A biped robot with multiple locomotion modes

Abstract

The present application relates to a kind of biped robot with multiple motion mode, belong to robot technical field, its characteristics include four curved rod mechanical leg mechanism, body box, leg box, coaxial transmission system, hinge gear transmission system, power motor;Coaxial transmission system is given by power motor output via synchronous belt reduction to inner and outer sleeve shaft, the two curved rods of four curved rod mechanical leg are respectively connected with inner and outer sleeve shaft in coaxial transmission system, and they are fixed on leg box;The hinge gear transmission system is used for being connected in the use of hinge gear transmission system at the lower plate of body lower plate and leg box, and power motor is output from body, and it is reduced to leg box hinge sleeve by a pair of gear transmission;Power motor total 6;By controlling leg motor drive four curved rod mechanical leg mechanism to occur structural deformation, control the motor at body realizes leg box rotary swing.By coordinated control 6 motor, this biped robot can realize wheel, foot, claw type motion and conversion and left and right step movement.

Description

TECHNICAL FIELD

[0001] The present application relates to a kind of biped robot with multiple motion modes, in particular, a kind of biped robot, leg can realize wheeled rotation, foot walking, claw type grabbing and body can move left and right step movement, belong to the field of robot. BACKGROUND

[0002] With the progress of science and technology, additive technology, reverse engineering, intelligent driving and control technology rapid development, the research and development of robot get great progress, among which the humanoid biped robot is loved by people with its own flexible movement ability and strong environmental adaptability, the typical characteristics of current biped robot design is to use rotary pair to simulate human hip joint, knee joint and ankle joint, and to use power actuator to simulate human muscle to realize the support, stability control and different motion gait of body. However, most of the biped robots have problems such as complicated structure, high energy consumption, poor environmental adaptability and single motion form, such as the biped walking device described in patent [201721844602.0], which is simple in structure, and the foot end is driven by motor to realize basic foot walking function; the adjustable biped rod bionic single foot wheel described in patent [201710212253.9] drives the leg to rotate through hydraulic motor driven gear transmission, so as to drive the foot rod to rotate, which can realize walking function in complex ground environment, but its structure is complicated through multi-stage transmission to realize walking function; such as the leg-foot type biped robot described in patent [20201084738.8], which realizes foot walking function through multi-stage joint design, and the structure is complex and inconvenient to operate. Therefore, it will be beneficial to broaden the application scenarios of robot to invent a biped robot with simple structure, strong function and convenient control. SUMMARY

[0003] The purpose of the present application is to provide a kind of biped robot with multiple motion modes, leg set wheel, foot, claw integrated conversion motion and body left and right step movement of multiple motion mode biped robot.

[0004] The technical scheme adopted by the present application to solve its technical problems is: a kind of biped robot with motion mode, by four curved rod mechanical leg mechanism, coaxial transmission system, leg box, body box, hinge gear transmission system, 6 power motors are composed;The four curved rod mechanical leg mechanism and coaxial transmission system realize integrated conversion motion of the leg of biped robot;The hinge gear transmission system realizes the left and right step movement of the body of biped robot.

[0005] The four-curved rod mechanical leg mechanism comprises two 120-degree circular arc curved rods and two 60-degree circular arc and straight line composite curved rods, wherein the two 120-degree circular arc curved rods have the same radius, the two composite curved rods have the same radius and length, the straight line segment is the radius length, the composite curved rod has the same radius as the 120-degree circular arc curved rod and the length ratio is (6+pi) / 4pi, one end of the two 120-degree curved rods is connected, and the other end is connected with the transition port in the middle of the curved rod, respectively, the port of the straight line of the composite curved rod is connected with the coaxial transmission inner and outer transmission shafts, and they are fixed on the leg box body, two power motors drive two pulleys in the coaxial power system, and power is transmitted to the inner and outer transmission shafts through a synchronous belt speed reducer; under different environmental conditions and application scenarios, the four-curved rod mechanical leg mechanism is deformed by controlling the leg motor to form a whole circular wheel structure, an open-top foot structure and a claw structure, realize the conversion and movement of three kinds of movements, and adapt to different environmental conditions or complete corresponding gait movement.

[0006] The hinge gear transmission system comprises three hinges, a transmission shaft and a set of transmission gears; the power motor is fixed at the bottom of the body box body, the three hinges are fixed at the bottom of the body box body and the leg box body in turn, and the transmission shaft is coaxially locked with the three hinges, and a pair of gears are used for transmission and speed reduction between the transmission shaft and the power motor. By controlling the power motor at the bottom of the body box body to drive the rotation of the transmission shaft driven by the gear, the hinge locked with the transmission shaft is synchronously rotated, the hinge and the leg box body are integrally rotated at a fixed angle around the body box body of the fixed power motor, and the left and right leg box bodies are synchronously rotated in the same direction, so that the left and right legs are lifted and landed in turn, and the whole biped robot moves to the left and right, so that the left and right walking movement of the biped robot is realized.

[0007] By coordinating the control of the six power motors, the biped robot can realize the movement and conversion of the wheel, foot and claw, and the left and right walking movement, further enhancing the movement flexibility and adaptability of the biped robot.

[0008] The advantages of the present application are: simple structure, low energy consumption, strong functionality, different movement gaits and complex application scenarios can be realized by controlling the six power motors. BRIEF DESCRIPTION OF DRAWINGS

[0009] Figure 1 It is the overall structure schematic diagram of the biped robot with multiple movement modes of the present application.

[0010] Figure 2 It is the structure schematic diagram of the mechanical leg wheel type embodiment of the biped robot with multiple movement modes of the present application.

[0011] Figure 3Structure diagram of mechanical leg-foot type embodiment of the multi-movement mode biped robot of the present application.

[0012] Figure 4 Structure diagram of mechanical leg-claw type embodiment of the multi-movement mode biped robot of the present application.

[0013] Figure 5 Structure diagram of whole left-right step movement embodiment of the multi-movement mode biped robot of the present application. DETAILED DESCRIPTION

[0014] The present application will be further described below in conjunction with embodiments and their accompanying drawings:

[0015] The multi-movement mode biped robot (see attached Figures 1-5 ) of the present application comprises four-curved rod mechanical leg mechanism 1 (containing two compound curved rods 1-1 and 1-2, two circular curved rods 1-3 and 1-4), leg box 2, gear transmission 3, leg power motor 4, body box 5, coaxial transmission system 6, hinge 7, body power motor 8.

[0016] The specific embodiments of the present application are given below. The specific embodiments are only used for further illustrating the present application and do not constitute a limitation to the claims of the present application.

[0017] Embodiment 1:

[0018] The movement mode of the biped robot of the present embodiment is a wheel type rotation structure, as shown in Figure 2 , control the two leg power motors 4 to drive the compound curved rods 1-1 and 1-2 in the four-curved rod mechanical leg mechanism driven by synchronous belt transmission to rotate respectively, so that the straight end included angle of the two compound curved rods is 240°, after the corresponding movement of the four-curved rod mechanical leg mechanism 1, the four-curved rod mechanical leg mechanism forms a whole circular wheel, then control the power motor 4 to drive the four-curved rod mechanical leg mechanism 1 to rotate as a whole, so as to realize the wheel type rotation movement of the biped robot.

[0019] Embodiment 2:

[0020] The movement mode of the biped robot of the present embodiment is a foot type walking structure, as shown in Figure 3As shown, the control leg two power motor 4 drive by synchronous belt transmission in the four crank rod mechanical leg mechanism of compound crank rod 1-1 and compound crank rod 1-2 respectively occur rotation, make two compound crank rod linear end angle is less than 240 ° and 120 ° circular arc crank rod 1-3 or 1-4 touch ground, four crank rod mechanical leg mechanism 1 occur corresponding movement, at this time four crank rod mechanical leg mechanism 1 four crank rod constitute an upper opening four crank rod structure, control power motor 4 drive four crank rod again, control power motor 4 drive four crank rod rod mechanical leg mechanism 1 occur overall reciprocating swing, thereby realize the foot type walking movement of biped robot.

[0021] Embodiment 3:

[0022] The movement mode of the biped robot involved in this embodiment is claw type grabbing structure, as shown in Figure 4 As shown, the control leg two power motor 4 drive by synchronous belt transmission in the four crank rod mechanical leg mechanism of compound crank rod 1-1 and compound crank rod 1-2 respectively occur rotation, make two compound crank rod linear end angle is less than 240 ° and 120 ° circular arc crank rod 1-3 or 1-4 touch ground, four crank rod mechanical leg mechanism 1 occur corresponding movement, at this time four crank rod mechanical leg mechanism 1 four crank rod constitute an upper opening four crank rod structure, control power motor 4 drive four crank rod again, control power motor 4 drive four crank rod rod mechanical leg mechanism 1 occur overall reciprocating swing, thereby realize the foot type walking movement of biped robot.

[0023] Embodiment 4:

[0024] The movement mode of the biped robot involved in this embodiment is left and right step movement structure, as shown in Figure 5 As shown, the control leg two power motor 4 drive by synchronous belt transmission in the four crank rod mechanical leg mechanism of compound crank rod 1-1 and compound crank rod 1-2 respectively occur rotation, make two compound crank rod linear end angle is less than 240 ° and 120 ° circular arc crank rod 1-3 or 1-4 touch ground, four crank rod mechanical leg mechanism 1 occur corresponding movement, at this time four crank rod mechanical leg mechanism 1 four crank rod constitute an upper opening four crank rod structure, control power motor 4 drive four crank rod again, control power motor 4 drive four crank rod rod mechanical leg mechanism 1 occur overall reciprocating swing, thereby realize the foot type walking movement of biped robot.

Claims

1. A biped robot having multiple modes of motion, characterized by: The four-curved rod mechanical leg mechanism, the coaxial transmission system, the leg box, the fuselage box, the hinge gear transmission system and six power motors are included, the four-curved rod mechanical leg mechanism comprises two 120° circular arc curved rods and two 60° circular arc composite curved rods, the two 120° circular arc curved rods are of the same radius, the two composite curved rods are of the same radius and length and the straight line segment is of the radius length, the composite curved rod is of the same radius as the 120° circular arc curved rod and the length ratio is (6+π) / 4π, one end of the two 120° curved rods is connected, the other end is connected with the transition port in the middle of the curved rod respectively, the ports at the straight line segment of the composite curved rod are connected with the inner and outer transmission shafts of the coaxial transmission respectively, and they are fixed on the leg box, two power motors drive two pulleys in the coaxial power system respectively, and the power is transmitted to the inner and outer transmission shafts through the synchronous belt reduction; in different environmental conditions and application scenarios, the inner and outer shafts driven by the synchronous belt are rotated by controlling the leg motor, the inner and outer shafts rotate with the two composite curved rods, the four-curved rod mechanical leg mechanism deforms, forms a whole circular wheel structure, an open foot structure and a claw structure, realizes the conversion and movement of the three kinds of movements, and thus adapts to different environmental conditions or completes corresponding gait movement. The hinge gear transmission system comprises three hinges, a transmission shaft and a set of transmission gears, the power motor is fixed on the bottom of the fuselage box, the three hinges are fixed on the bottom of the fuselage box and the leg box in turn, and the transmission shaft is coaxially locked with the three hinges, a pair of gears are used for transmission and speed reduction between the transmission shaft and the power motor. The hinge is synchronously rotated by controlling the power motor at the bottom of the fuselage box to drive the transmission shaft to rotate through the gear transmission, the hinge and the leg box integrally rotate around the fuselage box with the fixed power motor, the left and right leg boxes rotate in the same direction, the left and right legs are lifted and touched in turn, and the whole biped robot moves to the left and right, so that the left and right walking movement of the biped robot is realized.

2. The biped robot having multi-motion modes according to claim 1, wherein: The inner and outer shafts driven by the synchronous belt are rotated by controlling the two power motors of the leg box, the inner and outer shafts rotate with the two composite curved rods, the included angle of the straight line segments of the two composite curved rods is 240°, the four-curved rod mechanical leg mechanism moves correspondingly, the four curved rods of the four-curved rod mechanical leg mechanism form a whole circular wheel, the four-curved rod mechanical leg mechanism is driven to rotate as a whole by controlling the power motor, so that the wheel type rotating movement of the biped robot is realized.

3. The biped robot having multi-motion modes according to claim 1, wherein: The inner and outer shafts driven by the synchronous belt are rotated by controlling the two power motors of the leg box, the inner and outer shafts rotate with the two composite curved rods, the included angle of the straight line segments of the two composite curved rods is less than 240° and the two 120° curved rods touch the ground, the four-curved rod mechanical leg moves correspondingly, the four curved rods of the four-curved rod mechanical leg mechanism form a four-curved rod structure with an opening at the upper part, the four-curved rod mechanical leg mechanism is driven to swing as a whole by controlling the power motor, so that the foot type walking movement of the biped robot is realized.

4. The biped robot having multi-motion modes according to claim 1, wherein: The two motors controlling the leg housing drive the inner and outer shafts, which are driven by synchronous belts, to rotate. The inner and outer shafts rotate with the compound cranks, so that the angle between the straight sections of the two compound cranks is 235° and the 120° crank is located at the top. After the four-cranked mechanical leg performs the corresponding movement, there is an opening at the bottom of the four-cranked mechanical leg mechanism. Then, the motors controlling the four-cranked mechanical leg mechanism drive the two compound cranks to perform a clamping movement, thereby realizing the claw-like grasping movement of the bipedal robot.

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