Humanoid robot leg structure with switchable wheels and feet

Abstract

The invention discloses a wheel-foot switchable humanoid robot leg configuration. The humanoid robot leg configuration comprises a left side leg configuration and a right side leg configuration which are symmetrical and have the same structure; wherein the left leg structure comprises a right thigh assembly, a robot right knee hub motor module, a right shank assembly, a right shank driven wheel module and a right foot assembly from top to bottom; the right leg structure comprises a left thigh assembly, a left knee hub motor module, a left shank assembly, a left shank driven wheel module and a left foot assembly from top to bottom. According to the design that the wheel state and the foot state can be switched, the maneuverability of the humanoid robot on a long straight road or a slow slope or other specific road conditions is improved.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology, and in particular relates to a leg configuration for a humanoid robot with switchable wheel and leg. Background Technology

[0002] In recent years, with the improvement of related industrial chains and technological breakthroughs such as reducers and torque sensors, the humanoid robot industry has developed rapidly. Despite the current technical bottlenecks such as energy efficiency and adaptability to complex environments, humanoid robots are still regarded as the next generation of general-purpose intelligent carriers that can reshape social production and people's lifestyles.

[0003] Currently, humanoid robots mostly adopt a six-degree-of-freedom configuration for their legs (three degrees of freedom for the hip joint, one degree of freedom for the knee joint, and two degrees of freedom for the ankle joint). This configuration can achieve a gait similar to that of human legs and has good adaptability to various terrains. However, in specific road conditions such as long straight roads or gentle slopes, the gait mobility of alternating legs is still insufficient. At the same time, humanoid robots with a height close to that of an average person have a high center of gravity, and increasing stride length and stride frequency to improve speed also introduces instability factors to the robot's control.

[0004] Therefore, ensuring the stability of humanoid robots while improving their mobility is a problem that needs to be solved. Summary of the Invention

[0005] The purpose of this invention is to solve the problem in the background art that robots cannot simultaneously achieve mobility and motion stability, and to propose a leg configuration for a humanoid robot with switchable wheel and leg.

[0006] To achieve the objective of this invention, this invention provides a humanoid robot leg configuration with switchable wheel and foot. The humanoid robot leg configuration includes symmetrical left and right leg configurations with identical structures. The left leg configuration includes, from top to bottom, a right thigh assembly, a robot right knee hub motor module, a right lower leg assembly, a right lower leg passive wheel module, and a right foot assembly. The right leg configuration includes, from top to bottom, a left thigh assembly, a left knee hub motor module, a left lower leg assembly, a left lower leg passive wheel module, and a left foot assembly.

[0007] The right knee active wheel module includes a right knee hub motor hub and tire, a right knee hub motor and reducer, and a right knee hub motor lower leg adapter. The right knee hub motor hub and tire are located on the outer side; the right knee hub motor and reducer, and the right knee hub motor lower leg adapter are located on the inner side of the right knee hub motor hub and tire. The right knee active wheel module connects to the right lower leg via the right knee hub motor lower leg adapter. The connection method can be bolts, pins, etc. (but is not limited to these methods) depending on the requirements.

[0008] The right lower leg passive wheel module includes the right lower leg passive wheel hub and tire, and the right lower leg passive wheel adapter. The connection method can be selected according to requirements, such as bolts, pins, welding, etc. (but is not limited to these methods). The right lower leg passive wheel adapter is connected to the right lower leg assembly by a right-hand screw, and the right-hand screw passes through the bearing and connects to the right lower leg passive wheel module.

[0009] The structure of the left leg is a mirror image of the right leg.

[0010] The wheel-leg switchable humanoid robot's leg configuration includes two legs, left and right. Without considering the active wheel modules (right knee hub motor module, left knee hub motor module) and passive wheel modules (left lower leg passive wheel module, left lower leg passive wheel module), the leg configuration is consistent with a common six-DOF single leg. However, by introducing the right knee hub motor module, right lower leg passive wheel module, left knee hub motor module, and left lower leg passive wheel module, the robot can switch its movement posture by controlling leg rotation. When walking on specific terrains such as long straight roads or gentle slopes, it moves forward in wheeled posture. Figure 3 The state shown; when walking on complex road conditions, one can move forward using a general foot posture, such as... Figure 1 The state shown.

[0011] The wheel-leg switchable humanoid robot's leg configuration utilizes motors and hydraulics to power leg rotation during posture transitions. When switching from gait to wheeled mode, external power pushes the right and left thigh components to bend backward, simultaneously driving the right and left lower leg components to bend forward until the tires of the right knee hub motor module, right lower leg passive wheel module, left knee hub motor module, and left lower leg passive wheel module touch the ground, thus achieving a gait switch. After the posture change, taking the right leg as an example, the right knee hub motor and reducer drive the right knee hub motor hub and tire to rotate, causing the humanoid robot to move forward or backward. When the right and left knee hub motor modules rotate at different speeds, basic movements such as turning are achieved. Because the robot's legs bend, its center of gravity is lowered, and the support of two active wheels and two passive wheels also makes the movement more stable.

[0012] It should be noted that since the structures of the left and right legs are the same, please refer to the structure of the right leg for the specific structure of the left leg, and also refer to the structure of the right leg for the specific process of morphological change. It will not be described in detail here.

[0013] Compared with the prior art, the significant progress of the present invention is as follows: 1. Based on the general six-degree-of-freedom single leg, a hub motor module is introduced at the knee of the single leg and a passive wheel is introduced at the lower leg. The transformation of the entire leg configuration can be completed by adding the modules, and the structure has strong adaptability.

[0014] 2. The design that allows switching between wheeled and legged modes enhances the humanoid robot's mobility on specific road conditions such as long straight roads or gentle slopes;

[0015] 3. After the posture change, the robot's center of gravity is lowered and the number of support points is increased, which improves the robot's mobility in specific road conditions while ensuring the stability of its movement.

[0016] To more clearly illustrate the functional characteristics and structural parameters of the present invention, further explanation is provided below in conjunction with the accompanying drawings and specific embodiments. Attached Figure Description

[0017] Figure 1 This is an overall diagram of the leg configuration of a wheeled and leg-swappable humanoid robot, and the diagram shows the legged standing posture.

[0018] Figure 2 This is a schematic diagram of the leg configuration of a wheel-leg switchable humanoid robot, showing the installation of the active and passive wheels on the right leg (taking the right leg as an example).

[0019] Figure 3 This is an active wheel hub mounting method for a humanoid robot with switchable wheel and leg configuration (taking the right leg as an example).

[0020] Figure 4 One type is a passive wheel installation method for humanoid robots with switchable wheel and leg configurations (taking the right leg as an example).

[0021] Figure 5 This is one of the single-side views of the wheeled forward posture of a humanoid robot with a switchable leg configuration.

[0022] Figure 6 This is the second single-side view of the wheeled forward posture of a humanoid robot with a switchable leg configuration.

[0023] In the diagram, 1: Right knee hub motor module; 11: Right knee hub motor hub and tire; 12: Right knee hub motor and reducer; 13: Right knee hub motor lower leg adapter; 14: Upper and lower leg copper sleeves; 15: Hand-tightened screws; 2: Right lower leg passive wheel module; 21: Right lower leg passive wheel hub and tire; 22: Right lower leg passive wheel lower leg adapter; 3: Right thigh assembly; 4: Right lower leg assembly; 5: Right foot assembly; 6: Left knee hub motor module; 7: Left lower leg passive wheel module; 8: Left thigh assembly; 9: Left lower leg assembly; 10: Left foot assembly. Detailed Implementation

[0024] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0025] Combination Figure 1 , Figure 2 A wheel-foot switchable humanoid robot leg configuration includes a right knee hub motor module 1, a right lower leg passive wheel module 2, a right thigh assembly 3, a right lower leg assembly 4, a right foot assembly 5, a left knee hub motor module 6, a left lower leg passive wheel module 7, a left thigh assembly 8, a left lower leg assembly 9, and a left foot assembly 10. The right knee active wheel module 1 includes a right knee hub motor hub and tire part 11, a right knee hub motor and reducer 12, and a right knee hub motor lower leg adapter 13. The right knee active wheel module 1 is connected to the right lower leg 4 via the right knee hub motor lower leg adapter 13. The connection method can be selected according to requirements, such as bolts, pins, etc. (but not limited to these methods). The right lower leg passive wheel module 2 consists of a right lower leg passive wheel hub and tire 21 and a right lower leg passive wheel lower leg adapter 22. The connection method can be selected according to requirements, such as bolts, pins, welding, etc. (but not limited to these methods).

[0026] Figure 3 An active wheel hub mounting method for a wheel-leg switchable humanoid robot is presented (taking the right leg as an example). The entire hub motor assembly (right knee hub motor hub and tire part 11, right knee hub motor and reducer 12, and right knee hub motor lower leg adapter 13) is connected by screws. The right knee hub motor lower leg adapter 13 passes through the lower leg connecting shaft and the lower leg copper sleeve, and the structure is installed and secured by hand-tightening screws 15. The left side is installed in the same way.

[0027] Figure 4 A passive wheel installation method for a humanoid robot with switchable legs is given. Taking the right leg as an example, the passive wheel adapter 22 of the right lower leg is connected to the right lower leg assembly 3 by a right first-hand screw 25. The right second-hand screw 26 passes through bearings 23 and 24 and connects to the right lower leg passive wheel module 2 to achieve the installation and fixation of the passive wheel. The same method applies to the left side.

[0028] Generally, the leg configuration of a humanoid robot that combines legged and wheeled states is divided into a left leg and a right leg, with the left leg structure being a mirror image of the right leg.

[0029] When the robot faces specific road conditions, it uses motors and hydraulics to power the rotation of its legs. When switching from gait to wheeled mode, external power pushes the right thigh assembly 3 and left thigh assembly 8 backward, simultaneously driving the right lower leg assembly 4 and left lower leg assembly 9 forward until the tire treads of the right knee hub motor module 1, right lower leg passive wheel module 2, left knee hub motor module 6, and left lower leg passive wheel module 7 touch the ground, thus achieving the wheeled mode switch. After the posture change, taking the right leg as an example, the right knee hub motor and reducer 12 can drive the right knee hub motor hub and tire part 11 to rotate, enabling the humanoid robot to move forward or backward. When the hub motor modules 1 and 6 of the right and left knees rotate at different speeds, basic movements such as turning are achieved.

[0030] It should be noted that the right knee hub motor hub and tire part 11 can be replaced with pneumatic tires, tubeless tires, solid tires, etc.; the right knee hub motor module 1, the right lower leg passive wheel module 2, the left knee hub motor module 6, and the left lower leg passive wheel module 7 can all be replaced with active wheels;

[0031] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A leg configuration for a humanoid robot with switchable wheel and leg configuration, characterized in that, The humanoid robot's leg configuration includes symmetrical left and right leg configurations with identical structures; The left leg configuration, from top to bottom, includes the right thigh assembly (3), the robot's right knee hub motor module (1), the right lower leg assembly (4), the right lower leg passive wheel module (2), and the right foot assembly (5); The right leg configuration, from top to bottom, includes the left thigh assembly (8), the left knee hub motor module (6), the left calf assembly (9), the left calf passive wheel module (7), and the left foot assembly (10).

2. The humanoid robot leg configuration according to claim 1, characterized in that, The right knee active wheel module (1) includes the right knee hub motor hub and tire part (11), the right knee hub motor and reducer (12), and the right knee hub motor lower leg adapter (13); The right knee hub motor hub and tire part (11) is located on the outside; the right knee hub motor and reducer (12) and the right knee hub motor lower leg adapter (13) are located on the inside of the right knee hub motor hub and tire part (11); the right knee active wheel module (1) is connected to the right lower leg (4) through the right knee hub motor lower leg adapter (13).

3. The humanoid robot leg configuration according to claim 1, characterized in that, The right lower leg passive wheel module (2) includes a right lower leg passive wheel hub and tire (21) and a right lower leg passive wheel adapter (22); the right lower leg passive wheel adapter (22) is connected to the right lower leg assembly (3) by a right first hand screw (25), and the right second hand screw (26) passes through the bearing (23) and the bearing (24) and is connected to the right lower leg passive wheel module (2).

4. The humanoid robot leg configuration according to claim 1, characterized in that, The leg configuration of the wheel-leg switchable humanoid robot is powered by motors and hydraulics to rotate the legs when switching postures; When switching from gait to wheel mode, external power pushes the right thigh assembly (3) and left thigh assembly (8) to bend backward, while simultaneously driving the right lower leg assembly (4) and left lower leg assembly (9) to bend forward until the tire treads of the right knee hub motor module (1), right lower leg passive wheel module (2), left knee hub motor module (6), and left lower leg passive wheel module (7) touch the ground, thus achieving the gait switch; After switching postures, the right knee hub motor and reducer (12) drive the right knee hub motor hub and tire part (11) to rotate, so that the humanoid robot moves forward or backward. When the right knee hub motor module (1) and the left knee hub motor module (6) rotate at different speeds, the robot can turn.

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