Biped robot with quick-change hand and motion analysis method under special working condition thereof

Abstract

The application discloses a biped robot with a quick-change hand and a motion analysis method under special working conditions, and belongs to the field of robot technology.The biped robot comprises a trunk unit, an arm unit, a hip joint unit and a leg unit; the arm unit is provided with a mechanical hand through a quick-change structure, and the mechanical hand is divided into a clamping mechanical hand, a scissors mechanical hand and a lock twisting mechanical hand.The robot has the advantages that each movable joint of the robot is designed in a module mode, the integration and the modularization of the robot are greatly improved, a connecting rod mechanism is arranged at the rear side of a knee joint, a design of moving outward of a hinge point is adopted, the motion dead point of the knee joint is offset, the joint module can more smoothly exert force, and the complexity of the joint connecting part is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of biped robots, and particularly relates to a biped robot with a multifunctional quick-change hand and a motion analysis method thereof under special working conditions. BACKGROUND

[0002] Robot technology is experiencing rapid development and showing broad application prospects in various fields. From early simple household robots to today's deep application in manufacturing, service, military, medical and other fields, the functions and performance of robots have been greatly improved. In manufacturing, industrial robots have become an important role on the production line, capable of completing tasks such as transportation, welding, precision assembly, etc., greatly improving production efficiency. At the same time, with the continuous progress of technology, industrial robots have become more and more intelligent, and can adjust and optimize themselves according to different environmental and task requirements. In the service field, robots are also playing an increasingly important role. For example, in the medical field, robots can help doctors perform surgical operations, drug delivery and other work, improving the efficiency and safety of medical services. In the catering, delivery, cleaning and other fields, commercial robots are gradually replacing human labor, providing more convenient and efficient services. In addition, with the continuous development of artificial intelligence, machine learning and other technologies, robots are becoming more intelligent and autonomous. For example, through the interface driven by generative artificial intelligence, users can program robots using natural language without specialized programming skills. At the same time, predictive artificial intelligence and machine learning algorithms are also used to analyze robot performance data to identify future device states and optimize them. In general, the development and application of robot technology is changing our way of life and work, bringing new impetus to the progress and development of society. In the future, with the continuous progress of technology and the continuous expansion of application fields, we have reason to believe that robots will play a greater role in more fields and create a better future for mankind.

[0003] Bipedal humanoid robot technology is a highly advanced robotic technology with high flexibility and anthropomorphism, which can play an important role in many fields. The exploration of bipedal humanoid robots began in the 1960s, when researchers began to design and manufacture robots that could walk on two legs like humans. Over time, this technology has gradually developed from Europe to the United States and then to Japan in Asia, sparking a global wave of research and prototype development in bipedal humanoid robot theory. These early studies laid a solid foundation for the development of bipedal humanoid robot technology. Bipedal humanoid robots face many technical challenges. First, the complexity of bipedal walking requires the robot to maintain high balance and stability during walking. This requires precise mechanical design and advanced control algorithms to ensure stable movement of the robot. Second, the technical difficulties of the drive and control system are also the key to the research of bipedal humanoid robots. In order to achieve smooth and natural walking movements, an efficient and reliable drive system and precise control algorithm are needed. In order to overcome these technical challenges, researchers continue to innovate and break through. They constantly improve the mechanical structure of the robot, optimize the drive system, and improve the accuracy and efficiency of the control algorithm to constantly improve the performance of the bipedal humanoid robot. In general, bipedal humanoid robot technology is an advanced technology with broad application prospects and great development potential. In the future, with continuous innovation and breakthroughs in technology, we have reason to believe that bipedal humanoid robots will play a greater role in more fields and bring more convenience and benefits to human life and work.

[0004] Prior art one, application number 202211106155.4, named "a kind of humanoid robot" Chinese invention patent discloses a kind of robot, including: trunk unit, the trunk unit includes trunk support and is set on the operation screen of the trunk support, attitude sensor, the attitude detection sensor can monitor the motion state of the humanoid robot;Head unit, the head unit includes head mask, head support and head rudder group, the head mask is set on the head support, the head mask is provided with camera element, the head support is rotatably arranged on the top of the trunk unit, the head rudder group is connected with the head support, the head rudder group can drive the head mask rotates around the first direction and the second direction, the first direction is parallel to vertical direction, the second direction is parallel to horizontal direction;Upper limb unit, the upper limb unit includes two groups of arm mechanism, two groups of the arm mechanism are symmetrically arranged on the two sides of the trunk unit with the midline of the trunk unit as axis, the arm mechanism includes arm support, palm and arm rudder group, the arm support is rotatably connected with the trunk support, the arm rudder group is connected with the arm support, the palm is connected with the end of the arm support away from the trunk support, the arm rudder group can drive the palm rotates around the second direction and the third direction, the third direction is perpendicular to the second direction and parallel to horizontal direction, the rotation axis of the arm support relative to the trunk support is parallel to the third direction;Lower limb unit, the lower limb unit includes two groups of leg mechanism, two groups of the leg mechanism are symmetrically arranged on the bottom of the trunk unit with the midline of the trunk unit as axis, the leg mechanism includes thigh support, calf support, foot palm and leg rudder group, the thigh support is rotatably connected with the trunk support, the rotation axis of the thigh support relative to the trunk support is parallel to the third direction, the calf support connects the thigh support and the foot palm, the leg rudder group can drive the thigh support and the calf support rotates along the second direction, the leg rudder group can drive the foot palm rotates around the third direction.

[0005] The prior art two, application number 202010197497.6, named "a high intelligent variable robot" of Chinese invention patent discloses a kind of robot, including a main body, a head and multiple mechanical limbs, a perception unit is arranged inside the head, a central control unit is arranged inside the main body, the central control unit is respectively connected each mechanical limb and the perception unit;The head is arranged on the top of the main body;The mechanical limb includes: a first mechanical leg, the left side bottom of the main body is connected by a first connecting shaft pivotally;Second mechanical leg, the right side bottom of the main body is connected by a second connecting shaft pivotally;A first mechanical arm, the first mechanical arm middle end is equipped with a first support part, the first mechanical arm is connected by a third connecting shaft pivotally at the left side top of the main body;Second mechanical arm, the second mechanical arm middle end is equipped with a second support part, the second mechanical arm is connected by a fourth connecting shaft pivotally at the right side top of the main body;The central control unit inside is pre-set with respectively associated with different task scenarios task information and execution action, and includes: scene selection module, for selecting different the task scene according to the instruction inputted from outside, and according to the selected the figure scene extraction corresponding the task information and the execution action;Navigation module, for the external environment information transmitted by the perception unit to the high intelligent variable robot walking path navigation control;Posture change module is respectively connected the scene selection module and the navigation module, for in the process of navigation control, according to the external environment information and the task information control the high intelligent variable robot carries out posture change;Operation module, connected the scene selection module, for when the high intelligent variable robot moves to the execution position determined in the task information, according to the external environment information and the execution action control the high intelligent variable robot executes corresponding operation action;Execution module is respectively connected the navigation module, the posture change module and the operation module, the execution module is also connected the drive motor of each mechanical limb, for according to the control instruction outputted by each module to the drive motor of each mechanical limb control, to control the high intelligent variable robot carries out path navigation, posture change and executes corresponding the operation action.

[0006] The main defect of prior art one is that the degree of freedom of each joint is low, and the supportability of the weight reduction structure is not strong. Meanwhile, the main defect of prior art two is that although the overall form of the robot can be changed according to different environments, the function of the robot hand is single.

[0007] Therefore, based on the above technical problems, the technical personnel in the art urgently need to develop a biped robot with a multifunctional quick-change hand and a motion analysis method under special working conditions. SUMMARY

[0008] The application aims to provide a biped robot with a multifunctional quick-change hand and a motion analysis method thereof in special working conditions, the biped robot having high joint freedom, good support of weight-reducing structure and high strength.

[0009] In order to achieve the above-mentioned purpose, the application provides the following technical scheme:

[0010] The biped robot with a quick-change hand comprises:

[0011] a trunk unit;

[0012] an arm unit connected with the trunk unit and integrated on both sides of the trunk unit;

[0013] a hip joint unit connected with the trunk unit and integrated at a lower end of the trunk unit; and

[0014] a leg unit connected with the hip joint unit and integrated on both sides of the hip joint unit;

[0015] The arm unit is provided with a mechanical hand through a quick-change structure, and the mechanical hand is divided into a clamping mechanical hand, a scissors mechanical hand and a lock twisting mechanical hand.

[0016] Further, the trunk unit comprises:

[0017] a trunk body, an upper portion of the trunk body being provided with a heat dissipation grid;

[0018] a double-hole visual sensor provided at an upper end of the trunk body;

[0019] the front side of the trunk body having symmetrically arranged illumination spotlights;

[0020] a lower portion of the trunk body forming a main body structure through heat dissipation weight-reducing pieces, and an anti-interference control panel being integrated in the trunk body.

[0021] Further, the arm unit is movably connected with the trunk unit through a shoulder joint module, and the arm unit comprises:

[0022] a large arm and a small arm;

[0023] the large arm having a shoulder fastener at one end matched with the shoulder joint module, and the shoulder fastener of the large arm being movably connected with the trunk unit through the shoulder joint module;

[0024] an elbow joint module being arranged between the large arm and the small arm, and the small arm being movably connected with the large arm through the elbow joint module;

[0025] The end of the small arm is provided with a manipulator base which is matched with the quick change structure to install different manipulators;

[0026] The large arm makes a circular motion relative to the trunk unit with the shoulder joint module as the center and with the length of the large arm as the radius.

[0027] The small arm makes a circular motion relative to the large arm with the elbow joint module as the center and with the length of the small arm as the radius.

[0028] Further, the quick change structure comprises:

[0029] a quick change structure upper sheet and a quick change structure lower sheet;

[0030] The manipulator base is connected with the quick change structure lower sheet, and the quick change structure upper sheet and the quick change structure lower sheet are fixed by pin keys and pin holes.

[0031] The manipulator is connected with the quick change structure upper sheet.

[0032] Further, the hip joint unit comprises a hip joint overall framework;

[0033] The trunk unit is movably connected with the hip joint overall framework through a waist joint module, and the trunk unit realizes 360° rotation through the waist joint module.

[0034] The hip joint overall framework is provided with a first hip joint module on the front side, and is provided with second hip joint modules symmetrically on both sides.

[0035] The leg unit is movably connected with the hip joint unit through the second hip joint modules, and the two second hip joint modules can realize 180° horizontal rotation with the first hip joint module as the center.

[0036] Further, the leg unit comprises:

[0037] a thigh and a calf;

[0038] The end of the thigh is provided with a leg unit connecting piece, and the leg unit connecting piece is movably connected through a thigh joint module.

[0039] A knee joint module is connected between the thigh and the calf, and the calf is movably connected with the thigh through the knee joint module.

[0040] The lower end of the calf is movably connected with a foot through an ankle joint module.

[0041] Further, the rear side of the leg unit is provided with a leg auxiliary push rod.

[0042] The leg auxiliary push rod is divided into a first leg auxiliary push rod, a second leg auxiliary push rod and a third leg auxiliary push rod;

[0043] One end of the second leg auxiliary push rod is connected to the rear side of the thigh, one end of the third leg auxiliary push rod is connected to the rear side of the calf, and the second leg auxiliary push rod and the third leg auxiliary push rod are connected through a pin shaft;

[0044] One end of the first leg auxiliary push rod is connected to the rear side of the thigh, and the other end of the first leg auxiliary push rod is connected to the connection position of the second leg auxiliary push rod and the third leg auxiliary push rod.

[0045] Further, the calf internal structure is designed as a whole hollow structure to form a weight reduction structure.

[0046] The special working condition motion analysis method of the biped robot with quick-change hands disclosed in the application is used for analyzing the motion of the robot under a large disturbance condition of the robot body:

[0047] The motion cycle of the robot is set, the periodic variation characteristics of the support ankle joint torque are analyzed, and the ankle joint torque curve during the periodic dynamic walking is obtained;

[0048] The analysis of the ankle joint torque curve shows that:

[0049] When the robot center of mass does not cross the support ankle joint, the ankle joint torque is negative, and is approximately in a sinusoidal curve relationship with the center of mass position;

[0050] When the robot center of mass crosses the ankle joint, the ankle joint torque is approximately described by a sinusoidal curve;

[0051] The leg is simplified as an LIPM model, the robot center of mass is a mass point, and the position of the support ankle joint away from the center of mass is a telescopic massless rod;

[0052] The LIPM model is used to predict the robot center of mass velocity and position in combination with the ankle joint torque curve, and the moment when the posture is about to be unbalanced is detected on the basis of the capture point theory;

[0053]

[0054] In the formula, the foot landing point position is x, the vertical height of the center of mass is z0, the linear driving force of the massless rod is f, the angle between the massless rod and the vertical direction is θ, the mass of the mass point is m, the gravitational acceleration is g, and the position of the support ankle joint is x ankle The ankle joint torque is τ ankle ;

[0055] By analyzing the robot motion working condition and the height change of the center of mass in the walking process, it can be considered that

[0056]

[0057] The new landing position is:

[0058] In the formula, T0 is a sampling time interval, and k is a time sequence number.

[0059] In the above technical solution, the biped robot with a quick-change hand and the motion analysis method under special working conditions provided by the application have the following beneficial effects:

[0060] 1. Each active joint motion module design: compared with the prior art, the application adopts a motion module design scheme on the active joint of the robot; the integration and modularization of the robot are greatly improved.

[0061] 2. Bionic design of knee joint connecting rod: compared with the prior art, the application adopts a connecting rod mechanism in the design of the knee joint of the robot. By moving the hinge point outward, the motion dead point of the knee joint is offset, the joint module can apply force more smoothly, and the complexity of the joint connection is also reduced.

[0062] 3. King lotus weight reduction structure: compared with the prior art, the application simulates the distribution of the veins of the king lotus on the blade in the weight reduction structure; this design makes the structure light, strong and rigid, and solves the problems of large volume and weight of the existing biped robot, which leads to low power-to-weight ratio.

[0063] 4. Multifunctional manipulator and quick-change structure: compared with the prior art, the application not only designs various functional manipulators, but also designs a quick-change structure. This design can provide more choices for the use scene and use condition of the robot.

[0064] 5. Motion analysis under special working conditions: compared with the prior art, the application provides a method for calculating anti-interference and obstacle avoidance data of the robot under various conditions, which ensures the stability of the robot motion on rough road surface and under dynamic load. According to the structural characteristics of the robot, environmental and load interference terms are introduced to correct the dynamic model, and the stability of the robot motion in the non-structural dynamic environment is improved. BRIEF DESCRIPTION OF DRAWINGS

[0065] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the embodiments will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments described in the present application, and other drawings can also be obtained by those skilled in the art based on these drawings.

[0066] Figure 1Structure schematic view of a biped robot with quick-change hands disclosed in an embodiment of the present application;

[0067] Figure 2 Structure schematic view of a torso unit of a biped robot with quick-change hands disclosed in an embodiment of the present application;

[0068] Figure 3 Structure schematic view of an arm unit of a biped robot with quick-change hands disclosed in an embodiment of the present application;

[0069] Figure 4 Structure schematic view of a hip joint unit and a leg unit of a biped robot with quick-change hands disclosed in an embodiment of the present application;

[0070] Figure 5 Structure schematic view of a rear link structure of a leg unit of a biped robot with quick-change hands disclosed in an embodiment of the present application;

[0071] Figure 6 Structure schematic view of a king lotus weight-reducing structure of a shank of a biped robot with quick-change hands disclosed in an embodiment of the present application;

[0072] Figure 7 Structure schematic view of a hand base of a biped robot with quick-change hands disclosed in an embodiment of the present application

[0073] Figure 8 Structure schematic view of a quick-change structure upper piece of a biped robot with quick-change hands disclosed in an embodiment of the present application;

[0074] Figure 9 Structure schematic view of a quick-change structure lower piece of a biped robot with quick-change hands disclosed in an embodiment of the present application;

[0075] Figure 10 Structure schematic view of a clamping hand of a biped robot with quick-change hands disclosed in an embodiment of the present application;

[0076] Figure 11 Structure schematic view of a scissors hand of a biped robot with quick-change hands disclosed in an embodiment of the present application;

[0077] Figure 12 Structure schematic view of a lock twisting hand of a biped robot with quick-change hands disclosed in an embodiment of the present application;

[0078] Figure 13 Robot model schematic view of a biped robot with quick-change hands disclosed in an embodiment of the present application.

[0079] Explanation of reference signs:

[0080] 1, trunk unit; 2, right arm unit; 3, left arm unit; 4, hip joint unit; 5, right leg unit; 6, left leg unit; 7, quick-change structure; 8, clamping manipulator; 9, scissors manipulator; 10, lock twisting manipulator;

[0081] 101, trunk body; 102, double-hole vision sensor; 103, heat dissipation grid; 104, lighting spotlight; 105, heat dissipation weight-reducing piece; 106, anti-interference control panel;

[0082] 201, large arm; 202, small arm; 203, manipulator base; 204, shoulder fastener; 205, shoulder joint module; 206, elbow joint module;

[0083] 401, hip joint overall framework; 402, first hip joint module; 403, second hip joint module; 404, waist joint module;

[0084] 501, thigh; 502, shank; 503, foot; 504, leg unit connecting piece; 505, thigh joint module; 506, knee joint module; 507, ankle joint module; 508, first leg auxiliary push rod; 509, second leg auxiliary push rod; 510, third leg auxiliary push rod. DETAILED DESCRIPTION

[0085] In order for those skilled in the art to better understand the technical solutions of the present application, the present application will be further described in detail below with reference to the drawings.

[0086] Referring to Figures 1 to 13 as shown;

[0087] The two-legged robot with a quick-change hand of the embodiment comprises:

[0088] The trunk unit 1;

[0089] The arm unit connected with the trunk unit 1 and integrated on both sides of the trunk unit 1;

[0090] The hip joint unit 4 connected with the trunk unit 1 and integrated at the lower end of the trunk unit 1; and

[0091] The leg unit connected with the hip joint unit 4 and integrated on both sides of the hip joint unit 4;

[0092] The arm unit is provided with a manipulator through the quick-change structure 7, and the manipulator is divided into a clamping manipulator 8, a scissors manipulator 9 and a lock twisting manipulator 10.

[0093] Specifically, the embodiment discloses a biped robot with quick-change hands, which mainly comprises a trunk unit 1, an arm unit, a hip joint unit 4 and a leg unit, wherein the arm unit is designed with a mechanical hand base 203 to adapt to different mechanical hands, and is provided with a quick-change structure 7 to install the above-mentioned clamping mechanical hand 8, scissor mechanical hand 9 and lock twisting mechanical hand 10 through the quick-change structure 7.

[0094] Preferably, the trunk unit 1 of the embodiment comprises:

[0095] The trunk body 101 is provided with a heat dissipation grid 103 on the upper portion of the trunk body 101;

[0096] The double-hole visual sensor 102 is arranged on the upper end of the trunk body 1;

[0097] The front side of the trunk body 101 is provided with symmetrically arranged illumination floodlights 104;

[0098] The lower portion of the trunk body 101 is composed of a main body structure through a heat dissipation lightening piece 105, and the trunk body 101 is integrated with an anti-interference control panel 106.

[0099] Firstly, the embodiment further limits the structure of the trunk unit 101, and each component of the trunk unit 101 is connected through threads.

[0100] Preferably, the arm unit of the embodiment is movably connected with the trunk unit 101 through a shoulder joint module 205, and the arm unit comprises:

[0101] The upper arm 201 and the lower arm 202;

[0102] The upper arm 201 is provided with a shoulder fastener 204 at one end matched with the shoulder joint module 205, and the shoulder fastener 204 of the upper arm 201 is movably connected with the trunk unit 101 through the shoulder joint module 205;

[0103] The elbow joint module 206 is arranged between the upper arm 201 and the lower arm 202, and the lower arm 202 is movably connected with the upper arm 201 through the elbow joint module 206;

[0104] The end of the lower arm 202 is provided with the mechanical hand base 203, and the mechanical hand base 203 is matched with the quick-change structure 7 to install different mechanical hands;

[0105] The upper arm 201 makes a circular motion relative to the trunk unit 101 with the shoulder joint module 205 as the center and the length of the upper arm 201 as the radius;

[0106] The lower arm 202 makes a circular motion relative to the upper arm 201 with the elbow joint module 206 as the center and the length of the lower arm 202 as the radius.

[0107] Preferably, the quick-change structure 7 of the embodiment comprises:

[0108] The quick-change structure upper sheet 701 and the quick-change structure lower sheet 702; the mechanical hand base 203 is connected with the quick-change structure lower sheet 702, and the quick-change structure upper sheet 701 and the quick-change structure lower sheet 702 are fixed by the pin key and the pin hole; the mechanical hand is connected with the quick-change structure upper sheet 701.

[0109] The embodiment further limits the composition of the quick-change structure 7, which is divided into the quick-change structure upper sheet 701 and the quick-change structure lower sheet 702. The quick-change structure upper sheet 701 is formed with the pin key, and the quick-change structure lower sheet 702 is formed with the corresponding pin hole. The quick-change structure upper sheet 701 and the quick-change structure lower sheet 702 are connected by the cooperation of the pin key and the pin hole. The mechanical hand base 203 of the embodiment is connected with the quick-change structure lower sheet 702, and the mechanical hand is connected with the quick-change structure upper sheet 701. Finally, the quick-change structure upper sheet 701 and the quick-change structure lower sheet 702 are installed to complete the installation of the corresponding mechanical hand, and vice versa.

[0110] Preferably, the hip joint unit 4 of the embodiment comprises a hip joint overall framework 401;

[0111] The trunk unit 101 is movably connected with the hip joint overall framework 401 through the waist joint module 404, and the trunk unit 101 realizes 360° rotation through the waist joint module 404;

[0112] The hip joint overall framework 401 is provided with the first hip joint module 402 on the front side, and the hip joint overall framework 401 is provided with the second hip joint module 403 on both sides symmetrically;

[0113] The leg unit is movably connected with the hip joint unit 4 through the second hip joint module 403. The two second hip joint modules 403 can realize 180° horizontal rotation through the first hip joint module 402 as the center.

[0114] Preferably, the leg unit of the embodiment comprises:

[0115] The thigh 501 and the shank 502;

[0116] The leg unit connecting piece 504 is arranged at the end of the thigh 501, and the leg unit connecting piece 504 is movably connected through the thigh joint module 505;

[0117] The knee joint module 506 is connected between the thigh 501 and the shank 502, and the shank 502 is movably connected with the thigh 501 through the knee joint module 506;

[0118] The lower end of the shank 502 is movably connected with the foot 503 through the ankle joint module 507.

[0119] More preferably, the leg unit rear side of the embodiment is provided with a leg auxiliary push rod;

[0120] The leg auxiliary push rod is divided into a first leg auxiliary push rod 508, a second leg auxiliary push rod 509 and a third leg auxiliary push rod 510;

[0121] One end of the second leg auxiliary push rod 509 is connected to the rear side of the thigh 501, one end of the third leg auxiliary push rod 510 is connected to the rear side of the calf 502, and the second leg auxiliary push rod 509 and the third leg auxiliary push rod 510 are connected through a pin shaft;

[0122] One end of the first leg auxiliary push rod 508 is connected to the rear side of the thigh 501, and the other end of the first leg auxiliary push rod 508 is connected to the connection between the second leg auxiliary push rod 509 and the third leg auxiliary push rod 510.

[0123] The internal structure of the calf 502 is designed as a whole hollow structure to form a weight reduction structure.

[0124] The special working condition motion analysis method of the biped robot with quick-change hands disclosed in the application is used for motion analysis of the robot body under large disturbance working conditions.

[0125] The motion cycle of the robot is set, the periodic variation characteristics of the support ankle joint torque are analyzed, and the ankle joint torque curve during the periodic dynamic walking is obtained.

[0126] The analysis of the ankle joint torque curve shows that:

[0127] When the robot center of mass does not cross the support ankle joint, the ankle joint torque is negative, and is approximately in a sinusoidal curve relationship with the center of mass position.

[0128] When the robot center of mass crosses the ankle joint, the law of the ankle joint torque is approximately described by a sinusoidal curve.

[0129] The leg is simplified as an L IPM model, the robot center of mass is a mass point, and the position of the support ankle joint from the center of mass is a telescopic massless rod.

[0130] The L IPM model is used to predict the robot center of mass velocity and position in combination with the ankle joint torque curve, and the moment when the posture is about to be unbalanced is detected on the basis of the capture point theory.

[0131]

[0132]

[0133] In the formula, the foot landing point position is x, the vertical height of the center of mass is z0, the linear driving force of the massless rod is f, the angle between the massless rod and the vertical direction is θ, the mass of the mass point is m, the gravitational acceleration is g, and the position of the support ankle joint is x.ankle , ankle torque is τ ankle ;

[0134] By analyzing the robot motion condition and the height change of the center of mass in the walking process, it can be considered that

[0135]

[0136] The new landing point position is:

[0137] In the formula: T0 is a sampling time interval, and k is a time sequence number.

[0138] By analyzing the landing point model, setting the position and speed of the center of mass relative to the supporting foot at a certain moment in the robot joint simulation platform, predicting the position and speed of the center of mass at the next moment, the motion coupling deviation between the forward walking and the lateral swing of the biped system after being disturbed, using the foot positioning force control strategy, through the estimation of the walking gait, using the control of the swing leg landing position and timing, the walking stability of the biped system under the external large disturbance is realized.

[0139] In the above technical scheme, the biped robot with quick-change hand and the motion analysis method under special working conditions provided by the application have the following beneficial effects:

[0140] 1. Each movable joint motion module design: compared with the prior art, the motion module design scheme is adopted on the movable joint of the robot; the integration and modularization of the robot are greatly improved.

[0141] 2. Bionic design of knee joint connecting rod: compared with the prior art, the connecting rod mechanism is adopted in the knee joint design of the robot. By moving the hinge point outward, the motion dead point of the knee joint is offset, and the joint module can apply force more smoothly. At the same time, the complexity of the joint connection can also be reduced.

[0142] 3. King lotus weight reduction structure: compared with the prior art, the distribution of the king lotus vein on the blade is simulated in the weight reduction structure of the application; this design makes the structure light, high-strength and high-rigid, solves the problem of low power-to-weight ratio caused by large volume and heavy weight of the existing biped robot.

[0143] 4. Multifunctional manipulator and quick-change structure: compared with the prior art, the application not only designs various functional manipulators, but also designs a quick-change structure. This design can provide more choices for the use scene and use condition of the robot.

[0144] 5. Special working condition motion analysis: compared with the prior art, the application provides a method for calculating anti-interference and obstacle avoidance data of the robot in the face of various conditions through motion analysis under two conditions, ensures the stability of the robot motion under rugged road surface and dynamic load, and improves the stability of the robot motion in the non-structural dynamic environment by introducing environmental, load and other interference terms for dynamic model correction according to the structural characteristics of the robot.

[0145] The above only describes certain exemplary embodiments of the application by way of illustration, and it is needless to say that the described embodiments can be modified in various ways without departing from the spirit and scope of the application for those skilled in the art. Therefore, the above drawings and descriptions are illustrative in nature and should not be understood as limiting the scope of protection of the claims of the application.

Claims

1. A bipedal robot with rapid hand-changing capability, characterized in that, This bipedal robot includes: Trunk unit (1); Arm units connected to and integrated on both sides of the torso unit (1); A hip joint unit (4) connected to and integrated into the lower end of the torso unit (1); and Leg units connected to and integrated on both sides of the hip joint unit (4); The arm unit is equipped with a robotic arm via a quick-change structure (7), and the robotic arm is divided into a clamping robotic arm (8), a scissor robotic arm (9), and a screwing robotic arm (10); The leg unit includes: Thigh (501) and calf (502); The thigh (501) end is provided with a leg unit connector (504), and the leg unit connector (504) is movably connected through the thigh joint module (505); A knee joint module (506) is connected between the thigh (501) and the lower leg (502), and the lower leg (502) is movably connected to the thigh (501) through the knee joint module (506); The lower end of the lower leg (502) is movably connected to the foot (503) via the ankle joint module (507); This bipedal robot with rapid hand-changing capability includes a motion analysis method for handling conditions with large body disturbances. By setting the robot's motion cycle and analyzing the periodic variation characteristics of the torque of the supporting ankle joint, the ankle joint torque curve during periodic dynamic walking is obtained. Analysis of the ankle joint torque curve yielded the following results: When the robot's center of mass has not passed the supporting ankle joint, the ankle joint torque is negative and its relationship with the center of mass position is approximately sinusoidal. When the robot's center of mass passes the ankle joint, the law of ankle joint torque is approximately described by a sine curve; The legs are simplified to a LIPM model, the robot's center of mass is the mass point, and the position of the supporting ankle joint from the center of mass is the retractable massless rod. By combining the ankle joint torque curve with the LIPM model, the robot's center of mass velocity and position are predicted. Based on the capture point theory, the moment when the posture is about to become unbalanced is detected. In the formula: the landing point is x, the vertical height of the center of mass is z0, the linear driving force without the mass bar is f, the angle between the mass bar and the vertical direction is θ, the mass of the mass point is m, the gravitational acceleration is g, and the position of the supporting ankle joint is x. ankle The ankle joint torque is τ ankle ; Analyzing the robot's motion conditions and the change in the height of its center of mass during walking, it can be considered that... The new location is: In the formula: T0 is the sampling time interval, and k is the time series number.

2. The bipedal robot with fast hand-changing capability according to claim 1, characterized in that, The torso unit (1) includes: The torso body (101) has a heat dissipation grid (103) on its upper part; A dual-hole vision sensor (102) is disposed on the upper end of the torso body (101); The front side of the main body (101) has symmetrically arranged lighting spotlights (104); The lower part of the torso body (101) forms the main structure through heat dissipation and weight reduction plates (105), and the torso body (101) integrates an anti-interference control panel (106).

3. The bipedal robot with fast hand-changing capability according to claim 2, characterized in that, The arm unit is movably connected to the torso unit (1) via a shoulder joint module (205), and the arm unit includes: Upper arm (201) and forearm (202); The upper arm (201) and the shoulder joint module (205) have a shoulder buckle (204) at one end, and the shoulder buckle (204) of the upper arm (201) is movably connected to the torso unit (1) through the shoulder joint module (205); An elbow joint module (206) is provided between the upper arm (201) and the forearm (202), and the forearm (202) is movably connected to the upper arm (201) through the elbow joint module (206); The end of the forearm (202) is provided with a robotic arm base (203), which is adapted to the quick-change structure (7) to install different robotic arms; The upper arm (201) moves in a circular motion relative to the torso unit (1) with the shoulder joint module (205) as the center and the length of the upper arm (201) as the radius; The forearm (202) moves in a circular motion relative to the upper arm (201) with the elbow joint module (206) as the center and the length of the forearm (202) as the radius.

4. The bipedal robot with fast hand-changing capability according to claim 3, characterized in that, The quick-change structure (7) includes: Quick-change upper sheet (701) and quick-change lower sheet (702); The robotic arm base (203) is connected to the quick-change structure lower piece (702), and the quick-change structure upper piece (701) and quick-change structure lower piece (702) are fixed by pins and pin holes; The robotic arm is connected to the upper plate (701) of the quick-change structure.

5. The bipedal robot with fast hand-changing capability according to claim 2, characterized in that, The hip joint unit (4) includes an integral hip joint skeleton (401); The trunk unit (1) is movably connected to the hip joint skeleton (401) through the waist joint module (404), and the trunk unit (1) can rotate 360° through the waist joint module (404); A first hip joint module (402) is installed on the front side of the overall hip joint frame (401), and a second hip joint module (403) is symmetrically installed on both sides of the overall hip joint frame (401). The leg unit is movably connected to the hip joint unit (4) via the second hip joint module (403); the two second hip joint modules (403) can achieve 180° horizontal rotation with the first hip joint module (402) as the center.

6. The bipedal robot with fast hand-changing capability according to claim 5, characterized in that, A leg auxiliary push rod is provided on the rear side of the leg unit; The leg auxiliary push rod is divided into a first leg auxiliary push rod (508), a second leg auxiliary push rod (509) and a third leg auxiliary push rod (510); One end of the second leg auxiliary push rod (509) is connected to the back of the thigh (501), and one end of the third leg auxiliary push rod (510) is connected to the back of the calf (502). The second leg auxiliary push rod (509) and the third leg auxiliary push rod (510) are connected by a pin. One end of the first leg auxiliary push rod (508) is connected to the back of the thigh (501), and the other end of the first leg auxiliary push rod (508) is connected to the connection between the second leg auxiliary push rod (509) and the third leg auxiliary push rod (510).

7. The bipedal robot with fast hand-changing capability according to claim 5, characterized in that, The hollow design of the internal structure of the lower leg (502) is a weight-reducing structure.

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