motor outputs the maximum torque, the power is high, the ironing 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 the leg-foot type robot is weak in motor endurance and unsuitable for long-time operation during standing operation. The aim is achieved by the following technical scheme:
a first aspect of the present invention proposes a self-lockable leg module comprising:
the driving unit comprises a first motor, a second motor and a third motor, wherein 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 and connected with the output end of the third motor, and is used for controlling the movement of the leg part;
and the stop block is arranged in the leg part and used for limiting the rotation of the transmission unit.
According to the self-locking leg and foot module, the driving unit controls the lower limbs to move, and the transmission unit and the stop block are arranged in the legs, so that when the robot stands still, the transmission unit rotates to a self-locking position and is blocked by the stop block, the purpose of self-locking is achieved, at the moment, the standing posture can be still kept and the operation can be continued under the condition that the driving unit does not output torque, the energy consumption of a motor is reduced, the service life and the cruising ability of the motor are prolonged, and the problems that the cruising ability of the motor is weak and the robot is not suitable for long-time operation during standing operation are solved.
In addition, the self-locking leg and foot module can also have the following additional technical characteristics:
in some embodiments of the invention, the leg portion includes a thigh and a shank, one end of the thigh is connected with the third motor, the other end of the thigh is connected with the shank, and an end of the shank remote from the thigh is connected with the foot.
In some embodiments of the present invention, the transmission unit is mounted inside the thigh, the transmission unit includes a driving gear, a driving link and a driven link, the driving gear is mounted at an output end of the third motor, the driving link is mounted on the thigh, one end of the driving link is engaged with the driving gear, the other end of the driving link is hinged with the driven link, and one end of the driven link away from the driving link is hinged with the lower leg.
In some embodiments of the invention, the stop is disposed inside the thigh, the stop being configured to limit rotation of the drive link.
Another aspect of the present invention also proposes a robot including:
the body module comprises a shell, wherein a containing cavity is arranged in the shell;
the sensor module comprises a first sensor unit and a second sensor unit, and the first sensor unit and the second sensor unit are symmetrically arranged on two sides of the shell respectively;
and the self-lockable leg module is provided with four, four self-lockable leg modules are arranged on the shell, and the four self-lockable leg modules are symmetrically arranged along the axis direction of the body module.
In some embodiments of the present invention, a host, an upper computer, a gyroscope, a battery and a power 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, and the lidar is 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 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 with the host.
In some embodiments of the present invention, the second sensor unit includes a second bracket and a control panel, the two sides of the second bracket are respectively provided with the self-lockable leg-foot module, the control panel is disposed on the second bracket, and the control panel is connected with 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 reference numerals are used to designate like parts throughout the figures. 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 the leg and foot module in another orientation with self-locking capability;
FIG. 3 is a schematic diagram of the principle of leg self-locking of a self-lockable leg module;
FIG. 4 is a schematic view of a partially enlarged structure of a leg self-locking state of a self-lockable leg 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 a robot;
fig. 8 is a schematic view of the internal structure of a body module of the robot.
Reference numerals:
1. a self-locking leg and foot module; 10. a driving unit; 100. a first motor; 101. a second motor; 102. a third motor; 103. a motor mounting rack; 11. lower limbs; 110. a leg portion; 1100. thigh; 1101. a lower leg; 111. a foot; 12. a transmission unit; 120. a drive gear; 121. a drive link; 122. a driven connecting rod; 13. a stop block; 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 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. and 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" are intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises," "comprising," "includes," "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 an order of performance is explicitly stated. It should also be appreciated 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 ease 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 … …" may include both upper and lower orientations. The device may be otherwise oriented (rotated 90 degrees or in other directions) and the spatial relative relationship descriptors used herein interpreted accordingly.
As shown in fig. 1 to 4, the self-locking leg 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, a motor mounting frame 103 is mounted at the output end of the first motor 100, the second motor 101 and the third motor 102 are mounted on the motor mounting frame 103, and the output end of the second motor 101 is connected with the third motor 102;
a lower limb 11, the lower limb 11 including a leg portion 110 and a foot portion 111, one end of the leg portion 110 being connected to the third motor 102, the other end of the leg portion 110 being connected to the foot portion 111;
a transmission unit 12, wherein the transmission unit 12 is arranged in the leg 110 and is connected with the output end of the third motor 102 for controlling the movement of the leg 110;
a stopper 13, the stopper 13 is provided in the leg portion 110 for restricting the rotational stroke of the transmission unit 12.
Further, the leg 110 includes a thigh 1100 and a shank 1101, one end of the thigh 1100 is connected with the third motor 102, the other end of the thigh 1100 is connected with the shank 1101, and the end of the shank 1101 remote from the thigh 1100 is connected with the foot 111.
Specifically, the motor mounting frame 103 is mounted at the output end of the first motor 100, and the second motor 101 and the third motor 102 are respectively mounted at two sides of the motor mounting frame 103, where the output end of the second motor 101 is fixedly connected to a side facing away from the output end of the third motor 102. One end of the thigh 1100 is fixed on the third motor 102 and is on the same side with the output end of the third motor 102, the other end of the thigh 1100 is connected with one end of the shank 1101, and the connection part is hinged; the other end of the lower leg 1101 is fixed to the foot 111 to form the lower limb 11. While one end of the transmission unit 12 is connected to the output end of the third motor 102 and the other end is connected to the lower leg 1101, and a stopper 13 is provided in the leg 110 around the output end of the third motor 102 for restricting the rotational stroke of the transmission unit 12. It should be noted that the first motor 100 is used to control the everting and adduction movement of the entire 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 second motor 101 and the third motor 102 are controlled to realize the forward linear motion and the squatting motion of the self-locking leg and foot module 1, and the first motor 100, the second motor 101 and the third motor 102 are controlled to realize the left and right steering motion of the self-locking leg and foot module 1.
According to the self-locking leg and foot module 1, the transmission unit 12 and the stop block 13 are arranged in the leg 110, when the robot 2 stands still, the transmission unit 12 rotates to a self-locking position and is stopped by the stop block 13, so that the purpose of self-locking is achieved, at the moment, the robot 2 can still keep a standing posture and continue to operate under the condition that the driving unit 10 does not output torque, the energy consumption of a motor is reduced, the service life and the cruising ability of the motor are prolonged, and the problem that the cruising ability of the motor of the leg and foot type robot 2 is weak during standing operation and is not suitable for long-time operation is solved.
In some embodiments of the present invention, the transmission unit 12 is mounted 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 mounted at an output end of the third motor 102, the driving link 121 is mounted on the thigh 1100, and one end of the driving link 121 is engaged with the driving gear 120, the other end of the driving link 121 is hinged with the driven link 122, and one end of the driven link 122 remote from the driving link 121 is hinged with the calf 1101.
Further, a stopper 13 is provided inside the thigh 1100, the stopper 13 serving to limit the rotational stroke of the driving link 121.
Specifically, the driving link 121 and the driven link 122 are both rigid structures, the driving gear 120 is fixedly arranged at the output end of the third motor 102, the driving link 121 is installed on the thigh 1100 in a hinged manner, meanwhile, one end of the driving link 121 facing the driving gear 120 is meshed with the driving gear 120, and the other end of the driving link 121 is hinged with the end of the driven link 122; the end of the driven link 122 remote from the driving link 121 is then articulated with the calf 1101. While a stopper 13 is provided on the path of the rotational travel of the driving link 121 for restricting the rotation of the driving link 121. In the actual use process, when the robot 2 moves, the third motor 102 drives the driving link 121 rotating along 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 positions, the driving connecting rod 121 is blocked by the stop block 13, at the moment, the counterforce of the ground to the robot 2 acts on the foot end, is transmitted to the hinge position A of the lower leg 1101 and the driven connecting rod 122 along the lower leg 1101, is transmitted to the hinge position B of the driven connecting rod 122 and the driving connecting rod 121 from the hinge position A along the driven connecting rod 122, and at the moment, the component force FB1 of the hinge position B pushes the driving connecting rod 121 onto the stop block 13 to be immovable, so that the self-locking purpose is achieved. At this time, the third motor 102 may not hold torque, and the robot 2 may also stand normally. Thus, under the condition that the driving unit 10 of the self-locking leg and foot module 1 does not work, the robot can also stand for a long time to continue operation, and the service life of the motor and the cruising ability of the robot 2 are prolonged. Meanwhile, the transmission mode of the gears and the connecting rods is adopted, so that the transmission efficiency is high, the transmission is accurate, and the deformation is difficult.
It should be noted that the self-locking leg and foot module 1 has the capability of independently disassembling and installing each part, 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 independently controlled, so that the self-adaptive capacity of the terrain is realized, and the practicability is improved.
As shown in fig. 1 to 8, another aspect of the present invention also proposes a robot 2 comprising:
a body module 20, the body module 20 comprising a housing 200, the housing 200 having a receiving cavity therein;
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 symmetrically installed at both sides of the housing 200, respectively;
and the self-lockable leg and foot module 1 having any one of the above, the self-lockable leg and foot module 1 is provided with four, the four self-lockable leg and foot modules 1 are mounted on the housing 200, and the four self-lockable leg and foot modules 1 are symmetrically arranged along the axis 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 with the power control module 205 and the driving unit 10.
Specifically, the housing 200 is rectangular, and a receiving cavity is formed in the housing 200. The host 201 is fixed in the accommodating cavity, an upper computer 202 and a battery 204 are fixed at 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 installed 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, state information of the robot 2 is collected, and the information of the gyroscope 203 is collected and stored by the upper computer 202 and then transmitted into the host 201 for analysis. The power control module 205 controls the power on and 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 four self-lockable leg and foot modules 1 are respectively installed at four corners of the housing 200. The robot 2 is integrally and modularly designed, so that the robot is convenient to install and detach, 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 axis, so that the structure is stable and the operability is improved when the robot performs scene operation. Simultaneously, the four self-locking leg and foot modules 1 can be independently controlled to perform terrain matching self-adaption, 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 stand 2100 and a depth camera 2101, the two sides of the first stand 2100 are respectively provided with a self-lockable leg module 1, the depth camera 2101 is disposed on the first stand 2100, and the depth camera 2101 is electrically connected with the host 201.
Further, the second sensor unit 211 includes a second bracket 2110 and a control panel 2111, the two sides of the second bracket 2110 are respectively provided with a leg module 1 capable of self-locking, the control panel 2111 is disposed 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. The depth camera 2101 is fixedly arranged at one end of the first bracket 2100, which is away from the housing 200, and the depth camera 2101 can collect relevant data of the environment in the advancing direction of the robot 2 and identify the environment characteristics, so that accurate path planning can be provided for the robot 2 to walk. The control panel 2111 is fixedly arranged at one end of the second bracket 2110, which is away from the housing 200, and a switch and a charging port are arranged on the control panel 2111, and the switch is connected with the power control module 205 and used for controlling the communication and closing of a power supply; the charging port is connected with the battery 204 and is used for inserting a charger to charge the battery 204. The control panel 2111 is provided to facilitate the operation of the robot 2 by the user, and to enhance the work efficiency.
In some embodiments of the present invention, body module 20 further includes a lidar 206, 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 mounted 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 of the robot 2, so as to provide a certain reference for obstacle avoidance of the robot 2 and maintain the dynamic and static stability of the robot 2.
In some embodiments of the present invention, the body module 20 further includes a voice recognition module 207, the voice recognition module 207 is disposed on the housing 200, and the voice recognition module 207 is electrically connected with the host 201. Specifically, the voice recognition module 207 is mounted on top of the housing 200 and is electrically connected to the host 201. The voice recognition module 207 can collect voice instructions of a user, transmit the voice instructions to the host 201 for analysis, and execute the instructions, 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 containment chamber. Specifically, the fans 209 are installed between the battery 204 and the main unit 201, two fans 209 are provided, and two fans 209 are symmetrically provided and installed on the housing 200. Meanwhile, the outer surface of the housing 200 is provided with vent holes corresponding to the positions of the fans 209, and proper distances are kept between the fans 209 and the vent holes, so that a buffer area is formed between the fans 209 and the vent holes, wind resistance during air flow is reduced, the fans 209 can generate maximum air inlet and outlet quantity during operation, each component in the main body 201 is provided with a heat dissipation effect, and normal operation is kept; in addition, the fan 209 keeps a proper distance from the ventilation hole during operation, so that air flow is smooth, and turbulence and wind-cutting noise are reduced.
In some embodiments of the present invention, the bottom of the housing 200 is also provided with a support block 2010. The two support blocks 2010 are arranged, the two support blocks 2010 are installed on the surface of the bottom of the shell 200 at intervals, when the robot 2 squats down, the support blocks 2010 contact the ground and support the body module 20 of the robot 2, so that the body module 20 is prevented from directly contacting the ground, abrasion of the body module 20 is reduced, and the body module 20 is protected to a certain extent.
Further, a rubber pad (not shown) is provided at a side of the support block 2010 facing the ground. The rubber pad is attached on the surface of the supporting block 2010, when the supporting block 2010 is contacted with the ground, the rubber pad has a certain vibration reduction effect, so that the impact between the robot 2 and the ground when squatting down is relieved, devices in the accommodating cavity are further protected, and the reliability of the devices is improved.
In some embodiments of the present invention, the housing 200 is further provided with a groove, in which the output port 208 is installed, and the output port 208 is electrically connected to the host 201. Specifically, grooves are formed on two sides along the axial direction of the housing 200, and an output port 208 is installed in the grooves, 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, and can also update and upgrade the data of the robot 2, so that the client can freely develop the robot 2, and the experience of the client is improved.
The present invention is not limited to the above-mentioned embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present invention are intended to be included in the scope of the present invention. Therefore, the protection scope of the invention is subject to the protection scope of the claims.
Claims (7)
1. A self-lockable leg module, comprising:
the driving unit comprises a first motor, a second motor and a third motor, wherein 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;
a lower limb including a leg portion and a foot portion, the leg portion including a thigh and a shank, one end of the thigh being connected with the third motor, the other end of the thigh being connected with the shank, one end of the shank remote from the thigh being connected with the foot portion;
the transmission unit is arranged in the thigh and comprises a driving gear, a driving connecting rod and a driven connecting rod, the driving gear is arranged at the output end of the third motor, the driving connecting rod is arranged on the thigh, one end of the driving connecting rod is in meshed connection with the driving gear, the other end of the driving connecting rod is hinged with the driven connecting rod, and one end of the driven connecting rod far away from the driving connecting rod is hinged with the lower leg;
the stop block is arranged in the thigh and on the path of the rotation stroke of the driving connecting rod, and is used for limiting the rotation of the driving connecting rod;
when the driving connecting rod and the driven connecting rod rotate to the self-locking position, the driving connecting rod is blocked by the stop block, the counter force of the ground to the leg-foot module acts on the foot, the counter force is transmitted to the hinge position A of the lower leg and the driven connecting rod along the lower leg, and then is transmitted to the hinge position B of the driven connecting rod and the driving connecting rod along the driven connecting rod from the hinge position A, and at the moment, the component force of the hinge position B pushes the driving connecting rod to be immovable on the stop block so as to achieve the purpose of self locking.
2. A robot, comprising:
the body module comprises a shell, wherein a containing cavity is arranged in the shell;
the sensor module comprises a first sensor unit and a second sensor unit, and the first sensor unit and the second sensor unit are symmetrically arranged on two sides of the shell respectively;
and having a self-lockable leg module according to claim 1, which is provided with four, four of which are mounted on the housing and which are symmetrically arranged in the axial direction of the body module.
3. The robot of claim 2, wherein a host, an upper computer, a gyroscope, a battery and a power 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.
4. The robot of claim 3, 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.
5. The robot of claim 3, wherein the body module further comprises a voice recognition module, the voice recognition module is disposed on the housing, and the voice recognition module is electrically connected to the host.
6. A robot as claimed in claim 3, wherein the first sensor unit comprises a first bracket and a depth camera, the self-lockable leg 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.
7. A robot as claimed in claim 3, wherein the second sensor unit comprises a second bracket and a control panel, the two sides of the second bracket are respectively provided with the self-lockable leg and foot modules, the control panel is arranged on the second bracket, and the control panel is connected with the power control module.
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| CN202111678295.4A CN114313052B (en) | 2021-12-31 | 2021-12-31 | Leg and foot module capable of self-locking and robot |
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| 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 CN114313052A (en) | 2022-04-12 |
| CN114313052B true CN114313052B (en) | 2023-05-16 |
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| 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 |
| CN114771687A (en) * | 2022-05-07 | 2022-07-22 | Oppo广东移动通信有限公司 | Robot |
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| WO2011078104A1 (en) * | 2009-12-22 | 2011-06-30 | 国立大学法人名古屋工業大学 | Two-legged passive walker |
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Application publication date: 20220412 Assignee: Zhejiang Visual Intelligence Innovation Center Co.,Ltd. Assignor: Institute of Information Technology, Zhejiang Peking University|Hangzhou Weiming Information Technology Co.,Ltd. Contract record no.: X2023330000927 Denomination of invention: Self locking leg and foot modules and robots Granted publication date: 20230516 License type: Common License Record date: 20231219 |