CN217703430U - Robot - Google Patents

Abstract

The utility model relates to an artificial intelligence equipment technical field, in particular to robot. The robot comprises a control system, a trunk module and a leg module connected with the trunk module; the leg module comprises at least one leg assembly further comprising a plurality of connected moving elements, the control system being operable to control the at least one moving element to switch between a ground lift and ground contact state to change the overall state of the robot. The utility model provides a robot passes through the design that the steerable at least one moving element of control system switches between the state of liftoff perk and the contact that lands to can change the overall state of robot, make the action of robot nimble more changeable.

Description

Robot

[ technical field ] A method for producing a semiconductor device

The utility model relates to an artificial intelligence equipment technical field, in particular to robot.

[ background of the invention ]

With the development of artificial intelligence technology, robots have begun to enter home scenes, and particularly robots having child education and accompanying roles are highly popular with parents and the market. However, existing robots are not flexible enough in their actions.

[ Utility model ] content

In order to solve the technical problem that the existing robot is not flexible enough in action, the embodiment of the utility model provides a robot.

In order to solve the above technical problem, an embodiment of the present invention provides a robot, the robot includes leg assembly, head and face assembly and swing joint the body assembly of leg assembly and head and face assembly, the quantity of leg assembly is a plurality of, each the leg assembly includes two at least moving elements, moving element can be in liftoff perk and the state of landing contact switch between.

Preferably, the body component is provided with a first motion component, the first motion component comprises an output end, and the output end is in transmission connection with the leg component and can drive the leg component to rotate relative to the body component.

Preferably, the leg assembly is disposed to the side and/or under the body assembly.

Preferably, the number of the leg assemblies is two, the first action assembly comprises two output ends, and the two output ends are in one-to-one corresponding transmission connection with the two leg assemblies.

Preferably, the two output ends are driven simultaneously by a drive member or separately by two drive members.

Preferably, the leg assembly further comprises a wheel carrier connecting the moving element and the body assembly, the output end of the first action assembly is in transmission connection with the wheel carrier and drives the moving element to switch between a ground lifting contact state and a ground contacting state by rotating the wheel carrier.

Preferably, the wheel frame comprises a plurality of connecting sections and joint parts for connecting the connecting sections, and the connecting sections can move relative to each other through the joint parts.

Preferably, each leg assembly comprises a second motion assembly, the second motion assembly is in transmission connection with at least one moving element and can drive the moving element to move, and the moving element can drive the robot to move.

Preferably, each leg assembly comprises two moving elements, one of the moving elements is in transmission connection with the second action assembly to form a driving wheel, the other moving element is a driven wheel, and the driving wheel drives the driven wheel to rotate.

Preferably, the number of the leg assemblies is two, and the two leg assemblies are respectively defined as a first leg assembly and a second leg assembly; the driving wheel on the first leg component is a first driving wheel, the driven wheel on the first leg component is a first driven wheel, the driving wheel on the second leg component is a second driving wheel, and the driven wheel on the second leg component is a second driven wheel; when the moving element is simultaneously grounded, the first driving wheel and the second driving wheel are positioned on one side of the body component, and the first driven wheel and the second driven wheel are positioned on the other side of the body component.

Preferably, the robot further comprises an angle detection component, the angle detection component detects a relative angle between the leg component and the head-face component and/or the body component, and the robot obtains a component posture of the robot according to the relative angle.

Preferably, the robot further comprises a first sensing component, the first sensing component monitors the position relation of the gravity center of the robot relative to the ground to obtain the position state of the robot, and the robot obtains the overall state of the robot according to the position state and the component posture.

Preferably, the first sensing assembly obtains torso position information by monitoring a position relationship of a center of gravity of the head-face assembly and/or the body assembly relative to the ground, the robot obtains leg position information according to the torso position information and the assembly posture, and the robot obtains a position state of the robot according to the torso position information and the leg position information.

Preferably, the first sensing assembly comprises a trunk detection piece and a leg detection piece, the trunk detection piece obtains trunk position information by monitoring the position relationship of the gravity center of the head-face assembly and/or the body assembly relative to the ground, the leg detection piece obtains leg position information by monitoring the position relationship of the gravity center of the leg assembly relative to the ground, and the robot obtains the position state of the robot according to the trunk position information and the leg position information.

Preferably, the robot further comprises a second sensing assembly, wherein the second sensing assembly comprises an inertial sensor, and the second sensing assembly detects an inertial parameter of the driving wheel through the inertial sensor, and monitors whether the driving wheel idles or not through the inertial parameter.

Compared with the prior art, the embodiment of the utility model provides a robot has following advantage:

1. the embodiment of the utility model provides an in the robot, this robot includes shank subassembly, head face subassembly and swing joint shank subassembly and the health subassembly of head face subassembly, and the quantity of shank subassembly is a plurality of, and each shank subassembly includes two at least moving element, and moving element can be at liftoff perk and the state of landing contact switch between. The design that at least one moving element is switched between the state of lifting up from the ground and contacting with the ground can change the posture of the robot, so that the action of the robot is more flexible and changeable. For example, the robot is in the gesture of lying prone of bowing when all moving element are landed and contact, and the bionical appearance of loveing the pet full foot-supporting ground, when some moving element warp from the ground the robot is in the gesture of standing, and the bionical appearance of loveing the partial foot of standing of pet and lifting up, the action of robot is nimble abundanter more, provides the basic condition for the mutual deep propulsion of human-computer. Furthermore, the design of the at least one moving element to switch between a liftoff and a touchdown contact state enables the robot to adapt to more complex environments, for example the robot may tilt off to bypass obstacles by controlling part of the moving element, or prevent the robot from tipping over by switching the liftoff moving element into a touchdown contact state when the robot has a tendency to tilt. Therefore, the design that at least one moving element is switched between the states of lifting off the ground and contacting with the ground greatly improves the flexibility, adaptability and reliability of the robot action.

2. The embodiment of the utility model provides an in the robot, through setting up the first action subassembly that output and shank module transmission are connected, make the shank module truck module activity relatively, thereby make the robot can realize truck module and shank module and can move respectively or realize the function of only a module action in the two as required, thereby further effectively improved the robot motion, the flexibility of action and to the adaptability of environment, the expressive force of robot has also further been strengthened, make the robot accord with imitative biochemical requirement more. .

3. The embodiment of the utility model provides an among the robot, through with the shank subassembly in setting up in the side of truck module and/or following design for the robot changes the holding balance stability, has further improved the adaptability of robot to different topography.

4. The embodiment of the utility model provides an among the robot, through setting up two shank subassemblies and two outputs, and each output corresponds the design of being connected with a shank subassembly transmission, has guaranteed that each shank subassembly all can rotate relative health subassembly under the drive of output to the action flexibility of robot has further been improved. When the two output ends are driven by a driving piece in the first action component at the same time, the two leg components can act synchronously, so that the actions such as the same ends of the plurality of leg components simultaneously touch the ground and the other ends simultaneously tilt up from the ground can be realized. When the two output ends are respectively driven by the two driving pieces in the first action component, the two leg components can also independently act, so that the actions that only one end of one leg component is grounded and contacted, the other end of the leg component is lifted off the ground, and the two ends of the other leg components are grounded and contacted can be realized, namely the posture similar to the posture of a four-foot pet which is lifted off the ground can be simulated. Further, corresponding to two shank subassemblies, through setting up the design of the output that is driven respectively by two driving pieces, guaranteed that two shank subassemblies all can independently move respectively under the drive of output to further improve the flexibility of robot action, made the bionic effect of robot better simultaneously.

5. The embodiment of the utility model provides an among the robot, connect the wheel carrier of a plurality of mobile elements and health subassembly through the setting for the relative truck module of robot accessible control wheel carrier rotates and makes the mobile element switch between the state of liftoff perk and the contact that lands, thereby realizes the change of robot gesture. The design of the wheel carrier enables a plurality of moving elements in the same leg component to be in linked motion, so that the action of the robot is richer, for example, the moving elements which are partially contacted with the ground on one leg component support the rest moving elements to be tilted away from the ground, so that the robot can complete the action that part of the moving elements are contacted with the ground while part of the moving elements are tilted away from the ground. In addition, the plurality of moving elements in one leg component are connected through the wheel carrier, so that synchronous movement of the plurality of moving elements is facilitated, and the movement stability of the robot is further improved. Therefore, the richness and stability of the robot actions are further improved by the arrangement of the wheel carrier.

6. The embodiment of the utility model provides an among the robot, through the mode that passes through joint spare relative activity with the wheel carrier design for a plurality of linkage segments for the action mode between the mobile element on wheel carrier and the wheel carrier is more diversified, also the action of shank subassembly is more nimble changeable, for example, the robot can realize touchdown the contact through joint spare and support trunk module and other shank subassemblies. In addition, when the connecting sections are movably connected through the joint pieces, the gravity center of the robot can be adjusted through relative movement between the connecting sections when the robot moves on uneven ground or the gravity center is unstable, and therefore the stability of the robot is higher.

7. The embodiment of the utility model provides an among the robot, and the design at each relative both ends of shank subassembly is located to a plurality of moving element branches, the symmetry of robot global design has further been guaranteed, thereby two relative shank subassemblies of focus of having guaranteed the robot are comparatively placed in the middle, make robot overall stability higher, thereby also make the robot can realize more relatively complicated actions steadily, the angle that can extend when also making the robot act is bigger relatively, thereby the flexibility and the richness of robot action have further been improved. In addition, the design that a plurality of moving elements are arranged at two opposite ends of each leg component respectively ensures that each leg component can realize the action that one end is grounded and contacted while the other end is lifted up, thereby further ensuring the action diversity of the robot.

8. The embodiment of the utility model provides an in the robot, can drive the second action subassembly that the mobile element moved and drive the robot removal through setting up in the shank subassembly for robot accessible second action subassembly drive robot moving as a whole has improved the motion flexibility of robot. In addition, the second action component drives the moving element to act, so that when the center of gravity of the robot is unstable, the overall acceleration mode of the robot can be changed through the action of the moving element, the robot can keep or restore a balance state by means of various external forces such as motion inertia, motion resistance, gravity and the like, and the autonomous balance and environment adaptation capability of the robot is greatly improved.

9. In the embodiment of the present invention, a robot is provided, in which one of two moving elements is provided as a driving wheel and the other is provided as a driven wheel, so that the robot can move under the driving of the driving wheel while being balanced under the support of the driven wheel. In addition, the arrangement of the driven wheel can reduce the friction force of the ground on the robot in the moving process, so that the movement flexibility of the robot is further improved.

10. The embodiment of the utility model provides an among the robot, set up in one side of health subassembly and two from the design that sets up in the opposite side of health subassembly from the driving wheel through with two drive wheels for the robot can realize through the relative health subassembly pivoted mode of messenger's shank subassembly that two drive wheels land simultaneously and two from the gesture of liftoff perk simultaneously from the driving wheel, and the robot still can move through two drive wheels simultaneous action when this gesture, thereby further improved the action flexibility and the variety of robot.

11. The embodiment of the utility model provides an among the robot, through setting up the angle detection piece of relative angle between detectable shank subassembly and head face subassembly and/or the health subassembly for the relative position relation between each module of robot can be obtained according to relative angle between shank subassembly and head face subassembly and/or the health subassembly to the robot, thereby can obtain the subassembly gesture of robot, so that the robot can obtain the overall state of robot.

12. The embodiment of the utility model provides an among the robot, through the first sensing subassembly that sets up the relative ground position relation of the focus of monitorable robot for the robot can obtain the direct position state who obtains the robot. In addition, the robot can monitor the position relation of the gravity center of the head-face assembly and/or the body assembly relative to the ground through the first sensing assembly to obtain trunk position information, then obtain leg position information according to the trunk position information and the assembly posture, and then indirectly obtain the position state of the robot according to the trunk position information and the leg position information. The position state of the robot is obtained, and the robot can obtain the accurate overall state of the robot according to the position state of the whole body relative to the ground and the component posture of the robot.

[ description of the drawings ]

Fig. 1 is a schematic perspective view of a robot according to an embodiment of the present invention;

fig. 2 is a schematic perspective view of a robot according to an embodiment of the present invention;

fig. 3 is a schematic partial structural diagram of a robot provided by an embodiment of the present invention;

fig. 4 is a schematic diagram of a forward tilting state of the robot according to the embodiment of the present invention;

fig. 5 is a schematic diagram illustrating a forward tilting state of the robot according to the embodiment of the present invention;

fig. 6 is a schematic diagram of a backward tilting state of the robot according to the embodiment of the present invention;

fig. 7 is a schematic diagram illustrating a backward tilting state of the robot according to the embodiment of the present invention;

fig. 8 is a schematic diagram of an inclined state of a robot provided by an embodiment of the present invention;

fig. 9 is a schematic diagram of a four-wheel standing state of the robot provided by the embodiment of the present invention;

fig. 10 is a schematic view illustrating a two-wheel standing state of the robot according to the embodiment of the present invention;

fig. 11 (a) - (D) are schematic diagrams illustrating overall state changes of a robot according to an embodiment of the present invention;

fig. 12 (a) - (C) are schematic diagrams of overall state changes of the robot according to the embodiment of the present invention;

fig. 13 (a) - (C) are schematic diagrams illustrating overall state changes of the robot according to the embodiment of the present invention;

fig. 14 (a) - (D) are schematic diagrams illustrating overall state changes of the robot according to the embodiment of the present invention;

fig. 15 (a) - (D) are schematic diagrams illustrating overall state changes of the robot according to an embodiment of the present invention.

The attached drawings indicate the following:

1. a robot;

11. a control system; 12. a torso module; 13. a leg module; 14. a sensing system;

121. a first motion assembly; 122. a head-face assembly; 123. a body component; 131. a leg assembly; 141. a first sensing assembly; 142. a second sensing element; 143. an angle detecting member;

1211. an output end; 1212. a drive member; 1221. a face; 1222. the posterior brain; 1311. a moving element; 1312. a wheel carrier; 1313. a drive wheel; 1314. a driven wheel; 1315. a second motion assembly; 1411. a torso detector; 1412. a leg detection member.

[ detailed description ] A

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail with reference to fig. 1 to 13 and the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

It should be noted that the terms "first" and "second" and the like in the description and the claims of the present invention are used for distinguishing different objects, and are not used for describing a specific order.

It will be understood that when an element is referred to as being "secured to" 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. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.

In the present invention, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. These terms are used primarily to better describe the invention and its embodiments, and are not intended to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.

Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meaning of these terms in the present invention can be understood by those of ordinary skill in the art as appropriate.

Furthermore, the terms "mounted," "disposed," "provided," "connected," and "connected" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; can be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements or components. The specific meaning of the above terms in the present invention can be understood according to specific situations by those of ordinary skill in the art.

Referring to fig. 1 and 2, a first embodiment of the present invention provides a robot 1, in which the robot 1 includes a control system 11, a trunk module 12, and a leg module 13 connected to the trunk module 12. Wherein leg module 13 includes at least one leg assembly 131, leg assembly 131 further includes a plurality of connected moving elements 1311, control system 11 may control at least one moving element 1311 to switch between a lift-off, tilt-up, and ground-on contact state to change the overall state of robot 1. It should be understood that the relative positional relationship between the components of the robot 1 constitutes the component attitude of the robot 1 itself, the positional relationship of the robot 1 with respect to the ground constitutes the positional state of the robot 1, and the component attitude of the robot 1 and the positional state of the robot 1 together determine the overall state of the robot 1.

It can be understood that the design of the control system 11 can control the at least one moving element 1311 to switch between the state of lifting and contacting with the ground, so that the overall state of the robot 1 can be changed, and the motion of the robot 1 is more flexible and changeable. For example, when all the moving elements 1311 touch on the ground, the robot 1 is in a prone posture, the bionic bud is in a full-foot-supporting-ground shape, when part of the moving elements 1311 tilt up from the ground, the robot 1 is in a standing state, the bionic bud is in a standing state, and when part of the feet stand, the feet lift up, the actions of the robot 1 are more flexible and abundant, and a basic condition is provided for deep propulsion of human-computer interaction. Furthermore, the control system 11 may control the design of the at least one moving element 1311 to switch between a lift-off tilted and a ground contacting state, so that the robot 1 can adapt to more complex environments, e.g. the robot 1 may tilt off the ground by controlling part of the moving element 1311 to bypass obstacles, or prevent the robot 1 from toppling over by switching the lift-off tilted moving element 1311 to a ground contacting state when the robot 1 has a tendency to tilt. It can be seen that the design of the control system 11 to control the at least one moving element 1311 to switch between the ground lifting and ground contacting states greatly improves the flexibility, adaptability and reliability of the robot 1.

It should be understood that the location where the control system 11 is provided is not limited as long as the control system 11 can. Alternatively, the control system 11 may be centrally located on the torso module 12, on the leg module 13, or on an external terminal; the control system 11 may also be distributed over the torso module 12 and the leg modules 13; the control system 11 may also be provided partially on the torso module 12 and/or on the leg module 13 while being provided partially on the external terminal.

Further, leg module 13 includes at least two leg assemblies 131, and leg assemblies 131 are movable relative to torso module 12 to move moving element 1311 relative to torso module 12. Optionally, leg assemblies 131 are disposed to the sides and/or under body assembly 123.

Further, at least two leg assemblies 131 are disposed on opposite sides of torso module 12.

Understandably, the design of two leg assemblies 131 on the two opposite sides of trunk module 12 makes the overall design of robot 1 more symmetrical, and then makes the overall center of gravity of robot 1 relatively more centered, so that robot 1 is easier to keep balanced and stable, and the adaptability of robot 1 to different terrains is further improved. In addition, leg assembly 131 locates the design of the relative both sides of truck module 12 in the branch for the focus of truck module 12 can be closer relatively from the ground, thereby has reduced the holistic focus height of robot 1, has further improved robot 1's stability, makes it be difficult for empting, thereby has further improved robot 1 to the adaptability of environment.

Specifically, in the embodiment of the present invention, the number of the leg assemblies 131 is two, two leg assemblies 131 are defined as the first leg assembly 131 and the second leg assembly 131 respectively, and the first leg assembly 131 and the second leg assembly 131 are respectively disposed on two opposite sides of the trunk module 12.

Referring to fig. 1-3, further, the torso module 12 includes a first motion assembly 121, the first motion assembly 121 includes an output end 1211, and the output end 1211 is in transmission connection with the leg assembly 131 so as to drive the leg assembly 131 to move relative to the torso module 12.

It should be understood that the output 1211 of the first motion assembly 121 may be disposed at a corresponding location on the body assembly 123 corresponding to the location of the leg assembly 131. Specifically, in the embodiment of the present invention, the output 1211 of the first actuating component 121 is disposed at two opposite ends of the trunk module 12 corresponding to the first leg component 131 and the second leg component 131, respectively.

Optionally, the manner in which leg assembly 131 moves relative to torso module 12 is not limited and may be, but is not limited to, rotating, rolling, reciprocating, or the like. Specifically, in the embodiment of the present invention, the movement of the leg assembly 131 relative to the trunk module 12 is a rotation.

It can be understood that, by providing the first motion assembly 121 in which the output end 1211 is in transmission connection with the leg module 13, the leg module 13 can move relative to the trunk module 12, so that the robot 1 can implement the function that the trunk module 12 and the leg module 13 can respectively move or only one of the two can move as required, thereby further effectively improving the motion and motion flexibility of the robot 1 and the adaptability to the environment, further enhancing the expressive force of the robot 1, and making the robot 1 more meet the requirement of biochemical simulation.

Further, the torso module 12 further includes a head-face assembly 122 and a body assembly 123 movably connected to each other, the body assembly 123 movably connects the head-face assembly 122 and the leg module 13, and the body assembly 123 rotates relative to the leg module 13 to drive the head-face assembly 122 to rotate relative to the leg module 13.

Further, the head-face assembly 122 includes two opposite sides, wherein the face 1221 is disposed on one side and the hindbrain 1222 is disposed on the other side, which makes the robot 1 more bio-morphic.

It can be understood that body component 123 connects head-face component 122 and leg module 13, and body component 123 rotates relative to leg module 13 and drives the design that head-face component 122 rotates relative to leg module 13, so that head-face component 122 of robot 1 can rotate through body component 123 and rotate relative to leg module 13, and the richness and flexibility of the actions of robot 1 are further improved, and the bionic effect of robot 1 is better.

Further, the first motion assembly 121 is disposed on the body assembly 123, and the output 1211 of the first motion assembly 121 can drive the leg module 13 to rotate relative to the body assembly 123.

Optionally, the first action assembly 121 includes an output 1211 or a plurality of outputs 1211. Specifically, in the present embodiment, the first motion assembly 121 includes a plurality of output 1211 drivingly connected to the leg assembly 131.

Further, the number of the output ends 1211 corresponds to the number of the leg assemblies 131, and each output end 1211 is in one-to-one transmission connection with one leg assembly 131. Optionally, multiple outputs 1211 are driven simultaneously by the same driving member 1212 or separately by multiple driving members 1212.

It can be understood that, by providing a plurality of output ends 1211, and each output end 1211 is correspondingly connected to one leg assembly 131 in a transmission manner, it is ensured that each leg assembly 131 can rotate relative to the trunk module 12 under the driving of the output end 1211, so that the robot 1 can make corresponding motions according to the requirements, thereby further improving the motion flexibility of the robot 1.

When the output ends 1211 are driven by the same driving member 1212 at the same time, the leg assemblies 131 can operate synchronously, so that the operations, such as the same ends of the leg assemblies 131 contacting with the ground at the same time and the other ends tilting away from the ground at the same time, can be realized. When the output ends 1211 are driven by the driving members 1212, respectively, the leg members 131 can also act independently, so that the action can be realized as if only one end of one leg member 131 touches the ground and the other end tilts up while the other leg members 131 touch the ground at both ends.

Alternatively, the type of the driving elements 1212 is not limited, and may be, but not limited to, a motor, a cylinder, etc., as long as the driving elements 1212 can drive the leg assembly 131 to act accordingly. Specifically, in the embodiment of the present invention, the driving member 1212 is a motor.

Specifically, in the embodiment of the present invention, the first action assembly 121 includes two output ends 1211 disposed at opposite ends of the torso module 12. Alternatively, the two output 1211 are driven simultaneously by a motor or separately by two motor members. Specifically, in the embodiment of the present invention, the two output ends 1211 are driven by two motors respectively, the two output ends 1211 are defined as a first output end 1211 and a second output end 1211, the motor corresponding to the first output end 1211 is defined as a first motor, and the motor corresponding to the second output end 1211 is defined as a second motor. The first output end 1211 is correspondingly connected to the first leg assembly 131 in a transmission manner, and the second output end 1211 is correspondingly connected to the second leg assembly 131 in a transmission manner.

It can be understood that, corresponding to the two leg assemblies 131, by the design of providing the output ends 1211 respectively driven by the two driving members 1212, it is ensured that both the two leg assemblies 131 can independently act under the driving of the output ends 1211, so as to further improve the flexibility of the action of the robot 1, and at the same time, make the bionic effect of the robot 1 better.

Furthermore, the leg assembly 131 further includes a wheel frame 1312 connected to the plurality of moving elements 1311, the output end 1211 of the first actuating assembly 121 is in transmission connection with the wheel frame 1312, and the control system 11 controls the output end 1211 of the first actuating assembly 121 to rotate to drive the wheel frame 1312 to rotate relative to the trunk module 12, so as to drive the moving elements 1311 to switch between the states of tilting up and touching the ground.

It can be understood that, by providing the wheel carrier 1312 connecting the plurality of moving elements 1311, the control system 11 can switch the moving elements 1311 between the state of tilting off the ground and contacting the ground by controlling the wheel carrier 1312 to rotate relative to the torso module 12, thereby realizing the change of the overall state of the robot 1. Wheel carriage 1312 is designed such that multiple moving elements 1311 in the same leg assembly 131 can be moved in relation to each other, thereby enriching the motion of robot 1, for example, by supporting the rest of moving elements 1311 to tilt up from ground with moving element 1311 in partial ground contact on leg assembly 131, thereby allowing robot 1 to complete the motion of partial moving elements 1311 in ground contact while partial moving elements 1311 are in tilt up from ground. Furthermore, the manner of connecting the plurality of moving elements 1311 in one leg assembly 131 by wheel carrier 1312 facilitates the synchronous movement of the plurality of moving elements 1311, thereby further improving the stability of the movement of robot 1. It can be seen that the wheel carrier 1312 further improves the richness and stability of the actions of the robot 1.

Further, the first leg assembly 131 includes a first wheel frame 1312 and moving elements 1311 disposed on the first wheel frame 1312, the moving elements 1311 disposed on the first wheel frame 1312 are defined as first moving elements, the number of the first moving elements is at least two, and the first moving elements are disposed at two opposite ends of the first wheel frame 1312. The second leg assembly 131 includes a second wheel frame 1312 and moving elements 1311 disposed on the second wheel frame 1312, the moving elements 1311 disposed on the second wheel frame 1312 are defined as second moving elements, the number of the second moving elements is at least two, and the second moving elements are disposed at two opposite ends of the second wheel frame 1312. Alternatively, the number of the first moving elements and the second moving elements may be, but is not limited to, 2, 3, 4, 5, 6, 7, 8, 9, 10, etc.

Understandably, by arranging two leg assemblies 131 and arranging a plurality of moving elements 1311 at two opposite ends of each leg assembly 131, the symmetry of the overall design of the robot 1 is further ensured, so that the center of gravity of the robot 1 is relatively centered with respect to the two leg assemblies 131, the overall stability of the robot 1 is higher, more complex actions can be stably realized by the robot 1, the angle which can be extended when the robot 1 acts is relatively larger, and the flexibility and richness of the actions of the robot 1 are further improved. In addition, the design of multiple moving elements 1311 separately disposed at opposite ends of each leg assembly 131 ensures that each leg assembly 131 can achieve the motion of touching the ground at one end while tilting the ground at the other end, thereby further ensuring the motion diversity of the robot 1.

It will be appreciated that the two outputs 1211 are drivingly connected to the two wheel carriers 1312. That is, the first output 1211 is in transmission connection with the first wheel carrier 1312, and the second output 1211 is in transmission connection with the second wheel carrier 1312.

Further, each leg assembly 131 further includes a second motion assembly 1315, wherein second motion assembly 1315 is drivingly connected to at least one moving element 1311 and drives motion of moving element 1311, and motion of moving element 1311 drives robot 1 to move. In addition, each leg assembly 131 includes at least two moving elements 1311, wherein at least one moving element 1311 is in transmission connection with the second motion assembly 1315 to be a driven moving element 1311, and the other moving elements 1311 which are not in transmission connection with the second motion assembly 1315 are driven moving elements 1311, and the driven moving element 1311 is driven by wheel motion of the driven moving element 1311, so that the robot 1 can move.

It can be understood that by providing second motion assembly 1315 in leg assembly 131, which can drive motion element 1311 to move and move robot 1, robot 1 can drive robot 1 to move integrally through second motion assembly 1315, and the motion flexibility of robot 1 is improved. In addition, the second motion assembly 1315 drives the motion element 1311 to move, so that when the center of gravity of the robot 1 is unstable, the overall acceleration of the robot 1 can be changed by the motion of the motion element 1311, and the robot 1 can maintain or restore a balanced state by various external forces such as motion inertia, motion resistance, gravity and the like, thereby greatly improving the autonomous balance capability and the environment adaptability of the robot 1.

Furthermore, by providing one of the two moving elements 1311 as a driving wheel and the other as a driven wheel, the robot 1 can be moved under the drive of the driving wheel while being balanced under the support of the driven wheel. In addition, the arrangement of the driven wheels can reduce the friction force of the ground on the robot 1 in the moving process, so that the motion flexibility of the robot 1 is further increased.

It should be understood that the type of the moving element 1311 is not limited as long as the function of moving the robot 1 when the moving element 1311 is operated can be achieved. Alternatively, moving element 1311 may be, but is not limited to, a roller, a track, or the like. Specifically, in the present embodiment, the moving elements 1311 are rollers, the corresponding driving moving elements 1311 are driving wheels 1313, and the corresponding driven moving elements 1311 are driven wheels 1314.

Further, the number of the first moving elements is two, and at least one of the two first moving elements is the driving wheel 1313, the driving wheel 1313 in the first moving element is defined as the first driving wheel 1313, the driven wheel 1314 in the first moving element is defined as the first driven wheel 1314, and the control system 11 can control the first driving wheel 1313 to rotate. The number of the second moving elements is two, and at least one of the two second moving elements is the driving wheel 1313, the driving wheel 1313 in the second moving element is defined as the second driving wheel 1313, the driven wheel 1314 in the second moving element is defined as the second driven wheel 1314, and the control system 11 can control the second driving wheel 1313 to rotate. When the moveable member 1311 is simultaneously grounded, the first drive wheel 1313 and the second drive wheel 1313 are positioned on one side of the body member 123 and the first driven wheel 1314 and the second driven wheel 1314 are positioned on the other side of the body member 123.

It can be understood that, by the design that two driving wheels 1313 are disposed on one side of the body component 123 and two driven wheels 1314 are disposed on the other side of the body component 123, the robot 1 can realize the posture that the two driving wheels 1313 simultaneously land and the two driven wheels 1314 simultaneously tilt up in a manner that the leg component 131 rotates relative to the body component 123, and the robot 1 can also realize two wheels standing and moving simultaneously by the simultaneous actions of the two driving wheels 1313 in the posture, thereby further improving the action flexibility and diversity of the robot 1.

Alternatively, two driving wheels 1313 may be provided at one end of the wheel frame 1312 near the face 1221 and two driven wheels 1314 may be provided at the other end of the wheel frame 1312 near the hindbrain 1222, or two driven wheels 1314 may be provided at one end of the wheel frame 1312 near the face 1221 and two driving wheels 1313 at the other end of the wheel frame 1312 near the hindbrain 1222. Specifically, in the present embodiment, two driving wheels 1313 may be disposed at one end of the wheel frame 1312 near the face 1221 and two driven wheels 1314 may be disposed at the other end of the wheel frame 1312 near the hindbrain 1222.

It will be appreciated that the robot 1 is movable under the drive of the first leg assembly 131 by the design of at least one of the two first moving elements as a drive wheel 1313. Furthermore, by designing at least one of the two second moving elements as a driving wheel 1313, the robot 1 can also be moved under the driving of the second leg assembly 131. Thereby ensuring the mobility flexibility of the robot 1.

Further, the wheel frame 1312 includes a plurality of connecting segments and joints for connecting the connecting segments, and the control system 11 can control the relative movement between the connecting segments through the joints.

It will be appreciated that by designing wheel carrier 1312 in such a way that the connecting sections are relatively movable by means of the articulations, the way of movement between wheel carrier 1312 and moving element 1311 on wheel carrier 1312 is made more versatile, i.e. the movement of leg assembly 131 is more flexible and versatile, e.g. robot 1 may be implemented to support torso module 12 and other leg assemblies 131 by means of the ground contact of the articulations. In addition, when the robot 1 moves on uneven ground or the center of gravity is unstable due to the movable connection of the connecting sections through the joint pieces, the center of gravity of the robot 1 can be adjusted through the relative movement of the connecting sections, so that the stability of the robot 1 is higher.

In summary, in the embodiment of the present invention, the robot 1 includes the head-face assembly 122 movably connected to the body assembly 123, the first leg assembly 131 and the second leg assembly 131 are respectively connected to two opposite ends of the body assembly 123, wherein the first output 1211 is in transmission connection with the first wheel frame 1312, and the second output 1211 is in transmission connection with the second wheel frame 1312. The first driving wheel 1313 and the first driven wheel 1314 are respectively disposed at two opposite ends of the first wheel frame 1312, and the second driving wheel 1313 and the second driven wheel 1314 are respectively disposed at two opposite ends of the second wheel frame 1312, wherein the first driving wheel 1313 and the second driving wheel 1313 are both disposed at one end of the wheel frame 1312 close to the face 1221, that is, the first driven wheel 1314 and the second driven wheel 1314 are both disposed at one end of the wheel frame 1312 close to the hindbrain 1222.

Referring to fig. 4 to 10, further, in the embodiment of the present invention, the overall state of the robot 1 at least includes a tilting state, an inclined state and a standing state. The overall state of the head-face assembly 122 of the robot 1 contacting the ground is defined as a tilting state, the tilting state of the face 1221 of the robot 1 contacting the ground is defined as forward tilting (see fig. 4 and 5), and the tilting state of the rear brain 1222 of the robot 1 contacting the ground is defined as backward tilting (see fig. 6 and 7). The state that the head-face assembly 122 of the robot 1 does not contact the ground but has a tendency to topple is defined as an inclined state (as shown in fig. 8). A state of the robot 1 other than the toppling state and the inclined state is defined as a standing state, a standing state in which all the wheels of the robot 1 are in contact with the ground at the same time is defined as a four-wheel standing state (see fig. 9), and a state in which only the driving wheels 1313 of the robot 1 are in contact with the ground at the same time is defined as a two-wheel standing state (see fig. 10).

With reference to fig. 3-10, the robot 1 further includes a sensing system 14, the sensing system 14 monitors the posture and position state of the components of the robot 1, the control system 11 obtains the overall state of the robot 1 according to the posture and position state of the components, and when the overall state is a toppling state or an inclined state, the control system 11 controls the trunk module 12 to rotate relative to the leg module 13 and/or the moving element 1311 to make the robot 1 balance autonomously. Optionally, in an embodiment of the present invention, the sensing system 14 is disposed on the leg assembly 131 and/or the head-face assembly 122 and/or the body assembly 123.

It can be understood that, by arranging the sensing system 14, the robot 1 can monitor the posture and position state of the components of the robot 1 through the sensing system 14, that is, the sensing system 14 can monitor the action condition and posture condition of the robot 1. Therefore, the control system 11 can determine the stable state of the robot 1 according to the monitoring result of the sensing system 14, and control the torso module 12 to rotate relative to the leg module 13 and/or control the moving element 1311 to rotate according to the current stable state of the robot 1, so as to adjust the gravity center, the motion and the posture of the robot 1 according to actual needs, thereby enabling the robot 1 to realize the function of autonomous balance. Therefore, the sensing system 14 cooperates with the control system 11, so that the stability, flexibility and environmental adaptability of the robot 1 are greatly improved, and the robot 1 is further ensured to be capable of autonomously operating and acting in a more complex environment.

Further, the sensing system 14 includes an angle detector 143, the angle detector 143 detects a relative angle between the leg module 13 and the trunk module 14, and the control system 11 obtains the component posture of the robot 1 according to the relative angle.

Further, the sensing system 14 includes a first sensing component 141, the first sensing component 141 monitors the position relationship of the center of gravity of the robot 1 relative to the ground to obtain the position state of the robot 1, the control system 11 determines whether the robot 1 has a tendency to topple according to the position state and the component posture, and when the robot 1 has the tendency to topple, the control system 11 controls the trunk module 12 to rotate relative to the leg module 13 and/or the moving element 1311 to rotate, so that the robot 1 generates a torque in a direction opposite to the toppling direction to prevent the robot 1 from toppling, and thus the robot 1 achieves autonomous balance.

It can be understood that the first sensing component 141 can monitor the position relationship of the center of gravity of the robot 1 with respect to the ground to obtain the position state of the robot 1, so that the control system 11 can know whether the robot 1 has a tendency to topple over, that is, the control system 11 can determine whether the current center of gravity of the robot 1 is stable according to the monitoring result of the first sensing component 141. If the control system 11 determines that the robot 1 is unstable at the current center of gravity and may topple over, the control system 11 may control the torso module 12 to rotate relative to the leg module 13 to generate a torque in a direction opposite to the toppling direction of the robot 1, so as to prevent the robot 1 from toppling over, and thus enable the robot 1 to be balanced autonomously.

Further, the control system 11 can also determine whether the robot 1 is in a toppling state according to the position state and the component posture, and when the robot 1 is in the toppling state, the control system 11 controls the trunk module 12 to rotate relative to the leg module 13 and/or the moving element 1311 to make the robot 1 in a standing state.

It is understood that the control system 11 may also determine whether the robot 1 is already in a toppling state according to the monitoring result of the first sensing assembly 141, and if the control system 11 determines that the robot 1 is already in the toppling state, the control system 11 may control the torso module 12 to rotate relative to the leg module 13 and/or the moving element 1311 to rotate, so as to change the motion posture of the robot 1, so that the robot 1 can recover the standing state, and further ensure the autonomous balance capability of the robot 1. It can be seen that, the first sensing component 141, in cooperation with the design of the control system 11, can not only prevent the robot 1 from toppling over and make the stability of the robot 1 higher, but also enable the robot 1 to autonomously recover to the standing state when the robot 1 topples over, thereby effectively ensuring the stability, reliability and environmental adaptability of the robot 1.

Further, by the first sensing assembly 141 including the torso detecting element 1411, the torso detecting element 1411 obtains torso position information by monitoring the position relationship of the center of gravity of the head-face assembly 122 and/or the body assembly 123 with respect to the ground and transmits the torso position information to the control system 11.

Alternatively, the control system 11 may obtain the leg position information in the following two alternative ways. In the first mode, the control system 11 obtains leg position information through calculation according to the trunk position information and the component posture; in a second mode, the first sensing assembly 141 further includes a leg detecting element 1412, and the leg detecting element 1412 obtains leg position information by monitoring a position relationship of a center of gravity of the leg module 13 with respect to the ground and transmits the leg position information to the control system 11, so that the control system 11 directly obtains the leg position information.

Specifically, in the embodiment of the present invention, the control system 11 obtains the leg position information in the first mode. After the control system 11 obtains the trunk position information and the leg position information, the position state of the robot 1 can be obtained by analyzing the trunk position information and the leg position information.

Further, the first sensing assembly 141 includes a combination of one or more of an inertial measurement unit, an acceleration sensor, and an angular velocity sensor, and the first sensing assembly 141 monitors the positional relationship of the center of gravity of the robot 1 with respect to the leg module 13 and the ground by monitoring the acceleration and/or the angular velocity of the robot 1. When the control system 11 analyzes the detection result of the first sensing assembly 141 to determine that the robot 1 topples, the control system 11 controls the first action assembly 121 and/or the second action assembly 1315 to act, so that the robot 1 returns to the standing state.

Further, the sensing system 14 further includes a second sensing component 142, the second sensing component 142 monitors whether the moving element 1311 idles, the control system 11 determines whether the robot 1 falls according to the monitoring result and the position status of the second sensing component 142, and when the robot 1 falls, the control system 11 controls the torso module 12 to rotate relative to the leg module 13 and/or the moving element 1311 to rotate so that the robot 1 stands.

It is understood that the second sensing assembly 142 is used to monitor whether the moving element 1311 idles, and the control system 11 can determine whether the robot 1 has toppled or not according to the monitoring result of the second sensing assembly 142. If the control system 11 determines that the robot 1 is already in the toppling state, the control system 11 may control the trunk module 12 to rotate relative to the leg module 13 and/or the moving element 1311 to rotate, so as to change the action posture of the robot 1, so that the robot 1 can recover the standing state, and further ensure the autonomous balance capability of the robot 1. It can be seen that the second sensing component 142, in cooperation with the design of the control system 11, can further ensure that the robot 1 can accurately detect the toppling state, so as to adjust the overall action posture to the robot 1 to recover the standing state according to the current toppling state, that is, further improve the autonomous balance capability and stability of the robot 1.

Further, the second sensing assembly 142 includes an inertial sensor, and the second sensing assembly 142 detects an inertial parameter of the driving wheel 1313 through the inertial sensor, and monitors whether the driving wheel 1313 idles through the inertial parameter. Illustratively, the inertial sensor detects inertial parameters of the robot 1 in real time and feeds the inertial parameters back to the control system 11, when the control system 11 monitors that the received inertial parameter mutation reaches a preset threshold, it is determined that the driving wheel 1313 of the robot 1 idles, and when the control system 11 analyzes that the idling of the driving wheel 1313 is abnormal idling, it is determined that the robot 1 topples, and then the control system 11 controls the first action assembly 121 and/or the second action assembly 1315 to act, so that the robot 1 returns to a standing state. It is understood that the abnormal idling means that the control system 11 detects that the driving wheels 1313 are idling when not controlling the driving wheels 1313 to switch to the lift-off tilted state.

Further, the control system 11 determines whether the robot 1 leaves the ground according to the detection result of the second sensing assembly 142. Illustratively, when the second sensing assembly 142 detects that all the driving wheels 1313 of the robot 1 are idle, the control system 11 determines that the robot 1 is off the ground, and then the control system 11 controls the robot 1 to stop trying to recover the standing state by changing the overall state of the robot 1.

If the robot 1 tilts, the control system 11 determines the tilting mode of the robot 1 first, and then controls the robot 1 to return to the standing state according to the tilting mode. The robot 1 has the following four tilting modes.

Referring to fig. 11, in a first mode, when the robot 1 tilts forward from the two-wheel standing state, the process of the robot 1 recovering the standing state is as follows: the first motion assembly 121 rotates to drive the two wheel frames 1312 to rotate relative to the trunk module 12, so that the center of gravity of the robot 1 is raised, the distance between the head assembly 122 of the robot 1 and the driving wheels 1313 is reduced, and then the second motion assembly drives the driving wheels 1313 to rotate forward at an accelerated speed, so that the driving wheels 1313 provide a backward acting force to the leg assemblies 131 when the robot 1 moves forward at an accelerated speed, and the acting force can enable the robot 1 to recover a two-wheel standing state.

Referring to fig. 12, in a second mode, when the robot 1 tilts backward from the two-wheel standing state, the process of the robot 1 recovering the standing state is as follows: the first motion assembly 121 rotates to drive the torso module 12 to rotate relative to the wheel frame 1312 toward the driving wheel 1313 direction until the robot 1 returns to the four-wheel standing state.

Referring to fig. 13, in a third mode, when the robot 1 tilts forward from the four-wheel standing state, the first operating component 121 rotates to drive the trunk module 12 to rotate toward the driving wheel 1313 relative to the wheel frame 1312, and simultaneously the second operating component 1315 rotates to drive the driving wheel 1313 to rotate backward until the head component 122 moves above the driving wheel 1313, and then the first operating component 121 rotates to drive the trunk module 12 to rotate toward the driven wheel 1314 relative to the wheel frame 1312 until the robot 1 returns to the two-wheel standing state.

Referring to fig. 14, in a fourth mode, when the robot 1 tilts backward from the four-wheel standing state, the first actuating element 121 first rotates to drive the trunk module 12 to rotate toward the driven wheel 1314 relative to the wheel frame 1312 until the driving wheel 1313 and the driven wheel 1314 touch the ground at the same time. Then, the first action assembly 121 drives the trunk module 12 to rotate relative to the wheel frame 1312 toward the driving wheel 1313 direction until the robot 1 returns to the four-wheel standing state.

Referring to fig. 15, further, the process of the robot 1 converting from the four-wheel standing state to the two-wheel standing state is as follows: the first actuating component 121 rotates to drive the torso module 12 to rotate relative to the wheel frame 1312 towards the driven wheel 1314, and the second actuating component 1315 rotates to drive the driving wheel 1313 to rotate forward until the robot 1 changes to the two-wheel standing state.

The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, and improvements made within the principle of the present invention should be included within the protection scope of the present invention.

Claims (14)

1. A robot, characterized by: the robot comprises leg components, a head-face component and a body component movably connected with the leg components and the head-face component, the number of the leg components is multiple, each leg component comprises at least two moving elements, and the moving elements can be switched between states of being tilted away from the ground and being in contact with the ground.

2. The robot of claim 1, wherein: the body component is provided with a first action component, the first action component comprises an output end, and the output end is in transmission connection with the leg component and can drive the leg component to rotate relative to the body component.

3. The robot of claim 2, wherein: the leg assembly is disposed to the side and/or under the body assembly.

4. A robot as claimed in claim 2, wherein: the number of the leg components is two, the first action component comprises two output ends, and the two output ends are in one-to-one corresponding transmission connection with the two leg components.

5. The robot of claim 4, wherein: the two output ends are driven by a driving piece simultaneously or driven by two driving pieces respectively.

6. The robot of claim 2, wherein: the leg component further comprises a wheel carrier which is connected with the moving element and the body component, the output end of the first action component is in transmission connection with the wheel carrier, and the wheel carrier is rotated to drive the moving element to be switched between the states of ground tilting and grounding contact.

7. The robot of claim 6, wherein: the wheel carrier comprises a plurality of connecting sections and joint parts for connecting the connecting sections, and the connecting sections can move relatively through the joint parts.

8. The robot of claim 1, wherein: each leg component comprises a second action component, the second action component is at least in transmission connection with one moving element and can drive the moving element to act, and the moving element acts to drive the robot to move.

9. The robot of claim 8, wherein: each leg component comprises two moving elements, one of the moving elements is in transmission connection with the second action component to form a driving wheel, the other moving element is a driven wheel, and the driving wheel drives the driven wheel to rotate.

10. A robot as claimed in claim 9, wherein: the number of the leg components is two, and the two leg components are respectively defined as a first leg component and a second leg component;

the driving wheel on the first leg component is a first driving wheel, the driven wheel on the first leg component is a first driven wheel, the driving wheel on the second leg component is a second driving wheel, and the driven wheel on the second leg component is a second driven wheel;

when the moving element is simultaneously grounded, the first driving wheel and the second driving wheel are positioned on one side of the body component, and the first driven wheel and the second driven wheel are positioned on the other side of the body component.

11. The robot of claim 1, wherein: the robot further comprises an angle detection piece, the angle detection piece detects the relative angle between the leg component and the head-face component and/or the body component, and the robot obtains the component posture of the robot according to the relative angle.

12. A robot as recited in claim 11, wherein: the robot further comprises a first sensing assembly, the first sensing assembly monitors the position relation of the gravity center of the robot relative to the ground to obtain the position state of the robot, and the robot obtains the overall state of the robot according to the position state and the assembly posture.

13. A robot as recited in claim 12, wherein: the first sensing assembly obtains trunk position information by monitoring the position relation of the gravity center of the head-face assembly and/or the body assembly relative to the ground, the robot obtains leg position information according to the trunk position information and the assembly posture, and the robot obtains the position state of the robot according to the trunk position information and the leg position information.

14. A robot as recited in claim 12, wherein: the first sensing assembly comprises a trunk detection piece and a leg detection piece, the trunk detection piece obtains trunk position information by monitoring the position relation of the gravity center of the head-face assembly and/or the body assembly relative to the ground, the leg detection piece obtains leg position information by monitoring the position relation of the gravity center of the leg assembly relative to the ground, and the robot obtains the position state of the robot according to the trunk position information and the leg position information.

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