Walking support mechanism of biped walking robot

Abstract

A walking support mechanism of a bipedal walking robot that helps a bipedal walking robot to walk, squat and stand steadily on various road conditions when carrying a load. A support mechanism that can be extended forward or backward is provided on the upper body of the robot, and the support mechanism can make the landing point of the gravity line of the robot when carrying a load be located between the landing point of the support mechanism and the landing point of the robot's feet. The support mechanism automatically extends forward or backward according to the robot's load-bearing standing and walking conditions, so that the robot can keep its center of gravity stable and will not fall over when it is standing, walking on flat ground, climbing up and down stairs, squatting or standing up, and the movement is smooth and stable. When the robot is not carrying a load and does not need auxiliary support, the robot control system controls the support mechanism to fold and retract and store it close to the upper body, so that the robot maintains the appearance of a bipedal robot and reduces space occupation.

Description

Technical Field

[0001] The present invention relates to a biped walking robot, in particular to a walking support mechanism of the biped walking robot. Background Art

[0002] With the development of artificial intelligence technology and robot mechanism technology, the functions of various intelligent robots are becoming increasingly rich and the scope of application is becoming increasingly wide. Robots will become increasingly closely integrated with people's daily lives. The walking mechanisms of robots include human-like bipedal walking type, animal-like quadruped, multi-legged walking type and wheeled walking type. Human-like bipedal walking robots are flexible in movement and occupy little space. Their hands can flexibly complete a variety of tasks and will undertake more tasks that can meet the specific needs of various groups of people. However, since they only rely on their feet to stand and walk, when the arms 15 are loaded with a large weight W, the load will cause a large tipping torque on the support point A of the feet 14 and a large rotation torque on the fulcrum B of the upper body 12 (see Figure 1 , Figure 2 As shown in the figure, it is not easy for the load-bearing robot 1 to maintain balance and stability when standing and walking, which affects the load-bearing capacity of the bipedal walking robot 1 and the ability and speed of carrying loads through complex roads, such as the ability to go up and down stairs with loads. This limitation of ability will affect the ability of the bipedal walking robot 1 to undertake various tasks and the scope of application. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a walking support mechanism for a bipedal walking robot which helps the bipedal walking robot to walk, squat and stand steadily on various road conditions under a load.

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

[0005] The walking support mechanism of the biped walking robot of the present invention is characterized in that: at least one group of support mechanisms that can be extended forward or backward is provided on the upper body of the robot, and the support mechanism can make the landing point of the gravity line of the robot when carrying weight be located between the landing point of the support mechanism and the landing point of the robot's feet.

[0006] The supporting mechanism is arranged on the left side and / or right side / or rear side of the robot. The supporting mechanism extends forward or backward in a synchronous and coordinated manner with the left and right legs of the robot when the robot stands with a load, moves forward with a load, or moves backward with a load according to the instructions issued by the control system, so as to form a stable support for the robot to stand, move forward or move backward when loaded. When the robot does not need support, the supporting mechanism can be folded and retracted and attached to the back side of the robot by the instructions issued by the control system.

[0007] The support mechanism is composed of a support seat, a swing rod and a support rod, wherein:

[0008] The support seat is fixedly connected to the back of the upper body, and a first rotating shaft perpendicular to the swing rod is provided on the support seat, the inner end of the first rotating shaft is connected to a first driving component capable of driving the swing rod to rotate around the axis of the first rotating shaft, and the outer end of the first rotating shaft is connected to the near-seat end of the swing rod;

[0009] The distal end of the swing rod is hinged to the proximal end of the support rod through a second rotating shaft;

[0010] The supporting end of the support rod is a free end, and a second driving component capable of driving the support rod to rotate around the axis of the second rotating shaft is also arranged at the proximal end of the support rod.

[0011] The support seat is fixedly connected to the upper body via a rotating base. The rotating base can carry the swing rod and rotate to a set angle in a vertical plane where the back of the upper body is located under the drive of the third driving component.

[0012] A support foot with an elastic structure is arranged on the end surface of the ground-supporting end of the support rod. The support foot is connected to the ground-supporting end through a universal hinged ball seat structure, and the ground-contacting end of the support foot is a plane.

[0013] The swing rod and the support rod are power-driven telescopic rod structures.

[0014] The first driving component, the second driving component and the third driving component are ordinary motors, stepping motors or hydraulic motors.

[0015] The rotating base can move left and right on the back of the upper body through an electrically controlled sliding structure.

[0016] The supporting mechanism consists of two groups, which are respectively arranged on the left and right sides of the back of the upper body of the robot.

[0017] The near-seat end of the rocker arm is spherically supported on the support seat through a first spherical axis to form a first ball joint, and the first driving component drives the rocker arm to move around the first ball joint; the far-seat end of the rocker arm is hinged to the near-rod end of the support rod through a second spherical axis to form a second ball joint, and the support rod is driven to move around the second ball joint through the second driving component.

[0018] Compared with the prior art, the present invention sets a support mechanism on the bipedal walking robot, and the support mechanism automatically extends forward or backward according to the robot's load-bearing standing and walking conditions, so that the robot can keep its center of gravity stable and will not fall down when it is standing, walking on flat ground, climbing up and down stairs, squatting or standing up, and the movement is stable and smooth. That is, when the robot is standing and walking with a load, the support mechanism, under the control of the robot control system, coordinates with the robot's feet to ensure the stability of the robot's load-bearing standing and walking, and the ability to quickly pass various road conditions such as going up and down stairs; when the robot is not loaded and does not need to assist support, the robot control system controls the support mechanism to fold and retract, and store it close to the upper body, so that the robot maintains the appearance of a bipedal robot and reduces the space occupied. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a load-bearing robot in a standing position.

[0020] Figure 2 It is a load-bearing robot in walking state.

[0021] Figure 3 yes Figure 1 A schematic diagram of a robot in which the support mechanism of the present invention is installed.

[0022] Figure 4 yes Figure 3 Top view of the .

[0023] Figure 5 yes Figure 3 Right view and partial view of the supporting mechanism.

[0024] Figure 6 yes Figure 2 A schematic diagram of a robot mounted on a support mechanism of the present invention.

[0025] Figure 7 yes Figure 3 Schematic diagram of the support mechanism deploying forward to support when in the state.

[0026] Figure 8 It is a schematic diagram of two sets of support mechanisms arranged on both sides of the robot coordinating with the robot's bipedal walking and providing motion support for the load-bearing robot.

[0027] Fig. 9 yes Figure 8 A top view of

[0028] Fig.10 It is a schematic diagram of a single set of supporting mechanisms providing backward support to a load-bearing robot.

[0029] Fig.11 yes Fig.10 A top view of

[0030] Fig.12 yes Fig.10 A schematic diagram of providing a support foot at the ground contact end of the support mechanism.

[0031] Fig.13 yes Figure 5 Schematic diagram of the support mechanism in being installed on the rotating base.

[0032] Fig.14 yes Figure 5 Schematic diagram of a pendulum rod mounted with a first spherical axis and a second spherical axis.

[0033] The reference numerals are as follows:

[0034] Robot 1, head 11, upper body 12, legs 13, feet 14, arms 15, support mechanism 2, support seat 3, rocker arm 4, near seat end 41, far seat end 42, first rotating shaft 43, first spherical shaft 433, first driving component 44, support rod 5, near rod end 51, supporting end 52, second rotating shaft 53, second spherical shaft 533, second driving component 54, supporting foot 6, ground 7, robot load 8. DETAILED DESCRIPTION

[0035] like Figure 3-13 As shown, the walking support mechanism 2 of the biped walking robot 1 of the present invention is arranged on the upper body 12 of the biped walking robot 1, and is used to prevent the robot 1 from losing its center of gravity and falling when it stands or walks with a load, and to support the robot 1 to walk smoothly through various road conditions. The biped walking robot 1 includes a main body mechanism and a control system, and the main body mechanism refers to the head 11, upper body 12, legs 13, feet 14 and arms 15 of the robot 1.

[0036] The walking support mechanism 2 can be one or more groups, and can be set on the chest, back or both sides of the torso 12 of the bipedal walking robot 1. Under the control of the robot 1 control system, the walking support mechanism 2 can coordinate with the legs 13 of the robot 1 to support the robot 1 (under load) when it moves forward or backward, so as to prevent the robot 1 from losing weight and falling. That is to say, when the load-bearing robot 1 is walking on a flat road (moving forward or backward), climbing a slope, going up and down stairs, squatting or standing up, its feet 14 cannot support the body and tend to fall, the support mechanism 2 provides the robot 1 with forward or backward support, so that the landing point of the gravity line of the robot 1 (the gravity line is the plumb line passing through the center of gravity) is located between the support point of the support mechanism 2 and the landing point of the robot 1 foot.

[0037] The preferred structure of the present invention is described in detail below by taking the support mechanism 2 arranged on both sides of the robot 1 as an example.

[0038] Each support mechanism 2 is composed of a support seat 3 , a rocker arm 4 , a first rotating shaft 43 , a first driving component 44 , a support rod 5 , a second rotating shaft 53 and a second driving component 54 .

[0039] 1. Support seat 3

[0040] The support seat 3 may be a support with a shaft sleeve, which is fixedly connected to the left or right side of the back of the upper body 12, wherein the shaft sleeve is arranged horizontally, and a first rotating shaft 43 is arranged in the shaft sleeve, and the inner end of the first rotating shaft 43 (the inner end is close to the mid-vertical line of the back, and the outer end is far away from the mid-vertical line of the back, the same below) is connected to the first driving component 44, and the outer end of the first rotating shaft 43 of the first driving component 44 is connected to the near-seat end 41 of the swing rod 4 (that is, the end of the swing rod 4 close to the support seat 3). When the first driving component 44 is working, the first driving component 44 can drive the swing rod 4 to rotate from front to back in a vertical plane outside the left arm or right arm of the robot 1 with the axis of the first rotating shaft 43 as the axis through the first rotating shaft 43.

[0041] 2. Swing rod 4

[0042] The swing rod 4 can be a single rod or a telescopic rod structure composed of multiple rods driven by power and capable of being extended or contracted. The telescopic rod structure is conducive to obtaining the best support effect for the robot 1 under different ground conditions 7.

[0043] The far seat end 42 of the swing rod 4 (i.e., the end of the swing rod 4 that is farther from the support seat 3) is a shaft sleeve structure, in which a second rotating shaft 53 is fixedly arranged, and the outer end of the second rotating shaft 53 is rotatably connected to the near rod end 51 of the support rod 5 (i.e., the end of the support rod 5 that is connected to the swing rod 4) and the second driving component 54. When the second driving component 54 is working, the second driving component 54 can drive the support rod 5 to rotate from front to back in a vertical plane outside the swing rod 4 with the second rotating shaft 53 as the axis.

[0044] 3. Support rod 5

[0045] The ground-supporting end 52 of the support rod 5 (ie, the end of the support rod 5 that is farther away from the far seat end 42 of the swing rod 4 and is also the end that contacts the ground 7 during support) is a free end.

[0046] The support rod 5 can be a single rod or a telescopic rod structure composed of multiple rods driven by power and capable of being extended or contracted. The telescopic rod structure is conducive to the robot 1 obtaining the best support effect under different ground conditions 7.

[0047] 4. Rotate the base

[0048] In order to allow the support seat 3 to rotate at an appropriate angle on the back of the robot 1 so that the swing rod 4 and the support rod 5 can provide lateral support to the robot 1 after being unfolded, the support seat 3 can be installed on a rotating base. The rotating base can be rotatably installed on the left or right side of the back of the robot 1. The rotating base is connected to the third driving component. When the third driving component is working, it can drive the rotating base to rotate. The rotation of the rotating base can drive the swing rod 4 installed thereon to rotate by a set angle α in the vertical plane where the back of the upper body 12 is located, so that the swing rod 4 and the support rod 5 can be extended obliquely downward outside the left arm or right arm of the robot 1.

[0049] 5. Universal movable legs 6

[0050] In order to ensure that the support rod 5 lands stably and can be adjusted according to the flatness of the landing point, a support foot 6 with an elastic structure can be provided on the end face of the ground supporting end 52 of the support rod 5. The support foot 6 is connected to the ground supporting end 52 through a universal hinged ball seat structure, and the ground contacting end of the support foot 6 is a plane.

[0051] 6. Sliding structure

[0052] When the support mechanism 2 is not started, in order to make it folded inside the back of the robot 1, the rotating base can be installed on a horizontally movable sliding structure, and the rotating base carrying the support mechanism 2 can be driven by the fourth driving component to move left and right on the back of the upper body 12.

[0053] 7. Driving components

[0054] The first driving component 44 , the second driving component 54 , the third driving component and the fourth driving component may be ordinary motors, stepper motors or hydraulic motors.

[0055] 8. Action process of support mechanism 2

[0056] When the robot 1 is standing or walking with a load and needs support, the control system of the robot 1 activates the first driving component 44 and the second driving component 54, respectively making the swing bar 4 and the support bar 5 placed close to the side arm of the upper body 12 swing forward or backward to the trunk and spread out, so that one end of the support bar 5 contacts the ground 7, thus forming support for the robot 1. When the robot 1 is walking with a load, the control system of the robot 1 controls the coordinated movement of the swing bar 4 and the support bar 5, and coordinates with the movement of the legs 13 and feet 14 of the robot 1, thus forming support and drive for the load-bearing robot 1 during walking; when the robot 1 is not carrying a load or does not need support, the control system of the robot 1 controls the swing bar 4 and the support bar 5 to swing back, and retract and fold close to the back of the upper body 12.

[0057] 9. Use ball joint structure instead of rotating shaft

[0058] The near seat end 41 of the swing rod 4 is fixed with a first spherical shaft 433 which is spherically hinged with the support seat 3 to form a first spherical joint, and the first driving component 44 drives the swing rod 4 to move around the first spherical joint; the far seat end 42 of the swing rod 4 is fixed with a second spherical shaft 533 which is spherically hinged with the near rod end 51 of the support rod 5 to form a second spherical joint, and the second driving component 54 drives the support rod 5 to move around the second spherical joint, thereby increasing the degree of freedom of the swing rod 4 and the support rod 5 (see Fig.14 shown).

Claims

1. A walking support mechanism for a biped walking robot, characterized in that: The upper body (12) of the robot (1) is provided with at least one set of support mechanisms (2) that can be extended forward or backward, and the support mechanisms (2) can make the landing point of the gravity line of the robot (1) when loaded be located between the landing point of the support mechanisms (2) and the landing point of the feet of the robot (1); The support mechanism (2) is composed of a support seat (3), a swing rod (4) and a support rod (5). When the robot (1) is walking with a load, the control system of the robot (1) controls the swing rod (4) and the support rod (5) to coordinate the movement with the legs (13) and feet (14) of the robot (1); The support mechanism (2) is arranged on the left side and / or right side / or rear side of the robot (1). When the robot (1) stands with a load, moves forward with a load or moves backward with a load, the support mechanism (2) extends forward or backward in a synchronous and coordinated manner with the left and right legs of the robot (1) according to the instructions issued by the control system, so as to form a stable support for the robot (1) to stand, move forward or move backward when the robot (1) is loaded. When the robot (1) does not need support, the support mechanism (2) can be folded and retracted and attached to the back side of the robot (1) according to the instructions issued by the control system. The support seat (3) is fixedly connected to the back of the upper body (12), and a first rotating shaft (43) perpendicular to the swing rod (4) is provided on the support seat (3), the inner end of the first rotating shaft (43) is connected to a first driving component (44) capable of driving the swing rod (4) to rotate around the axis of the first rotating shaft (43), and the outer end of the first rotating shaft (43) is connected to the near-seat end (41) of the swing rod (4); The distal end (42) of the swing rod (4) is hinged to the proximal end (51) of the support rod (5) via a second rotating shaft (53); The supporting end (52) of the support rod (5) is a free end, and a second driving component (54) capable of driving the support rod (5) to rotate around the axis of a second rotating shaft (53) is also provided at the proximal end (51) of the support rod (5).

2. The walking support mechanism of the biped walking robot according to claim 1, characterized in that: The support seat (3) is fixedly connected to the upper body (12) via a rotating base, and the rotating base can carry the swing rod (4) to rotate to a set angle within a vertical plane where the back of the upper body (12) is located under the drive of a third driving component.

3. The walking support mechanism of the biped walking robot according to claim 2, characterized in that: A support foot (6) with an elastic structure is provided on the end surface of the ground-supporting end (52) of the support rod (5); the support foot (6) is connected to the ground-supporting end (52) via a universal hinged ball seat structure; and the ground-contacting end of the support foot (6) is a plane.

4. The walking support mechanism of the biped walking robot according to claim 2, characterized in that: The swing rod (4) and the support rod (5) are power-driven telescopic rod structures.

5. The walking support mechanism of the biped walking robot according to claim 2, characterized in that: The first driving component (44), the second driving component (54) and the third driving component are common motors, stepping motors or hydraulic motors.

6. The walking support mechanism of the biped walking robot according to claim 2, characterized in that: The rotating base can move left and right on the back of the upper body (12) through an electrically controlled sliding structure.

7. The walking support mechanism of a biped walking robot according to any one of claims 1 to 6, characterized in that: The support mechanism (2) consists of two groups, which are respectively arranged on the left and right sides of the back of the upper body (12) of the robot (1).

8. The walking support mechanism of the biped walking robot according to claim 1, characterized in that: The near-seat end (41) of the swing rod (4) is spherically supported on the support seat (3) through a first spherical axis (433) to form a first spherical joint, and the first driving component (44) drives the swing rod (4) to move around the first spherical joint; the swing rod (4) The distal seat end (42) is hingedly connected to the proximal rod end (51) of the support rod (5) through a second spherical axis (533). A second ball joint is formed, and the support rod (5) is driven to move around the second ball joint by a second driving component (54).

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