CN115959220A

CN115959220A - Motion state switching device and biped robot

Info

Publication number: CN115959220A
Application number: CN202310120773.2A
Authority: CN
Inventors: 翁佳伟; 朱世强; 谢安桓; 黄冠宇; 孔令雨; 留云
Original assignee: Zhejiang Lab
Current assignee: Zhejiang Lab
Priority date: 2023-01-18
Filing date: 2023-01-18
Publication date: 2023-04-14

Abstract

The present disclosure relates to a motion state switching device and a biped robot. The motion state switching device comprises a shell, a moving piece and a limiting mechanism; the shell is provided with a sliding channel and an accommodating cavity, and the sliding channel extends along a set direction; at least part of the movable piece is arranged in the sliding channel in a sliding mode along the set direction, and at least part of the movable piece is arranged in the accommodating cavity; the limiting mechanism is arranged in the accommodating cavity and used for limiting the movement of the moving part in the sliding channel; the motion state switching device comprises a first working state and a second working state, and when the first working state is adopted, the limiting mechanism is separated from the moving part; and in the second working state, the limiting mechanism is in contact with the movable piece so as to keep the relative positions of the movable piece and the sliding channel fixed. Therefore, the switching of the motion state switching device between different working states is realized, the switching efficiency is high, the structure is simple, and the cost is low.

Description

Motion state switching device and biped robot

Technical Field

The disclosure relates to the field of robots, in particular to a motion state switching device and a biped robot.

Background

In recent years, the technology of robots has been rapidly developed, various robots have been continuously developed, and the development of humanoid robots is very rapid compared with other types of robots. Compared with other types of humanoid robots such as a wheel type or crawler type humanoid robot, the humanoid robot with the two feet moving forward has higher flexibility and stronger complex terrain adaptability, and can easily cross obstacles.

However, when the sole of the foot type robot with the rigid joint contacts with the ground to move forward, larger impact can be generated, larger energy loss is caused, the motion efficiency of the biped robot is reduced, and the cruising ability is weakened.

Disclosure of Invention

The purpose of the present disclosure is to provide a motion state switching device and a biped robot, which can rapidly switch the operating state of the motion state switching device in different motion states.

One aspect of the disclosed embodiment provides a motion state switching device, including a housing, a movable member, and a limit mechanism; the shell is provided with a sliding channel and an accommodating cavity, and the sliding channel extends along a set direction; at least part of the movable piece is slidably arranged in the sliding channel along the set direction, and at least part of the movable piece is arranged in the accommodating cavity; the limiting mechanism is arranged in the accommodating cavity and used for limiting the movement of the movable piece in the sliding channel;

the motion state switching device comprises a first working state and a second working state, and the limiting mechanism is separated from the moving part in the first working state; and when the movable piece is in the second working state, the limiting mechanism is in contact with the movable piece, so that the relative positions of the movable piece and the sliding channel are kept fixed.

In one embodiment, the movable member comprises a rigid body and an elastic body; at least part of the rigid body is slidably arranged in the sliding channel along the set direction, and at least part of the rigid body is arranged in the accommodating cavity;

the elastic body is sleeved on the rigid body along the set direction, and the elastic body can move telescopically relative to the rigid body along the set direction; the elastic body and the outer surface of the shell are abutted in the set direction;

in the first working state, the limiting mechanism is separated from the rigid body; and in the second working state, the limiting mechanism is contacted with the rigid body so as to keep the relative positions of the rigid body and the sliding channel fixed.

In one embodiment, the limiting mechanism comprises a first limiting part, and a second limiting part is correspondingly arranged on the rigid body; when the first working state is realized, the first limiting part is separated from the second limiting part; and in the second working state, the first limiting part is in limiting fit with the second limiting part.

In one embodiment, the second stopper portion includes a stopper groove, and the stopper groove is an annular groove or a straight groove extending perpendicular to the axial direction of the rigid body.

In one embodiment, the limiting mechanism further comprises a limiting driving part connected with the first limiting part, and the limiting driving part is used for driving the first limiting part to move away from or close to the limiting groove;

when the first working state is switched to a second working state, the limit driving part drives the first limit part to move close to the limit groove; when the second working state is switched to the first working state, the limiting driving part drives the first limiting part to move away from the limiting groove.

In one embodiment, the first limiting part is an arc-shaped part with an opening, and the inner ring of the arc-shaped part is correspondingly provided with a bulge matched with the limiting groove.

In one embodiment, the first limiting part comprises a temperature sensing part which can deform along with the temperature change; the limiting mechanism further comprises a temperature control part for adjusting the temperature in the accommodating cavity so as to deform the temperature sensing part;

when the temperature sensing part is in the first working state, the temperature control part adjusts the temperature in the accommodating cavity to be a first temperature, and the temperature sensing part deforms until the first limiting part and the second limiting part are separated; when the temperature sensing device is in the second working state, the temperature control part adjusts the temperature in the accommodating cavity to be a second temperature, and the temperature sensing part deforms to the first limiting part and the second limiting part to be in limiting fit.

The technical scheme of the motion state switching device provided by the embodiment of the disclosure can have the following beneficial effects:

through separation and contact between stop gear and the moving part, realized the moving part between the slip passageway and spacing. When the moving part moves in the sliding channel, the moving state switching device is in a first working state, and when the moving part is limited in the sliding channel, the moving state switching device is in a second working state. Therefore, the switching of the motion state switching device between different working states is realized, the switching efficiency is high, the structure is simple, and the cost is low.

Another aspect of embodiments of the present disclosure provides a biped robot including:

the device comprises a pelvic part and two groups of leg mechanisms movably arranged on the pelvic part;

the leg mechanism includes:

the hip joint part is rotatably connected with the pelvic bone part;

a thigh portion rotatably connected to the hip joint portion about a first direction;

a lower leg portion rotatably connected to the upper leg portion about the first direction;

the foot part is rotatably connected with the lower leg part;

in the motion state switching device in any one of the above embodiments, one end of the housing, which is far away from the movable element, is rotatably connected to the thigh portion or the lower leg portion, and one end of the movable element, which is far away from the housing, is connected to the foot portion; and

and the driving component is connected with the hip joint part, the thigh part, the lower leg part and the motion state switching device and is used for driving the hip joint part, the thigh part, the lower leg part and the motion state switching device to rotate.

In one embodiment, the leg mechanism includes two motion state switching devices, the driving component includes two switching device driving parts fixedly arranged on the thigh or the calf, the two switching device driving parts are respectively connected with the two motion state switching devices, and the switching device driving parts are used for driving the motion state switching devices to rotate around the first direction;

when the two switching device driving parts respectively drive the two motion state switching devices to rotate around the first direction at different rotating speeds, the two motion state switching devices rotate around the second direction perpendicular to the axial direction of the movable piece while rotating around the first direction.

In one embodiment, the biped robot further comprises two second transmission parts, the two second transmission parts are respectively connected between the two switching device driving parts and the two motion state switching devices, and the two switching device driving parts respectively drive the two motion state switching devices to rotate through the two second transmission parts.

In one embodiment, the second transmission portion includes a driving wheel, a driven wheel and an open steel belt, the open steel belt is sleeved on the driving wheel and the driven wheel, the driving wheel is connected with the switching device driving portion, and the driven wheel is connected with the casing of the motion state switching device.

In one embodiment, the driven wheel comprises a driven wheel main body and a driven wheel rotating shaft, one end of the driven wheel rotating shaft is fixedly connected with the driven wheel main body, and the other end of the driven wheel rotating shaft is rotatably connected with the thigh part.

In one embodiment, the driven wheel includes a driven wheel main body and a driven wheel adapter, the driven wheel adapter is disposed near an outer edge of the driven wheel main body, and the housing of the motion state switching device is hinged to the driven wheel adapter.

In one embodiment, the two motion state switching devices are symmetrically arranged with respect to the lower leg portion.

In one embodiment, the housing of the exercise state switching device includes a connecting portion and a main body portion, one end of the connecting portion is connected to the thigh portion or the shank portion, and the other end is connected to the main body portion; the sliding channel is communicated with the accommodating cavity, the sliding channel is arranged on the connecting portion, and the accommodating cavity is arranged on the main body portion.

In one embodiment, the hip joint part comprises a first hip joint part and a second hip joint part; the first hip joint part is rotatably connected with the pelvis part around a third direction, and the second hip joint part is rotatably connected with the first hip joint part around a fourth direction;

the cross-sectional area of the second hip joint part along the fourth direction is gradually reduced, one end of the second hip joint part with a larger area in the fourth direction is connected with the first hip joint part, and one end of the second hip joint part with a smaller area is connected with the thigh part.

In one embodiment, the driving component comprises a shank driving part which is fixedly arranged on the thigh part and connected with the shank part for driving the shank part to rotate around the first direction; the shank driving part is arranged close to the second hip joint part.

In one embodiment, the driving part includes:

the first hip joint driving part is fixedly arranged on the pelvic part, is connected with the first hip joint part and is used for driving the first hip joint part to rotate around the third direction;

and the second hip joint driving part is fixedly arranged on the first hip joint part, is connected with the second hip joint part and is used for driving the second hip joint part to rotate around the fourth direction.

In one embodiment, the driving part comprises a thigh driving part which is fixedly arranged on the second hip joint part and is connected with the thigh part for driving the thigh part to rotate around the first direction;

the thigh driving part comprises a driving shell and a driving assembly arranged in the driving shell, and the driving shell is arranged close to one end, with a smaller area, of the second hip joint part; the second hip joint part and the drive housing are manufactured in one piece.

In one embodiment, the driving part includes:

the lower leg driving part is fixedly arranged on the thigh part, is connected with the lower leg part and is used for driving the lower leg part to rotate around the first direction;

and the switching device driving part is fixedly arranged on the thigh part, is connected with the motion state switching device and is used for driving the motion state switching device to rotate around the first direction.

In one embodiment, the driving component comprises a lower leg driving part which is fixedly arranged on the thigh part and connected with the lower leg part and is used for driving the lower leg part to rotate around a first direction;

the biped robot further comprises a first transmission part, the first transmission part is connected between the shank driving part and the shank, and the shank driving part drives the shank to rotate through the first transmission part.

In one embodiment, the first transmission part adopts a link mechanism.

The technical scheme of the biped robot provided by the embodiment of the disclosure can comprise the following beneficial effects:

the motion state switching device is arranged on a leg mechanism of the biped robot, so that the leg rigidity parameters of the biped robot can be switched according to the motion state. When the biped robot is in the motion state of stepping on the ground and running at a slow speed, the motion state switching device is in the first working state. When the biped robot is in the motion state of high-speed sprint, the motion state switching device is in a second working state. The switching efficiency of the motion state switching device is high, and the motion state switching requirement of the biped robot is met.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Drawings

Brief description of the drawingsthe accompanying drawings, which are included to provide a further understanding of the disclosure, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure and are not intended to limit the disclosure.

In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a motion state switching device in an embodiment.

Fig. 2 is a schematic structural diagram of a biped robot in one embodiment.

Fig. 3 is a schematic structural view of a leg mechanism of the biped robot in the embodiment shown in fig. 2.

Fig. 4 is an exploded view of the leg mechanism in the embodiment of fig. 3.

Wherein: 1-motion state switching means; 11-a housing; 12-a movable member; 13-a limiting mechanism; 111-a slide channel; 112-a containment chamber; 121-a rigid body; 122-an elastomer; 131-a first limiting part; 1211-a second stopper; 1211 a-limit groove; 132-a limit drive; 131 a-an arc; 2-a biped robot; 21-pelvic part; 22-a leg mechanism; 221-a hip joint portion; 222-thigh section; 223-lower leg; 224-foot section; 225-a drive member; 113-a connecting portion; 114-a body portion; 211-long plate; 212-short plate; 2211-first hip joint; 2212-second hip joint; 2211 a-side; 2211 b-bottom; 2251-a first hip drive; 2252-a second hip drive; 2253-thigh drive; 2254-calf driver; 2221-long side panel; 2222-intermediate connecting plates; 23-a first transmission; 2255-switching device drive; 24-a second transmission part; 241-a driving wheel; 242 a driven wheel; 243-open steel belt; 2441-driven wheel main body; 2442-driven wheel shaft; 2443-driven wheel transfer section.

Detailed Description

For the purpose of making the purpose, technical solutions and advantages of the present disclosure more apparent, the present disclosure will be described in further detail below with reference to the accompanying drawings and detailed description. It should be understood that the detailed description and specific examples, while indicating the scope of the disclosure, are intended for purposes of illustration only and are not intended to limit the scope of the disclosure.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. The terminology used herein in the description of the disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure.

The biped robot of the present disclosure will be described in detail below with reference to the accompanying drawings. The features of the following examples and embodiments may be combined with each other without conflict.

In one embodiment of the present disclosure, referring to fig. 1, there is provided a moving state switching device 1 including: a shell 11, a movable piece 12 and a limit mechanism 13. The housing 11 is provided with a slide passage 111 and an accommodation chamber 112, the slide passage 111 extending in a set direction. At least part of the movable member 12 is slidably disposed in the sliding channel 111 along the setting direction, and at least part of the movable member 12 is disposed in the accommodating chamber 112. The limiting mechanism 13 is disposed in the accommodating cavity 112 and is used for limiting the movement of the movable member 12 in the sliding channel 111. The motion state switching device 1 includes a first working state and a second working state, and in the first working state, the limiting mechanism 13 is separated from the movable member 12. In the second operating state, the limiting mechanism 13 contacts the movable member 12, so that the relative positions of the movable member 12 and the sliding channel 111 are kept fixed.

The movement and the position limitation of the movable member 12 between the sliding channels 111 are achieved by the separation and the contact between the position limitation mechanism 13 and the movable member 12. When the movable element 12 moves in the sliding channel 111, the moving state switching device 1 is in the first working state, and when the movable element 12 is limited in the sliding channel 111, the moving state switching device 1 is in the second working state. Therefore, the switching of the motion state switching device 1 between different working states is realized, the switching efficiency is high, the structure is simple, and the cost is low.

The housing 11 may be provided in a cylindrical shape, a rectangular parallelepiped shape, or the like, which is not limited by the present disclosure. The slide passage 111 and the accommodation chamber 112 are provided in the housing 11.

The slide passage 111 extends in a set direction, which may be an axial direction of the housing 11. The sliding channel 111 may be provided in an elongated cylindrical shape, and correspondingly, the movable member 12 may be provided in an elongated rod-shaped structural member, and the setting direction is also the axial extension direction of the movable member 12. In this way, the movable element 12 can slide in the sliding channel 111 in an oriented manner, and the sliding channel 111 can also play a role of limiting the moving direction of the movable element 12. The slide passage 111 may be provided coaxially with the housing 11.

The receiving cavity 112 may be provided in a cylindrical shape, a rectangular parallelepiped shape, or the like. Specifically, the accommodating cavity 112 may have the same shape as the housing 11, for example, the housing 11 is cylindrical, the accommodating cavity 112 is also cylindrical, and the accommodating cavity 112 and the housing 11 are coaxially disposed, so that the space arrangement is facilitated, and the internal space of the housing 11 is fully utilized.

The portion of the movable member 12 disposed in the accommodating cavity 112 may contact or separate from the position-limiting mechanism 13 disposed in the accommodating cavity 112. The sliding channel 111 and the accommodating cavity 112 can be communicated, and at least part of the movable piece 12 is arranged in the sliding channel 111 and the accommodating cavity 112 in a penetrating way.

In the first working state, the distance is provided between the limiting mechanism 13 and the movable member 12, and the movable member 12 can slide in the sliding channel 111 in a reciprocating manner. In the second operating condition, the limiting mechanism 13 contacts with the moving part 12, and can be in matching contact with the moving part 12 such as abutting joint and clamping joint, and the moving part 12 is fixed and limited by the limiting mechanism 13 and cannot move in the sliding channel 111. In this way, switching of the movement state switching device 1 between different operating states is achieved.

In the present embodiment, referring to fig. 1, the movable member 12 includes a rigid body 121 and an elastic body 122. At least part of the rigid body 121 is slidably disposed in the sliding channel 111 along the setting direction, and at least part of the rigid body 121 is disposed in the accommodating cavity. The elastic body 122 is fitted to the rigid body 121 in a set direction, and the elastic body 122 can move telescopically with respect to the rigid body 121 in the set direction. The elastic body 122 abuts against the outer surface of the housing 11 in the setting direction. In the first operating condition, the stop mechanism 13 is separated from the rigid body 121. In the second operating state, the limiting mechanism 13 is in contact with the rigid body 121, so that the relative positions of the rigid body 121 and the sliding channel 111 are kept fixed.

The rigid body 121 is slidingly moved in a set direction in the slide channel 111. The elastic body 122 abuts against the outer surface of the housing 11 in the set direction. When the elastic body 122 is compressed by the housing 11, the length of the elastic body 122 becomes short, and the length of the rigid body 121 in the slide passage 111 becomes long. When the housing 11 is reversely pushed back by the elastic body 122, the length of the elastic body 122 becomes longer, and the length of the rigid body 121 in the slide passage 111 becomes shorter.

In the first operating state, the limiting mechanism 13 and the rigid body 121 have a distance, and the rigid body 121 moves in the sliding channel 111, and the movement can be a reciprocating movement in a fixed stroke range. And the elastic body 122 is compressed by the housing 11 with the movement of the rigid body 121, or pushes back the housing 11 to the original position, the length of the elastic body 122 is shortened or lengthened. In the second operating state, the limiting mechanism 13 is in contact with the rigid body 121, the limiting mechanism 13 limits the position of the rigid body 121 in the sliding channel 111 so that the rigid body cannot move in the sliding channel 111, and the length of the elastic body is a fixed value.

In this way, in the first operating state, the length of the elastic body 122 changes, so that the motion state switching device 1 has different energy states. In the second operating state, the length of the elastic body 122 is fixed, so that the energy state of the moving state switching device 1 is fixed.

The extending direction of the elastic body 122 is the same as the extending direction of the rigid body 121, and the elastic body 122 is sleeved on the rigid body 121, so that the elastic body 122 extends and contracts along the set direction, and the elastic body 122 is prevented from bending and deviating from the set direction.

In some embodiments, rigid body 121 may be an elongated rigid rod, such as a steel rod. The elastic body 122 may employ a high-strength spring.

A linear bearing may be disposed within slide channel 111 and cooperate with rigid body 121 to facilitate sliding movement of rigid body 121 within slide channel 111.

In some embodiments, referring to fig. 1, the limiting mechanism 13 includes a first limiting portion 131, and a second limiting portion 1211 is correspondingly disposed on the rigid body 121. In the first operating state, the first stopper 131 and the second stopper 1211 are separated from each other. In the second working state, the first position-limiting portion 131 and the second position-limiting portion 1211 are in position-limiting engagement. In this manner, by the separation and the limit fitting between the first limit stop portion 131 and the second limit stop portion 1211, the movement and the fixation of the rigid body 121 in the slide passage 111 are achieved, so that the operating state of the moving state switching device 1 is changed.

Specifically, in some embodiments, the first position-limiting portion 131 is configured as a holding device, and the position-limiting mechanism 13 further includes a holding driving portion, which may be hydraulically driven. The second stopper 1211 is an outer surface area of the rigid body 121 in which a portion extends in the circumferential direction. In the first operating condition, there is a gap between the clasping means and the outer surface of the rigid body 121. In the second operating state, the clasping drive part drives the clasping device to move, the clasping device is abutted with the corresponding outer surface area of the rigid body 121, for example, the clasping device surrounds the circumferential outer surface of the clamping rigid body 121. When the pressure between the clasping device and the outer surface of the rigid body 121 is large enough, enough friction force is generated between the clasping device and the outer surface of the rigid body 121, so that the rigid body 121 and the clasping device cannot slide relatively, and the position of the rigid body 121 is limited.

In other embodiments, referring to fig. 1, the second stopper 1211 includes a stopper groove 1211a, and the stopper groove 1211a is an annular groove or a straight groove extending perpendicular to the axial direction of the rigid body.

In this embodiment, the stopper groove 1211a is an annular groove provided around the rigid body 121.

In other embodiments, the straight slot and the axis of the rigid body 121 have a distance in the radial direction of the rigid body 121. The rigid body 121 may be provided with two straight grooves symmetrically disposed at both sides of the axis of the rigid body 121.

The first stopper portion 131 and the stopper groove 1211a abut against at least one of both side walls in the axial direction of the rigid body 121, thereby achieving the stopper.

Further, referring to fig. 1, the limiting mechanism 13 further includes a limiting driving portion 132 connected to the first limiting portion 131, and the limiting driving portion 132 is configured to drive the first limiting portion 131 to move away from or close to the limiting groove 1211a. When the first operating state is switched to the second operating state, the driving portion 132 drives the first position-limiting portion 131 to move close to the position-limiting groove 1211a. When the second operating state is switched to the first operating state, the position-limiting driving part 132 drives the first position-limiting part 131 to move away from the position-limiting groove 1211a. In this way, the first position-limiting part 131 is driven to move by the position-limiting driving part 132, so that whether the first position-limiting part 131 is in position-limiting fit with the position-limiting groove 1211a is realized. The position-limiting driving portion 132 drives the first position-limiting portion 131 to move close to the position-limiting groove 1211a until the first position-limiting portion 131 abuts against and engages with the position-limiting groove 1211a. The position-limiting driving part 132 drives the first position-limiting part 131 to move away from the position-limiting groove 1211a until the first position-limiting part 131 and the position-limiting groove 1211a are completely separated, and the first position-limiting part 131 and the rigid body 121 have a distance therebetween, and the first position-limiting part 131 does not interfere with the movement of the rigid body 121.

In some embodiments, the limit driving portion 132 may adopt a screw stepping motor, which has a small volume and high control precision.

In this embodiment, referring to fig. 1, the first position-limiting portion 131 is an arc-shaped member 131a with an opening, and the inner ring of the arc-shaped member 131a is correspondingly provided with a protrusion matching with the position-limiting groove 1211a. The arc-shaped member 131a is provided with an opening for facilitating separation from the stopper 1211a and spaced apart from the rigid body 121. In some embodiments, the arc-shaped part 131a may have a symmetrical U shape, and the arc-shaped part 131a includes two protrusions symmetrically disposed at the inner circle of the arc-shaped part 131a near both ends of the opening of the arc-shaped part 131 a. In other embodiments, the projection is an annular projection disposed around an inner circumference of the arcuate member 131 a. The thickness of the projection in the axial direction of the rigid body 121 and the width of the stopper groove 1211a in the axial direction of the rigid body 121 match. In the first operating state, the projection is separated from the stopper groove 1211a, and in the second operating state, the projection is inserted into the stopper groove 1211a, and the projection and the stopper groove 1211a are in abutting engagement in the axial direction of the rigid body 121.

It can be understood that both ends of the arc-shaped member 131a are provided with the limiting driving portions 132, and the two limiting driving portions 132 simultaneously drive the arc-shaped member 131a to move closer to or away from the limiting groove 1211a, and the moving direction of the arc-shaped member 131a may be the central axis direction of the arc-shaped member 131a, or may be the radial direction of the rigid body 121.

In still other embodiments, the first position-limiting portion 131 includes a temperature-sensitive portion capable of deforming with temperature change. The limiting mechanism further comprises a temperature control part for adjusting the temperature in the accommodating cavity so as to enable the temperature sensing part to deform. In the first working state, the temperature control part adjusts the temperature in the accommodating cavity 112 to a first temperature, and the temperature sensing part is deformed until the first limiting part 131 and the second limiting part 1211 are separated. In the second working state, the temperature control part adjusts the temperature in the accommodating cavity 112 to a second temperature, and the temperature sensing part deforms to the limit matching of the first limit part 131 and the second limit part 1211. Therefore, the first limiting part 131 does not need to move, the required space is small, and the structure is more compact. Specifically, the temperature sensing unit is formed in a strip shape, and the second stopper 1211 is formed as a stopper groove 1211a. When the temperature changes, the length of the temperature sensing unit changes significantly, and the temperature sensing unit can be engaged with the stopper groove 1211a in a spaced-apart or abutting manner.

The temperature sensing part can be made of bimetallic strip, shape memory polymer and other materials. The temperature control part can comprise a resistor and a power supply. The power supply provides different currents to the resistors so that the resistors generate different amounts of heat, thereby changing the temperature within the receiving cavity 112.

Biped robot is under the motion state of pedaling ground walking and running at a slow speed, and sole and ground contact can cause energy loss, if can reduce this energy loss, then can prolong biped robot's continuation of the journey, improve energy utilization. The leg rigidity parameter of the biped robot is reduced, the buffer effect is achieved when the sole of the foot is in contact with the ground, and the energy loss in the process can be reduced. However, in the motion state of high-speed sprint, the biped robot needs to set a larger rigidity parameter to meet the requirement of high-speed sprint. Therefore, the leg rigidity parameter of the biped robot is set to be changed according to the motion state, and the requirements of energy saving and high-speed sprinting can be met.

In the related art, in order to change the rigidity parameter of the legs of the biped robot, a pneumatic device or a flexible cable device is arranged on the legs. However, the pneumatic device is driven by the cylinder, has slow response and weak rigidity, can only meet the motion state requirements of stepping on the ground and running at a slow speed, and cannot realize high-speed sprinting. The flexible cable device can generate great reaction force to other components of the legs of the biped robot under high-speed sprint, and cannot be applied.

Based on this, in another embodiment of the present disclosure, as shown in fig. 1 and 2, there is also provided a biped robot 2 including a pelvic part 21 and two sets of leg mechanisms 22 movably provided to the pelvic part 21. The leg mechanism 22 includes a hip joint part 221, a thigh part 222, a lower leg part 223, a foot part 224, the motion state switching device 1 in any of the above embodiments, and a driving member 225. The hip joint portion 221 and the pelvis portion 21 are rotatably connected. Thigh portion 222 is rotatably connected to hip joint portion 221 about first direction x. The small leg portion 223 is rotatably connected to the large leg portion 222 about the first direction x. The foot section 224 and the lower leg section 223 are rotatably connected. The end of the housing 11 of the moving member 12 of the moving state switching device 1 away from the moving member 12 is connected to the thigh 222 or the lower leg 223 in a rotatable manner, and the end of the moving member 12 away from the housing 11 is connected to the foot. The drive member 225 is connected to the hip joint section 221, the thigh section 222, the lower leg section 223, and the exercise state switching device 1, and drives the hip joint section 221, the thigh section 222, the lower leg section 223, and the exercise state switching device 1 to rotate.

The pelvic part 21 of the biped robot 2 is used to fix two sets of leg mechanisms 22. In some embodiments, the biped robot 2 further comprises a torso portion, connected to the pelvic portion 21.

The two sets of leg mechanisms 22 are connected to the pelvis portion 21, respectively, and the biped robot 2 realizes actions and motion states such as standing, stepping on the ground, running at a slow speed, sprinting at a high speed, and the like through the two sets of leg mechanisms 22.

The hip joint portion 221 is connected between the thigh portion 222 and the pelvis portion 21, the thigh portion 222 is connected with the lower leg portion 223, the lower leg portion 223 is connected with the foot portion 224, and the exercise state switching device 1 is connected between the thigh portion 222 or the lower leg portion 223 and the foot portion 224.

The driving member 225 drives the hip joint portion 221 to rotate relative to the pelvic portion 21, and has an effect of driving the hip joint portion 221, the thigh portion 222, the lower leg portion 223, the exercise state switching device 1, and the foot portion 224 to rotate relative to the pelvic portion 21 as a whole.

The driving member 225 drives the thigh 222 to rotate in the first direction x with respect to the hip joint section 221, and has an effect of driving the thigh 222, the lower leg 223, the exercise state switching device 1, and the foot section 224 to rotate in the first direction x with respect to the hip joint section 221 as a whole.

The driving means 225 drives the rotation of the lower leg portion 223 with respect to the thigh portion 222 about the first direction x, which produces an effect of driving the rotation of the lower leg portion 223, the moving state switching device 1 and the foot portion 224 as a whole with respect to the thigh portion 222 about the first direction x, or driving the rotation of the lower leg portion 223 and the foot portion 224 as a whole with respect to the thigh portion 222 about the first direction x.

The driving member 225 drives the exercise state switching device 1 to rotate with respect to the thigh portion 222 or the lower leg portion 223, and has an effect of driving the lower leg portion 223, the exercise state switching device 1, and the foot portion 224 to rotate integrally with respect to the thigh portion 222, or driving the exercise state switching device 1 and the foot portion 224 to rotate integrally with respect to the lower leg portion 223.

In the embodiment of the present disclosure, the driving part 225 drives each component of the leg mechanism 22 using a plurality of motors, respectively.

The first direction x is perpendicular to the plane formed by thigh 222 and calf 223. In the embodiment shown in fig. 2, the first direction x is a left-right direction of the pelvis portion 21. The third direction y is perpendicular to the first direction x and, in the embodiment shown in fig. 2, is the anterior-posterior direction of the pelvis portion 21.

The present disclosure provides the motion state switching device 1 to the leg mechanism 22 of the biped robot 2 so that the leg stiffness parameter of the biped robot 2 can be switched according to the motion state. When the biped robot 2 is in the motion state of stepping on the ground and running at a slow speed, the motion state switching device 1 is in the first working state. When the biped robot 2 is in the motion state of high-speed sprint, the motion state switching device 1 is in the second working state. The motion state switching device 1 has high switching efficiency and meets the motion state switching requirement of the biped robot 2.

Specifically, in the present embodiment, the movable member 12 includes the rigid body 121 and the elastic body 122, and the end of the housing 11 of the moving state switching device 1 remote from the rigid body 121 is connected to the thigh portion 222, and the end of the rigid body 121 remote from the housing 11 is connected to the foot portion 224, and the connection is provided closer to the heel portion with respect to the toe portion of the foot portion 224. The end of the elastomer remote from the housing 11 is connected to the rigid body 121 or the foot 224.

Further, referring to fig. 1 and 3, the housing 11 includes a connecting portion 113 and a main body portion 114, one end of the connecting portion 113 is connected to a thigh portion 222 or a lower leg portion 223 (in this embodiment, the thigh portion 222), and the other end is connected to the main body portion 114. The slide passage 111 communicates with the accommodation chamber 112, the slide passage 111 is provided in the connecting portion 113, and the accommodation chamber 112 is provided in the body portion 114. The housing 11 is provided for this structure, facilitating the mounting connection of the moving state switching device 1 in the biped robot 2. In the present embodiment, the connecting portion 113 is provided in a long rod shape, the main body portion 114 is provided in an approximately cylindrical shape, and the circumferential surface of the main body portion 114 is provided with two oppositely provided flat surfaces. The slide passage 111 and the connecting portion 113 are coaxially arranged, and the accommodation chamber 112 and the body portion 114 are coaxially arranged.

When the biped robot 2 is in the motion state of stepping on the ground and running at a slow speed, the motion state switching device 1 is in the first working state, the elastic body 122 of the motion state switching device 1 performs telescopic motion, the rigidity parameter of the motion state switching device 1 is reduced, the elastic body 122 performing telescopic motion between the shell 11 and the foot 224 provides buffer for the motion of the foot 224, the conversion between energy storage and energy release is realized, the energy loss of the biped robot 2 is reduced, and the endurance is prolonged. When the biped robot 2 is in the motion state of high-speed sprint, the motion state switching device 1 is in the second working state, the length of the elastic body 122 is fixed, the shell 11 and the foot 224 are connected through the rigid body 121, the rigidity parameter of the motion state switching device 1 is increased, and the rigidity requirement of high-speed sprint is met.

Regarding the specific structure of the biped robot 2, in the present embodiment, the pelvic part 21 includes two long plates 211 extending in the first direction x and a short plate 212 connected between the two long plates 211, and the short plate 212 divides the space between the two long plates 211 into two.

The biped robot 2 includes two hip joint sections 221.

Referring to fig. 2 and 3, the hip joint portion 221 includes a first hip joint portion 2211 and a second hip joint portion 2212. The first hip joint portion 2211 is rotatably connected to the pelvis portion 21 in the third direction y, and the second hip joint portion 2212 is rotatably connected to the first hip joint portion 2211 in the fourth direction z.

Specifically, referring to fig. 2 and 4, the first hip joint portion 2211 includes two opposing side portions 2211a and a bottom portion 2211b connected between the two side portions 2211 a. The two first hip joint portions 2211 are correspondingly arranged in two spaces between the two long plates 211 of the pelvis portion 21. The two side portions 2211a of the first hip joint portion 2211 are rotatably connected to the two long plates 211 of the pelvis portion 21, respectively.

The cross-sectional area of the second hip joint portion 2212 in the fourth direction z gradually decreases, and the end of the second hip joint portion 2212 having a larger area in the fourth direction z is connected to the first hip joint portion 2211, and the end having a smaller area is connected to the femoral portion 222. The second hip joint portion 2212 is arranged such that the cross-sectional area decreases from top to bottom in the fourth direction z, which facilitates a larger space for the movement of the lower connected thigh portion 222. The fourth direction z is perpendicular to the plane xoy formed by the first direction x and the third direction y.

Referring to fig. 2 and 3, drive component 225 includes a first hip drive part 2251 and a second hip drive part 2252.

The first hip joint driving part 2251 is fixed to the pelvis part 21, and is connected to the first hip joint part 2211 for driving the first hip joint part 2211 to rotate around the third direction y. First hip joint driving part 2251 is fixedly connected to long plate 211 of pelvis portion 21, and the output shaft of first hip joint driving part 2251 is fixedly connected to side 2211a of first hip joint part 2211 through long plate 211, so as to rotate first hip joint part 2211.

The other side 2211a of the first hip joint portion 2211 and the long plate 211 corresponding to the pelvic bone portion 21 may be connected by a bearing to facilitate the rotation of the first hip joint portion 2211.

Second hip joint drive 2252 is fixedly attached to first hip joint 2211 and connected to second hip joint 2212 for driving second hip joint 2212 in rotation in the fourth direction z. The second hip joint driving part 2252 is fixed to the bottom 2211b of the first hip joint part 2211, and the output shaft of the second hip joint driving part 2252 passes through the bottom 2211b and connects with the second hip joint part 2212, so as to drive the second hip joint part 2212 to rotate.

Referring to fig. 2 and 3, driving part 225 includes thigh driving part 2253 fixed to second hip joint part 2212 and connected to thigh part 222 for driving thigh part 222 to rotate in first direction x. Thigh drive 2253 comprises a drive housing and a drive assembly disposed within the drive housing, the drive housing being disposed near the end of second hip joint 2212 where the area is smaller. The second hip joint portion 2212 and the drive housing are integrally manufactured, and the mounting efficiency and the mounting accuracy can be improved.

The driving part 225 includes a lower leg driving part 2254 fixed to the thigh part 222 and connected to the lower leg part 223 for driving the lower leg part 223 to rotate around the first direction x. The lower leg drive 2254 is disposed proximate to the second hip joint 2212. In order to drive the entire lower leg part 223 to move, the lower leg driving part 2254 needs to use a motor with enough power and mass. By providing lower leg driver 2254 in thigh 222 and close to second hip joint 2212, the distance between lower leg driver 2254 and second hip 2212 can be minimized, thereby reducing the inertia of leg mechanism 22, reducing energy loss, and extending the range of biped robot 2. Accordingly, the inertia of leg mechanism 22 is reduced, and the required operating power of first hip drive unit 2251, second hip drive unit 2252, and thigh drive unit 2253 can be reduced, and the motors with smaller power can be selected for first hip drive unit 2251, second hip drive unit 2252, and thigh drive unit 2253, which reduces the cost.

Referring to fig. 3 and 4, the thigh portion 222 may have a frame-type structure, and is formed by connecting two long side plates 2221 by a plurality of intermediate connection plates 2222, and the plurality of intermediate connection plates 2222 divide a space between the two long side plates 2221 into a plurality of pieces for disposing the driving part 225. In this way, the mass of the thigh 222 can be greatly reduced. The lower leg driving part 2254 is provided in a space adjacent to the second hip joint part 2212.

Referring to fig. 2 and 3, the biped robot 2 further includes a first transmission part 23, the first transmission part 23 is connected between the lower leg driving part 2254 and the lower leg part 223, and the lower leg driving part 2254 drives the lower leg part 223 to rotate through the first transmission part 23. Since lower leg drive 2254 is disposed close to second hip joint 2212, at a distance from lower leg portion 223, a drive connection between lower leg drive 2254 and lower leg portion 223 is achieved by the provision of first drive 23.

In the present embodiment, the first transmission portion 23 adopts a link mechanism, which can meet the rigidity requirement of the driving structure.

Further, the lower leg driving part 2254 is provided with a first short rod, the lower leg part 223 is a long rod having an arc shape, and the first rod and the lower leg part 223 are connected by a second rod, thereby forming a link mechanism.

Referring to fig. 2 to 4, the leg mechanism 22 includes two motion state switching devices 1, the driving member 225 includes two switching device driving portions 2255 fixed to the thigh portion 222 or the shank portion 223, the two switching device driving portions 2255 are respectively connected to the two motion state switching devices 1, and the switching device driving portions 2255 are used for driving the motion state switching devices 1 to rotate around the first direction x. It can be understood that the moving state switching device 1 is substantially in the shape of a long rod, and the switching device driving part 2255 is used to drive the moving state switching device 1 to rotate around the first direction x, specifically, to drive the portion of the moving state switching device 1 close to the switching device driving part 2255 (the connection with the switching device driving part 2255) to rotate around the first direction x, and the rest of the moving state switching device 1 swings accordingly.

In some embodiments, two switching device drivers 2255 are affixed to thigh portion 222 and positioned as close as possible to second hip joint 2212, thereby reducing the inertia of leg mechanism 22.

In this embodiment, a lower leg driving part 2254, one switching device driving part 2255, and the other switching device driving part 2255 are provided in this order from the end closer to the second hip joint part 2212 to the end farther from the second hip joint part 2212 on the femoral part 222. In the layout, the distances between the lower leg driver 2254, the two switching device drivers 2255, and the second hip joint 2212 are reduced as much as possible, thereby reducing the inertia of the leg mechanism 22.

The two motion state switching devices 1 are symmetrically arranged with respect to the lower leg portion 223, and can control the motion of the foot portion 224 in a balanced manner, which facilitates the design of a control algorithm.

Further, the two motion state switching devices 1 are also parallel to each other.

Referring to fig. 1 and 3, when the two switching device driving portions 2255 respectively drive the two moving state switching devices 1 to rotate around the first direction x at different rotation speeds, the two moving state switching devices 1 rotate around the second direction w perpendicular to the axial direction t of the movable element 12 while rotating around the first direction x. Both movement state switching devices 1 can be pivoted obliquely, for example obliquely to the rear. The two motion state switching devices 1 are no longer symmetrical and parallel to each other, and the projections of the two motion state switching devices 1 in the first direction x are in a cross state.

Both the lower leg portion 223 and the movable member 12 are cross-hinged with the foot portion 224, so that the foot portion 224 can rotate in the first direction x with respect to the lower leg portion 223 and the moving state switching device 1, and can rotate about a direction perpendicular to the plane of the foot portion 224 with respect to the lower leg portion 223 and the moving state switching device 1.

In this manner, the two switching device driving parts 2255 indirectly drive the foot 224 to move by driving the movement of the two movement state switching devices 1.

Referring to fig. 2 and 3, the biped robot 2 further comprises two second actuators 24, the two second actuators 24 are respectively connected between the two switching device drivers 2255 and the two motion state switching devices 1, and the two switching device drivers 2255 respectively drive the two motion state switching devices 1 to rotate through the two second actuators 24. By providing the second transmission portion 24, the design length of the moving state switching device 1 in the extending direction of the rigid body 121 can be reduced, and the moving angle of the moving state switching device 1 can be increased. Two second transmission portions 24 are provided on the outer surfaces of the two long side plates 2221 of the thigh portion.

Specifically, as shown in fig. 3 and 4, the second transmission part 24 includes a driving wheel 241, a driven wheel 242, and an opening steel belt 243, the opening steel belt 243 is sleeved on the driving wheel 241 and the driven wheel 242, the driving wheel 241 is connected to the switching device driving part 2255, and the driven wheel 242 is connected to the housing 11 of the moving state switching device 1. The output shaft of the switching device driving part 2255 penetrates through the long side plates 2221 and is connected to the driving wheel 241, so as to drive the driving wheel 241 to rotate, the driving wheel 241 drives the opening steel strip 243 to rotate, and further drives the driven wheel 242 to rotate, the driven wheel 242 drives the housing 11 to rotate around the first direction x, and accordingly, the moving state switching device 1 is driven to rotate around the first direction x. Similarly, it can be understood that the moving state switching device 1 is substantially in the shape of a long rod, and the driven wheel 242 drives the moving state switching device 1 to rotate around the first direction x, specifically, a portion (a connection point of the housing 11 and the driven wheel 242) of the moving state switching device 1 close to the driven wheel 242 is driven to rotate around the first direction x, and the rest of the moving state switching device 1 swings accordingly.

The open steel strip 243 is adopted in the present disclosure, so that the strength requirement of the transmission structure can be met.

Referring to fig. 4, the driven wheel 242 includes a driven wheel main body 2441 and a driven wheel rotation shaft 2442, one end of the driven wheel rotation shaft 2442 is fixedly connected to the driven wheel main body 2441, and the other end is rotatably connected to the thigh portion 222. Thus, the driven wheel is fixed and can rotate.

The driven wheel 242 further includes a driven wheel adapter 2443 provided near an outer edge of the driven wheel main body 2441, and the housing 11 of the moving state switching device 1 and the driven wheel adapter 2443 are hinged. Thereby achieving the rotation of the driven pulley 242 with the housing 11.

In the present embodiment, the articulation of the housing 11 and the driven wheel transfer portion 2443 is a ball joint, so that the housing 11 can rotate both about the first direction x and about the second direction w perpendicular to the axial direction t of the movable member 12.

The actual operation process of the biped robot 2 is as follows:

first hip joint driving part 2251 drives first hip joint part 2211 to rotate in third direction y, that is, first hip joint driving part 2251 drives leg mechanism 22 except for first hip joint driving part 2251 to rotate in its entirety in third direction y, so that the leg mechanism 22 of biped robot 2 opens outward, similarly to a case where a human leg is raised and lowered laterally to the left or right side of the body.

The second hip joint drive part 2252 drives the second hip joint part 2212 to rotate around the fourth direction z, that is, the second hip joint drive part 2252 drives the leg mechanism 22 as a whole except for the first hip joint drive part 2251 and the first hip joint part 2211 to rotate around the fourth direction z, and the bipedal robot 2 is opened around the fourth direction z relative to the pelvic part 21, similarly to the opening of the human leg to rotate vertically sideways relative to the upper body.

Thigh driving part 2253 drives thigh 222 to rotate around first direction x, that is, thigh driving part 2253 drives thigh 222, calf 223, motion state switching device 1, foot 224, and other components provided on thigh 222 and calf 223 to rotate together around first direction x, so that a pitching motion of thigh 222 of biped robot 2 is realized, similar to a human performing a leg raising action, so that the thigh moves closer to and farther away from the front of the upper half of the body.

Lower leg drive part 2254 drives rotation of lower leg part 223 about first direction x, i.e. lower leg drive part 2254 drives rotation of lower leg part 223 and foot part 224 about first direction x. At the same time, the rotation of the foot 224 drives the movement state switching device 1 to rotate around the first direction x relative to the driven wheel rotating shaft 2442. Alternatively, the two switching device driving parts 2255 simultaneously drive the two motional state switching devices 1 to rotate in the first direction x at the same rotational speed as the lower leg part 223. In this way, the movement of lifting and lowering the lower leg part 223 of the biped robot 2 backward and upward is realized, which is similar to the movement of hooking the lower leg by a human, so that the lower leg is close to or far away from the hip.

The two switching device driving units 2255 simultaneously drive the two motion state switching devices 1 to rotate in the first direction x at a different rotational speed from the lower leg portions 223, and further rotate the foot portions 224 in the first direction x, thereby realizing the foot lifting operation of the biped robot 2. In this way, when the foot 224 of the biped robot 2 is in contact with the ground, the rotation of the foot 224 around the first direction x makes a part of the foot 224 in contact with the ground, for example, a toe part in contact with the ground, or a heel part in contact with the ground, to achieve the stepping forward, which is the basic motion for achieving the motion states of stepping on the ground, running at a slow speed, sprinting at a high speed, and the like.

When the biped robot 2 is stepping on the ground and running at a slow speed, the motion state switching device 1 is in the first operating state. The motion principle of the biped robot 2 during the step on the ground and the slow running is as follows: first, the foot 224 of the biped robot 2 lands in the air, the foot 224 rotates in the first direction x to make the toe contact with the ground, and the landing is achieved, the foot 224 continues to rotate in the first direction x, the heel continues to approach the ground, the distance between the heel and the thigh 222 is increased, and the elastic body 122 of the movement state switching device 1 extends and stores energy. Then, the toe portion remains in contact with the ground, the foot 224 rotates in the opposite direction about the first direction x, the heel portion gradually moves away from the ground to step, the distance between the heel portion and the thigh portion 222 shortens, the energy stored in the elastic body 122 is released, and a portion of the power required for the biped robot 2 to step is provided. Finally, the thigh 222 is lifted and the lower leg 223 is hooked back, and the leg mechanism 22 is completely lifted off the ground. Thigh portion 222 and calf portion 223 continue to rotate about first direction x, effecting a forward stride. The above-described process is alternately repeated by the two leg mechanisms 22 of the biped robot 2, so that the biped robot 2 achieves advancement.

When the biped robot 2 sprints at a high speed, the movement state switching device 1 is in the second working state, the thigh part 222 and the foot part 224 are connected through the rigid body 121, the rigidity is enhanced, the response frequency of the foot part 224 is improved, the thigh part 222, the calf part 223 and the foot part 224 rotate around the first direction x at a high speed, the landing and kicking actions are rapidly and repeatedly performed, and the high-speed sprint is realized.

The two switching device driving parts 2255 respectively drive the two motion state switching devices 1 to rotate around the first direction x with different rotational speeds, and then to rotate the foot 224 around a direction perpendicular to the plane of the foot 224, so that the toe parts are close to each other, the heel parts are separated from each other, or the heel parts are close to each other, the toe parts are separated from each other, or the toe parts are deflected to one side at the same time, and the heel parts are deflected to the other side at the same time. In this way, the biped robot 2 can be made to make a turn during movement.

In the description of the present disclosure, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present disclosure and to simplify the description, but are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the present disclosure.

Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include at least one of the feature. In the description of the present disclosure, "a plurality" means at least two, e.g., two, three, etc., unless explicitly specifically limited otherwise.

In the present disclosure, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integral; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be interconnected within two elements or in a relationship where two elements interact with each other unless otherwise specifically limited. The specific meaning of the above terms in the present disclosure can be understood by those of ordinary skill in the art as appropriate.

In the present disclosure, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to," "disposed on," "secured to," or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. Further, when one component is considered to be "fixedly connected" to another component, the two components may be fixed by way of detachable connection, or may be fixed by way of non-detachable connection, such as socket connection, snap connection, integrally formed fixation, welding, etc., which can be realized in the conventional art, and is not cumbersome.

All possible combinations of the technical features in the above embodiments may not be described for the sake of brevity, but should be considered as being within the scope of the present disclosure as long as there is no contradiction between the combinations of the technical features.

The above examples only show several embodiments of the present disclosure, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that various changes and modifications can be made by those skilled in the art without departing from the inventive concept of the present disclosure, which falls within the scope of the present disclosure.

Claims

1. A motion state switching device, comprising:

the shell is provided with a sliding channel and an accommodating cavity, and the sliding channel extends along a set direction;

the movable piece is at least partially arranged in the sliding channel in a sliding mode along the set direction, and at least partially arranged in the accommodating cavity;

the limiting mechanism is arranged in the accommodating cavity and used for limiting the movement of the movable piece in the sliding channel;

2. The moving state switching device according to claim 1, wherein the movable member includes a rigid body and an elastic body; at least part of the rigid body is arranged in the sliding channel in a sliding way along the setting direction, and at least part of the rigid body is arranged in the accommodating cavity;

when in the first working state, the limiting mechanism is separated from the rigid body; and in the second working state, the limiting mechanism is contacted with the rigid body so as to keep the relative positions of the rigid body and the sliding channel fixed.

3. The motion state switching device according to claim 2, wherein the limiting mechanism includes a first limiting portion, and a second limiting portion is correspondingly provided on the rigid body; when the first working state is realized, the first limiting part is separated from the second limiting part; and when the second working state is realized, the first limiting part is in limiting fit with the second limiting part.

4. The moving state switching device according to claim 3, wherein the second stopper portion includes a stopper groove that is an annular groove or a straight groove extending perpendicular to the axial direction of the rigid body.

5. The motion state switching device according to claim 4, wherein the limiting mechanism further comprises a limiting driving portion connected to the first limiting portion, the limiting driving portion being configured to drive the first limiting portion to move away from or close to the limiting groove;

6. The motion state switching device according to claim 4, wherein the first position-limiting portion is an arc-shaped member with an opening, and an inner ring of the arc-shaped member is correspondingly provided with a protrusion matching with the position-limiting groove.

7. A motion state switching device according to claim 3, wherein the first stopper portion includes a temperature sensing portion capable of deforming with a change in temperature; the limiting mechanism further comprises a temperature control part for adjusting the temperature in the accommodating cavity so as to deform the temperature sensing part;

when the temperature sensing part is in the first working state, the temperature control part adjusts the temperature in the accommodating cavity to be a first temperature, and the temperature sensing part deforms until the first limiting part and the second limiting part are separated; when the temperature sensing part is in the first working state, the temperature control part adjusts the temperature in the accommodating cavity into a first temperature, and the temperature sensing part deforms to the first limiting part and the second limiting part to be in limiting fit.

8. A biped robot, comprising:

the leg mechanism includes:

the hip joint part is rotatably connected with the pelvic bone part;

the foot part is rotatably connected with the lower leg part;

the motion state switching device according to any one of claims 1 to 7, wherein an end of the housing remote from the movable member is rotatably connected to the thigh portion or the lower leg portion, and an end of the movable member remote from the housing is connected to the foot portion; and

9. The biped robot of claim 8 wherein said leg mechanism comprises two said motion state switching devices, said driving means comprises two switching device driving parts fixed to said thigh or calf, said two switching device driving parts are respectively connected to said two motion state switching devices, said switching device driving parts are used for driving said motion state switching devices to rotate around said first direction;

10. The biped robot according to claim 9, further comprising two second transmission units, wherein the two second transmission units are respectively connected between the two switching device driving units and the two motion state switching devices, and the two switching device driving units respectively drive the two motion state switching devices to rotate through the two second transmission units.

11. The biped robot of claim 10 wherein the second transmission part comprises a driving wheel, a driven wheel and an open steel belt, the open steel belt is sleeved on the driving wheel and the driven wheel, the driving wheel is connected with the driving part of the switching device, and the driven wheel is connected with the housing of the motion state switching device.

12. The biped robot of claim 11 wherein the driven wheel comprises a driven wheel body and a driven wheel rotating shaft, one end of the driven wheel rotating shaft is fixedly connected with the driven wheel body, and the other end of the driven wheel rotating shaft is rotatably connected with the thigh part.

13. The biped robot of claim 11 wherein the driven wheel comprises a driven wheel body and a driven wheel adaptor, the driven wheel adaptor being positioned near an outer edge of the driven wheel body, the housing of the motion state switching device being hinged to the driven wheel adaptor.

14. The biped robot of claim 9 wherein said two motion state switching devices are symmetrically disposed with respect to said lower leg portion.

15. The biped robot of claim 8 wherein the housing of the motion state switching means comprises a connecting portion and a main body portion, one end of the connecting portion being connected to the thigh portion or the calf portion and the other end being connected to the main body portion; the sliding channel is communicated with the accommodating cavity, the sliding channel is arranged on the connecting part, and the accommodating cavity is arranged on the main body part.

16. The biped robot of claim 8 wherein the hip joint sections comprise a first hip joint section and a second hip joint section; the first hip joint part is rotatably connected with the pelvis part around a third direction, and the second hip joint part is rotatably connected with the first hip joint part around a fourth direction;

17. The biped robot of claim 16 wherein said driving means comprises a lower leg driving part fixed to said thigh part and connected to said lower leg part for driving said lower leg part to rotate in said first direction; the shank driving part is arranged close to the second hip joint part.

18. The biped robot of claim 16 wherein the actuation member comprises:

19. The biped robot of claim 16 wherein said driving means comprises a thigh driving part fixed to said second hip joint part and connected to said thigh part for driving said thigh part to rotate in said first direction;

20. The biped robot of claim 8 wherein the actuation member comprises:

the shank driving part is fixedly arranged on the thigh part, is connected with the shank part and is used for driving the shank part to rotate around the first direction;

21. The biped robot of claim 8 wherein said driving means comprises a lower leg driving part fixed to said thigh part and connected to said lower leg part for driving said lower leg part to rotate in a first direction;

22. The biped robot of claim 21 wherein the first transmission is a linkage.