CN117208114A

CN117208114A - Point foot type biped robot and robot

Info

Publication number: CN117208114A
Application number: CN202311244674.1A
Authority: CN
Inventors: 陈健; 沈悰
Original assignee: Shenzhen Zhuji Power Technology Co ltd
Current assignee: Shenzhen Zhuji Power Technology Co ltd
Priority date: 2023-09-26
Filing date: 2023-09-26
Publication date: 2023-12-12

Abstract

The application relates to the technical field of robots and discloses a dot-foot type biped robot and a robot, wherein the robot comprises a body, and the body comprises a fixing frame; the left leg structure and the right leg structure are symmetrically arranged on the fixing frame, the left leg structure and the right leg structure only comprise three joints, the feet are immovable feet, and the feet are in flexible point contact with the ground. According to the biped robot, the two symmetrically arranged leg structures are arranged, the leg structures only comprise three degrees of freedom, walking can be achieved through joint cooperation of the three degrees of freedom, the design of the leg structures is simplified, the control data size is obviously reduced, the response speed of control instructions is improved, the control difficulty is obviously reduced, the robot is provided with no sole and a driving device for driving the sole on the foot, the mass of the leg structures is basically concentrated at the upper end of the leg structures, and therefore the robot has the advantages of being low in lower limb mass, small in walking inertia, beneficial to reducing the control difficulty, and low in energy consumption and manufacturing cost.

Description

Point foot type biped robot and robot

Technical Field

The application belongs to the technical field of robots, and relates to a dot-foot type bipedal robot and a dot-foot type bipedal robot.

Background

In robotics, foot robots are an attractive product in the industry. Robots of the bipedal, quadruped and the like are classified into different numbers of legs. For a bipedal robot, two leg structures in a humanoid leg shape are symmetrically arranged on the robot, and generally comprise hip joints, thigh joints, shank joints, foot joints and the like, and degrees of freedom are increased at each joint of the leg structures, for example, a driving device is arranged on each joint of the leg structures, wherein the hip joints are provided with a swing leg driving joint motor capable of enabling the leg structures to swing laterally and a rotating leg driving joint motor for driving the leg structures to rotate around a vertical direction, the thigh driving joint motor is used for driving the thigh to rotate, the shank driving joint motor is used for driving the shank to rotate relative to the thigh, and the foot driving joint motor is used for driving the foot, and the driving device of each joint part can be replaced by a hydraulic or electric telescopic device to drive, so that a humanoid walking mode is realized.

The robot drives the thigh to swing through the thigh driving joint motor, and drives the shank to swing through the shank driving joint motor, so that the robot can travel or retreat. In order to enable the robot to laterally move, the leg structure is driven to laterally swing and walk through the swing leg driving joint motor. In order to ensure that the biped robot can walk stably, a sole with larger contact area with the ground is arranged at the foot position, and the sole is a ground contact position for walking and is close to the ground. In order to avoid interference with the ground during walking, a foot driving joint motor is often arranged on the lower leg or the knee, and the foot driving joint motor drives a connecting rod mechanism to drive the sole to lift and drop the foot. In order to ensure that the robot can change the walking direction, the leg structure is driven to rotate by the leg rotating driving joint motor so as to change the walking direction of the robot.

Therefore, the traditional biped robot is used for completing the walking action, at least five driving joint motors are needed to cooperate, the data quantity needed to be coordinated is large, and the indication response speed is low. In addition, the sole of the foot needs to be larger to touch the bottom surface to keep stable, the complex terrain is difficult to adapt, the lower end and the tail end of the lower limb of the robot can be increased no matter the sole of the foot or the foot driving joint motor is arranged at the knee joint, the problems of large inertia and high control difficulty of the leg structure during walking are caused, the overall movement performance of the robot is poor, and meanwhile, the problems of high energy consumption and high manufacturing cost also exist.

Disclosure of Invention

The application provides a dot-foot type biped robot and a robot, and aims to solve the problems that in the prior art, the existing biped robot is more in degree of freedom, large in data quantity which needs coordination, difficult to control, incapable of adapting to complex ground conditions and poor in overall movement of the robot.

In one aspect, there is provided a bipedal robot including:

the device comprises a body, a first cover and a second cover, wherein the body comprises a fixing frame;

the left leg structure and the right leg structure are symmetrically arranged on the fixing frame;

The left leg structure includes:

a left thigh, a left calf articulated with the left thigh;

a left foot provided at the other end of the left lower leg with respect to the left thigh;

the left swing leg joint is fixed on one side of the fixing frame and is used for driving the left thigh to rotate along a left swing leg rotating shaft in a horizontal direction in the vertical direction;

the left thigh joint is fixedly connected with the output end of the left swing leg joint and is used for driving the left thigh to rotate along a left thigh rotating shaft in a horizontal direction in the vertical direction;

the left calf joint is used for driving the left calf to rotate along a left calf rotating shaft in a horizontal direction in the vertical direction;

the right leg structure includes:

a right thigh, a right calf articulated with the right thigh;

a right foot connected to the right calf;

the right swing leg joint is fixed on one side of the fixing frame and is used for driving the right thigh to rotate along a right and left swing leg rotating shaft in a horizontal direction in the vertical direction;

the right thigh joint is fixedly connected with the output end of the right swing leg joint and is used for driving the right thigh to rotate along a right thigh rotating shaft in a horizontal direction in the vertical direction;

The right calf joint is used for driving the right calf to rotate along a right calf rotating shaft in a horizontal direction in the vertical direction;

the left swing leg rotating shaft is perpendicular to the left thigh rotating shaft, the left thigh rotating shaft is parallel to the left shank rotating shaft, and the left swing leg rotating shaft is perpendicular to the left shank rotating shaft;

the right swing leg rotating shaft is perpendicular to the right thigh rotating shaft, the right thigh rotating shaft is parallel to the right shank rotating shaft, and the projections of the right swing leg rotating shaft and the right shank rotating shaft in the horizontal direction are perpendicular to each other;

the projections of the left swing leg rotating shaft and the right swing leg rotating shaft in the vertical direction are parallel to each other, and the projections of the left thigh rotating shaft and the right thigh rotating shaft as well as the left calf rotating shaft and the right calf rotating shaft in the vertical direction are parallel to each other;

the left thigh joint is arranged on one side of the upper end of the left thigh, and the left shank joint is arranged on the other side of the left thigh opposite to the left thigh joint;

the left leg structure is provided with a left vertical central surface which can divide the left thigh, the left calf and the left foot into two parts with equal mass, and the left vertical central surface is overlapped with the rotation shaft of the left swing leg;

The right thigh joint is arranged at one side of the upper end of the right thigh, and the right shank joint is arranged at the other side of the right thigh opposite to the right thigh joint;

the right leg structure is provided with a right vertical central surface which can divide the right thigh, the right calf and the right foot into two parts with equal mass, and the right vertical central surface is overlapped with the rotating shaft of the right swing leg;

the left foot and the right foot are in point contact with the ground;

the left leg structure does not include:

a driving structure for driving the left leg structure to rotate about an axis in a vertical direction;

a driving structure for driving the left foot to change its euler angle;

the right leg structure does not include:

a driving structure for driving the right leg structure to rotate about an axis in a vertical direction; a kind of electronic device with high-pressure air-conditioning system

A driving structure for driving the right foot to change its euler angle;

the left swing leg joint and the right swing leg joint have no degree of freedom;

the left swing leg joint and the right swing leg joint are not provided with connecting structures for connecting other biped robots.

In one alternative, the left thigh axis of rotation is disposed coaxially with the left calf axis of rotation and the right thigh axis of rotation is disposed coaxially with the right calf axis of rotation such that the output axes of the left swing leg joint, the left thigh joint, the left calf joint, the right swing leg joint, the right thigh joint, and the right calf joint are above a same horizontal plane.

In one alternative, the left swing leg joint drives the left leg structure to swing within a range of 80 degrees or less outwards and 25 degrees or less inwards according to the left vertical central plane, the left thigh joint drives the left thigh to rotate within a range of 80 degrees or less forwards and 60 degrees or less backwards, and the left calf joint drives the left calf to rotate within a range of 80 degrees or less forwards and 50 degrees or less backwards;

according to the right vertical center plane, the right leg swinging joint drives the right leg structure to swing within the range of being smaller than or equal to 80 degrees outwards and smaller than or equal to 25 degrees inwards, the right thigh joint drives the right thigh to rotate within the range of being smaller than or equal to 80 degrees forwards and smaller than or equal to 60 degrees backwards, and the right shank joint drives the right shank to rotate within the range of being smaller than or equal to 80 degrees forwards and smaller than or equal to 50 degrees backwards.

In one alternative, the mount is arranged along a vertical plane perpendicular to the direction of travel of the robot to divide the mount on both sides in the direction of travel of the robot into a side closer to the direction of travel and a side facing away from the direction of travel;

the left leg structure and the right leg structure are arranged on one side, deviating from the advancing direction, of the fixing frame; and at least part or all of the mass of the left swing leg joint and the right swing leg joint is positioned on one side, close to the advancing direction, of the fixing frame.

In an alternative scheme, the machine body further comprises a supporting frame, one end of the supporting frame is fixedly connected with the upper end of the fixing frame, the supporting frame extends towards one side, away from the running direction of the robot, of the fixing frame, the projection of the supporting frame in the vertical direction is partially overlapped with the left leg structure and the right leg structure, and the projection of the supporting frame in the vertical direction is not overlapped with the projection of the left swing leg joint and the right swing leg joint in the vertical direction.

In an alternative scheme, the supporting frame is provided with a controller installation position and a battery installation position on one side opposite to the left swing leg joint and the right swing leg joint, the controller is arranged on the controller installation position, the battery is detachably arranged on the battery installation position, and a mechanism capable of driving actively is not arranged on the part of the machine body above the supporting frame.

In an alternative scheme, a left mounting part and a right mounting part which are mirror symmetry are arranged on the fixing frame, the left mounting part and the right mounting part are constructed on one side close to the advancing direction, and a left via hole and a right via hole are respectively arranged on the left mounting part and the right mounting part;

the left swing leg joint is fixed on the left mounting part, the right swing leg joint is fixed on the right mounting part, the left thigh joint is fixed on the output end of the left swing leg joint, and the right thigh joint is fixed on the output end of the right swing leg joint.

In one alternative, the method further comprises: a left connecting piece and a right connecting piece;

the left connecting piece comprises a left first bearing plate and a left second bearing plate which are integrally formed, the left first bearing plate is approximately vertical to the left second bearing plate, a left connecting flange is arranged on the left first bearing plate, the left connecting flange penetrates through the left through hole to be connected with the output end of the left swing leg joint, and the left second bearing plate is fixedly connected with the left thigh joint;

the right connecting piece comprises a right first bearing plate and a right second bearing plate which are integrally formed, the right first bearing plate is approximately perpendicular to the right second bearing plate, a right connecting flange is arranged on the right first bearing plate, the right connecting flange penetrates through the right through hole to be connected with the output end of the right swing leg joint, and the left second bearing plate is fixedly connected with the left thigh joint.

In one alternative, the output end of the left thigh joint is fixedly connected with one side of the left thigh, the other end of the left thigh joint opposite to the left thigh is fixed on the left second bearing plate, and the left shank joint is fixed on the left thigh opposite to the left thigh joint, so that the left thigh joint and the left shank joint are symmetrically arranged opposite to the left vertical center plane;

The output end of the right thigh joint is fixedly connected with one side of the left thigh, the other end of the right thigh joint, which is opposite to the right thigh, is fixed on the right second bearing plate, and the right shank joint is fixed on the right thigh opposite to the other side of the right thigh joint, so that the right thigh joint and the right shank joint are symmetrically arranged opposite to the right vertical center plane.

In an alternative scheme, the supporting frame and the fixing frame are both plate-shaped members, the supporting frame is detachably connected with the fixing frame and is vertically arranged, two left reinforcing plates and right reinforcing plates which are in mirror symmetry are arranged between the supporting frame and the fixing frame and are connected, and the left reinforcing plates and the right reinforcing plates are respectively in a hollow right triangle shape;

the connecting edge of the left reinforcing plate and the supporting frame is a left long edge, the connecting edge of the left reinforcing plate and the fixing frame is a left short edge, the connecting edge of the right reinforcing plate and the supporting frame is a right long edge, the connecting edge of the right reinforcing plate and the fixing frame is a right short edge, the included angles between the left long edge and the left short edge and between the right long edge and the right short edge are right angles, a left oblique edge is formed on one side, close to the left thigh, of the left reinforcing plate, and a right oblique edge is formed on one side, close to the right thigh, of the right reinforcing plate;

The left hypotenuse is not in contact with the left leg structure and the right hypotenuse is not in contact with the right leg structure.

In one alternative, the left second bearing plate is configured in a shape that a side close to the left swing leg joint is narrower and a side close to the left thigh joint is wider, the left second bearing plate has an upper left side surface and a lower left side surface in a vertical direction, the upper left side surface is parallel to the left oblique side edge when the left leg structure does not swing relative to the left vertical center plane, and a distance between the left oblique side edge and the left swing leg rotation axis is larger than a distance between the upper left side surface and the left swing leg rotation axis;

the right second carrier plate is configured to be narrower in one side close to the right swing leg joint and wider in one side close to the right thigh joint, and is provided with an upper right side surface and a lower right side surface in the vertical direction, when the right leg structure does not swing relative to the right vertical center surface, the upper right side surface is parallel to the right oblique side edge, and the distance between the right oblique side edge and the right swing leg rotating shaft is larger than the distance between the upper right side surface and the right swing leg rotating shaft.

In one alternative, the device further comprises a cover which is fixed on the other side of the fixing frame and the supporting frame relative to the left leg structure and the right leg structure so as to cover the upper side of the supporting frame and the left swing leg joint and the right swing leg joint partially or completely in the cover.

In one alternative, the left foot and the right foot each have a curved surface that contacts a ground flex point.

In one alternative, the left foot includes a left hooped foot and a left rubber cushioning structure and the right foot includes a right hooped foot and a right rubber cushioning structure.

In another aspect, a robot is provided, including the aforementioned bipedal robot, as a lower limb.

The application has the beneficial effects that:

according to the biped robot, the two symmetrically arranged leg structures are arranged, the leg structures only comprise three degrees of freedom, walking can be achieved through joint cooperation of the three degrees of freedom, the design of the leg structures is simplified, the control data size is obviously reduced, the response speed of control instructions is improved, the control difficulty is obviously reduced, the robot is provided with no sole and a driving device for driving the sole on the foot, the mass of the leg structures is basically concentrated at the upper end of the leg structures, and therefore the robot has the advantages of being low in lower limb mass, small in walking inertia, beneficial to reducing the control difficulty, and low in energy consumption and manufacturing cost.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic perspective view of a midpoint bipedal robot in accordance with one embodiment of the application;

FIG. 2 is a schematic perspective view of a midpoint bipedal robot in accordance with one embodiment of the application;

FIG. 3 is a schematic diagram of an exploded view of a midpoint type bipedal robot in accordance with one embodiment of the application;

FIG. 4 is a rear view of a midpoint bipedal robot in accordance with an embodiment of the application;

FIG. 5 is a right side view of a midpoint bipedal robot in accordance with one embodiment of the application;

FIG. 6 is a schematic diagram illustrating an arrangement of driving joint modules according to an embodiment of the present application;

FIG. 7 is a schematic illustration of a two leg structure side swing leg in an embodiment of the application;

FIG. 8 is a left thigh and left calf rotational schematic of a left leg structure in accordance with an embodiment of the application;

FIG. 9 is a right thigh and right calf rotational schematic view of a right leg structure in accordance with an embodiment of the application;

FIG. 10 is a schematic top view of a midpoint biped robot according to an embodiment of the present application;

FIG. 11 is an exploded view of a midpoint bipedal robot in accordance with one embodiment of the application;

FIG. 12 is a schematic view of a left connector and a right connector according to an embodiment of the present application;

FIG. 13 is a schematic left-hand view of an embodiment of the present application;

fig. 14 is an enlarged view of a portion G of fig. 13;

FIG. 15 is a right side view of an embodiment of the present application;

Fig. 16 is an enlarged view of the H portion of fig. 13;

FIG. 17 is a schematic view of a foot structure in an embodiment of the application;

the reference numerals in the drawings:

1. a body; 11. a fixing frame; 111. a left mounting portion; 112. a right mounting portion; 1111. a left via; 1121. a right via; 12. a support frame; 121. a controller installation position; 122. a battery mounting position; 13. a left reinforcing plate; 131. a left long side; 132. a left short side; 133. a left oblique side; 14. a right reinforcing plate; 141. a right long side; 142. a right short side; 143. a right oblique side; 15. a housing;

2. a left leg structure; 21. left thigh; 22. left calf; 23. left foot; 231. a left foot; 232. a left rubber buffer structure; 24. left leg swing joint; 25. left thigh joint; 26. left calf joint;

3. a right leg structure; 31. a right thigh; 32. a right calf; 33. a right foot; 331. a right foot; 332. a right rubber buffer structure; 34. a right leg swing joint; 35. the right thigh joint; 36. the right calf joint;

4. a left connecting piece; 41. a left first carrier plate; 42. a left second carrier plate; 43. a left connecting flange; 421. an upper left side; 422. a left lower side surface;

5. a right connecting piece; 51. a right first carrier plate; 52. a right second carrier plate; 53. a right connecting flange; 521. an upper right side; 522. a right lower side;

Wherein, the axis A is a left swing leg rotating shaft; the axis B is a left thigh rotating shaft; the axis C is the left calf rotating shaft; the axis D is a right swing leg rotating shaft; the axis E is the right thigh rotating shaft; the axis F is the right calf rotation axis; plane alpha is the left vertical center plane; the plane beta is a right vertical central plane; the plane gamma is a vertical plane where the fixing frame is positioned;

the direction X is the lateral travelling direction of the robot, the direction Y is the vertical direction, and the direction Z is the front-back travelling direction of the robot.

Detailed Description

The following describes in further detail the embodiments of the present application with reference to the drawings and examples. The following examples are illustrative of the application and are not intended to limit the scope of the application. Likewise, the following examples are only some, but not all, of the examples of the present application, and all other examples, which a person of ordinary skill in the art would obtain without making any inventive effort, are within the scope of the present application.

In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present application.

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

In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

In the present invention, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

For purposes of this disclosure, the terms "one embodiment," "some embodiments," "example," "a particular example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

For a conventional bipedal robot, two leg structures in the shape of human-like legs are generally symmetrically arranged on the robot, and generally include hip joints, thigh joints, shank joints, foot joints and the like. The bipedal robot drives the thigh to swing through the thigh driving joint motor, and drives the shank to swing through the shank driving joint motor, so that the robot can travel or retreat.

In order to complete the walking action, at least five driving joint motors are needed to cooperate, the data quantity needed to be coordinated is large, and the indication response speed is low. In addition, the sole of the foot needs to be larger to touch the bottom surface to keep stable, the complex terrain is difficult to adapt, the lower end and the tail end of the lower limb of the robot can be increased no matter the sole of the foot or the foot driving joint motor is arranged at the knee joint, the problems of large inertia and high control difficulty of the leg structure during walking are caused, the overall movement performance of the robot is poor, and meanwhile, the problems of high energy consumption and high manufacturing cost also exist.

In order to solve the above-described problems in the prior art, the present application provides the following embodiments.

In some embodiments, referring to fig. 1, 2 and 3, a bipedal robot is provided, comprising:

the device comprises a body 1, wherein the body 1 comprises a fixing frame 11; a left leg structure 2 and a right leg structure 3 symmetrically arranged above the fixing frame 11.

The left leg structure 2 includes: a left thigh 21, a left shank 22 hinged to the left thigh 21;

a left foot 23 provided at the other end of the left lower leg 22 with respect to the left thigh 21;

the left swing leg joint 24, the left swing leg joint 24 is fixed on one side of the fixing frame 11, and the left swing leg joint 24 is used for driving the left thigh 21 to rotate along a left swing leg rotating shaft in a horizontal direction in the vertical direction;

The left thigh joint 25, the left thigh joint 25 is fixedly connected with the output end of the left swing leg joint 24, and the left thigh joint 25 is used for driving the left thigh 21 to rotate along a left thigh rotating shaft in a horizontal direction in the vertical direction;

a left calf joint 26, the left calf joint 26 is used for driving the left calf 22 to rotate along a left calf rotation axis in a horizontal direction in a vertical direction;

the right leg structure 3 includes: a right thigh 31, a right shank 32 hinged to the right thigh 31;

a right foot 33 provided at the other end of the right lower leg 32 with respect to the right thigh 31;

the right swing leg joint 34, the right swing leg joint 34 is fixed on one side of the fixing frame 11, and the right swing leg joint 34 is used for driving the right thigh 31 to rotate along a right and left swing leg rotation axis in a horizontal direction in the vertical direction.

The right thigh joint 35, the right thigh joint 35 is fixedly connected with the output end of the right swing leg joint 34, and the right thigh joint 35 is used for driving the right thigh 31 to rotate along a right thigh rotating shaft in a horizontal direction in the vertical direction;

a right calf joint 36, the right calf joint 36 for driving the right calf 32 to rotate in a vertical direction along a right calf rotational axis in a horizontal direction;

the left swing leg rotating shaft is perpendicular to the left thigh rotating shaft, the left thigh rotating shaft is parallel to the left shank rotating shaft, and the left swing leg rotating shaft is perpendicular to the left shank rotating shaft. The right swing leg rotating shaft is perpendicular to the right thigh rotating shaft, the right thigh rotating shaft is parallel to the right shank rotating shaft, and the projections of the right swing leg rotating shaft and the right shank rotating shaft in the horizontal direction are perpendicular to each other.

The projections of the left swing leg rotating shaft and the right swing leg rotating shaft in the vertical direction are parallel to each other, and the projections of the left thigh rotating shaft and the right thigh rotating shaft and the left calf rotating shaft and the right calf rotating shaft in the vertical direction are parallel to each other.

In this embodiment, as shown in fig. 3 and 6, the left swing leg rotation axis and the right swing leg rotation axis are both oriented in the forward and backward travel direction Z of the robot, that is, the left swing leg rotation axis and the right swing leg rotation axis are both parallel to the forward and backward travel direction Z, even if the left leg structure 2 and the right leg structure 3 are symmetrical to each other, it is ensured that the left leg structure 2 and the right leg structure 3 are more coordinated during travel, which is beneficial to stable travel.

In the present embodiment, the left thigh joint 25 is provided on one side of the upper end of the left thigh 21, and the left shank joint 26 is provided on the other side of the left thigh 21 with respect to the left thigh joint 25. The right thigh joint 35 is provided on one side of the upper end of the right thigh 31, and the right shank joint 36 is provided on the other side of the right thigh 31 with respect to the right thigh joint 35. The left thigh joint 25 and the left shank joint 26 are respectively arranged at two sides of the left thigh 21, the right thigh joint 35 and the right shank joint 36 are respectively arranged at two sides of the right thigh 31, which is beneficial to balancing the mass at two sides of the left leg structure 2 and the right leg structure 3, further is beneficial to balancing the gravity centers at two sides of the two leg structures, and ensures the walking stability of the robot.

In this embodiment, as shown in fig. 4, the left leg structure 2 has a left vertical center plane α that can divide the left thigh 21, the left shank 22, and the left foot 23 into two parts of equal mass, and the left vertical center plane α coincides with the left swing leg rotation axis. Namely, through mutually overlapping the left swing leg rotating shaft and the center plane of the left leg structure 2, the left swing leg rotating shaft of the left swing leg joint 24 is opposite to the middle position of the left leg structure 2, so that the left leg structure 2 rotates by taking the left swing leg rotating shaft as the center, and the mass of the left leg structure 2 at the left swing leg rotating shaft is kept consistent or similar during swinging, namely, the mass of the left leg structure 2 at the two sides of the left vertical center plane alpha is kept consistent or similar as far as possible, which is beneficial to guaranteeing the stability and the balance of swing leg actions, and further is beneficial to the advancing stability of the robot.

The right leg structure 3 has a right vertical center plane beta that divides the right thigh 31, the right shank 32, and the right foot 33 into two parts of equal mass, the right vertical center plane beta coinciding with the right swing leg rotation axis. Namely, through mutually overlapping the right swing leg rotating shaft and the central surface of the right leg structure 3, the right swing leg rotating shaft of the right swing leg joint 34 is opposite to the middle position of the right leg structure 3, so that the right leg structure 3 rotates by taking the right swing leg rotating shaft as the center, and the quality of the right leg structure 3 at the right swing leg rotating shaft is kept consistent or similar during swinging, namely, the quality of the right leg structure 3 at two sides of the right vertical central surface beta is kept consistent or similar as far as possible, thereby being beneficial to guaranteeing the stability and the balance of swing leg actions and further being beneficial to the advancing stability of the robot.

In this embodiment, referring to fig. 1 to 5, the left foot 23 and the right foot 33 are in point contact with the ground. That is, the ground contact position with the left foot 23 and the right foot 33 when the biped robot walks in this example can be regarded as a point, and the biped robot is brought into point contact with the ground. Compared with the traditional biped robot with a large area sole, the robot can stably walk only by being in surface contact with the ground when walking, forms a large-area supporting surface, is suitable for walking on the flat ground and is not suitable for walking on concave-convex and hollow terrains, the left foot 23, the right foot 33 and the ground do not need to be in surface contact, and the biped robot can stably walk and can be better adapted to complex ground conditions in different environments.

In the present embodiment, referring to fig. 1 to 5, the left leg structure 2 does not include a driving structure for driving the left leg structure 2 to rotate about an axis in the vertical direction Y; the right leg structure 3 does not include a driving structure for driving the right leg structure 3 to rotate about an axis in the vertical direction Y. When the traditional robot walks through the sole-shaped foot in a touchdown manner and changes the travelling direction, the whole leg structure is required to be driven to rotate around the vertical direction Y through the leg rotating driving structure, and the robot can continue to stably travel until the sole faces the position of the direction which the robot wants to change.

In the biped robot in this example, the left leg structure 2 and the right leg structure 3 are respectively contacted with the ground through the left leg 23 and the right leg 33 during traveling, the left leg structure 2 is not required to rotate around the vertical direction Y during changing the traveling direction, the left leg 23, the right leg 33 and the ground can still be effectively contacted, the robot is supported, and the direction change can be realized only by respectively controlling the walking stride and/or the lateral swing leg of the left leg structure 2 and the right leg structure 3. Because the leg turning driving structure is not required to be arranged for assisting driving and steering, the dot type biped robot in the example has higher direction conversion efficiency, reduces the use of a driving structure, can be lighter and smaller, and also reduces the control data processing amount and the energy consumption.

In this embodiment, referring to fig. 1 to 5, the left leg structure 2 does not include a driving structure for driving the left foot 23 to change the euler angle thereof, that is, the left foot 23 only follows the left calf 22 to swing together in the swing plane and the range of travel, the right leg structure 3 does not include a driving structure for driving the right foot 33 to change the euler angle thereof, that is, the right foot 33 only follows the right calf 32 to swing together in the swing plane and the range of travel, there is no need to separately set up a driving structure for driving the sole of the conventional biped robot to lift and fall, there is no component force which is not beneficial to the stable walking of the robot and is generated when the sole driving structure drives the foot, so that the control difficulty is reduced and the stability of the robot is guaranteed.

In this embodiment, referring to fig. 1-5, there is no degree of freedom on the left swing leg joint 24 and the right swing leg joint 34, and there is no connection structure on the left swing leg joint 24 and the right swing leg joint 34 for connecting other bipedal robots. The left leg structure 2 and the right leg structure 3 are free from other degrees of freedom, namely the biped robot only relates to a lower limb structure, meanwhile, the biped robot is an independent body, and the machine body 1 or the left leg structure 2 and the right leg assembly are free from any connecting structure for connecting other biped robot bodies.

In the embodiment of the application, the leg structure has only three degrees of freedom, and the movement of the leg structure of the robot can be supported through three joint modules of a single leg, so that the design of the leg structure can be simplified, the whole gravity center of the robot is arranged on the upper side of the robot, and feet are contacted with ground points to adapt to complex ground conditions in a non-use scene, so that the difficulty of leg control is reduced, the stability in the walking process of the robot is improved, and the applicability of the robot is improved as a whole.

In one embodiment, referring to fig. 3 and 4, the left thigh axis of rotation is disposed coaxially with the left calf axis of rotation and the right thigh axis of rotation is disposed coaxially with the right calf axis of rotation such that the output axes of the left swing leg joint 24, the left thigh joint 25, the left calf joint 26, the right swing leg joint 34, the right thigh joint 35, and the right calf joint 36 are above the same horizontal plane.

In this embodiment, the left thigh joint 25 and the left shank joint 26 are symmetrically disposed on two sides of the left thigh 21, that is, the left thigh joint 25 and the left shank joint 26 are disposed in mirror symmetry on the left vertical center plane, which is beneficial for moving the center of the left leg structure 2 up to the upper end of the left leg structure 2; the right thigh joint 35 and the right shank joint 36 are symmetrically arranged at two sides of the right thigh 31, that is, the right thigh joint 35 and the right shank joint 36 are mirror symmetry arranged at the right vertical center plane, which is beneficial to moving the center of the right leg structure 3 upwards to the upper end of the right leg structure 3.

From this, will not only realize the both sides quality position equilibrium with left leg structure 2 and right leg structure 3 each, and move the mass focus of both to the upper end, and then realize that the whole focus of robot shifts up, reduce the inertia when robot shank moves to be favorable to reducing the control degree of difficulty, finally promote the stability that the robot marched, reduce the energy consumption.

In this embodiment, as shown in fig. 6, the left swing leg rotation axis, the left thigh rotation axis and the left shank rotation axis are on the same horizontal plane and at the same height, so that the projections of the left thigh joint 25, the left shank joint 26 and the left swing leg joint 24 in the vertical direction Y are arranged in a substantially 'delta' shape, and the left thigh 21 is located substantially at the intersection of the three, in this case, not only the center of gravity of the left leg structure 2 can be sufficiently moved up to the upper end of the left thigh 21, but also the function of balancing the center of gravity of the robot at the left leg structure 2 can be achieved, which is beneficial to the walking stability of the robot.

In this embodiment, the left swing leg rotation axis is flush with the left thigh rotation axis and the left calf rotation axis, that is, the left swing leg joint 24 is flush with the left thigh joint 25 and the left calf joint 26, and the thigh is opposite to the left swing leg rotation axis of the left swing leg joint 24, so that there is no moment arm basically between the output shaft of the left swing leg joint 24 and the left thigh 21 in the lateral traveling direction X, so that not only swing leg inertia can be reduced, but also the force of the impact generated by the left leg structure 2 touching the ground transmitted to the left swing leg joint 24 during walking can be smaller, and the requirement on the left swing leg joint 24 can be reduced.

In this embodiment, as shown in fig. 6, the right swing leg rotation axis, the right thigh rotation axis and the right shank rotation axis are on the same horizontal plane and at the same height, so that the projections of the right thigh joint 35, the right shank joint 36 and the right swing leg joint 34 in the vertical direction Y are arranged in a substantially "delta" shape, and the right thigh 31 is located substantially at the intersection of the three, in this case, not only the center of gravity of the right leg structure 3 can be sufficiently moved up to the upper end of the right thigh 31, but also the function of balancing the center of gravity of the robot at the right leg structure 3 can be achieved, which is beneficial to the walking stability of the robot.

In this embodiment, the right swing leg rotation axis is flush with the right thigh rotation axis and the right calf rotation axis, that is, the right swing leg joint 34 is flush with the right thigh joint 35 and the right calf joint 36, and the thigh is opposite to the right swing leg rotation axis of the right swing leg joint 34, so that there is no moment arm basically between the output shaft of the right swing leg joint 34 and the right thigh 31 in the lateral traveling direction X, so that not only the swing leg inertia can be reduced, but also the force of the impact generated by the ground contact of the right leg structure 3 when walking is transmitted to the right swing leg joint 34 can be smaller, and the requirement on the right swing leg joint 34 can be reduced.

In some embodiments, referring to fig. 7 and 8, according to the left vertical center plane, the left swing leg joint 24 drives the left leg structure 2 to swing within the range of 80 degrees (a 11) or less and 25 degrees (a 12) or less, so as to avoid the problems of lateral swinging of the left thigh 21 outwards, interference between the lateral swinging of the left thigh 21 and the right thigh 31, and the like, the left thigh joint 25 drives the left thigh 21 to rotate within the range of 80 degrees (b 11) or less and 60 degrees (b 12) or less, so as to avoid the situation that the overall gravity center of the bipedal robot is unbalanced and cannot walk due to an excessive swing leg angle, and the left shank joint 26 drives the left shank 22 to rotate within the range of 80 degrees (c 11) or less and 50 degrees (c 12) or less in the backward direction, so as to avoid the situation that the left shank 22 is blocked and the driving joint is overloaded due to the lateral swinging of the left shank 22 relative to the left thigh 21.

In some embodiments, referring to fig. 7 and 9, according to the right vertical center plane, the right swing leg joint 34 drives the right leg structure 3 to swing within a range of 80 degrees (a 21) or less and 25 degrees (a 22) or less, so as to avoid the problems of lateral swinging of the right thigh 31 outwards, interference between the swing and the right thigh 31, and the like, the right thigh joint 35 drives the right thigh 31 to rotate within a range of 80 degrees (b 21) or less and 60 degrees (b 22) or less, so as to avoid the situation that the overall gravity center of the bipedal robot is unbalanced and cannot walk due to an excessive swing leg angle, and the right shank joint 36 drives the right shank 32 to rotate within a range of 80 degrees (c 21) or less and 50 degrees (c 22) or less.

In some embodiments, referring to fig. 5, the fixing frame 11 is disposed along a vertical plane γ perpendicular to the forward and backward traveling direction Z of the robot, so as to divide both sides of the fixing frame 11 in the traveling direction X of the robot into a side closer to the traveling direction and a side away from the traveling direction. Wherein the left leg structure 2 and the right leg structure 3 are arranged on one side of the fixed frame 11, which is away from the travelling direction; at least part or all of the mass of the left swing leg joint 24 and the right swing leg joint 34 is located on the side of the mount 11 near the direction of travel.

In the present embodiment, the left leg structure 2 and the right leg structure 3 are arranged on the side of the mount 11 facing away from the traveling direction, and the left swing leg joint 24 and the right swing leg joint 34 are arranged on the side of the mount 11 facing toward the traveling direction by being divided into the side facing toward the traveling direction and the side facing away from the traveling direction with the vertical surface on which the mount 11 is located as a boundary. Even if the robot concentrates the left leg structure 2 and the right leg structure 3 of most of the mass of the robot, they are disposed at the side away from the traveling direction, as a basis for the robot to maintain the center of gravity stable.

On the basis, the left swing leg joint 24 and the right swing leg joint 34 are arranged on one side of the travelling direction, the mass of the left swing leg joint 24 and the right swing leg joint 34 can enable the whole gravity center of the robot to slightly incline towards the travelling direction, and the component force towards the travelling direction Z caused by the gravity of the left swing leg joint 24 and the right swing leg joint 34 is utilized to assist the robot to move forwards, so that the stability of driving control is improved and the energy consumption is reduced.

In some embodiments, referring to fig. 10 and 11, the body 1 further includes a support frame 12, where one end of the support frame 12 is fixedly connected to the upper end of the fixed frame 11, and the support frame 12 extends, with respect to the fixed frame 11, toward a side facing away from the moving direction Z of the robot, by a width W2 in fig. 10. The projection of the support frame 12 in the vertical direction Y partially overlaps the left leg structure 2 and the right leg structure 3, and does not overlap the projections of the left swing leg joint 24 and the right swing leg joint 34 in the vertical direction Y, i.e., the width W3 of the projections of the left leg structure 2 and the right leg structure 3 in the vertical direction Y overlaps the projection width W2 of the support frame 12, and W2 does not overlap the projection width W1 of the left swing leg joint 24 and the right swing leg joint 34.

In the present embodiment, the support frame 12 is arranged on the side of the fixing frame 11 facing away from the robot traveling direction Z, i.e., the support frame 12 is arranged at an upper position in the vertical direction Y of the left leg structure 2 and the right leg structure 3. With reference to the robot travel direction Z, this way the weight of the support frame 12 and the components arranged thereon can be maintained on the side of the left leg structure 2 and the right leg structure 3 instead of leaning to the side of the left swing leg joint 24 and the right swing leg joint 34, so that the travel direction side of the mount 11 has only the mass of the left swing leg joint 24 and the right swing leg joint 34. Thus, the gravity center balance of the robot is maintained, and the walking stability of the robot is further facilitated.

In some embodiments, referring to fig. 3, a controller mounting location 121 and a battery mounting location 122 are provided on a side of support frame 12 opposite left leg joint 24 and right leg joint 34, the controller is disposed above controller mounting location 121, and the battery is detachably disposed above battery mounting location 122. In this manner, support frame 12 provides a mounting location for a controller, battery, etc. In this embodiment, the support frame 12 is detachably connected to the fixing frame 11 by means of a threaded fastener, etc., so that the modular disassembly is easy. In addition, in the embodiment, the part of the machine body 1 above the supporting frame 12 is not provided with a mechanism capable of being driven actively, namely, no other driving structure such as a joint module is additionally arranged, so that the problem that the gravity center of the robot is unbalanced due to the component force generated by the mechanism capable of being driven actively is avoided, and the stability of the robot is ensured.

In this embodiment, as shown in fig. 1 and 2, the rigid structure formed by connecting the support frame 12 and the fixing frame 11 is enclosed outside the upper ends of the left leg structure 2 and the right leg structure 3, that is, outside the left thigh joint 25, the left calf joint 26, the right thigh joint 35 and the right calf joint 36, so that each joint is located in the space formed by enclosing the support frame 12 and the fixing frame 11, and is not easy to interfere with the outside, or each joint does not directly collide with the ground when the robot falls over, thus protecting the left thigh joint 25, the left calf joint 26, the right thigh joint 35 and the right calf joint 36.

In some embodiments, referring to fig. 1-5, the bipedal robot further includes a casing 15, where the casing 15 is fixed on the other sides of the fixing frame 11 and the support frame 12 relative to the left leg structure 2 and the right leg structure 3, so as to cover the upper side of the support frame 12 and the left swing leg joint 24 and the right swing leg joint 34 partially or completely in the casing 15, and protect the devices on the support frame 12 and the left swing leg joint 24 and the right swing leg joint 34 from interference with the outside.

In some embodiments, referring to fig. 11, the fixing frame 11 is provided with a left mounting portion 111 and a right mounting portion 112 which are mirror-symmetrical, and the left mounting portion 111 and the right mounting portion 112 are configured at a side close to the traveling direction Z to provide mounting bases for the left swing leg joint 24 and the right swing leg joint 34, respectively, so that the left swing leg joint 24 can be fixed on the left mounting portion 111, and the right swing leg joint 34 can be fixed on the right mounting portion 112. Left and right mounting portions 111 and 112 are provided with left and right through holes 1111 and 1121, respectively, and the left and right leg assemblies are connected to the output ends of left and right swing leg joints 24 and 34 by providing connectors through the left and right through holes 1111 and 1121, respectively, so that left and right thigh joints 25 and 35 can be fixed to the output ends of left and right swing leg joints 24 and 34, respectively.

In some embodiments, referring to fig. 12, further comprising a left connector 4 and a right connector 5;

the left connecting piece 4 comprises a left first bearing plate 41 and a left second bearing plate 42 which are integrally formed, the left first bearing plate 41 and the left second bearing plate 42 are approximately vertical, a left connecting flange 43 is arranged on the left first bearing plate 41, the left connecting flange 43 penetrates through a left through hole 1111 to be connected with the output end of the left swing leg joint 24, and the left second bearing plate 42 is fixedly connected with the left thigh joint 25.

The right connecting piece 5 comprises a right first bearing plate 51 and a right second bearing plate 52 which are integrally formed, the right first bearing plate 51 and the right second bearing plate 52 are approximately vertical, a right connecting flange 53 is arranged on the right first bearing plate 51, the right connecting flange 53 penetrates through a right through hole 1121 to be connected with the output end of the right swing leg joint 34, and the left second bearing plate 42 is fixedly connected with the left thigh joint 25.

In this embodiment, the connection to the left swing leg joint 24 is achieved by the left first carrier plate 41 of the left connector 4, and the left thigh joint 25 is provided with a fixed position by the left second carrier plate 42. So that the left swing leg joint 24 can drive the left connecting piece 4 to rotate, and then drive the left thigh joint 25 to rotate, namely drive the whole left leg structure 2 to swing laterally around the left swing leg rotating shaft. The connection to the right swing leg joint 34 is achieved by means of a right first carrier plate 51 of the right connecting piece 5, and a fixed position is provided for the right thigh joint 35 by means of a right second carrier plate 52. So that the right swing leg joint 34 can drive the right connecting piece 5 to rotate, and then drive the right thigh joint 35 to rotate, namely drive the whole right leg structure 3 to swing laterally around the right swing leg rotating shaft.

In some embodiments, referring to fig. 1, 2, 4 and 6, the output end of the left thigh joint 25 is fixedly connected with one side of the left thigh 21, the other end of the left thigh joint 25 opposite to the left thigh 21 is fixed on the left second carrier plate 42, and the left shank joint 26 is fixed on the other side of the left thigh 21 opposite to the left thigh joint 25, so that the left thigh joint 25 and the left shank joint 26 are symmetrically arranged with respect to the left vertical center plane, and the left thigh 21 is formed in a structural state between the left thigh joint 25 and the left shank joint 26.

The output end of the right thigh joint 35 is fixedly connected with one side of the left thigh 21, the other end of the right thigh joint 35 with respect to the right thigh 31 is fixed on the right second carrier plate 52, and the right shank joint 36 is fixed on the other side of the right thigh 31 with respect to the right thigh joint 35, so that the right thigh joint 35 and the right shank joint 36 are symmetrically arranged with respect to the right vertical center plane, and the right thigh 31 is formed in a structural state between the right thigh joint 35 and the right shank joint 36.

In some embodiments, referring to fig. 3 and 11, the supporting frame 12 and the fixing frame 11 are both plate-shaped members, and the supporting frame 12 is detachably connected to the fixing frame 11 and is perpendicular to the fixing frame 11, so as to facilitate the detachment between the supporting frame 12 and the fixing frame 11.

In this embodiment, two left reinforcing plates 13 and right reinforcing plates 14 are disposed between the support frame 12 and the fixing frame 11, which are mirror-symmetrical, to strengthen the connection structure between the support frame 12 and the fixing frame 11, and the left reinforcing plates 13 and right reinforcing plates 14 are respectively hollow right triangles, so as to ensure that the left reinforcing plates 13 and right reinforcing plates 14 are light in weight and high in structural strength.

The connection side between the left reinforcing plate 13 and the support frame 12 is a left long side 131, the connection side between the left reinforcing plate 13 and the fixing frame 11 is a left short side 132, the connection side between the right reinforcing plate 14 and the support frame 12 is a right long side 141, the connection side between the right reinforcing plate 14 and the fixing frame 11 is a right short side 142, the included angles between the left long side 131 and the left short side 132 and between the right long side 141 and the right short side 142 are right angles, a left bevel edge 133 is formed on one side of the left reinforcing plate 13 adjacent to the left thigh 21, and a right bevel edge 143 is formed on one side of the right reinforcing plate 14 adjacent to the right thigh 31.

Wherein, left hypotenuse 133 does not contact with left leg structure 2, and right hypotenuse 143 does not contact with right leg structure 3, under this kind of circumstances, when left pendulum leg joint 24 drives left leg structure 2 and rotates around left pendulum leg axis of rotation, left reinforcing plate 13 can not interfere with left connecting piece 4, and when right pendulum leg joint 34 drives right leg structure 3 and rotates around right pendulum leg axis of rotation, right reinforcing plate 14 can not interfere with right connecting piece 5, ensures the security of robot side direction pendulum leg process.

In some embodiments, referring to fig. 13 and 14, the left second carrier plate 42 is configured in a shape that a side near the left swing leg joint 24 is narrower and a side near the left thigh joint 25 is wider, the left second carrier plate 42 has an upper left side 421 and a lower left side 422 in the vertical direction Y, the upper left side 421 is parallel to the left oblique side 133 when the left leg structure 2 does not swing with respect to the left vertical center plane, and a distance L1 between the left oblique side 133 and the left swing leg rotation axis is greater than a distance L2 between the upper left side 421 and the left swing leg rotation axis.

In this embodiment, the left second support plate 42 is configured to have a shape that one side close to the left swing leg joint 24 is narrower and one side close to the left thigh joint 25 is wider, that is, the left upper side 421 is in a shape that some narrower sides close to the fixing frame 11 are wider, and the left upper side 421 and the left oblique side 133 are arranged in parallel, so that not only can the left second support plate 42 be ensured to have enough installation space for installing and fixing the left thigh joint 25, but also the quality of the left connecting piece 4 can be reduced, and interference with the left oblique side 133 of the left reinforcing plate 13 can not occur in the process of laterally swinging the left leg structure 2.

In the present embodiment, referring to fig. 15 and 16, the right second carrier plate 52 is configured in a shape in which a side close to the right swing leg joint 34 is narrower and a side close to the right thigh joint 35 is wider, the right second carrier plate 52 has an upper right side 521 and a lower right side 522 in the vertical direction Y, the upper right side 521 is parallel to the right oblique side 143 when the right leg structure 3 does not swing with respect to the right vertical center plane, and a distance L3 between the right oblique side 143 and the right swing leg rotation axis is larger than a distance L4 between the upper right side 521 and the right swing leg rotation axis.

In this embodiment, the right second support plate 52 is configured to have a shape that one side close to the right leg joint 34 is narrower and one side close to the right thigh joint 35 is wider, that is, the right upper side 521 is in a shape that some of the narrower sides close to the fixing frame 11 are wider, and the right upper side 521 and the right oblique side 143 are arranged in a parallel structure, so that not only can the right second support plate 52 be ensured to have enough installation space for installing and fixing the right thigh joint 35, but also the quality of the right connecting piece 5 can be reduced, and interference with the right oblique side 143 of the right reinforcing plate 14 can not occur in the process of laterally swinging the right leg structure 3.

In some embodiments, referring to fig. 17, the left foot 23 and the right foot 33 have cambered surfaces that are in contact with the ground at flexible points, so that the impact generated by the foot contact during the walking of the robot can be buffered or absorbed while the left foot 23 and the right foot 33 are in contact with the ground at points, which can adapt to different complex ground conditions, and the transmission of the shock impact force to the positions of each driving joint is reduced as much as possible, so as to protect the driving member of the robot.

In some embodiments, referring to fig. 17 again, the left foot includes a left foot 231 and a left rubber buffer structure 232, the right foot 33 includes a right foot 331 and a right rubber buffer structure 332, and the rubber buffer structure has good elastic deformation capability, and when the left foot 23 and the right foot 33 contact with the ground, a certain deformation is generated, and the touchdown point is deformed into a contact surface with a certain area, so that the support stability of the foot can be improved, especially for an application scene with uneven ground, and the advancing stability of the robot is improved.

In some embodiments, a robot is provided, including the aforementioned bipedal robot, as a lower limb.

While embodiments of the present application have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the application, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the application.

The foregoing is illustrative of the present application and is not to be construed as limiting thereof, but rather as various modifications, equivalent arrangements, improvements, etc., which fall within the spirit and principles of the present application.

Claims

1. A bipedal robot comprising:

the left leg structure includes:

a left thigh, a left calf articulated with the left thigh;

the right leg structure includes:

a right thigh, a right calf articulated with the right thigh;

a right foot connected to the right calf;

The left foot and the right foot are in point contact with the ground;

the left leg structure does not include:

a driving structure for driving the left foot to change its euler angle;

the right leg structure does not include:

A driving structure for driving the right foot to change its euler angle;

2. The bipedal robot of claim 1, wherein the robot is configured to,

the left thigh rotating shaft and the left calf rotating shaft are coaxially arranged, and the right thigh rotating shaft and the right calf rotating shaft are coaxially arranged, so that the output axes of the left swing leg joint, the left thigh joint, the left calf joint, the right swing leg joint, the right thigh joint and the right calf joint are positioned above the same horizontal plane.

3. The bipedal robot of claim 1, wherein the robot is configured to,

According to the left vertical center plane, the left leg swinging joint drives the left leg structure to swing within the range of less than or equal to 80 degrees outwards and less than or equal to 25 degrees inwards, the left thigh joint drives the left thigh to rotate within the range of less than or equal to 80 degrees forwards and less than or equal to 60 degrees backwards, and the left shank joint drives the left shank to rotate within the range of less than or equal to 80 degrees forwards and less than or equal to 50 degrees backwards;

4. The bipedal robot of any one of claim 1 to 3, wherein,

the fixing frame is arranged along a vertical surface perpendicular to the running direction of the robot so as to divide two sides of the fixing frame in the running direction of the robot into one side close to the running direction and one side deviating from the running direction;

5. The bipedal robot of claim 4, wherein the robot is configured to,

the robot body further comprises a supporting frame, one end of the supporting frame is fixedly connected with the upper end of the fixing frame, the supporting frame extends towards one side deviating from the running direction of the robot relative to the fixing frame, and the projection of the supporting frame in the vertical direction is overlapped with the left leg structure and the right leg structure partially and is not overlapped with the projection of the left swing leg joint and the right swing leg joint in the vertical direction.

6. The bipedal robot of claim 5, wherein the robot is configured to,

the support frame is opposite to one side of the left swing leg joint and the right swing leg joint and is provided with a controller installation position and a battery installation position, the controller is arranged on the controller installation position, the battery is detachably arranged on the battery installation position, and a part of the machine body above the support frame is not provided with a mechanism capable of being driven actively.

7. The bipedal robot of claim 6, wherein the robot is configured to,

the left mounting part and the right mounting part are arranged on the fixing frame in a mirror symmetry mode, the left mounting part and the right mounting part are constructed on one side close to the advancing direction, and a left via hole and a right via hole are respectively arranged on the left mounting part and the right mounting part;

8. The bipedal robot of claim 7, further comprising:

a left connecting piece and a right connecting piece;

9. The bipedal robot of claim 8, wherein the robot comprises,

the output end of the left thigh joint is fixedly connected with one side of the left thigh, the other end of the left thigh joint relative to the left thigh is fixed on the left second bearing plate, and the left shank joint is fixed on the other side of the left thigh relative to the left thigh joint, so that the left thigh joint and the left shank joint are symmetrically arranged relative to the left vertical center plane;

10. The bipedal robot of claim 9, wherein the robot is configured to,

the support frame and the fixing frame are plate-shaped members, the support frame is detachably connected with the fixing frame and is vertically arranged, two mirror-symmetrical left reinforcing plates and right reinforcing plates are arranged between the support frame and the fixing frame and are connected, and the left reinforcing plates and the right reinforcing plates are respectively hollow right triangles;

11. The bipedal robot of claim 10, wherein the robot is configured to,

the left second bearing plate is in a shape that one side close to the left swing leg joint is narrower and one side close to the left thigh joint is wider, the left second bearing plate is provided with an upper left side surface and a lower left side surface in the vertical direction, when the left leg structure does not swing relative to the left vertical center surface, the upper left side surface is parallel to the left oblique side edge, and the distance between the left oblique side edge and the left swing leg rotating shaft is larger than the distance between the upper left side surface and the left swing leg rotating shaft;

12. The bipedal robot of claim 11, wherein the robot is configured to,

the left leg joint and the right leg joint are partially or completely enclosed in the housing.

13. The bipedal robot of claim 1 or 12, wherein,

the left foot and the right foot are respectively provided with cambered surfaces which are contacted with the ground flexible points.

14. The bipedal robot of claim 13, wherein the robot is configured to,

the left foot includes a left foot portion and a left rubber cushioning structure, and the right foot includes a right foot portion and a right rubber cushioning structure.

15. A robot comprising the bipedal robot of any one of claims 1 to 14 as a lower limb.