Five-degree-of-freedom leg for amphibious humanoid robot

Abstract

The invention relates to the technical field of foot type robots, in particular to a five-degree-of-freedom leg for an amphibious humanoid robot. The rehabilitation training device comprises a waist assembly, hip assemblies are symmetrically arranged on the left side and the right side of the bottom of the waist assembly respectively, thigh assemblies are arranged on the two hip assemblies, shank assemblies matched with the thigh assemblies are arranged on the thigh assemblies, and foot assemblies are arranged on the shank assemblies. The humanoid robot is compact and reasonable in structural design, a five-degree-of-freedom driving mode is adopted, the problem of convenient underwater movement of the humanoid robot is effectively solved, the angle of the humanoid robot can be adjusted at will underwater so that the upper body of the humanoid robot can execute commands conveniently, the humanoid robot is suitable for amphibious working scenes, the universality of the humanoid robot is improved, and the humanoid robot is suitable for popularization and application. The problems in the prior art are solved.

Description

Technical Field

[0001] The invention relates to the technical field of foot-type robots, and in particular to a five-degree-of-freedom leg for an amphibious humanoid robot. Background Art

[0002] An underwater robot is a tool that combines seabed search, investigation, identification, and salvage operations. At present, most robots used underwater are multi-legged robots (mostly hexapod robots). Multi-legged robots have strong terrain adaptability and anti-disturbance capabilities, and perform well in narrow space operations on the seabed and near the side walls. Compared with multi-legged robots, humanoid robots rely on the excellent configuration of torso and limbs. While the upper body performs other actions at the same time, they can complete more complex underwater operations and are suitable for different complex amphibious scenes. However, how humanoid robots can move conveniently has become an important factor limiting their underwater operations. Therefore, the legs of the robot are the core issue in unlocking the work of amphibious humanoid robots. Summary of the invention

[0003] In order to make up for the shortcomings of the prior art, the present invention provides a five-degree-of-freedom leg for an amphibious humanoid robot. It has a compact and reasonable structural design and adopts a five-degree-of-freedom driving method, which effectively solves the problem of convenient movement of the humanoid robot underwater. The humanoid robot can adjust its angle arbitrarily underwater to facilitate the execution of commands with its upper body. It is also suitable for amphibious working scenarios, improves its versatility, and solves the problems existing in the prior art.

[0004] The technical solution adopted by the present invention to solve the above technical problems is:

[0005] A five-degree-of-freedom leg for an amphibious humanoid robot comprises a waist component, hip components are symmetrically arranged on the left and right sides of the bottom of the waist component, thigh components are arranged on the two hip components, calf components matching with the thigh components are arranged on the two thigh components, and foot components are arranged on the two calf components:

[0006] The waist assembly includes a trapezoidal frame, a connection seat connected to the robot torso is provided in the center of the top plate of the trapezoidal frame, clamping holes are symmetrically provided in the middle of the front and rear side walls of the trapezoidal frame, waist motors are symmetrically provided on the left and right sides of the bottom plate of the trapezoidal frame, and two waist motors are respectively fixedly connected to the bottom plate of the trapezoidal frame;

[0007] The hip assembly includes a horizontal rotating plate connected to the output end of the waist motor, hip splints connected to the horizontal rotating plate are symmetrically arranged on the front and rear sides of the horizontal rotating plate, a hip flip frame is arranged between the two hip splints, a hip motor is arranged on the rear hip splint, the output end of the hip motor passes through the hip splint on this side and is fixedly connected to the hip flip frame, and a hip clamping shaft movably clamped on the front hip splint is arranged on the front side of the hip flip frame;

[0008] The thigh assembly includes a thigh motor fixedly connected to the hip turning frame, the output end of the thigh motor is connected to a thigh bracket vertically arranged outside the hip assembly, the thigh bracket includes two thigh fixing plates arranged in parallel, the upper parts of the two thigh fixing plates are connected by an arc-shaped connecting plate, and the lower parts are connected by a thigh fixing shaft;

[0009] The calf assembly includes a calf motor arranged on the upper outer wall of the thigh bracket, the output end of the calf motor passes through the outer thigh fixing plate and is connected to the driving gear arranged in the thigh bracket, a calf bracket is movably hinged on the thigh fixing shaft of the thigh bracket, the calf bracket includes two calf fixing plates arranged in parallel, the upper parts of the two calf fixing plates are movably hinged on the thigh fixing shaft, the middle parts are connected by the calf connecting plate, and the lower parts are connected by the calf fixing shaft, a transmission gear is movably sleeved on the thigh fixing shaft between the two calf fixing plates, the left and right sides of the transmission gear are respectively connected to the calf fixing plates on the corresponding side, and a transmission belt is wound around the driving gear and the transmission gear;

[0010] The foot component includes a foot base plate, a foot support plate movably hinged on the calf fixed axis is provided on the surface of the foot base plate, a foot motor is provided in the middle of the calf support, the output end of the foot motor is connected to the driving rod, a foot support column is provided on the side wall of the foot support plate facing the driving rod, the upper end of a linkage rod is movably hinged on the outer end of the driving rod, and the lower end of the linkage rod is movably hinged on the foot support column.

[0011] Optionally, support frames are symmetrically provided on the left and right side walls of the trapezoidal frame.

[0012] Optionally, a hip bearing movably sleeved on the hip clamping shaft is provided on the hip splint corresponding to one side of the hip clamping shaft.

[0013] Optionally, a limiting circular plate clamped in the hip turning frame is provided on the left and right sides of the thigh motor respectively.

[0014] Optionally, the connecting seat includes a connecting sleeve, the connecting sleeve is connected and arranged on the top plate of the trapezoidal frame, and a flange is provided on the connecting sleeve.

[0015] Optionally, a tensioning column is provided between the two thigh fixing plates, and sliding grooves are respectively provided in the horizontal direction on the two thigh fixing plates corresponding to the position of the tensioning column. The two axial ends of the tensioning column are respectively movably engaged in the sliding grooves on the corresponding side, and the transmission belt is wound around the tensioning column.

[0016] Optionally, a sealing mechanism is provided on the waist motor, hip motor, thigh motor, calf motor and foot motor, and the sealing mechanism is sleeved on a sealing sleeve on the outside of the waist motor, hip motor, thigh motor, calf motor or foot motor, an outer end cover is provided at one end of the sealing sleeve, a threading screw is provided on the outer end cover, and an inner end cover is provided at the other end of the sealing sleeve, and the output end of the waist motor, hip motor, thigh motor, calf motor or foot motor is movably passed through the inner end cover and connected to the connecting flange.

[0017] The present invention adopts the above technical solution, which has the following advantages: the structural design is compact and reasonable, and a five-degree-of-freedom driving method is adopted, which effectively solves the problem of convenient movement of the humanoid robot underwater. The humanoid robot can adjust its angle arbitrarily underwater to facilitate the execution of commands by its upper body, and is suitable for amphibious working scenarios, thereby improving its versatility; the driving method adopts a sealed setting, which greatly solves the humanoid robot's requirements for water tightness, thereby improving the service life of the humanoid robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0019] Figure 2 is a schematic diagram of the three-dimensional structure of the waist component;

[0020] Figure 3 is a schematic diagram of the three-dimensional structure of the hip component;

[0021] Figure 4 It is a schematic diagram of the three-dimensional structure of the thigh component;

[0022] Figure 5 It is a three-dimensional structural schematic diagram of the calf component;

[0023] Figure 6 is a schematic diagram of the three-dimensional structure of the foot component;

[0024] Figure 7 is a schematic diagram of the three-dimensional structure of the sealing mechanism;

[0025] In the figure, 1. waist component;

[0026] 101, trapezoidal frame; 1011, top plate; 1012, bottom plate; 102, connecting seat; 1021, connecting sleeve; 1022, flange; 103, clamping hole; 104, waist motor;

[0027] 2. Hip component;

[0028] 201, horizontal rotating plate; 202, hip splint; 203, hip turning frame; 204, hip motor; 205, hip clamping shaft;

[0029] 3. Thigh component;

[0030] 301, thigh motor; 302, thigh bracket; 3021, thigh fixing plate; 3022, arc-shaped connecting plate; 3023, thigh fixing shaft;

[0031] 4. Calf assembly;

[0032] 401, calf motor; 402, driving gear; 403, calf bracket; 4031, calf fixing plate; 4032, calf connecting plate; 4033, calf fixing shaft; 404, transmission gear; 405, transmission belt;

[0033] 5. Foot components;

[0034] 501, foot bottom plate; 502, foot support plate; 503, foot motor; 504, drive rod; 505, foot support column; 506, linkage rod;

[0035] 6. Support frame; 7. Hip bearing; 8. Limiting circular plate; 9. Tensioning column; 10. Slide groove; 11. Sealing sleeve; 12. Outer end cover; 13. Threading screw; 14. Inner end cover; 15. Connecting flange. DETAILED DESCRIPTION

[0036] In order to clearly illustrate the technical features of the present solution, the present invention is described in detail below through specific implementation methods and in conjunction with the accompanying drawings. In the following description, many specific details are described to facilitate a full understanding of the present application. However, the present application can also be implemented in other ways different from those described herein. Therefore, the protection scope of the present application is not limited by the specific embodiments disclosed below.

[0037] In addition, in the description of the present application, it should be understood that the terms "center", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first" and "second" are used only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0038] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, they can be fixedly connected, detachably connected, or integrated. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to the specific circumstances. In the description of this specification, the descriptions with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" and the like mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0039] like Figure 1-7 As shown, in this embodiment, a five-degree-of-freedom leg for an amphibious humanoid robot includes a waist component 1, hip components 2 are symmetrically arranged on the left and right sides of the bottom of the waist component 1, thigh components 3 are arranged on the two hip components 2, calf components 4 cooperating therewith are arranged on the two thigh components 3, and foot components 5 are arranged on the two calf components 4:

[0040] The waist assembly 1 includes a trapezoidal frame 101, a connecting seat 102 connected to the robot torso is provided in the center of the top plate 1011 of the trapezoidal frame 101, clamping holes 103 are symmetrically provided in the middle of the front and rear side walls of the trapezoidal frame 101, and waist motors 104 are symmetrically provided on the left and right sides of the bottom plate 1012 of the trapezoidal frame 101, and the two waist motors 104 are respectively fixedly connected to the bottom plate 1012 of the trapezoidal frame 101;

[0041] The hip assembly 2 comprises a horizontal rotating plate 201 connected to the output end of the waist motor 104, hip splints 202 connected thereto are symmetrically arranged on the front and rear sides of the horizontal rotating plate 201, a hip turning frame 203 is arranged between the two hip splints 202, a hip motor 204 is arranged on the rear hip splint 202, the output end of the hip motor 204 passes through the hip splint 202 on this side and is fixedly connected to the hip turning frame 203, and a hip clamping shaft 205 movably clamped on the front hip splint 202 is arranged on the front side of the hip turning frame 203;

[0042] The thigh assembly 3 includes a thigh motor 301 fixedly connected to the hip turning frame 203, the output end of the thigh motor 301 is connected to a thigh support 302 vertically arranged outside the hip assembly 2, and the thigh support 302 includes two thigh fixing plates 3021 arranged in parallel, the upper parts of the two thigh fixing plates 3021 are connected by an arc-shaped connecting plate 3022, and the lower parts are connected by a thigh fixing shaft 3023;

[0043] The calf component 4 includes a calf motor 401 arranged on the upper outer wall of the thigh bracket 302, the output end of the calf motor 401 passes through the outer thigh fixing plate 3021 and is connected to the driving gear 402 arranged in the thigh bracket 302, a calf bracket 403 is movably hinged on the thigh fixing shaft 3023 of the thigh bracket 302, the calf bracket 403 includes two parallel calf fixing plates 4031, the upper parts of the two calf fixing plates 4031 are movably hinged on the thigh fixing shaft 3023, the middle parts are connected through the calf connecting plate 4032, and the lower parts are connected through the calf fixing shaft 4033, a transmission gear 404 is movably sleeved on the thigh fixing shaft 3023 between the two calf fixing plates 4031, the left and right sides of the transmission gear 404 are respectively connected to the calf fixing plate 4031 on the corresponding side, and a transmission belt 405 is wound around the driving gear 402 and the transmission gear 404;

[0044] The foot component 5 includes a foot base plate 501, on the surface of the foot base plate 501 is provided a foot support plate 502 movably hinged on the calf fixed axis 4033, a foot motor 503 is provided in the middle of the calf support 403, the output end of the foot motor 503 is connected to the driving rod 504, a foot support column 505 is provided on the side wall of the foot support plate 502 facing the driving rod 504, a linkage rod 506 has an upper end movably hinged to the outer end of the driving rod 504, and a lower end thereof is movably hinged to the foot support column 505.

[0045] Optionally, support frames 6 are symmetrically arranged on the left and right side walls of the trapezoidal frame 101. The support frames 6 are mainly used to improve the stability when connected to the trunk.

[0046] Optionally, a hip bearing 7 movably sleeved on the hip clamping shaft 205 is provided on the hip splint 202 corresponding to one side of the hip clamping shaft 205. The hip bearing 7 can improve the smoothness of the rotation of the hip clamping shaft 205.

[0047] Optionally, a limiting circular plate 8 clamped in the hip turning frame 203 is respectively provided on the left and right sides of the thigh motor 301. The thigh motor 301 can be more firmly fixed in the hip turning frame 203 through two limiting circular plates 8 to prevent dislocation caused by shaking.

[0048] Optionally, the connection seat 102 includes a connection sleeve 1021 , which is communicatively arranged on the top plate 1011 of the trapezoidal frame 101 , and a flange 1022 is arranged on the connection sleeve 1021 .

[0049] Optionally, a tensioning column 9 is provided between the two thigh fixing plates 3021, and slide grooves 10 are respectively provided in the horizontal direction on the two thigh fixing plates 3021 corresponding to the positions of the tensioning column 9, and the two axial ends of the tensioning column 9 are respectively movably engaged in the slide grooves 10 on the corresponding side, and the transmission belt 405 is wound around the tensioning column 9. The tensioning column 9 can play a role in tightening the transmission belt 405, making the transmission effect of the transmission belt 405 more significant.

[0050] Optionally, a sealing mechanism is provided on the waist motor 104, the hip motor 204, the thigh motor 301, the calf motor 401 and the foot motor 503, and the sealing mechanism is sleeved on the sealing sleeve 11 outside the waist motor 104, the hip motor 204, the thigh motor 301, the calf motor 401 or the foot motor 503, an outer end cover 12 is provided at one end of the sealing sleeve 11, a threading screw 13 is provided on the outer end cover 12, and an inner end cover 14 is provided at the other end of the sealing sleeve 11, and the output end of the waist motor 104, the hip motor 204, the thigh motor 301, the calf motor 401 or the foot motor 503 is movably passed through the inner end cover 14 and connected to the connecting flange 15. The waist motor 104, the hip motor 204, the thigh motor 301, the calf motor 401 and the foot motor 503 adopt a sealed structure, which can reduce the damage to them by seawater.

[0051] Before using the device, it is necessary to connect the upper body (torso) of the robot, connect the torso to the connection seat 102 of the waist assembly 1, and then complete the assembly of the humanoid robot. Then, the cylindrical sealed cabin is inserted into the clamping hole 103 of the trapezoidal frame 101. When in use, there are five dimensions of joint adjustment. First, the adjustment of the waist component 1, the two waist motors 104 respectively drive the corresponding horizontal rotating plates 201 to rotate horizontally, so as to adjust the horizontal angles of the hip component 2, thigh component 3, calf component 4 and foot component 5 on the corresponding side; second, the adjustment of the hip component 2, the hip motor 204 fixed on the hip splint 202 drives the hip flip frame 203 to rotate along the direction of the hip clamping axis 205 in the two hip splints 202, so as to adjust the left and right tilt angles of the thigh component 3, calf component 4 and foot component 5 on this side; third, the adjustment of the thigh component 3, the thigh motor 301 on this side drives the thigh bracket 302 to rotate, so as to adjust the front and rear tilt angles of the calf component 4 and foot component 5 on this side; fourth , adjustment of the calf component 4, the calf motor 401 on this side drives the driving gear 402 to rotate, and then drives the driving gear 404 to rotate through the transmission belt 405, and the transmission gear 404 drives the calf support 403 to rotate along the direction of the thigh fixed axis 3023, thereby adjusting the inclination angle between the calf component 4 and the foot component 5 on this side and the thigh component 3; fifth, adjustment of the foot component 5, the foot motor 503 drives the driving rod 504 to rotate, thereby pulling the foot support column 505 on this side to move through the linkage rod 506, and with the movement of the foot support column 505, the foot base plate 501 is rotated along the direction of the calf fixed axis 4033, thereby adjusting the inclination angle between the foot component 5 on this side and the calf component 4. It has a compact and reasonable structural design and adopts a five-degree-of-freedom drive method, which effectively solves the problem of convenient movement of humanoid robots underwater. It allows the humanoid robot to adjust its angle arbitrarily underwater to facilitate the execution of commands with its upper body. It is also suitable for amphibious work scenarios, improving its versatility and solving problems existing in the prior art.

[0052] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that the technical solutions described in the above embodiments can still be modified, or some or all of the technical features therein can be replaced by equivalents. These modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be included in the scope of the claims and description of the present invention. For those skilled in the art, any replacement, improvement or change made to the implementation mode of the present invention falls within the protection scope of the present invention.

[0053] The matters not described in detail in the present invention are all known technologies to those skilled in the art.

Claims

1. A five-degree-of-freedom leg for an amphibious humanoid robot, characterized in that: It includes a waist component, hip components are symmetrically arranged on the left and right sides of the bottom of the waist component, thigh components are arranged on the two hip components, calf components are arranged on the two thigh components to match them, and foot components are arranged on the two calf components: The waist assembly includes a trapezoidal frame, a connection seat connected to the robot torso is provided in the center of the top plate of the trapezoidal frame, clamping holes are symmetrically provided in the middle of the front and rear side walls of the trapezoidal frame, waist motors are symmetrically provided on the left and right sides of the bottom plate of the trapezoidal frame, and two waist motors are respectively fixedly connected to the bottom plate of the trapezoidal frame; The hip assembly includes a horizontal rotating plate connected to the output end of the waist motor, hip splints connected to the horizontal rotating plate are symmetrically arranged on the front and rear sides of the horizontal rotating plate, a hip flip frame is arranged between the two hip splints, a hip motor is arranged on the rear hip splint, the output end of the hip motor passes through the hip splint on this side and is fixedly connected to the hip flip frame, and a hip clamping shaft movably clamped on the front hip splint is arranged on the front side of the hip flip frame; The thigh assembly includes a thigh motor fixedly connected to the hip turning frame, the output end of the thigh motor is connected to a thigh bracket vertically arranged outside the hip assembly, the thigh bracket includes two thigh fixing plates arranged in parallel, the upper parts of the two thigh fixing plates are connected by an arc-shaped connecting plate, and the lower parts are connected by a thigh fixing shaft; The calf assembly includes a calf motor arranged on the upper outer wall of the thigh bracket, the output end of the calf motor passes through the outer thigh fixing plate and is connected to the driving gear arranged in the thigh bracket, a calf bracket is movably hinged on the thigh fixing shaft of the thigh bracket, the calf bracket includes two calf fixing plates arranged in parallel, the upper parts of the two calf fixing plates are movably hinged on the thigh fixing shaft, the middle parts are connected by the calf connecting plate, and the lower parts are connected by the calf fixing shaft, a transmission gear is movably sleeved on the thigh fixing shaft between the two calf fixing plates, the left and right sides of the transmission gear are respectively connected to the calf fixing plates on the corresponding side, and a transmission belt is wound around the driving gear and the transmission gear; The foot component includes a foot base plate, a foot support plate movably hinged on the calf fixed axis is provided on the surface of the foot base plate, a foot motor is provided in the middle of the calf support, the output end of the foot motor is connected to the driving rod, a foot support column is provided on the side wall of the foot support plate facing the driving rod, the upper end of a linkage rod is movably hinged on the outer end of the driving rod, and the lower end of the linkage rod is movably hinged on the foot support column.

2. The five-degree-of-freedom leg for an amphibious humanoid robot according to claim 1, characterized in that: Support frames are symmetrically arranged on the left and right side walls of the trapezoidal frame.

3. The five-degree-of-freedom leg for an amphibious humanoid robot according to claim 1, characterized in that: A hip bearing movably sleeved on the hip clamping shaft is arranged on the hip splint corresponding to one side of the hip clamping shaft.

4. The five-degree-of-freedom leg for an amphibious humanoid robot according to claim 1, characterized in that: The left and right sides of the thigh motor are respectively provided with limiting circular plates which are clamped in the hip turning frame.

5. The five-degree-of-freedom leg for an amphibious humanoid robot according to claim 1, characterized in that: The connecting seat comprises a connecting sleeve, which is communicatively arranged on the top plate of the trapezoidal frame, and a flange is arranged on the connecting sleeve.

6. The five-degree-of-freedom leg for an amphibious humanoid robot according to claim 1, characterized in that: A tensioning column is arranged between the two thigh fixing plates, and sliding grooves are arranged horizontally on the two thigh fixing plates corresponding to the position of the tensioning column. The two axial ends of the tensioning column are movably connected in the sliding grooves on the corresponding sides, and the transmission belt is wound around the tensioning column.

7. The five-degree-of-freedom leg for an amphibious humanoid robot according to claim 1, characterized in that: A sealing mechanism is provided on the waist motor, hip motor, thigh motor, calf motor and foot motor. The sealing mechanism is sleeved on a sealing sleeve outside the waist motor, hip motor, thigh motor, calf motor or foot motor. An outer end cover is provided at one end of the sealing sleeve, a threading screw is provided on the outer end cover, and an inner end cover is provided at the other end of the sealing sleeve. The output end of the waist motor, hip motor, thigh motor, calf motor or foot motor movably passes through the inner end cover and is connected to the connecting flange.

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