Walkable robot

Abstract

A walkable robot includes a body, a walking mechanism coupled to and supporting the body; the walking mechanism includes a first leg mechanism and a second leg mechanism, the first leg mechanism is operably coupled to the body by a first main joint and is rotatable relative to the body about the first main joint, the second leg mechanism is operably coupled to the body by a second main joint and is rotatable relative to the body about the second main joint; the first leg mechanism and the second leg mechanism each include an upper support assembly, a main joint drive assembly, a lower support assembly, an intermediate joint drive assembly, a contact sensor, and a motion controller.

Description

Technical Field

[0001] This application relates to robots, and more particularly to walkable robots. Background Technology

[0002] With the development of sensing and automation technologies, various autonomous mobile robots have emerged and been applied to various aspects of social life, such as robotic vacuum cleaners, surgical robots, and logistics robots. However, the development of multi-jointed robots that can simulate human walking has been relatively slow, and there is a lack of multi-jointed walking robots on the market. Bipedal robots are humanoid robots, with their legs and torso resembling those of humans. A key feature of bipedal robots is their ability to alternately swing their legs to achieve a human-like walking effect. However, in existing bipedal robots, the multi-joint, multi-degree-of-freedom movement remains a research challenge. Furthermore, the walking process cannot be sensed by a unified control system, making it difficult to determine the movement status based on sensing results and thus determine the next movement.

[0003] Therefore, it is necessary to provide a walking robot that can simulate human walking. Summary of the Invention

[0004] One objective of this application is to provide a walking robot capable of simulating human walking.

[0005] In one aspect of this application, a walking robot is provided, comprising a main body and a walking mechanism coupled to and supporting the main body. The walking mechanism includes a first leg mechanism, a second leg mechanism, and a motion controller. The first leg mechanism is operably coupled to the main body via a first main joint and is rotatable relative to the main body about the first main joint; the second leg mechanism is operably coupled to the main body via a second main joint and is rotatable relative to the main body about the second main joint. Both the first and second leg mechanisms include an upper support assembly, a main joint drive assembly, a lower support assembly, an intermediate joint drive assembly, and a contact sensor. The upper support assembly has a first end and a second end disposed opposite each other along its length, wherein the upper support assembly is coupled to a corresponding main joint at its first end, and the upper support assembly is capable of generating an upper driving force extending along its length. The main joint drive assembly is used to generate a main joint driving force that causes the upper support assembly to rotate about the main joint. The lower support assembly has a first end and a second end disposed opposite each other along its length, wherein the lower support assembly is coupled at its first end to the second end of the upper support assembly via an intermediate joint and is rotatable relative to the upper support assembly about the intermediate joint, and wherein the lower support assembly is capable of generating a lower driving force extending along its length. An intermediate joint drive assembly is used to generate an intermediate joint driving force that causes the lower support assembly to rotate about the intermediate joint relative to the upper support assembly. A contact sensor is disposed at the second end of the lower support assembly for sensing the contact between the leg mechanism and the ground and generating a contact sensing signal. A motion controller is configured to control the operation of the upper support assembly, the lower support assembly, the main joint drive assembly, and the intermediate joint drive assembly based on the contact sensing signals generated by the contact sensors of the first and second leg mechanisms and the rotation angles of the main joint and the intermediate joint.

[0006] In some embodiments, the upper support assembly of the walking robot includes an upper connector, an energy accumulator, a hydraulic cylinder, and an electro-hydraulic servo valve. The upper connector mechanically couples the main joints to intermediate joints. The energy accumulator stores hydraulic fluid flowing into it. The hydraulic cylinder is located below the energy accumulator and is operatively fluid-communicating with the energy accumulator to allow hydraulic fluid to flow therebetween. The electro-hydraulic servo valve is coupled to a motion controller and configured to open under the control of the motion controller in at least an energy storage mode and a drive mode, wherein: in the energy storage mode, the electro-hydraulic servo valve is opened to allow hydraulic fluid to flow from the hydraulic cylinder into the energy accumulator under pressure transmitted from the upper connector; and in the drive mode, the electro-hydraulic servo valve is opened to allow hydraulic fluid to be forced from the energy accumulator into the hydraulic cylinder, wherein the forced in of the hydraulic fluid generates an upper driving force extending along the length of the upper support assembly.

[0007] In some implementations, the motion controller of the walking robot is used to control the operating mode of the electro-hydraulic servo valve in the upper support assembly of the leg mechanism based on the contact sensing signal generated by the contact sensor of each leg mechanism.

[0008] In some embodiments, the motion controller of the walking robot is also configured to generate a control signal that causes the electro-hydraulic servo valve to operate in drive mode when the contact sensing signal indicates that the leg mechanism is not in contact with the ground, and to generate a control signal that causes the electro-hydraulic servo valve to operate in energy storage mode when the contact sensing signal indicates that the leg mechanism is in contact with the ground.

[0009] In some embodiments, the lower support assembly of the walking robot includes a lower connector, an energy accumulator, a hydraulic cylinder, and an electro-hydraulic servo valve. The lower connector is used to mechanically couple and support an intermediate joint. The energy accumulator stores hydraulic fluid flowing into it. The hydraulic cylinder is located below the energy accumulator and is operatively fluid-communicating with the energy accumulator to allow hydraulic fluid to flow therebetween. The electro-hydraulic servo valve is coupled to a motion controller and configured to open under the control of the motion controller in at least an energy storage mode and a drive mode, wherein: in the energy storage mode, the electro-hydraulic servo valve is opened to allow hydraulic fluid to flow from the hydraulic cylinder into the energy accumulator under pressure transmitted from the lower connector; and in the drive mode, the electro-hydraulic servo valve is opened to allow hydraulic fluid to be forced from the energy accumulator into the hydraulic cylinder, wherein the forced in of the hydraulic fluid generates a lower driving force extending along the length of the lower support assembly.

[0010] In some implementations, the motion controller of the walking robot is used to control the operating mode of the electro-hydraulic servo valve in the lower support assembly of the leg mechanism according to the rotation angle of the intermediate joint and main joint of each leg mechanism.

[0011] In some implementations, the motion controller of the walking robot is configured to alternately control the first leg mechanism and the second leg mechanism to walk in a predetermined manner.

[0012] In some embodiments, each of the first leg mechanism and the second leg mechanism of the walking robot walks in a predetermined manner as follows:

[0013] A) Set the main joint to a predetermined forward rotation angle, set the intermediate joint to a zero rotation angle, and set the electro-hydraulic servo valves of the upper support assembly and the lower support assembly to energy storage mode.

[0014] B) Keep the main joint at a predetermined forward rotation angle, while the lower support assembly is driven clockwise to a predetermined upward rotation angle by the intermediate joint drive assembly; and in response to the contact sensing signal generated by the contact sensor indicating that the leg mechanism is in contact with the ground, the electro-hydraulic servo valves of the upper support assembly and the lower support assembly are put into energy storage mode so that hydraulic fluid flows from the hydraulic cylinder into the respective energy storage tanks.

[0015] C) The upper support assembly is driven clockwise by the main joint drive assembly to rotate to a predetermined rearward rotation angle, while the lower support assembly is driven counterclockwise by the intermediate joint drive assembly to rotate to zero rotation angle; and in response to the contact sensing signal generated by the contact sensor indicating that the leg mechanism is in contact with the ground, the electro-hydraulic servo valves of the upper support assembly and the lower support assembly are put into energy storage mode so that hydraulic fluid continues to flow from the hydraulic cylinder into the respective energy storage tanks;

[0016] D) The main joint drive assembly drives the upper support assembly to rotate counterclockwise to a predetermined intermediate rotation angle, while the intermediate joint drive assembly drives the lower support assembly to rotate clockwise to a predetermined downward rotation angle; and in response to the contact sensing signal generated by the contact sensor indicating that the leg mechanism is not in contact with the ground, the electro-hydraulic servo valve of the upper support assembly is put into drive mode, so that hydraulic fluid is pressed from the accumulator of the upper support assembly into the corresponding hydraulic cylinder, while the electro-hydraulic servo valve of the lower support assembly is closed;

[0017] E) The upper support assembly is driven counterclockwise by the main joint drive assembly to rotate to a predetermined forward rotation angle, while the lower support assembly is driven counterclockwise by the intermediate joint drive assembly to rotate to zero rotation angle; and in response to the lower support assembly being at a predetermined downward rotation angle, the electro-hydraulic servo valve of the lower support assembly is put into drive mode, so that hydraulic fluid is forced from the accumulator of the lower support assembly into the corresponding hydraulic cylinder, while keeping the electro-hydraulic servo valve of the upper support assembly in drive mode; and

[0018] Repeat steps B through E above.

[0019] In some embodiments, the main joint drive assembly of the walking robot includes a drive motor and a reducer. The drive motor is located at the main joint and generates a driving force that causes the upper support assembly to rotate. The reducer is used to regulate the rotational speed of the upper support assembly.

[0020] In some embodiments, the main joint drive assembly includes a hydraulic drive mechanism disposed between the body and the upper support assembly.

[0021] In some embodiments, the intermediate joint drive assembly of the walking robot includes a drive motor and a reducer. The drive motor is located at the intermediate joint and generates a driving force that causes the lower support assembly to rotate relative to the upper support assembly. The reducer is used to regulate the rotational speed of the upper support assembly.

[0022] In some embodiments, the main joint drive assembly and intermediate joint drive assembly of the walking robot also include angle sensors for detecting the rotation angle of the corresponding joints.

[0023] In some embodiments, the intermediate joint drive assembly includes a hydraulic drive mechanism disposed between the upper support assembly and the lower support assembly.

[0024] In some implementations, the contact sensor of the walking robot is a pressure sensor.

[0025] The above is an overview of this application, and there may be simplifications, generalizations, and omissions of details. Therefore, those skilled in the art should recognize that this section is merely illustrative and not intended to limit the scope of this application in any way. This overview section is neither intended to identify the key or essential features of the claimed subject matter nor to serve as an aid in determining the scope of the claimed subject matter. Attached Figure Description

[0026] The above and other features of this application will become more fully clear through the following description and appended claims, in conjunction with the accompanying drawings. It is understood that these drawings depict only a few embodiments of the application and should not be construed as limiting the scope of the application. The application will be described more clearly and in more detail through the use of the drawings.

[0027] Figure 1 A schematic diagram of the structure of the first leg mechanism of the walking robot according to this application is shown;

[0028] Figure 2 A state diagram showing the motion controller controlling the walking process of a walking robot according to this application is shown. Detailed Implementation

[0029] In the following detailed description, reference is made to the accompanying drawings, which form part of this specification. In the drawings, like symbols generally denote like components unless the context otherwise requires. The illustrative embodiments described in the detailed description, drawings, and claims are not intended to be limiting. Other embodiments and variations may be adopted without departing from the spirit or scope of the subject matter of this application. It should be understood that various different configurations, substitutions, combinations, and designs can be made to the various aspects of the general description and illustrated in the drawings of this application, all of which explicitly form part of the subject matter of this application.

[0030] A key component of a walking robot is its leg structure and the corresponding leg movement mechanism. To simulate human walking, the walking robot provided in this application employs a walking mechanism capable of supporting the robot's main body. This mechanism includes two leg structures that alternately support the robot's main body during walking, similar to human legs. Each leg structure can be located on one side of the robot's main body, such as the left and right sides, and is coupled to the robot's main body via separate main joints, allowing it to pivot relative to the robot's main body with one or more degrees of freedom permitted by the joints. In some embodiments, the main joints may allow the leg structures to rotate relative to the robot's main body with one degree of freedom, and the rotation axes of the main joints of the two leg structures are substantially aligned. Thus, during walking, the two leg structures can be distributed substantially symmetrically on both sides of the robot's main body, maintaining the stability of the walking robot's center of gravity and allowing the robot to move forward or backward. In other embodiments, the main joints of the walking robot may allow the leg structures to rotate relative to the robot's main body with two or more degrees of freedom, enabling the walking robot to move in ways other than forward or backward, such as lateral movement or rotation.

[0031] In the following embodiments, the walking robot provided in this application is described with the main joint allowing one degree of freedom of rotation as an example. That is, the main joint is set so that the robot can walk forward or backward. However, those skilled in the art can modify or adjust the main joint of the walking robot according to the needs of actual application, thereby increasing the degree of freedom of the main joint and allowing the robot to walk or move in more suitable ways.

[0032] Figure 1 A leg mechanism 100 of a walking mechanism for a walking robot according to one embodiment of this application is shown. It will be understood that the specific arrangement and function of the other leg mechanism of the walking mechanism are substantially the same as those of the illustrated leg mechanism, for example, they may be symmetrical to each other. Further details will not be provided here.

[0033] refer to Figure 1The first leg mechanism 100 is operatively connected to the robot's body (not shown) via a main joint 110, thereby connecting to the body and supporting it together with the second leg mechanism (not shown). The first leg mechanism 100 is capable of rotating clockwise or counterclockwise about the main joint 110, thereby allowing the first leg mechanism 100 to move a certain distance relative to the body in a forward or backward direction. In some embodiments, the first leg mechanism 100 includes an upper support assembly 120, a main joint drive assembly 130, a lower support assembly 140, an intermediate joint 150, an intermediate joint drive assembly 160, and a contact sensor 170. In some embodiments, these components are arranged generally from top to bottom on the first leg mechanism 100.

[0034] Specifically, the upper support assembly 120 has a first end and a second end (approximately) disposed opposite to each other along its length. Figure 1 The upper support assembly 120 (including its upper and lower ends) is coupled to the main joint 110 at its first end and is capable of generating an upper driving force extending along its length. When the upper support assembly 120 is not vertical or at an angle of not 90 degrees to the ground, the upper driving force extending along its length provides at least a momentum component that causes the robot to move forward or backward. Furthermore, the upper driving force provided by the upper support assembly 120 also provides a momentum component that shifts the robot's center of gravity upward. In some embodiments, in addition to providing an upper driving force, the upper support assembly 120 allows for a small amount of contraction, typically caused by gravity, during which it can cushion vibrations and accumulate energy converted from gravitational potential energy.

[0035] The main joint drive assembly 130 is used to generate a main joint drive force that causes the upper support assembly 120 to rotate about the main joint 110. In some embodiments, the main joint drive assembly 130 may include a drive motor 134, such as a servo motor, disposed at the main joint 110, and optionally a reducer 132, such as a planetary reducer or a harmonic reducer. The drive motor 134 is used to generate a drive force that causes the upper support assembly to rotate relative to the main joint 110, while the reducer 132 is used to adjust the speed of rotation of the upper support assembly 120 relative to the main joint 110. By adjusting the speed, the drive force of the drive motor 134 also changes, so that the drive force output by the main joint drive assembly 130 can meet the requirements. In other embodiments, the main joint drive assembly 130 may also be disposed between the body and the upper support assembly 120, for example, configured as a hydraulic drive mechanism to apply a force to the body and the upper support assembly 120 to rotate them relative to each other. For example, one end of the hydraulic drive mechanism is disposed on the body, and the other end is disposed on the upper support assembly 120.

[0036] The lower support assembly 140 also has a first end and a second end (approximately) disposed opposite to each other along its length. Figure 1 The lower support assembly 140 comprises the upper and lower ends of the lower support assembly 120. The lower support assembly 140 is coupled at its first end to the second end of the upper support assembly 120 via an intermediate joint 150 and is rotatable relative to the upper support assembly 120 about the intermediate joint 150. Furthermore, the lower support assembly 140 is capable of generating a lower driving force extending along its own length. Similar to the upper support assembly 120, when the lower support assembly 140 is not entirely vertical, or when the angle of the lower support assembly 140 relative to the ground is not 90 degrees, the upper driving force extending along the length of the lower support assembly 140 can provide at least a momentum component that causes the robot to move forward or backward. In addition, the lower driving force provided by the lower support assembly 140 also provides a momentum component that shifts the robot's center of gravity upward. In some embodiments, the lower support assembly 140 is also allowed to retract slightly.

[0037] Intermediate joint drive assembly 160 is used to generate an intermediate joint drive force that causes the lower support assembly 140 to rotate about the intermediate joint 150 relative to the upper support assembly 120. Similar to the main joint drive assembly 130, the intermediate joint drive assembly 160 may include a drive motor 164 disposed at the intermediate joint 150, and optionally include a reducer 162 (e.g., a planetary reducer or a harmonic reducer). The drive motor 164 is used to generate a drive force that causes the lower support assembly 140 to rotate relative to the intermediate joint 150, while the reducer 162 is used to regulate the speed of rotation of the lower support assembly 140 relative to the intermediate joint 150. It is understood that the intermediate joint drive assembly 160, together with the main joint drive assembly 130, jointly changes the relative angle between the first leg mechanism, the second leg mechanism, and the body, thereby causing the first leg mechanism 100 to change between flexion and extension states. In other embodiments, the intermediate joint drive assembly 160 may also be disposed between the upper support assembly 120 and the lower support assembly 140, for example, configured as a hydraulic drive mechanism to apply a force to the upper support assembly 120 and the lower support assembly 140 to rotate them relative to each other. One end of the hydraulic drive mechanism is disposed on the upper support assembly 120, and the other end is disposed on the lower support assembly 140. Regarding the structure of the hydraulic drive mechanism, reference can be made to the structure and description of the hydraulic cylinders, accumulators, and electro-hydraulic servo valves used in the upper and lower support assemblies described below. It will be understood that in some embodiments, the main joint drive assembly 130 and the intermediate joint drive assembly 160 may simultaneously include a drive motor and a hydraulic drive mechanism.

[0038] In some embodiments, the rotation angles of the main joint drive assembly 130 and the intermediate joint drive assembly 160 can be determined by setting and adjusting their respective drive motors (and optionally, reducers); in other embodiments, the main joint drive assembly 130 and the intermediate joint drive assembly 160 further include angle sensors for detecting the rotation angle of the corresponding joints. The angle sensors can measure the magnitude of the joint rotation angle and generate an angle sensing signal indicating the joint rotation angle value. This angle sensing signal can be provided as a feedback parameter to the motion controller, so that the motion controller can accordingly make the judgments and control on the motion status of the first leg mechanism 100 as described below.

[0039] exist Figure 1In the example shown, the second end (lower end) of the lower support assembly 140 is generally configured in the shape of a human foot, thereby providing good support for the other components of the first leg mechanism 100 and the robot's body. This second end forms an angle of approximately 90 degrees with the other components of the lower support assembly 140, but this angle cannot be varied. In some preferred embodiments, the second end of the lower support assembly 140 may be configured to include a lower joint, similar to the ankle joint between the human foot and lower leg, and allow for angle variations between the second end and the other components of the lower support assembly 140. More preferably, the second end of the lower support assembly 140 may further include a lower joint drive assembly to drive angle variations between the second end and the other components.

[0040] A contact sensor 170 is disposed at the second end of the lower support assembly 140 and is used to sense the contact between the first leg mechanism 100 and the ground and generate a contact sensing signal. In some embodiments, the contact sensor 170 may be a pressure sensor, which can measure the pressure when the first leg mechanism 100 contacts the ground and send a pressure sensing signal to the motion controller indicating that the bottom of the first leg mechanism 100 is subjected to pressure from the ground, as one of the motion parameters for the motion controller to make the judgment and control of the movement of the leg mechanism as described below. It is understood that the contact sensor 170 is not limited to a pressure sensor, but may be any type of sensor that measures the contact between the first leg mechanism 100 and the ground, such as a sensor that measures the contact area between the first leg mechanism 100 and the ground, or a sensor that uses infrared detection or ultrasonic detection. For example, multiple ultrasonic detection sensors may be disposed at different positions on the lower surface of the second end, so that by detecting whether the second end has made contact with the ground and the area of ​​contact, the contact sensor 170 can generate a corresponding contact sensing signal.

[0041] It is understood that in some embodiments, the second end of the lower support component 140 may have certain elastic or deformable characteristics, or may have a curved lower surface.

[0042] A motion controller (not shown) receives sensing signals from various sensors, continuously establishes the state of the first leg mechanism 100 during repetitive motion based on these signals, and activates drive components as needed to change the joint angles and the driving force provided by the support components to simulate basic leg movements during human walking. Specifically, the motion controller achieves this by comparing each sensing signal with a trigger threshold indicating a predetermined transition point between the states of the first leg mechanism 100 during motion. When the received sensing signal value correlates with the corresponding stored threshold, the drive components change the rotation angle and rotation speed of the main joints and intermediate joints, so that the joint movement of the leg mechanism substantially simulates natural joint movement.

[0043] In some embodiments, the motion controller can be implemented as a microcontroller, which can be mounted on the leg mechanism or on the robot body or other suitable location. The motion controller can be coupled to other electronic components of the leg mechanism, such as drive motors, sensors, etc., in a wired or wireless manner.

[0044] In some embodiments, the motion controller is configured to control the operation of the upper support assembly 120, lower support assembly 140, main joint drive assembly 130, and intermediate joint drive assembly 160 based on contact sensing signals generated by contact sensor 170 of the first leg mechanism 100 and the rotation angles of the main joint 110 and intermediate joint 150. For example, in some embodiments using a pressure sensor as contact sensor 170, the motion controller can compare the pressure value indicated by the pressure sensing signal generated by the pressure sensor with a preset pressure threshold. When the pressure value indicated by the pressure sensing signal exceeds the pressure threshold, the motion controller controls the main joint drive assembly 130 and / or the intermediate joint drive assembly 160 to bend or straighten the main joint 110 and / or the intermediate joint 150.

[0045] In some embodiments, the motion controller can also be used to control the rotation angle and speed of the main joint drive assembly 130 and the intermediate joint drive assembly 160 based on the angle sensing signals of each joint. For example, when the main joint 110 and / or the intermediate joint 150 begin to bend, angle sensing signals generated by the angle sensors are continuously sent to the motion controller. The motion controller compares the angle value indicated by the angle sensing signal with a preset angle threshold. When the angle value is greater than or equal to the angle threshold, the motion controller can control the main joint drive assembly 130 and / or the intermediate joint drive assembly 160 to enter the next motion operation (e.g., from clockwise rotation to stop rotation or counterclockwise rotation).

[0046] Continue to refer to Figure 1In some embodiments, the upper and lower support assemblies 120 / 140 may each include a set of connectors (upper connector 122 and lower connector 142), accumulators (126 and 146), hydraulic cylinders (124 and 144), and electro-hydraulic servo valves (128 and 148). The upper connector 122 is mechanically coupled between the main joint 110 and the intermediate joint 150, while the lower connector 142 is used to mechanically couple and support the intermediate joint 150. Accumulators 126 / 146 are disposed on the connectors 122 / 142, preferably at one end of the connectors 122 / 142 near the joint above them, and are used to store hydraulic fluid (e.g., water or hydraulic oil) flowing into them. Hydraulic cylinders 124 / 144 are respectively disposed below accumulators 126 / 146, and are operatively fluidly connected to the respective accumulators 126 / 146 (e.g., the cylinders and accumulators are internally connected) to allow hydraulic fluid to flow therebetween. Electro-hydraulic servo valves 128 and 148 are disposed on hydraulic cylinders 124 / 144. Both electro-hydraulic servo valves 128 and 148 are coupled to a motion controller and configured to open or close their valve ports under the control of the motion controller, thereby controlling the flow of hydraulic fluid between hydraulic cylinders 124 / 144 and accumulators 126 / 146.

[0047] In other embodiments, the motion controller is also used to control the operating mode (e.g., energy storage mode or drive mode as described below) of the electro-hydraulic servo valves 128 / 148 in the upper / lower support assemblies 120 / 140 of the leg mechanism based on one or more of the contact sensing signals (e.g., pressure sensing signals) generated by the contact sensor 170 of the first leg mechanism 100 and the angle sensing signals of each joint. The electro-hydraulic servo valves 128 and 148 are configured to be able to open in at least both modes.

[0048] In energy storage mode, the motion controller controls the opening of the valve ports of electro-hydraulic servo valves 128 and / or 148 to allow hydraulic fluid to flow from hydraulic cylinders 124 and / or 144 into energy accumulators 126 and / or 146 under the pressure transmitted by the upper / lower connectors 122 and / or 142. Specifically, in energy storage mode, the pistons of hydraulic cylinders 124 and / or 144 move downwards due to gravity, thus pushing the hydraulic fluid in the lower cavity of hydraulic cylinders 124 and / or 144 through the valve ports of electro-hydraulic servo valves 128 and / or 148 and continuously flowing into energy accumulators 126 and / or 146. When the valve ports of electro-hydraulic servo valves 128 and / or 148 are closed, the hydraulic fluid stops flowing, and the hydraulic fluid in energy accumulators 126 and / or 146 no longer changes, meaning that energy storage in energy accumulators 126 and / or 146 is complete, and the energy storage mode ends. Furthermore, if the first leg mechanism 100 is in energy storage mode during the period after landing and before taking off, the flowing hydraulic fluid can also provide a buffering and shock absorption effect for the landing impact of the first leg mechanism 100, significantly improving the impact resistance of the leg mechanism.

[0049] In drive mode, the motion controller controls the valve ports of electro-hydraulic servo valves 128 and / or 148 to open in another manner, allowing hydraulic fluid to be forced from accumulators 126 and / or 146 into hydraulic cylinders 124 and / or 144. This injection of hydraulic fluid generates a driving force extending along the length of the upper / lower support assemblies 120 / 140. Specifically, upon valve opening, hydraulic fluid is instantaneously forced from accumulators 126 and / or 146 into hydraulic cylinders 124 and / or 144 under gravity. The resulting instantaneous burst of force provides additional assistance to the joint rotation of the first leg mechanism 100, enabling the upper / lower support assemblies 120 / 140 to generate an upper / lower driving force extending along their own length. As mentioned earlier, during walking, the upper / lower driving force provides the momentum component that propels the robot forward or backward. For details regarding the specific structure and opening method of the electro-hydraulic servo valves, refer to the structures in existing hydraulic systems; further details are omitted here.

[0050] Preferably, for the upper support assembly 120, the motion controller controls the operating mode of the electro-hydraulic servo valve 128 in the upper support assembly 120 based on the pressure sensing signal; while for the lower support assembly 140, the motion controller controls the operating mode of the electro-hydraulic servo valve 148 in the lower support assembly 140 of the leg mechanism based on the rotation angle of the intermediate joint 150 and the main joint 110 of the first leg mechanism 100. In some embodiments, the motion controller generates a control signal that causes the electro-hydraulic servo valve 128 and / or 148 to operate in a drive mode when the contact sensing signal indicates that the leg mechanism is not in contact with the ground, and generates a control signal that causes the electro-hydraulic servo valve 128 and / or 148 to operate in an energy storage mode when the contact sensing signal indicates that the leg mechanism is in contact with the ground.

[0051] To simulate human walking, the motion controller is configured to alternately control the first leg mechanism 100 and the second leg mechanism to walk in a predetermined manner.

[0052] The following combination Figure 2 This describes a state diagram illustrating the motion controller controlling the walking process of the walkable robot according to this application. (Reference) Figure 2 For clarity, each numbered circle represents a state during the walking process, and uses a uniform coordinate axis x, y, where the x-axis is parallel to the horizontal ground and the y-axis is perpendicular to the horizontal ground, with clockwise rotation as a positive angle ("+") and counterclockwise rotation as a negative angle ("-").

[0053] by Figure 2 Starting from state 1, the motion controller controls the walking robot's walking process. However, walking is typically a continuous, periodic process, therefore the walking robot can also... Figure 2 Other states shown or any intermediate states during the walking process can be used as the starting state, depending on the state the walking robot is in when it begins to walk, and this application does not limit this. It is understood that the movement of the walking robot provided in this application is not limited to walking forward, but may also include walking backward, jumping, squatting, etc. In this case, the various joint drive components and support components in the two leg mechanisms of the walking robot need to cooperate with each other, and the details and settings are slightly different from those during walking.

[0054] Specifically, the working and control process of the leg mechanism during the walking process of the walking robot is as follows:

[0055] A) At the start of state 1, the main joint is at a predetermined forward rotation angle -α (i.e., the angle between the upper support assembly 120 or the connector 122 and the coordinate axis y is denoted as α), the intermediate joint 150 is at a zero rotation angle (i.e., the upper support assembly 120 and the lower support assembly 140 are on the same straight line), and the valve ports of the electro-hydraulic servo valves 128 and 148 of the upper support assembly 120 and the lower support assembly 140 are opened to put them into energy storage mode.

[0056] B) During the transition from state 1 to state 2, the motion controller maintains the main joint at a predetermined forward rotation angle -α. During this process, once the first leg mechanism 100 (e.g., its heel) begins to contact the ground, the contact sensor 170 continuously generates a contact sensing signal indicating the contact condition (e.g., pressure magnitude). It is understood that as the first leg mechanism 100 lands, the pressure value indicated by the contact sensing signal increases. As the motion controller continuously receives this contact sensing signal, it continuously compares the pressure value with a preset pressure threshold (e.g., 0 pressure value or a pressure value slightly greater than 0). When the received pressure value is greater than or equal to the pressure threshold, the motion controller controls the intermediate joint drive assembly 160 to drive the intermediate joint 150 to begin clockwise rotation.

[0057] In some embodiments, during the clockwise rotation of the intermediate joint 150, the angle sensor at the intermediate joint 150 continuously senses the angle value of the rotation of the intermediate joint 150 and sends it to the motion controller. The motion controller continuously compares this angle value with its preset angle threshold β. When the received angle value is greater than or equal to the angle threshold β, the motion controller controls the intermediate joint drive assembly 160 to stop the clockwise rotation of the intermediate joint 150. Therefore, at this time, the motion controller controls the intermediate joint drive assembly 160 to drive the lower support assembly 140 to rotate clockwise to a predetermined upward rotation angle + β, at which point the leg mechanism is in state 2. During the movement from state 1 to state 2, the motion controller keeps the valves of the electro-hydraulic servo valves 128 and 148 open, so that the electro-hydraulic servo valves 128 and 148 of the upper support assembly 120 and the lower support assembly 140 are still in energy storage mode. The pistons in hydraulic cylinders 124 and 144 move downwards under the influence of gravity, causing hydraulic fluid to flow upwards from hydraulic cylinders 124 and 144 into energy storage devices 126 and 146, thereby storing energy in energy storage devices 126 and 146. Since most of the hydraulic fluid in the lower support assembly 140 is located in the lower cavity of hydraulic cylinder 144 during the transition from state 1 to state 2, and the center of gravity of the leg mechanism is relatively low, the gravitational force of the hydraulic fluid in the lower cavity of hydraulic cylinder 144 also assists in the clockwise rotation of the intermediate joint 150.

[0058] C) During the transition from state 2 to state 3, the motion controller controls the main joint drive assembly 130 to drive the upper support assembly 120 to rotate clockwise by an angle of +2α to a predetermined rearward rotation angle of +α, while simultaneously controlling the intermediate joint drive assembly 160 to drive the lower support assembly 140 to rotate counterclockwise by -β to zero rotation angle. During this process, the motion controller, still responding to the contact sensing signal generated by the contact sensor 170 indicating that the leg mechanism is in contact with the ground, opens the valves of electro-hydraulic servo valves 128 and 148, ensuring that the electro-hydraulic servo valves 128 and 148 of the upper support assembly 120 and lower support assembly 140 remain in energy storage mode, allowing hydraulic fluid to continue flowing from hydraulic cylinders 124 and 144 into the respective energy storage devices 126 and 146. During this process, the pressure value indicated by the contact sensing signal gradually decreases. When the first leg mechanism 100 just leaves the ground (i.e., the pressure value just decreases to 0), the leg mechanism is in state 3. At this time, the motion controller controls the electro-hydraulic servo valves 128 and 148 to close, and the hydraulic fluid in the lower chambers of the hydraulic cylinders 124 and 144 stops flowing into the energy storage devices 126 and 146, and the energy storage process ends.

[0059] D) During the transition from state 3 to state 4, the motion controller controls the main joint drive assembly 130 to drive the upper support assembly 120 to rotate counterclockwise by -α to a predetermined intermediate rotation angle (i.e., an angle at which the upper connector 122 is approximately perpendicular to the horizontal ground), while simultaneously controlling the intermediate joint drive assembly 160 to drive the lower support assembly 140 to rotate clockwise to a predetermined downward rotation angle +γ (preferably, γ can be equal to β). The motion controller responds to the contact sensing signal generated by the contact sensor 170, indicating that the leg mechanism is not in contact with the ground. This puts the electro-hydraulic servo valve 128 of the upper support assembly 120 into drive mode, momentarily opening the valve port of the electro-hydraulic servo valve 128 so that hydraulic fluid is forced from the accumulator 126 of the upper support assembly 120 into the corresponding hydraulic cylinder 124, generating an upper driving force extending along its own length. The upper driving force provides assistance to the counterclockwise rotating upper support assembly 120, providing additional rotational assistance on top of the driving force of the main joint drive assembly 130 on the main joint 110, enabling the robot to gain forward movement speed. During this process, the motion controller keeps the valve port of the electro-hydraulic servo valve 148 of the lower support assembly 140 closed, because the lower support assembly 140 rotates clockwise during this process; opening the electro-hydraulic servo valve 148 would create resistance to its clockwise rotation. When the main joint of the upper support assembly 120 is at a predetermined intermediate rotation angle, and the intermediate joint is at a predetermined downward rotation angle + γ, the leg mechanism is in state 4.

[0060] E) During the transition from state 4 to state 1, the upper support assembly 120 is driven counterclockwise by the main joint drive assembly 130 to rotate counterclockwise to a predetermined forward rotation angle -α, while the lower support assembly 140 is driven counterclockwise by the intermediate joint drive assembly 160 to rotate counterclockwise by -γ to zero rotation angle. During this process, in response to the lower support assembly 140 being at a predetermined downward rotation angle +γ, the motion controller opens the valve port of the electro-hydraulic servo valve 148 of the lower support assembly 140, putting the electro-hydraulic servo valve 148 into drive mode, allowing hydraulic fluid to be forced from the accumulator 146 of the lower support assembly 140 into the corresponding hydraulic cylinder 144. Thus, the hydraulic fluid being forced from the accumulator 146 of the lower support assembly 140 into the corresponding hydraulic cylinder 144 generates a lower driving force extending along its own length. The lower driving force provides assistance to the counter-clockwise rotating lower support assembly 140, providing additional rotational assistance beyond the driving force of the intermediate joint drive assembly 160 on the intermediate joint 150. Simultaneously, the electro-hydraulic servo valve 128 of the upper support assembly 120 remains open, keeping it in drive mode and allowing it to continue receiving additional assistance for counter-clockwise rotation. When the main joint of the upper support assembly 120 is at a predetermined forward rotation angle -α and the intermediate joint is at zero rotation angle +γ, the leg mechanism returns to state 1.

[0061] It is understood that the first leg mechanism 100 and the second leg mechanism alternately repeat steps B to E above to complete alternating walking using the two leg mechanisms. For example, during alternating walking, the lower support components of the first leg mechanism and the second leg mechanism can alternately contact the ground to support the robot's main body and keep it standing stably.

[0062] In some embodiments, the angle values ​​α, β, and γ can all be suitable values ​​between 0 and 180°. To more closely approximate the angle of human walking, α is preferably between 0 and 60°, more preferably between 5 and 30°; β is preferably between 0 and 90°, more preferably between 5 and 60°; and γ is preferably the same as the β angle value. It is understood that the angle values ​​α, β, and γ are merely exemplary and can be adjusted according to the actual application and the structure of the robot's leg mechanism, such as adjusting based on the robot's stride length and movement speed. Furthermore, it should be noted that the above descriptions of counterclockwise or clockwise rotation directions are all based on... Figure 2 The observation angle shown represents the robot's walking motion; when observing the robot walking from the left side, the counterclockwise and clockwise directions may change.

[0063] In one embodiment, in state 1, the rotation angle of the first joint is, for example, 15 to 25 degrees forward, while the rotation angle of the second joint is 0 degrees; in state 2, the rotation angle of the first joint remains unchanged or changes slightly, for example, changing to 10 to 20 degrees forward, while the rotation angle of the second joint is 5 degrees clockwise; in state 3, the rotation angle of the first joint can change, for example, rotating 30 to 50 degrees clockwise relative to the angle in state 2, so that the rotation angle of the first joint is, for example, 15 to 25 degrees backward, while the second joint returns to zero rotation angle; in state 4, the first joint rotates to a predetermined intermediate rotation angle, substantially perpendicular to the ground, while the second joint rotates clockwise to, for example, 15 to 20 degrees.

[0064] It is understandable that the above angle values ​​can vary, and the predetermined forward rotation angle can be different from the predetermined backward rotation angle; and during one cycle of walking, the angle values ​​required for the two leg mechanisms to undergo state transitions can be unequal. This setting allows the two leg mechanisms of the robot to move different distances, thereby enabling the robot to move in the forward and backward directions.

[0065] Although this application has been described in detail with reference to certain preferred embodiments, various changes and modifications exist within the scope and spirit of one or more independent aspects of the application described herein.

[0066] It should be noted that although several modules or sub-modules of the walking robot have been mentioned in the detailed description above, this division is merely exemplary and not mandatory. In fact, according to embodiments of this application, the features and functions of two or more modules described above can be embodied in one module. Conversely, the features and functions of one module described above can be further divided and embodied by multiple modules.

[0067] Those skilled in the art can understand and implement other modifications to the disclosed embodiments by studying the specification, the disclosure, the drawings, and the appended claims. In the claims, the word "comprising" does not exclude other elements and steps, and the words "a" or "an" do not exclude a plurality. In practical applications of this application, a single part may perform the function of multiple technical features referenced in the claims. Any reference numerals in the claims should not be construed as limiting the scope.

Claims

1. A walking robot, characterized in that, The walkable robot includes: main body; A walking mechanism coupled to and supporting the main body, the walking mechanism comprising: A first leg mechanism, which is operably coupled to the body via a first main joint and is rotatable relative to the body about the first main joint; The second leg mechanism is operably coupled to the body via a second main joint and is rotatable relative to the body about the second main joint; Each of the first leg mechanism and the second leg mechanism includes: An upper support assembly having a first end and a second end disposed opposite to each other along its length, wherein the upper support assembly is coupled to a corresponding main joint at its first end, and the upper support assembly is capable of generating an upper driving force extending along its length. A main joint drive assembly for generating a main joint drive force that causes the upper support assembly to rotate about the main joint; A lower support assembly having a first end and a second end disposed opposite to each other along its length, wherein the lower support assembly is coupled at its first end to the second end of the upper support assembly via an intermediate joint and is rotatable about the intermediate joint relative to the upper support assembly, and wherein the lower support assembly is capable of generating a lower driving force extending along its length. An intermediate joint drive assembly for generating an intermediate joint drive force that causes the lower support assembly to rotate about the intermediate joint relative to the upper support assembly; and A contact sensor, disposed at the second end of the lower support assembly, is used to sense the contact between the leg mechanism and the ground and generate a contact sensing signal; and A motion controller is configured to control the operation of the upper support assembly, the lower support assembly, the main joint drive assembly, and the intermediate joint drive assembly based on contact sensing signals generated by contact sensors between the first leg mechanism and the second leg mechanism, and the rotation angles of the main joint and the intermediate joint. The upper support component includes: The upper connector is used to mechanically couple the main joint to the intermediate joint; An energy storage device, used to store hydraulic fluid flowing into it; A hydraulic cylinder, located below the energy storage device, is operably in fluid communication with the energy storage device to allow hydraulic fluid to flow therebetween; and An electro-hydraulic servo valve, coupled to the motion controller, is configured to open under the control of the motion controller in at least an energy storage mode and a drive mode, wherein: in the energy storage mode, the electro-hydraulic servo valve is opened to allow hydraulic fluid to flow from the hydraulic cylinder into the energy storage unit under pressure transmitted from the upper connector; and in the drive mode, the electro-hydraulic servo valve is opened to allow hydraulic fluid to be forced from the energy storage unit into the hydraulic cylinder, wherein the forced in of the hydraulic fluid can generate an upper drive force extending along the length of the upper support assembly; The lower support component includes: The lower connector is used to mechanically couple and support the intermediate joint; An energy storage device, used to store hydraulic fluid flowing into it; A hydraulic cylinder, located below the energy storage device, is operably in fluid communication with the energy storage device to allow hydraulic fluid to flow therebetween; and An electro-hydraulic servo valve, coupled to the motion controller, is configured to open under the control of the motion controller in at least an energy storage mode and a drive mode, wherein: in the energy storage mode, the electro-hydraulic servo valve is opened to allow hydraulic fluid to flow from the hydraulic cylinder into the energy storage unit under pressure transmitted from the lower connector; and in the drive mode, the electro-hydraulic servo valve is opened to allow hydraulic fluid to be forced from the energy storage unit into the hydraulic cylinder, wherein the force of the hydraulic fluid can generate a lower driving force extending along the length of the lower support assembly. The motion controller is configured to alternately control the first leg mechanism and the second leg mechanism to walk in a predetermined manner, each of the first leg mechanism and the second leg mechanism walking in the following predetermined manner: A) Set the main joint to a predetermined forward rotation angle, set the intermediate joint to a zero rotation angle, and set the electro-hydraulic servo valves of the upper support assembly and the lower support assembly to an energy storage mode. B) Keep the main joint at the predetermined forward rotation angle, while the lower support assembly is driven clockwise to the predetermined upward rotation angle by the intermediate joint drive assembly; and in response to the contact sensing signal generated by the contact sensor indicating that the leg mechanism is in contact with the ground, the electro-hydraulic servo valves of the upper support assembly and the lower support assembly are in energy storage mode so that hydraulic fluid flows from the hydraulic cylinder into the respective energy storage tanks; C) The upper support assembly is driven clockwise by the main joint drive assembly to rotate to a predetermined rearward rotation angle, while the lower support assembly is driven counterclockwise by the intermediate joint drive assembly to rotate to zero rotation angle; and in response to the contact sensing signal generated by the contact sensor indicating that the leg mechanism is in contact with the ground, the electro-hydraulic servo valves of the upper support assembly and the lower support assembly are put into energy storage mode so that hydraulic fluid continues to flow from the hydraulic cylinder into the respective energy storage tanks; D) The upper support assembly is driven counterclockwise by the main joint drive assembly to rotate to a predetermined intermediate rotation angle, while the lower support assembly is driven clockwise by the intermediate joint drive assembly to rotate to a predetermined downward rotation angle; and in response to the contact sensing signal generated by the contact sensor indicating that the leg mechanism is not in contact with the ground, the electro-hydraulic servo valve of the upper support assembly is put into drive mode, so that hydraulic fluid is pressed from the accumulator of the upper support assembly into the corresponding hydraulic cylinder, while the electro-hydraulic servo valve of the lower support assembly is closed; E) The upper support assembly is driven counterclockwise by the main joint drive assembly to rotate to the predetermined forward rotation angle, while the lower support assembly is driven counterclockwise by the intermediate joint drive assembly to rotate to zero rotation angle; and in response to the lower support assembly being at the predetermined downward rotation angle, the electro-hydraulic servo valve of the lower support assembly is put into drive mode, so that hydraulic fluid is forced from the accumulator of the lower support assembly into the corresponding hydraulic cylinder, while keeping the electro-hydraulic servo valve of the upper support assembly in drive mode; and Repeat steps B through E.

2. The walking robot according to claim 1, characterized in that, The motion controller is used to control the operating mode of the electro-hydraulic servo valve in the upper support assembly of the leg mechanism based on the contact sensing signal generated by the contact sensor of each leg mechanism.

3. The walking robot according to claim 2, characterized in that, The motion controller is configured to generate a control signal that causes the electro-hydraulic servo valve to operate in drive mode when the contact sensing signal indicates that the leg mechanism is not in contact with the ground, and to generate a control signal that causes the electro-hydraulic servo valve to operate in energy storage mode when the contact sensing signal indicates that the leg mechanism is in contact with the ground.

4. The walking robot according to claim 1, characterized in that, The motion controller is used to control the operating mode of the electro-hydraulic servo valve in the lower support assembly of the leg mechanism according to the rotation angle of the intermediate joint and the main joint of each leg mechanism.

5. The walking robot according to claim 1, characterized in that, The main joint drive assembly includes: A drive motor, disposed at the main joint, is used to generate a driving force that causes the upper support assembly to rotate; and A speed reducer is used to adjust the rotational speed of the upper support assembly.

6. The walking robot according to claim 1 or 5, characterized in that, The main joint drive assembly includes a hydraulic drive mechanism disposed between the main body and the upper support assembly.

7. The walking robot according to claim 1, characterized in that, The intermediate joint drive assembly includes: A drive motor, disposed at the intermediate joint, is used to generate a driving force that causes the lower support assembly to rotate relative to the upper support assembly; and A speed reducer is used to adjust the rotational speed of the upper support assembly.

8. The walking robot according to claim 1 or 7, characterized in that, The intermediate joint drive assembly includes a hydraulic drive mechanism disposed between the upper support assembly and the lower support assembly.

9. The walking robot according to claim 1, characterized in that, The main joint drive assembly and the intermediate joint drive assembly also include angle sensors for detecting the rotation angle of the corresponding joint.

10. The walking robot according to claim 1, characterized in that, The contact sensor is a pressure sensor.

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