CN114771687A

CN114771687A - Robot

Info

Publication number: CN114771687A
Application number: CN202210495401.3A
Authority: CN
Inventors: 刘叶青
Original assignee: Guangdong Oppo Mobile Telecommunications Corp Ltd
Current assignee: Guangdong Oppo Mobile Telecommunications Corp Ltd
Priority date: 2022-05-07
Filing date: 2022-05-07
Publication date: 2022-07-22

Abstract

The application discloses a robot; the robot comprises a body device, a leg device and a limiting device; a leg device connected to and rotatable relative to said torso device, said leg device for supporting said torso device; a restraining device is coupled to the torso device for restraining the leg device in a particular position. This application passes through stop device and prescribes a posture mark's benchmark with shank device injectd in specific position, need not double encoder also can obtain accurate initial starting position.

Description

Robot

Technical Field

The application relates to the technical field of robot legs, in particular to a robot.

Background

The quadruped robot has strong adaptability to the hostile terrain, so that the quadruped robot has very wide application scenes in the fields of security inspection, recourse and exploration, express logistics, accompanying nursing and the like, and becomes a hot spot of the research of the current mobile robot. However, when walking on a relatively flat road surface, the wheel-type mobile robot has the characteristics of easy control, high traveling speed and the like, and the wheel-foot type quadruped robot integrating the advantages of a foot type robot and a wheel type robot is the key point of future research.

Joints of the existing quadruped robot in standby are all in free states, namely, the four limbs can swing freely after power failure. Therefore, the state of the quadruped robot after power failure cannot be predicted, and if attitude calibration is not carried out when the quadruped robot is powered on again, the robot has great influence on motion control. Meanwhile, in the conventional process of transporting the quadruped robot, the problems that whether the twisted limbs are impacted or not, whether the hands of a transporting person are injured or not, and the like are often considered.

Disclosure of Invention

The main technical problem who solves of this application provides a robot to solve the problem that the robot can swing the position at will after the outage among the prior art.

In order to solve the technical problem, the application adopts a technical scheme that: providing a robot, comprising: a torso device; a leg device connected to and rotatable relative to said torso device, said leg device for supporting said torso device; a stop device connected to the torso device for limiting the leg device in a particular position.

The beneficial effect of this application is: be different from prior art, this application passes through stop device and prescribes a posture calibration's benchmark with shank device limited in specific position, need not double encoder also can obtain accurate initial starting position.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without inventive efforts, wherein:

FIG. 1 is a schematic diagram of a robot provided herein;

FIG. 2 is an exploded view of a robot provided herein;

FIG. 3 is a schematic view of a robot provided herein with a stop in a first position;

FIG. 4 is a schematic view of a robot provided herein with a stop in a second position;

FIG. 5 is a schematic cross-sectional view of the robot of FIG. 3 taken along line A-A;

FIG. 6 is a schematic structural diagram of a limiting device in a robot provided by the present application;

fig. 7 is an exploded view of a spacing device in the robot provided in the present application;

fig. 8 is a schematic structural view of a leg device in the robot provided by the present application;

fig. 9 is a schematic diagram of a control structure of a leg device in the robot provided by the present application;

FIG. 10 is a schematic structural diagram of another embodiment of a robot provided herein;

fig. 11 is a schematic structural diagram of a robot according to still another embodiment of the present disclosure.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort belong to the protection scope of the present application.

The terms "first", "second" and "third" in the embodiments of the present application are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to imply that the number of indicated technical features is significant. Thus, a feature defined as "first," "second," or "third" may explicitly or implicitly include at least one of the feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise. All directional indications (such as up, down, left, right, front, and rear … …) in the embodiments of the present application are only used to explain the relative positional relationship between the components, the movement, and the like in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indication is changed accordingly. The terms "comprising" and "having" and any variations thereof in the embodiments of the present application are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or may alternatively include other steps or elements inherent to such process, method, article, or apparatus.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein may be combined with other embodiments.

Referring to fig. 1, fig. 1 is a schematic structural diagram of a robot provided in the present application. Robot 10 may include a torso device 100, a leg device 300, and a stop device 200. It should be noted that the number of the leg devices 300 of the robot 10 in the embodiment of the present application is not limited to four in the illustrated embodiment, and may be any number, which is not specifically limited this time.

In the present embodiment, the leg device 300 is connected to the trunk device 100 and is rotatable with respect to the trunk device 100; a restraining device 200 is coupled to the torso device 100 for restraining the leg device 300 in a particular position. When the robot 10 is turned off, the driving means drives the leg device 300 to be bent and rotated to a specific position. In this embodiment, the specific position is that the leg unit 300 is bent and rotated above the stopper 200. Then, the driving means drives the restricting means 200 to move to the outermost side, i.e., the side closer to the leg means 300, and the restricting means 200 abuts against the leg means 300, thereby fixing the leg means 300 at this specific position. When the robot 10 is turned on, the driving device drives the limiting device 200 to move to the innermost side, i.e., the side far from the leg device 300, so that the limiting device 200 releases the limitation on the leg device 300, and the leg device 300 naturally falls down. It should be noted that, in other embodiments, the leg device 300 may be controlled first, and when the limiting device 200 returns to the innermost measurement, the leg device 300 is controlled to fall.

Referring to fig. 2-4, fig. 2 is an exploded view of a robot provided herein; FIG. 3 is a schematic view of a robot provided herein with a stop in a first position; fig. 4 is a schematic diagram of a robot provided by the present application in which the stopper is located at a second position. The spacing device 200 may include a first drive assembly 210 and a spacing assembly 220. In this embodiment, the first driving component 210 is disposed in the body device 100 for driving the limiting component 220 to move between the first position 221 and the second position 222. When the robot 10 is turned off, the driving means drives the leg device 300 to be bent and rotated to a specific position. The driving means then drives the position limiting assembly 220 to move to the first position 221, i.e. the side closer to the leg device 300, so that the position limiting assembly 220 abuts against the leg device 300, thereby fixing the leg device 300 at this specific position. When the robot 10 is turned on, the driving device drives the limiting component 220 to move to the second position 222, i.e. the side far away from the leg device 300, so that the limiting component 220 releases the limitation on the leg device 300, and the leg device 300 falls naturally.

It should be noted that in other embodiments, the position limiting device 200 can be implemented by using various structures such as a crank and a rocker, a cam reciprocating mechanism, and the like.

Referring to fig. 5, fig. 5 is a schematic cross-sectional view of the robot of fig. 3 along a-a. First drive assembly 210 may include a first drive motor 211 and a drive rod 212. In this embodiment, the first driving motor 211 is disposed inside the trunk device 100, and the transmission rod 212 is disposed through the first driving motor 211. When the position-limiting assembly 220 needs to move between the first position 221 and the second position 222, the first driving motor 211 drives the transmission rod 212 to rotate, so as to drive the position-limiting assembly 220 to move between the first position 221 and the second position 222. It should be noted that in other embodiments, the first driving assembly 210 may include two motors, and the rotation directions are opposite when the motor is started.

Alternatively, in other embodiments, the commutation may be performed by a helical gear or the like.

In this embodiment, the first driving motor 211 does not need to be energized all the time, but functions only at the time of power-on and power-off.

Please refer to fig. 6, fig. 6 is a schematic structural diagram of a limiting device in a robot according to the present application. The spacing assembly 220 may include a sun gear 223, a rack 224, and a stop 225. In this embodiment, a central gear 223 is disposed at both ends of the transmission rod 212 away from the first driving motor 211, a rack 224 is engaged with the central gear 223, and a stopper 225 is fixed at one end of the rack 224 away from the central gear 223. The first driving motor 211 drives the transmission rod 212 to rotate, thereby driving the central gear 223 to rotate. When the robot 10 is turned off and the leg device 300 moves to a specific position, the central gear 223 drives the rack 224 to perform translation, so that the stopper 225 fixed at one end of the rack 224 away from the central gear 223 moves to the first position 221, and the stopper 225 abuts against the leg device 300, thereby limiting the leg device 300 to the specific position. It should be noted that, in the present embodiment, a part of the structure of the stopper 225 protrudes from the trunk device 100 to limit the leg device 300 to a specific position.

With continued reference to fig. 6, the sun gear 223 can include a first sun gear 2231 and a second sun gear 2232. In this embodiment, a first sun gear 2231 is disposed at an end of the transmission rod 212 remote from the first drive motor 211, and a second sun gear 2232 is disposed at an end of the transmission rod 212 remote from the first sun gear 2231.

Optionally, rack 224 includes a first upper rack 2241, a first lower rack 2242, a second upper rack 2243, and a second lower rack 2244. In this embodiment, the first upper rack 2241 is engaged with one side of the first central gear 2231, the first lower rack 2242 is engaged with one side of the first central gear 2231 away from the first upper rack 2241, the second upper rack 2243 is engaged with one side of the second central gear 2232, and the second lower rack 2244 is engaged with one side of the second central gear 2232 away from the second upper rack 2243. The first driving motor 211 drives the transmission rod 212 to rotate, thereby rotating the first sun gear 2231 and the second sun gear 2232. When the robot 10 is turned off and the leg device 300 is moved to a specific position, the first sun gear 2231 drives the first upper rack 2241 and the first lower rack 2242 to perform a translational motion, so that the stopper 225 fixed to the ends of the first upper rack 2241 and the first lower rack 2242, which are far away from the first sun gear 2231, is moved to the first position 221, where the stopper 225 abuts against the leg device 300, thereby limiting the leg device 300 to the specific position.

Referring to fig. 1 and 7, fig. 7 is an exploded view of a position limiting device in a robot provided by the present application. The stop 225 may include a first stop 2251, a second stop 2252, a third stop 2253, and a fourth stop 2254. In this embodiment, the first stopper 2251 is disposed at an end of the first upper rack 2241 away from the first central gear 2231, the second stopper 2252 is disposed at an end of the first lower rack 2242 away from the first central gear 2231, the third stopper 2253 is disposed at an end of the second upper rack 2243 away from the second central gear 2232, and the fourth stopper 2254 is disposed at an end of the second lower rack 2244 away from the second central gear 2232. Note that, in this embodiment, the side of the trunk device 100 near the first stopper 2251 and the second stopper 2252 is the first side 130, and the side of the trunk device 100 near the third stopper 2253 and the fourth stopper 2254 is the second side 140.

Optionally, the leg device 300 may include a first leg device 340, a second leg device 350, a third leg device 360, and a fourth leg device 370. In this embodiment, first leg device 340 is disposed on an end of first side 130 proximate to first stop 2251, second leg device 350 is disposed on an end of first side 130 proximate to second stop 2252, third leg device 360 is disposed on an end of second side 140 proximate to third stop 2253, and fourth leg device 370 is disposed on an end of second side 140 proximate to fourth stop 2254.

In this embodiment, when the robot 10 is powered off and the first leg device 340 is moved to a specific position. The first stop 2251 is moved to the first position 221 by the first upper rack 2241, such that the first stop 2251 abuts the first leg device 340, thereby limiting the first leg device 340 to a specific position. When the robot 10 is turned on, the first stopper 2251 is moved to the second position 222 by the first upper rack 2241, so that the first stopper 2251 is free from the first leg device 340.

In this embodiment, when the robot 10 is turned off and the second leg device 350 is moved to a specific position. The second stopper 2252 is moved to the first position 221 by the first lower rack 2242, so that the second stopper 2252 abuts against the second leg device 350, thereby limiting the second leg device 350 to a specific position. When robot 10 is turned on, second stop 2252 is moved to second position 222 by first lower rack 2242, causing second stop 2252 to clear second leg device 350.

In the present embodiment, when the robot 10 is powered off and the third leg device 360 is moved to a specific position. The third stopper 2253 is moved to the first position 221 by the second upper rack 2243, so that the third stopper 2253 abuts against the third leg device 360, thereby limiting the third leg device 360 to a specific position. When robot 10 is turned on, third catch 2253 is moved to second position 222 by second upper rack 2243, causing third catch 2253 to release third leg unit 360.

In the present embodiment, when the robot 10 is powered off and the fourth leg device 370 is moved to a specific position; the fourth stopper 2254 is moved to the first position 221 by the second lower rack 2244, so that the fourth stopper 2254 abuts against the fourth leg unit 370, thereby limiting the fourth leg unit 370 to a specific position. When the robot 10 is turned on, the fourth stopper 2254 is moved to the second position 222 by the second lower rack 2244, so that the fourth stopper 2254 releases the restriction on the fourth leg unit 370.

Referring to fig. 8 and 9, fig. 8 is a schematic structural diagram of a leg device in a robot provided by the present application; fig. 9 is a schematic diagram of a control structure of a leg device in the robot provided by the present application. The leg device 300 may include a second drive assembly 320 and a leg assembly 330. In the present embodiment, the second driving assembly 320 is disposed on one side of the leg assembly 330 near the torso device 100. When the robot 10 is shut down, the second driving assembly 320 drives the leg assembly 330 to bend and rotate to a specific position; when the robot 10 is turned on, the second driving assembly 320 drives the leg assembly 330 to extend and rotate to the working state. Note that, in the present embodiment, the operating state means that the leg assembly 330 can support the torso device 100.

With continued reference to fig. 8 and 9, leg assembly 330 can include a thigh assembly 331 and a lower leg assembly 332. In this embodiment, thigh component 331 is disposed on each side of torso device 100, and lower leg component 332 is coupled to thigh component 331. It should be noted that in other embodiments, leg assembly 330 is not limited to thigh assembly 331 and lower leg assembly 332.

Optionally, the second driving assembly 320 may include a second driving motor 321 and a third driving motor 322. In the present embodiment, the second drive motor 321 is disposed on the side of the thigh member 331 near the torso device 100, and the third drive motor 322 is disposed on the side of the thigh member 331 near the torso device 100. When the robot 10 is shut down, the second and

third driving motors

321 and 322 respectively drive the thigh component 331 and the shank component 332, thereby bending and rotating the leg component 330 to a specific position; when the robot 10 is turned on, the second drive motor 321 and the third drive motor 322 respectively drive the thigh component 331 and the shank component 332 to rotate to the working state for supporting the torso device 100.

Referring to fig. 10, fig. 10 is a schematic structural diagram of another embodiment of a robot provided by the present application. The position limiting device 200 is an electromagnet device 230. In the present embodiment, the electromagnet devices 230 are provided on both sides of the torso device 100. Optionally, the leg device 300 comprises a magnetic member 310. In the present embodiment, the magnetic member 310 is disposed on a side of the leg device 300 close to the trunk device 100. When the robot 10 is turned off, the leg device 300 is bent and rotated to a specific position, and the electromagnet device 230 is engaged with the magnetic member 310, thereby restraining the leg device 300 to the specific position.

In other embodiments, the leg device 300 may also be made of magnetic material. When the robot 10 is turned off, the leg device 300 is bent and rotated to a specific position, and the leg device 300 is attached to the trunk device 100, thereby fixing the leg device 300 at the specific position.

Referring to fig. 11, fig. 11 is a schematic structural diagram of a robot according to still another embodiment of the present disclosure. The torso device 100 may include a universal wheel 110 and a support bar 120. In this embodiment, the casters 110 are disposed at the bottom of the body 100, and the support bar 120 is disposed at a side of the body 100 near the second leg unit 350 and the third leg unit 360. When the leg device 300 is limited to a particular device, the robot 10 is supported by four universal wheels 110 at the bottom of the torso. The four universal wheels 110 are driven wheels, and can be moved conveniently in a power-off state, and the robot 10 can be moved conveniently as a trolley by only arranging a trolley rod connected to the supporting rod 120.

It should be noted that in other embodiments, the universal wheels 110 may be configured as driving wheels according to the driving motors disposed in the inner space of the body trunk device 100. When the leg device 300 is restricted to a specific position, the robot 10 can be regarded as a wheeled robot in a driving wheel state.

This application is injectd leg device 300 in specific position through stop device 200, gives a gesture benchmark of maring, need not double encoder and also can obtain accurate initial starting position.

The above description is only a part of the embodiments of the present application, and not intended to limit the scope of the present application, and all equivalent devices or equivalent processes performed by the contents of the specification and the drawings, or applied directly or indirectly to other related technical fields, are all included in the scope of the present application.

Claims

1. A robot, comprising:

a torso device;

a leg device connected to and rotatable relative to said torso device, said leg device for supporting said torso device;

a stop device connected to the torso device for limiting the leg device in a particular position.

2. The robot of claim 1, wherein said stop means includes a first drive assembly and a stop assembly, said first drive assembly being disposed within said torso means for driving said stop assembly between a first position and a second position; when the limiting assembly is located at the second position, the limiting on the leg device at the specific position is released.

3. The robot of claim 2, wherein said first drive assembly includes a first drive motor disposed within said torso device and a drive rod disposed through said first drive motor.

4. The robot as claimed in claim 3, wherein the limiting assembly comprises a central gear, a rack and a stopper, the central gear is disposed at two ends of the transmission rod away from the first driving motor, the rack is engaged with the central gear, and the stopper is fixed at one end of the rack away from the central gear; wherein a portion of the stop extends beyond the torso means for restraining the leg means in a particular position.

5. The robot of claim 4, wherein the sun gear includes a first sun gear disposed at an end of the drive shaft distal from the first drive motor and a second sun gear disposed at an end of the drive shaft distal from the first sun gear; the rack comprises a first upper rack, a first lower rack, a second upper rack and a second lower rack, the first upper rack is meshed with one side of the first central gear, the first lower rack is meshed with one side of the first central gear far away from the first upper rack, the second upper rack is meshed with one side of the second central gear, and the second lower rack is meshed with one side of the second central gear far away from the second upper rack.

6. The robot of claim 5, wherein the stop includes a first stop, a second stop, a third stop, and a fourth stop, the first stop is disposed at an end of the first upper rack away from the first central gear, the second stop is disposed at an end of the first lower rack away from the first central gear, the third stop is disposed at an end of the second upper rack away from the second central gear, and the fourth stop is disposed at an end of the second lower rack away from the second central gear; one side of the trunk device, which is close to the first baffle block and the second baffle block, is a first side surface, and one side of the trunk device, which is close to the third baffle block and the fourth baffle block, is a second side surface;

the leg devices comprise a first leg device, a second leg device, a third leg device and a fourth leg device, the first leg device is arranged at one end, close to the first stop block, of the first side surface, the second leg device is arranged at one end, close to the second stop block, of the first side surface, the third leg device is arranged at one end, close to the third stop block, of the second side surface, and the fourth leg device is arranged at one end, close to the fourth stop block, of the second side surface;

the first stop block can be driven by the first upper rack to move between the first position and the second position, so that the first leg device is limited and released from limitation;

the second stop block can be driven by the first lower rack to move between the first position and the second position, so that the limit and the limit releasing of the second leg device are realized;

the third stop block can be driven by the second upper rack to move between the first position and the second position, so that the third leg device is limited and relieved from limitation;

the fourth stop block can be driven by the second upper rack to move between the first position and the second position, and therefore limiting and releasing limiting of the fourth leg device are achieved.

7. A robot as set forth in claim 1 wherein said leg means includes a second drive assembly and a leg assembly, said second drive assembly being disposed on a side of said leg assembly adjacent said torso means for driving said leg assembly in rotation.

8. A robot as set forth in claim 7 wherein said leg assemblies include thigh assemblies disposed on opposite sides of said torso device and lower leg assemblies connected to said thigh assemblies; the second driving assembly comprises a second driving motor and a third driving motor, the second driving motor is arranged on one side, close to the trunk device, of the thigh assembly and used for driving the thigh assembly, and the third driving motor is arranged on one side, close to the trunk device, of the thigh assembly and used for driving the shank assembly.

9. The robot of claim 1, wherein said limiting means are electromagnet means disposed on both sides of said torso means; the leg device comprises a magnetic part, the magnetic part is arranged on one side, close to the trunk device, of the leg device, and when the leg device moves to a specific position, the electromagnet device can be matched with the magnetic part, so that the leg device is limited to the specific position.

10. A robot as claimed in any of claims 1 to 9, wherein the torso device includes universal wheels provided at the bottom of the torso device for convenient movement of the robot when the leg devices are confined to a particular position.